version: 66.06
glider: 148
mission: 9
dive: 77
start: 11 21 110 9 17 3
data:
$ID,148
$MISSION,9
$DIVE,77
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-859028.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3070
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,090531,2251.985,-15746.850,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.3
$GPS2,091608,2251.984,-15746.792,13,1.4,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.075
$KALMAN_X,-46097.5,-34.8,154.8,85680.4,-520.1
$KALMAN_Y,20727.5,-334.8,505.9,112617.2,-562.7
$MHEAD_RNG_PITCHd_Wd,96.7,9872,-17.6,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.82,0.000,2,0.000,0.000,406,1834,3316,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.3,-5.1,11,132,11.95,0.00,-6.43,0.000,6,0.165,0.000,2613,1835,3667,0,0,0,0,0,0
$GC,409,-1.19,-146.0,53.4,-13.2,47,414,0.12,2.45,0.00,0.000,4,0.123,0.032,2638,3354,3669,0,0,0,0,0,0
$GC,441,-1.19,-146.0,57.5,-13.4,49,445,0.00,2.50,0.00,0.000,6,0.000,0.022,2638,1762,3669,0,0,0,0,0,0
$GC,708,-1.19,-146.0,90.9,-12.3,73,712,0.00,2.55,0.00,0.000,4,0.000,0.031,2638,3351,3669,0,0,0,0,0,0
$GC,757,-1.19,-146.0,97.9,-11.6,77,762,0.00,2.47,0.00,0.000,6,0.000,0.023,2638,1780,3670,0,0,0,0,0,0
$GC,1021,-1.29,-146.0,125.9,-9.2,102,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1780,3670,0,0,0,0,0,0
$GC,1289,-1.43,-146.0,150.0,-9.4,127,1294,0.20,2.53,0.00,0.000,4,0.044,0.029,2550,3357,3671,0,0,0,0,0,0
$GC,1386,-1.33,-146.0,163.5,-13.9,136,1392,0.28,2.47,0.00,0.000,6,0.090,0.022,2611,1772,3671,0,0,0,0,0,0
$GC,1651,-1.42,-146.0,190.5,-8.5,160,1656,0.00,2.50,0.00,0.000,4,0.000,0.031,2610,3350,3671,0,0,0,0,0,0
$GC,1689,-1.54,-146.0,193.8,-8.3,163,1694,0.20,2.47,0.00,0.000,6,0.042,0.024,2509,1775,3672,0,0,0,0,0,0
$GC,1951,-1.31,-146.0,232.7,-15.3,173,1958,0.50,2.55,0.00,0.000,4,0.093,0.038,2609,194,3672,0,0,0,0,0,0
$GC,1988,-1.47,-146.0,237.1,-9.9,173,1993,0.12,2.47,0.00,0.000,6,0.064,0.021,2546,1788,3672,0,0,0,0,0,0
$GC,2238,-1.40,-146.0,267.0,-11.9,179,2243,0.22,2.47,0.00,0.000,4,0.092,0.031,2595,3352,3672,0,0,0,0,0,0
$GC,2292,-1.53,-146.0,271.8,-8.3,180,2296,0.12,2.47,0.00,0.000,6,0.064,0.024,2520,1792,3671,0,0,0,0,0,0
$GC,2570,-1.39,-146.0,306.6,-12.8,187,2577,0.32,2.60,0.00,0.000,4,0.090,0.043,2592,190,3671,0,0,0,0,0,0
$GC,2630,-1.56,-146.0,312.4,-8.8,188,2635,0.12,2.47,0.00,0.000,6,0.064,0.024,2534,1772,3671,0,0,0,0,0,0
$GC,2904,-1.49,-146.0,342.4,-11.1,195,2909,0.17,2.58,0.00,0.000,4,0.100,0.041,2574,3357,3671,0,0,0,0,0,0
$GC,2962,-1.60,-146.0,347.4,-7.8,196,2968,0.10,2.50,0.00,0.000,6,0.077,0.028,2506,1784,3672,0,0,0,0,0,0
$GC,3236,-1.45,-146.0,379.5,-12.0,203,3243,0.35,2.65,0.00,0.000,4,0.093,0.052,2581,186,3670,0,0,0,0,0,0
$GC,3262,-1.51,-146.0,382.6,-10.6,203,3267,0.00,2.53,0.00,0.000,6,0.000,0.027,2581,1785,3670,0,0,0,0,0,0
$GC,3523,-1.60,-146.0,406.1,-9.3,210,3525,0.12,0.00,0.00,0.000,6,0.066,0.000,2528,1785,3668,0,0,0,0,0,0
$GC,3765,-1.60,-146.0,434.6,-11.7,216,3770,0.10,2.60,0.00,0.000,4,0.123,0.048,2548,3348,3667,0,0,0,0,0,0
$GC,3793,-1.60,-146.0,437.7,-10.1,216,3798,0.00,2.53,0.00,0.000,6,0.000,0.030,2548,1789,3667,0,0,0,0,0,0
$GC,4049,-1.60,-146.0,462.0,-9.5,223,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1789,3665,0,0,0,0,0,0
$GC,4292,-1.60,-146.0,484.5,-9.3,229,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1789,3663,0,0,0,0,0,0
$STATE,4492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4492,begin apogee
$GC,4498,-0.31,0.0,503.7,9.5,234,4619,1.27,0.00,117.85,0.873,6,0.085,0.000,2831,1640,3070,0,0,0,0,0,0
$STATE,4620,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4624,1.28,146.0,508.0,0.0,237,4756,1.40,2.65,121.78,0.854,4,0.025,0.071,3180,181,2472,0,0,0,0,0,0
