version: 66.06
glider: 148
mission: 9
dive: 79
start: 11 21 110 15 0 2
data:
$ID,148
$MISSION,9
$DIVE,79
$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,-859078.31
$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,47
$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
$GPS1,144807,2250.966,-15744.901,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-69.2
$GPS2,145907,2250.985,-15744.859,13,0.9,13,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.187
$KALMAN_X,-47200.6,-228.4,-206.5,90663.8,-319.9
$KALMAN_Y,21027.6,-189.6,-442.2,111260.8,756.0
$MHEAD_RNG_PITCHd_Wd,125.8,6110,-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,-82.85,0.000,2,0.000,0.000,410,1849,3300,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.1,-4.0,11,132,12.15,2.67,-6.72,0.000,4,0.173,0.044,2614,191,3667,0,0,0,0,0,0
$GC,254,-1.39,-146.0,31.7,-12.7,32,258,0.00,2.45,0.00,0.000,6,0.000,0.020,2614,1773,3669,0,0,0,0,0,0
$GC,521,-1.32,-146.0,68.6,-14.0,56,525,0.00,2.50,0.00,0.000,4,0.000,0.031,2614,3347,3669,0,0,0,0,0,0
$GC,596,-1.32,-146.0,78.6,-12.5,62,601,0.00,2.50,0.00,0.000,6,0.000,0.022,2614,1768,3669,0,0,0,0,0,0
$GC,860,-1.32,-146.0,110.3,-9.3,86,864,0.00,2.53,0.00,0.000,4,0.000,0.029,2613,3349,3670,0,0,0,0,0,0
$GC,878,-1.32,-146.0,112.1,-9.6,87,883,0.00,2.45,0.00,0.000,6,0.000,0.021,2614,1778,3670,0,0,0,0,0,0
$GC,1146,-1.39,-146.0,139.5,-9.8,111,1150,0.00,2.47,0.00,0.000,4,0.000,0.030,2613,3345,3671,0,0,0,0,0,0
$GC,1175,-1.46,-146.0,142.7,-10.4,113,1180,0.15,2.40,0.00,0.000,6,0.052,0.022,2523,1806,3670,0,0,0,0,0,0
$GC,1435,-1.28,-146.0,181.1,-14.0,137,1445,0.45,2.60,0.00,0.000,4,0.091,0.038,2618,184,3671,0,0,0,0,0,0
$GC,1510,-1.49,-146.0,188.9,-9.2,144,1520,0.15,2.53,0.00,0.000,6,0.025,0.020,2535,1800,3672,0,0,0,0,0,0
$GC,1764,-1.37,-146.0,223.7,-14.0,157,1769,0.25,2.45,0.00,0.000,4,0.092,0.030,2594,3350,3672,0,0,0,0,0,0
$GC,1780,-1.30,-146.0,225.8,-13.9,157,1785,0.10,2.45,0.00,0.000,6,0.117,0.021,2616,1789,3672,0,0,0,0,0,0
$GC,2050,-1.43,-146.0,252.5,-9.7,164,2055,0.12,2.47,0.00,0.000,4,0.065,0.031,2556,3340,3672,0,0,0,0,0,0
$GC,2098,-1.43,-146.0,258.2,-11.7,165,2103,0.15,2.42,0.00,0.000,6,0.100,0.023,2590,1806,3672,0,0,0,0,0,0
$GC,2383,-1.50,-146.0,287.1,-9.6,172,2387,0.00,2.45,0.00,0.000,4,0.000,0.032,2590,3345,3671,0,0,0,0,0,0
$GC,2426,-1.61,-146.0,290.9,-8.4,173,2431,0.17,2.42,0.00,0.000,6,0.048,0.025,2497,1816,3672,0,0,0,0,0,0
$GC,2715,-1.42,-146.0,329.4,-13.9,180,2722,0.40,2.65,0.00,0.000,4,0.090,0.043,2587,193,3672,0,0,0,0,0,0
$GC,2813,-1.57,-146.0,338.9,-8.5,182,2818,0.12,2.50,0.00,0.000,6,0.065,0.025,2529,1789,3671,0,0,0,0,0,0
