version: 66.06
glider: 148
mission: 9
dive: 82
start: 11 21 110 23 36 30
data:
$ID,148
$MISSION,9
$DIVE,82
$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,-859145.88
$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,42
$R_STBD_OVSHOOT,38
$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
$GPS1,232443,2248.756,-15742.110,7,1.6,12,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.6
$GPS2,233536,2248.721,-15742.064,14,1.2,30,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,0.320
$KALMAN_X,-47311.6,282.7,196.2,94671.3,-515.1
$KALMAN_Y,21677.9,501.5,-64.9,105359.8,-809.7
$MHEAD_RNG_PITCHd_Wd,359.3,17186,-13.1,-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,-1.00,-146.0,0.0,0.0,0,103,0.00,0.00,-82.75,0.000,2,0.000,0.000,410,1871,3324,0,0,0,0,0,0
$GC,107,-1.00,-146.0,3.5,-5.5,11,132,11.90,2.38,-6.30,0.000,4,0.153,0.041,2673,3361,3668,0,0,0,0,0,0
$GC,190,-1.00,-146.0,21.8,-10.1,23,199,0.00,2.55,0.00,0.000,6,0.000,0.024,2673,1776,3669,0,0,0,0,0,0
$GC,472,-0.93,-146.0,49.6,-9.8,54,477,0.10,2.53,0.00,0.000,4,0.121,0.031,2694,3354,3669,0,0,0,0,0,0
$GC,517,-0.99,-146.0,54.0,-8.3,57,522,0.00,2.47,0.00,0.000,6,0.000,0.022,2694,1777,3669,0,0,0,0,0,0
$GC,784,-0.99,-146.0,76.4,-8.3,81,789,0.00,2.53,0.00,0.000,4,0.000,0.029,2694,3361,3670,0,0,0,0,0,0
$GC,803,-0.99,-146.0,78.1,-8.0,82,808,0.00,2.47,0.00,0.000,6,0.000,0.021,2694,1777,3670,0,0,0,0,0,0
$GC,1066,-1.06,-146.0,98.3,-6.4,106,1071,0.12,2.53,0.00,0.000,4,0.064,0.030,2613,3360,3670,0,0,0,0,0,0
$GC,1107,-0.93,-146.0,101.9,-10.6,109,1116,0.38,2.45,0.00,0.000,6,0.077,0.022,2698,1789,3670,0,0,0,0,0,0
$GC,1371,-1.06,-146.0,119.4,-6.3,134,1373,0.12,0.00,0.00,0.000,6,0.062,0.000,2620,1789,3671,0,0,0,0,0,0
$GC,1629,-0.94,-146.0,144.9,-10.1,158,1638,0.32,0.00,0.00,0.000,6,0.079,0.000,2692,1789,3671,0,0,0,0,0,0
$GC,1892,-1.09,-146.0,160.4,-4.9,183,1897,0.12,2.50,0.00,0.000,4,0.062,0.030,2611,3360,3672,0,0,0,0,0,0
$GC,1944,-1.09,-146.0,164.4,-8.2,187,1950,0.22,2.47,0.00,0.000,6,0.082,0.023,2663,1792,3671,0,0,0,0,0,0
$GC,2206,-1.17,-146.0,180.1,-6.2,212,2211,0.00,2.47,0.00,0.000,4,0.000,0.030,2663,3357,3672,0,0,0,0,0,0
$GC,2238,-1.27,-146.0,182.4,-6.7,214,2244,0.17,2.45,0.00,0.000,6,0.048,0.023,2559,1803,3672,0,0,0,0,0,0
$GC,2516,-1.02,-146.0,214.8,-11.8,232,2523,0.50,2.58,0.00,0.000,4,0.080,0.038,2674,197,3672,0,0,0,0,0,0
$GC,2539,-1.02,-146.0,217.0,-8.3,232,2544,0.00,2.50,0.00,0.000,6,0.000,0.020,2675,1823,3672,0,0,0,0,0,0
$GC,2803,-1.15,-146.0,230.4,-4.8,239,2808,0.10,2.42,0.00,0.000,4,0.077,0.031,2607,3357,3672,0,0,0,0,0,0
$GC,2880,-1.15,-146.0,236.0,-7.3,240,2885,0.17,2.42,0.00,0.000,6,0.087,0.024,2649,1816,3671,0,0,0,0,0,0
$GC,3135,-1.15,-146.0,250.7,-5.7,247,3139,0.00,2.45,0.00,0.000,4,0.000,0.031,2649,3361,3671,0,0,0,0,0,0
$GC,3163,-1.22,-146.0,252.3,-5.7,247,3167,0.00,2.42,0.00,0.000,6,0.000,0.024,2649,1827,3671,0,0,0,0,0,0
$GC,3419,-1.22,-146.0,265.4,-5.3,254,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1827,3671,0,0,0,0,0,0