$GC,5023,0.77,146.0,470.3,15.7,245,5029,0.55,2.38,0.00,0.000,6,0.127,0.028,3070,1655,2464,0,0,0,0,0,0
$GC,5274,0.68,169.9,447.0,8.9,252,5300,0.10,2.55,19.83,0.793,4,0.140,0.056,3050,183,2376,0,0,0,0,0,0
$GC,5408,0.55,169.9,433.3,10.2,255,5413,0.15,2.38,0.00,0.000,6,0.123,0.027,3021,1649,2373,0,0,0,0,0,0
$GC,5697,0.63,234.0,411.6,7.1,262,5754,0.00,0.00,55.72,0.814,6,0.000,0.000,3021,1649,2115,0,0,0,0,0,0
$GC,5979,0.76,288.1,390.4,7.5,269,6033,0.20,2.55,47.60,0.798,4,0.048,0.056,3099,183,1895,0,0,0,0,0,0
$GC,6055,0.62,288.1,381.4,13.7,270,6060,0.30,2.35,0.00,0.000,6,0.105,0.027,3038,1637,1893,0,0,0,0,0,0
$GC,6304,0.62,288.1,355.4,10.3,276,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1639,1887,0,0,0,0,0,0
$GC,6549,0.68,288.1,329.4,10.6,282,6553,0.00,2.67,0.00,0.000,4,0.000,0.048,3038,3229,1884,0,0,0,0,0,0
$GC,6584,0.79,288.1,326.0,10.2,282,6590,0.15,2.62,0.00,0.000,6,0.057,0.033,3100,1642,1883,0,0,0,0,0,0
$GC,6834,0.70,288.1,294.4,12.3,288,6839,0.22,2.53,0.00,0.000,4,0.107,0.061,3054,167,1881,0,0,0,0,0,0
$GC,6898,0.70,288.1,287.4,11.6,289,6902,0.00,2.33,0.00,0.000,6,0.000,0.025,3054,1630,1881,0,0,0,0,0,0
$GC,7166,0.72,308.3,261.9,9.1,296,7189,0.00,2.67,16.23,0.681,4,0.000,0.042,3054,3227,1812,0,0,0,0,0,0
$GC,7252,0.82,308.3,252.7,11.5,297,7258,0.10,2.62,0.00,0.000,6,0.078,0.031,3098,1621,1809,0,0,0,0,0,0
$GC,7503,0.75,308.3,217.4,14.5,304,7508,0.17,2.65,0.00,0.000,4,0.114,0.040,3063,3220,1807,0,0,0,0,0,0
$GC,7522,0.75,308.3,214.2,14.4,304,7527,0.00,2.58,0.00,0.000,6,0.000,0.028,3063,1625,1807,0,0,0,0,0,0
$GC,7787,0.75,308.3,184.0,11.1,319,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1625,1806,0,0,0,0,0,0
$GC,8048,0.79,338.2,158.2,8.7,344,8080,0.00,2.70,25.83,0.618,4,0.000,0.034,3063,3226,1690,0,0,0,0,0,0
$GC,8101,0.87,344.7,153.9,9.7,349,8114,0.10,2.60,7.28,0.518,6,0.077,0.029,3104,1638,1664,0,0,0,0,0,0
$GC,8379,0.87,344.7,120.5,12.9,375,8383,0.00,2.42,0.00,0.000,4,0.000,0.046,3104,168,1660,0,0,0,0,0,0
$GC,8427,0.87,344.7,113.6,15.3,379,8431,0.00,2.33,0.00,0.000,6,0.000,0.022,3104,1659,1660,0,0,0,0,0,0
$GC,8694,0.87,344.7,84.1,11.1,404,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1662,1659,0,0,0,0,0,0
$GC,8955,0.87,344.7,53.2,12.8,428,8959,0.00,2.53,0.00,0.000,4,0.000,0.034,3104,3228,1659,0,0,0,0,0,0
$GC,8973,0.87,344.7,50.3,12.6,429,8978,0.00,2.50,0.00,0.000,6,0.000,0.025,3104,1647,1658,0,0,0,0,0,0
$GC,9254,0.87,344.7,16.0,14.0,462,9262,0.00,2.55,0.00,0.000,4,0.000,0.031,3104,3220,1658,0,0,0,0,0,0
$GC,9279,0.87,344.7,13.0,12.4,465,9288,0.00,2.53,0.00,0.000,6,0.000,0.032,3104,1659,1658,0,0,0,0,0,0
$STATE,9358,end climb,SURFACE_DEPTH_REACHED
$STATE,9358,begin surface coast
$FINISH,0.7,1.022457
$STATE,9404,end surface coast,CONTROL_FINISHED_OK
$STATE,9404,begin surface
$SM_CCo,9424,55.80,0.416,1,0,1234,450.13
$SM_GC,1.38,0.00,0.00,55.80,0.000,0.000,0.416,410,1836,1234,-11.45,1.87,450.13
$IRIDIUM_FIX,2244.02,-15756.28,150200,060612
$TT8_MAMPS,0.026845
$HUMID,41.06
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,13.950
$10V_AH,10.4,11.648
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.650,106.425,412.100,55.800,0.000,23.759,31.882,448.371,0.500,0.000,15.131,1008.081,5970.664,512.875,1864.713,769.546,33.356,1253.936,0.000,1871.374,0.000,0.538,0.000
$DEVICE_MAMPS,164.905,71.331,872.846,415.714,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.274,300.492,382.785,575.545,1017.827,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38299,484
$CAP_FILE_SIZE,111063,0
$CFSIZE,260165632,167596032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211110,115623,2251.311,-15745.915,14,99.0,33,10.1