$GC,3099,-1.50,-146.0,367.3,-9.9,189,3104,0.20,2.55,0.00,0.000,4,0.097,0.040,2572,3350,3671,0,0,0,0,0,0
$GC,3128,-1.50,-146.0,370.0,-7.5,189,3132,0.00,2.47,0.00,0.000,6,0.000,0.026,2572,1804,3671,0,0,0,0,0,0
$GC,3384,-1.50,-146.0,390.2,-8.1,196,3388,0.00,2.53,0.00,0.000,4,0.000,0.044,2572,3345,3670,0,0,0,0,0,0
$GC,3417,-1.57,-146.0,393.3,-8.7,196,3421,0.00,2.47,0.00,0.000,6,0.000,0.028,2572,1805,3669,0,0,0,0,0,0
$GC,3667,-1.57,-146.0,416.5,-9.6,202,3671,0.00,2.72,0.00,0.000,4,0.000,0.058,2572,186,3668,0,0,0,0,0,0
$GC,3706,-1.65,-146.0,420.6,-10.6,202,3712,0.12,2.60,0.00,0.000,6,0.066,0.029,2511,1808,3667,0,0,0,0,0,0
$GC,3955,-1.55,-146.0,451.2,-12.2,209,3961,0.22,2.55,0.00,0.000,4,0.097,0.047,2560,3349,3666,0,0,0,0,0,0
$GC,4005,-1.63,-146.0,456.0,-8.8,210,4009,0.00,2.47,0.00,0.000,6,0.000,0.030,2560,1816,3666,0,0,0,0,0,0
$GC,4287,-1.63,-146.0,479.4,-7.9,217,4291,0.00,2.55,0.00,0.000,4,0.000,0.051,2560,3347,3663,0,0,0,0,0,0
$GC,4320,-1.69,-146.0,482.0,-7.6,217,4325,0.12,2.47,0.00,0.000,6,0.066,0.031,2497,1822,3663,0,0,0,0,0,0
$STATE,4526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4526,begin apogee
$GC,4534,-0.31,0.0,503.7,10.7,222,4656,1.50,0.00,118.53,0.873,6,0.085,0.000,2830,1641,3070,0,0,0,0,0,0
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4659,1.28,146.0,507.8,0.0,225,4791,1.45,0.00,122.30,0.857,6,0.024,0.000,3189,1641,2473,0,0,0,0,0,0
$GC,5060,0.85,146.0,474.6,12.7,235,5067,0.47,2.53,0.00,0.000,4,0.120,0.065,3091,181,2465,0,0,0,0,0,0
$GC,5234,0.62,167.3,456.3,9.1,238,5258,0.28,2.38,17.95,0.786,6,0.114,0.028,3035,1645,2387,0,0,0,0,0,0
$GC,5533,0.71,237.1,435.8,6.8,246,5597,0.00,0.00,59.92,0.825,6,0.000,0.000,3035,1645,2102,0,0,0,0,0,0
$GC,5861,0.76,278.2,409.6,8.1,254,5904,0.12,2.53,35.80,0.798,4,0.068,0.054,3087,184,1934,0,0,0,0,0,0
$GC,5959,0.68,278.2,398.1,14.4,256,5964,0.17,2.38,0.00,0.000,6,0.114,0.028,3051,1643,1932,0,0,0,0,0,0
$GC,6241,0.68,278.2,366.1,11.5,263,6246,0.00,2.67,0.00,0.000,4,0.000,0.051,3051,3233,1926,0,0,0,0,0,0
$GC,6288,0.76,278.2,360.4,12.3,264,6292,0.00,2.60,0.00,0.000,6,0.000,0.034,3051,1654,1924,0,0,0,0,0,0
$GC,6571,0.76,278.2,326.8,11.9,271,6575,0.00,2.55,0.00,0.000,4,0.000,0.064,3051,168,1923,0,0,0,0,0,0
$GC,6603,0.76,278.2,322.4,13.3,271,6608,0.00,2.38,0.00,0.000,6,0.000,0.025,3050,1655,1922,0,0,0,0,0,0
$GC,6853,0.76,278.2,294.7,10.9,277,6857,0.00,2.53,0.00,0.000,4,0.000,0.054,3051,169,1921,0,0,0,0,0,0
$GC,6905,0.76,278.2,288.9,11.7,278,6909,0.00,2.33,0.00,0.000,6,0.000,0.025,3050,1633,1920,0,0,0,0,0,0