$GC,3661,-1.29,-146.0,281.8,-7.1,260,3666,0.12,2.45,0.00,0.000,4,0.064,0.033,2582,3351,3671,0,0,0,0,0,0
$GC,3685,-1.21,-146.0,284.3,-11.3,260,3690,0.25,2.40,0.00,0.000,6,0.081,0.024,2640,1823,3671,0,0,0,0,0,0
$GC,3947,-1.21,-146.0,303.6,-6.9,267,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1823,3670,0,0,0,0,0,0
$GC,4189,-1.21,-146.0,317.1,-5.5,273,4193,0.00,2.45,0.00,0.000,4,0.000,0.035,2640,3351,3669,0,0,0,0,0,0
$GC,4232,-1.31,-146.0,319.6,-5.9,274,4237,0.10,2.40,0.00,0.000,6,0.076,0.025,2574,1839,3669,0,0,0,0,0,0
$GC,4521,-1.16,-146.0,344.2,-8.5,281,4528,0.30,2.70,0.00,0.000,4,0.084,0.046,2642,199,3668,0,0,0,0,0,0
$GC,4538,-1.16,-146.0,345.7,-7.6,281,4542,0.00,2.58,0.00,0.000,6,0.000,0.025,2642,1842,3668,0,0,0,0,0,0
$GC,4808,-1.24,-146.0,361.7,-6.1,288,4812,0.00,2.45,0.00,0.000,4,0.000,0.038,2642,3358,3667,0,0,0,0,0,0
$GC,4846,-1.36,-146.0,364.2,-6.7,288,4852,0.17,2.42,0.00,0.000,6,0.047,0.027,2545,1842,3667,0,0,0,0,0,0
$GC,5096,-1.16,-146.0,388.9,-10.0,295,5103,0.43,2.72,0.00,0.000,4,0.083,0.050,2643,201,3665,0,0,0,0,0,0
$GC,5144,-1.33,-146.0,392.3,-6.1,296,5149,0.15,2.58,0.00,0.000,6,0.054,0.025,2571,1837,3665,0,0,0,0,0,0
$GC,5432,-1.22,-146.0,413.9,-7.5,303,5437,0.25,2.47,0.00,0.000,4,0.085,0.042,2633,3347,3663,0,0,0,0,0,0
$GC,5462,-1.30,-146.0,415.8,-5.7,303,5467,0.00,2.42,0.00,0.000,6,0.000,0.028,2633,1828,3663,0,0,0,0,0,0
$GC,5717,-1.37,-146.0,431.1,-6.2,310,5722,0.15,2.53,0.00,0.000,4,0.056,0.045,2564,3349,3662,0,0,0,0,0,0
$GC,5751,-1.26,-146.0,434.1,-9.3,310,5756,0.28,2.40,0.00,0.000,6,0.079,0.029,2627,1846,3662,0,0,0,0,0,0
$GC,6002,-1.26,-146.0,448.8,-5.7,316,6006,0.00,2.47,0.00,0.000,4,0.000,0.047,2627,3349,3660,0,0,0,0,0,0
$GC,6032,-1.33,-146.0,450.7,-5.9,316,6036,0.00,2.40,0.00,0.000,6,0.000,0.031,2627,1853,3660,0,0,0,0,0,0
$GC,6286,-1.40,-146.0,465.7,-6.0,323,6288,0.12,0.00,0.00,0.000,6,0.065,0.000,2568,1853,3658,0,0,0,0,0,0
$GC,6532,-1.29,-146.0,487.9,-9.6,329,6539,0.22,2.83,0.00,0.000,4,0.088,0.064,2619,204,3656,0,0,0,0,0,0
$GC,6555,-1.29,-146.0,490.2,-9.7,329,6559,0.00,2.65,0.00,0.000,6,0.000,0.033,2619,1838,3656,0,0,0,0,0,0
$STATE,6694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6694,begin apogee
$GC,6701,-0.31,0.0,501.3,7.8,333,6822,0.93,0.00,117.12,0.890,6,0.069,0.000,2833,1648,3070,0,0,0,0,0,0
$STATE,6824,end apogee,CONTROL_FINISHED_OK
$STATE,6824,begin climb
$GC,6826,1.00,146.0,507.4,0.0,336,6956,1.15,2.60,122.07,0.868,4,0.025,0.066,3134,188,2473,0,0,0,0,0,0
$GC,7221,0.42,146.0,475.2,12.7,344,7228,0.68,2.38,0.00,0.000,6,0.110,0.029,2994,1643,2464,0,0,0,0,0,0
$GC,7473,0.52,295.2,458.9,5.9,351,7607,0.00,2.55,127.30,0.844,4,0.000,0.058,2994,188,1865,0,0,0,0,0,0
$GC,7623,0.60,354.5,448.8,8.4,354,7683,0.15,2.38,52.50,0.817,6,0.059,0.028,3053,1647,1623,0,0,0,0,0,0
$GC,7967,0.44,354.5,408.5,11.9,363,7975,0.25,2.70,0.00,0.000,4,0.093,0.051,2995,3229,1613,0,0,0,0,0,0
$GC,8036,0.53,367.2,401.7,9.7,364,8052,0.00,2.58,10.55,0.716,6,0.000,0.036,2995,1674,1572,0,0,0,0,0,0
$GC,8302,0.57,395.8,377.0,9.2,371,8335,0.12,2.72,26.30,0.775,4,0.067,0.050,3048,3222,1455,0,0,0,0,0,0
