version: 66.06
glider: 148
mission: 9
dive: 78
start: 11 21 110 12 9 16
data:
$ID,148
$MISSION,9
$DIVE,78
$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,-859062.69
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,115623,2251.311,-15745.915,14,99.0,33,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-66.1
$GPS2,120822,2251.253,-15745.883,12,99.0,31,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.062
$KALMAN_X,-46742.6,-167.2,30.8,88149.3,-755.0
$KALMAN_Y,20647.2,-378.5,26.0,111865.9,-480.8
$MHEAD_RNG_PITCHd_Wd,93.7,7833,-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,17,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-83.25,0.000,2,0.000,0.000,410,1836,3345,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.6,-6.2,11,132,11.85,0.00,-5.72,0.000,6,0.163,0.000,2613,1837,3668,0,0,0,0,0,0
$GC,402,-1.19,-146.0,57.6,-14.9,45,406,0.12,2.42,0.00,0.000,4,0.114,0.032,2640,3349,3669,0,0,0,0,0,0
$GC,433,-1.19,-146.0,61.8,-13.1,47,437,0.00,2.50,0.00,0.000,6,0.000,0.022,2640,1755,3669,0,0,0,0,0,0
$GC,700,-1.19,-146.0,93.6,-12.4,71,704,0.00,2.55,0.00,0.000,4,0.000,0.030,2640,3349,3670,0,0,0,0,0,0
$GC,747,-1.19,-146.0,99.9,-12.7,75,751,0.00,2.45,0.00,0.000,6,0.000,0.023,2639,1783,3670,0,0,0,0,0,0
$GC,1015,-1.30,-146.0,126.2,-8.7,99,1020,0.10,2.55,0.00,0.000,4,0.078,0.039,2583,196,3670,0,0,0,0,0,0
$GC,1045,-1.30,-146.0,130.9,-13.7,101,1051,0.15,2.45,0.00,0.000,6,0.100,0.019,2615,1792,3670,0,0,0,0,0,0
$GC,1308,-1.36,-146.0,157.4,-11.4,126,1313,0.00,2.42,0.00,0.000,4,0.000,0.031,2615,3342,3671,0,0,0,0,0,0
$GC,1407,-1.49,-146.0,167.8,-9.6,135,1417,0.12,2.47,0.00,0.000,6,0.023,0.023,2514,1790,3672,0,0,0,0,0,0
$GC,1679,-1.30,-146.0,207.8,-15.3,158,1686,0.43,2.55,0.00,0.000,4,0.091,0.037,2611,194,3672,0,0,0,0,0,0
$GC,1705,-1.30,-146.0,211.6,-11.6,158,1710,0.00,2.45,0.00,0.000,6,0.000,0.020,2611,1785,3672,0,0,0,0,0,0
$GC,1966,-1.40,-146.0,233.3,-8.3,165,1970,0.00,2.47,0.00,0.000,4,0.000,0.031,2611,3349,3672,0,0,0,0,0,0
$GC,2014,-1.57,-146.0,237.2,-7.6,166,2020,0.22,2.47,0.00,0.000,6,0.038,0.024,2508,1789,3672,0,0,0,0,0,0
$GC,2299,-1.38,-146.0,274.0,-13.4,173,2306,0.40,2.50,0.00,0.000,4,0.091,0.031,2598,3354,3672,0,0,0,0,0,0
$GC,2330,-1.45,-146.0,277.2,-8.0,173,2335,0.00,2.45,0.00,0.000,6,0.000,0.024,2598,1795,3672,0,0,0,0,0,0
$GC,2585,-1.55,-146.0,295.9,-7.5,180,2587,0.15,0.00,0.00,0.000,6,0.056,0.000,2527,1795,3672,0,0,0,0,0,0
$GC,2830,-1.43,-146.0,327.2,-13.5,186,2835,0.25,2.60,0.00,0.000,4,0.093,0.044,2586,198,3672,0,0,0,0,0,0