$GC,7182,0.79,302.7,263.4,8.9,285,7210,0.00,2.67,20.62,0.694,4,0.000,0.042,3050,3229,1832,0,0,0,0,0,0
$GC,7255,0.89,302.7,256.6,10.1,286,7260,0.17,2.62,0.00,0.000,6,0.050,0.031,3126,1625,1830,0,0,0,0,0,0
$GC,7515,0.75,302.7,219.5,14.7,293,7517,0.30,0.00,0.00,0.000,6,0.100,0.000,3062,1625,1829,0,0,0,0,0,0
$GC,7760,0.75,302.7,192.1,11.1,302,7765,0.00,2.62,0.00,0.000,4,0.000,0.035,3063,3229,1827,0,0,0,0,0,0
$GC,7801,0.83,304.9,188.1,9.9,305,7806,0.00,2.60,0.00,0.000,6,0.000,0.029,3062,1626,1826,0,0,0,0,0,0
$GC,8063,0.86,327.5,162.5,9.0,330,8093,0.10,2.42,21.10,0.615,4,0.081,0.045,3105,170,1734,0,0,0,0,0,0
$GC,8100,0.77,327.5,158.5,11.2,333,8110,0.12,2.35,0.00,0.000,6,0.091,0.022,3075,1632,1733,0,0,0,0,0,0
$GC,8362,0.77,327.5,132.6,10.2,358,8366,0.00,2.40,0.00,0.000,4,0.000,0.044,3074,170,1730,0,0,0,0,0,0
$GC,8372,0.77,327.5,131.4,10.5,358,8381,0.00,2.35,0.00,0.000,6,0.000,0.022,3074,1653,1730,0,0,0,0,0,0
$GC,8639,0.88,356.8,106.4,8.7,383,8672,0.00,2.60,26.02,0.568,4,0.000,0.035,3074,3214,1615,0,0,0,0,0,0
$GC,8732,1.03,356.8,96.9,10.2,392,8737,0.20,2.53,0.00,0.000,6,0.048,0.027,3143,1654,1611,0,0,0,0,0,0
$GC,8999,0.95,356.8,60.5,13.7,416,9004,0.17,2.45,0.00,0.000,4,0.111,0.043,3108,167,1610,0,0,0,0,0,0
$GC,9031,0.95,356.8,55.9,13.3,418,9035,0.00,2.33,0.00,0.000,6,0.000,0.021,3108,1653,1610,0,0,0,0,0,0
$GC,9305,0.95,356.8,22.1,13.1,447,9313,0.00,2.55,0.00,0.000,4,0.000,0.035,3108,3219,1610,0,0,0,0,0,0
$GC,9347,0.95,356.8,16.8,12.4,453,9355,0.00,2.53,0.00,0.000,6,0.000,0.026,3108,1659,1609,0,0,0,0,0,0
$STATE,9458,end climb,SURFACE_DEPTH_REACHED
$STATE,9458,begin surface coast
$FINISH,0.7,1.010049
$STATE,9507,end surface coast,CONTROL_FINISHED_OK
$STATE,9507,begin surface
$SM_CCo,9528,50.97,0.407,1,0,1235,450.13
$SM_GC,1.55,0.00,0.00,50.97,0.000,0.000,0.407,410,1830,1235,-11.46,1.70,450.13
$IRIDIUM_FIX,2241.69,-15746.73,150200,121221
$TT8_MAMPS,0.026845
$HUMID,40.98
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.6,14.213
$10V_AH,10.4,11.859
$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,30.775,130.625,422.250,50.975,0.000,26.380,32.797,472.166,0.000,0.000,14.974,1023.466,6014.550,520.533,1881.848,807.414,33.352,1311.118,0.000,1882.532,0.000,0.537,0.000
$DEVICE_MAMPS,172.575,65.195,872.846,407.277,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.005,293.960,371.511,557.637,986.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38335,477
$CAP_FILE_SIZE,118663,0
$CFSIZE,260165632,167481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211110,174046,2250.845,-15743.779,13,1.6,21,10.1