$GC,8362,0.45,395.8,370.2,13.3,372,8369,0.22,2.60,0.00,0.000,6,0.091,0.035,3000,1655,1452,0,0,0,0,0,0
$GC,8637,0.46,406.1,342.4,9.8,379,8654,0.00,2.72,9.68,0.683,4,0.000,0.044,3000,3233,1414,0,0,0,0,0,0
$GC,8707,0.60,428.8,335.8,9.4,380,8736,0.12,2.60,21.33,0.741,6,0.068,0.035,3054,1671,1321,0,0,0,0,0,0
$GC,9020,0.48,428.8,295.5,13.4,388,9025,0.22,2.62,0.00,0.000,4,0.095,0.044,3006,3230,1318,0,0,0,0,0,0
$GC,9058,0.56,428.8,290.3,12.1,388,9064,0.00,2.55,0.00,0.000,6,0.000,0.032,3006,1678,1316,0,0,0,0,0,0
$GC,9308,0.56,429.3,264.3,10.0,395,9312,0.00,2.58,0.00,0.000,4,0.000,0.038,3006,3233,1316,0,0,0,0,0,0
$GC,9347,0.65,434.6,260.8,9.9,395,9360,0.15,2.53,5.47,0.548,6,0.056,0.031,3070,1690,1298,0,0,0,0,0,0
$GC,9644,0.51,434.6,219.6,14.2,403,9649,0.25,2.55,0.00,0.000,4,0.094,0.037,3013,3234,1297,0,0,0,0,0,0
$GC,9689,0.60,434.6,214.3,10.3,404,9694,0.00,2.50,0.00,0.000,6,0.000,0.030,3013,1698,1295,0,0,0,0,0,0
$GC,9949,0.60,434.6,188.0,10.2,417,9954,0.00,2.53,0.00,0.000,4,0.000,0.035,3013,3242,1295,0,0,0,0,0,0
$GC,9988,0.71,440.1,184.0,9.9,420,10001,0.12,2.50,6.15,0.523,6,0.028,0.028,3071,1716,1275,0,0,0,0,0,0
$GC,10262,0.59,440.1,147.6,13.2,446,10267,0.20,2.50,0.00,0.000,4,0.094,0.034,3028,3244,1275,0,0,0,0,0,0
$GC,10281,0.51,440.1,145.5,13.5,447,10285,0.00,2.45,0.00,0.000,6,0.000,0.025,3028,1703,1274,0,0,0,0,0,0
$GC,10550,0.55,472.1,119.7,9.1,471,10592,0.00,2.55,30.33,0.588,4,0.000,0.033,3028,3240,1143,0,0,0,0,0,0
$GC,10630,0.72,503.1,111.2,9.2,478,10663,0.10,2.50,26.98,0.568,6,0.027,0.028,3070,1717,1019,0,0,0,0,0,0
$GC,10921,0.72,503.1,77.1,11.8,505,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1717,1016,0,0,0,0,0,0
$GC,11177,0.72,503.1,46.5,11.9,529,11182,0.00,2.47,0.00,0.000,4,0.000,0.035,3070,3244,1016,0,0,0,0,0,0
$GC,11219,0.72,503.1,41.4,12.8,532,11223,0.00,2.42,0.00,0.000,6,0.000,0.025,3070,1717,1013,0,0,0,0,0,0
$GC,11511,0.72,503.1,6.5,12.5,571,11520,0.00,2.47,0.00,0.000,4,0.000,0.033,3070,3236,1013,0,0,0,0,0,0
$STATE,11533,end climb,SURFACE_DEPTH_REACHED
$STATE,11533,begin surface coast
$FINISH,1.3,1.023444
$STATE,11553,end surface coast,CONTROL_FINISHED_OK
$STATE,11553,begin surface
$SM_CCo,11636,0.00,0.000,0,0,1011,505.07
$SM_GC,1.49,10.75,0.00,0.00,0.025,0.000,0.000,411,1746,1011,-11.37,-0.68,505.07
$IRIDIUM_FIX,2241.69,-15741.52,150200,202027
$TT8_MAMPS,0.026845
$HUMID,42.40
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.6,14.625
$10V_AH,10.4,12.196
$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,32.225,156.150,555.775,0.000,0.000,29.914,34.884,450.732,0.250,0.000,32.092,1215.309,7432.961,552.858,2275.207,812.474,33.356,1511.900,0.000,2252.781,0.000,0.538,0.000
$DEVICE_MAMPS,152.633,65.962,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.571,358.999,446.770,664.106,1174.822,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,44751,577
$CAP_FILE_SIZE,142972,0
$CFSIZE,260165632,167284736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,025157,2249.741,-15742.181,33,2.3,52,10.1