$GC,2849,-1.43,-146.0,330.0,-12.5,186,2853,0.00,2.50,0.00,0.000,6,0.000,0.024,2585,1799,3672,0,0,0,0,0,0
$GC,3113,-1.51,-146.0,354.4,-9.0,193,3117,0.00,2.47,0.00,0.000,4,0.000,0.038,2586,3344,3671,0,0,0,0,0,0
$GC,3180,-1.65,-146.0,360.0,-8.2,194,3185,0.20,2.45,0.00,0.000,6,0.045,0.027,2490,1811,3671,0,0,0,0,0,0
$GC,3445,-1.46,-146.0,394.6,-13.5,201,3452,0.40,2.72,0.00,0.000,4,0.091,0.053,2577,186,3670,0,0,0,0,0,0
$GC,3467,-1.46,-146.0,397.2,-11.0,201,3472,0.00,2.58,0.00,0.000,6,0.000,0.026,2577,1804,3670,0,0,0,0,0,0
$GC,3732,-1.54,-146.0,421.4,-9.2,208,3736,0.00,2.53,0.00,0.000,4,0.000,0.045,2577,3347,3668,0,0,0,0,0,0
$GC,3765,-1.64,-146.0,424.5,-8.9,208,3770,0.15,2.47,0.00,0.000,6,0.056,0.029,2504,1813,3668,0,0,0,0,0,0
$GC,4016,-1.52,-146.0,455.1,-12.2,214,4018,0.30,0.00,0.00,0.000,6,0.094,0.000,2567,1813,3666,0,0,0,0,0,0
$GC,4258,-1.59,-146.0,476.8,-8.6,220,4263,0.00,2.55,0.00,0.000,4,0.000,0.052,2567,3346,3664,0,0,0,0,0,0
$GC,4316,-1.69,-146.0,481.8,-8.7,221,4321,0.15,2.47,0.00,0.000,6,0.056,0.033,2490,1819,3664,0,0,0,0,0,0
$STATE,4506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4506,begin apogee
$GC,4512,-0.31,0.0,504.7,12.2,226,4634,1.55,0.00,117.97,0.872,6,0.087,0.000,2830,1639,3070,0,0,0,0,0,0
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4637,1.28,146.0,509.3,0.0,229,4768,1.42,2.62,121.88,0.856,4,0.027,0.070,3184,187,2472,0,0,0,0,0,0
$GC,4867,0.74,146.0,494.8,14.6,234,4875,0.60,2.38,0.00,0.000,6,0.123,0.030,3065,1650,2467,0,0,0,0,0,0
$GC,5143,0.67,178.2,469.7,8.5,241,5176,0.00,2.60,27.23,0.815,4,0.000,0.059,3065,178,2342,0,0,0,0,0,0
$GC,5256,0.50,178.2,459.0,10.5,243,5261,0.25,2.38,0.00,0.000,6,0.110,0.028,3012,1650,2339,0,0,0,0,0,0
$GC,5521,0.69,282.5,443.7,5.2,250,5622,0.15,2.78,90.03,0.834,4,0.059,0.054,3080,3219,1917,0,0,0,0,0,0
$GC,5631,0.61,282.5,434.2,10.2,252,5639,0.22,2.60,0.00,0.000,6,0.100,0.033,3034,1667,1913,0,0,0,0,0,0
$GC,5893,0.61,282.6,409.0,10.0,259,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1666,1908,0,0,0,0,0,0
$GC,6137,0.67,282.6,381.0,11.6,265,6141,0.00,2.60,0.00,0.000,4,0.000,0.066,3034,161,1906,0,0,0,0,0,0
$GC,6198,0.67,282.6,372.9,13.0,266,6203,0.00,2.40,0.00,0.000,6,0.000,0.025,3033,1652,1904,0,0,0,0,0,0
$GC,6467,0.75,282.6,342.8,11.0,273,6472,0.12,2.62,0.00,0.000,4,0.069,0.049,3083,3221,1902,0,0,0,0,0,0
$GC,6520,0.75,282.6,336.2,12.7,274,6524,0.00,2.60,0.00,0.000,6,0.000,0.034,3083,1649,1901,0,0,0,0,0,0
$GC,6797,0.75,282.6,302.3,12.0,281,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1649,1900,0,0,0,0,0,0
$GC,7041,0.75,282.6,272.4,12.5,287,7045,0.00,2.53,0.00,0.000,4,0.000,0.063,3083,168,1899,0,0,0,0,0,0
$GC,7181,0.66,282.6,253.7,12.0,290,7186,0.17,2.33,0.00,0.000,6,0.109,0.024,3047,1650,1898,0,0,0,0,0,0
$GC,7466,0.77,317.0,228.3,8.4,297,7499,0.00,2.62,27.45,0.684,4,0.000,0.038,3047,3226,1777,0,0,0,0,0,0
$GC,7534,0.91,317.0,222.0,10.1,298,7540,0.22,2.62,0.00,0.000,6,0.044,0.031,3121,1632,1774,0,0,0,0,0,0
$GC,7798,0.78,317.0,183.7,14.8,311,7803,0.25,2.42,0.00,0.000,4,0.104,0.046,3065,174,1772,0,0,0,0,0,0
$GC,7836,0.78,317.0,178.6,14.2,314,7840,0.00,2.30,0.00,0.000,6,0.000,0.022,3065,1634,1771,0,0,0,0,0,0
$GC,8097,0.78,317.0,151.1,10.2,338,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1635,1770,0,0,0,0,0,0
$GC,8353,0.87,337.9,127.5,9.1,362,8374,0.10,0.00,18.45,0.577,6,0.080,0.000,3118,1637,1692,0,0,0,0,0,0
$GC,8628,0.87,337.9,93.1,12.3,388,8633,0.12,2.45,0.00,0.000,4,0.114,0.053,3092,171,1688,0,0,0,0,0,0
$GC,8676,0.94,337.9,87.3,12.6,392,8680,0.00,2.25,0.00,0.000,6,0.000,0.021,3092,1628,1688,0,0,0,0,0,0
$GC,8943,0.94,337.9,58.5,11.1,416,8947,0.00,2.55,0.00,0.000,4,0.000,0.033,3093,3230,1688,0,0,0,0,0,0
$GC,8987,1.04,337.9,53.7,10.9,419,8992,0.15,2.55,0.00,0.000,6,0.056,0.027,3163,1623,1686,0,0,0,0,0,0
$GC,9265,0.90,337.9,14.1,16.4,451,9274,0.28,0.00,0.00,0.000,6,0.104,0.000,3102,1623,1687,0,0,0,0,0,0
$STATE,9343,end climb,SURFACE_DEPTH_REACHED
$STATE,9343,begin surface coast
$FINISH,0.7,1.023494
$STATE,9385,end surface coast,CONTROL_FINISHED_OK
$STATE,9385,begin surface
$SM_CCo,9406,53.12,0.061,0,0,1235,450.13
$SM_GC,1.43,0.00,0.00,53.12,0.000,0.000,0.061,410,1849,1235,-11.45,2.23,450.13
$IRIDIUM_FIX,2244.02,-15745.85,150200,090914
$TT8_MAMPS,0.026845
$HUMID,42.12
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,23.6,14.079
$10V_AH,10.5,11.753
$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,31.425,110.775,403.000,53.125,0.000,39.644,35.509,494.692,0.250,0.000,33.559,999.654,6013.818,479.918,1855.355,832.415,33.351,1233.623,0.000,1837.596,0.000,0.537,0.000
$DEVICE_MAMPS,162.604,69.797,872.079,60.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.366,286.444,360.672,548.623,967.395,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38231,469
$CAP_FILE_SIZE,113639,0
$CFSIZE,260165632,167542784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211110,144807,2250.966,-15744.901,32,1.0,32,10.1