version: 66.06
glider: 148
mission: 9
dive: 73
start: 11 20 110 21 14 33
data:
$ID,148
$MISSION,9
$DIVE,73
$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,-858948.69
$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,33
$R_STBD_OVSHOOT,42
$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
$GPS1,205307,2254.863,-15751.102,35,1.3,35,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.8
$GPS2,211338,2254.893,-15750.973,11,1.3,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,-0.089
$KALMAN_X,-44360.7,101.4,167.6,76595.7,-554.0
$KALMAN_Y,20879.1,276.5,488.5,117257.5,-447.1
$MHEAD_RNG_PITCHd_Wd,99.8,18808,-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,-82.82,0.000,2,0.000,0.000,407,1758,3338,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.5,-5.6,11,129,11.70,2.55,-6.18,0.000,4,0.157,0.053,2611,180,3667,0,0,0,0,0,0
$GC,140,0.07,-146.0,14.9,-33.0,15,149,1.33,2.53,0.00,0.000,6,0.075,0.020,2913,1771,3668,0,0,0,0,0,0
$GC,443,-0.79,-146.0,37.7,-8.1,56,455,0.77,2.60,0.00,0.000,4,0.059,0.042,2728,192,3669,0,0,0,0,0,0
$GC,769,-1.58,-146.0,64.0,-8.5,85,778,0.68,2.62,0.00,0.000,6,0.029,0.018,2542,1901,3669,0,0,0,0,0,0
$GC,1030,-1.36,-146.0,108.5,-18.2,110,1035,0.25,2.30,0.00,0.000,4,0.097,0.030,2600,3360,3669,0,0,0,0,0,0
$GC,1050,-1.18,-146.0,111.7,-18.8,111,1055,0.20,2.35,0.00,0.000,6,0.100,0.019,2643,1837,3669,0,0,0,0,0,0
$GC,1315,-1.33,-146.0,136.8,-8.2,135,1319,0.15,2.40,0.00,0.000,4,0.057,0.029,2568,3351,3669,0,0,0,0,0,0
$GC,1331,-1.39,-146.0,138.5,-8.7,136,1336,0.12,2.33,0.00,0.000,6,0.107,0.021,2595,1848,3669,0,0,0,0,0,0
$GC,1598,-1.39,-146.0,164.9,-9.6,160,1602,0.00,2.38,0.00,0.000,4,0.000,0.030,2595,3356,3669,0,0,0,0,0,0
$GC,1637,-1.46,-146.0,168.7,-9.0,163,1641,0.00,2.35,0.00,0.000,6,0.000,0.022,2596,1848,3669,0,0,0,0,0,0
$GC,1904,-1.52,-146.0,193.3,-9.5,187,1910,0.12,0.00,0.00,0.000,6,0.066,0.000,2535,1848,3670,0,0,0,0,0,0
$GC,2166,-1.39,-146.0,231.0,-14.8,198,2168,0.28,0.00,0.00,0.000,6,0.091,0.000,2595,1847,3669,0,0,0,0,0,0
$GC,2412,-1.46,-146.0,255.8,-9.4,204,2416,0.00,2.38,0.00,0.000,4,0.000,0.031,2595,3349,3669,0,0,0,0,0,0
$GC,2431,-1.52,-146.0,257.8,-9.2,204,2436,0.12,2.33,0.00,0.000,6,0.064,0.022,2521,1861,3669,0,0,0,0,0,0
$GC,2695,-1.36,-146.0,290.2,-12.2,211,2702,0.35,2.70,0.00,0.000,4,0.088,0.040,2597,187,3669,0,0,0,0,0,0
$GC,2737,-1.54,-146.0,293.7,-7.0,211,2743,0.15,2.62,0.00,0.000,6,0.056,0.022,2529,1863,3669,0,0,0,0,0,0
$GC,2987,-1.44,-146.0,319.7,-10.9,218,2994,0.25,2.72,0.00,0.000,4,0.091,0.041,2588,193,3669,0,0,0,0,0,0
$GC,3052,-1.61,-146.0,325.8,-8.5,219,3057,0.15,2.60,0.00,0.000,6,0.057,0.024,2519,1843,3669,0,0,0,0,0,0
$GC,3321,-1.51,-146.0,359.1,-12.9,226,3326,0.22,2.45,0.00,0.000,4,0.095,0.038,2570,3353,3668,0,0,0,0,0,0
$GC,3340,-1.51,-146.0,361.7,-11.8,226,3345,0.00,2.40,0.00,0.000,6,0.000,0.025,2570,1830,3668,0,0,0,0,0,0
$GC,3605,-1.51,-146.0,388.9,-10.3,233,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,1829,3667,0,0,0,0,0,0
$GC,3848,-1.57,-146.0,411.4,-8.9,239,3852,0.00,2.47,0.00,0.000,4,0.000,0.044,2570,3340,3665,0,0,0,0,0,0
$GC,3886,-1.67,-146.0,414.6,-7.6,239,3892,0.15,2.42,0.00,0.000,6,0.056,0.030,2488,1835,3665,0,0,0,0,0,0
$GC,4137,-1.51,-146.0,444.3,-12.0,246,4145,0.32,2.78,0.00,0.000,4,0.094,0.060,2564,190,3663,0,0,0,0,0,0
$GC,4178,-1.63,-146.0,448.7,-9.8,246,4184,0.00,2.65,0.00,0.000,6,0.000,0.031,2563,1830,3663,0,0,0,0,0,0
$GC,4430,-1.70,-146.0,469.9,-8.5,253,4435,0.15,2.53,0.00,0.000,4,0.059,0.049,2502,3343,3661,0,0,0,0,0,0
$GC,4468,-1.62,-146.0,474.3,-11.3,253,4474,0.20,2.42,0.00,0.000,6,0.097,0.031,2546,1845,3660,0,0,0,0,0,0
$GC,4717,-1.62,-146.0,498.0,-9.4,260,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1845,3659,0,0,0,0,0,0
$STATE,4756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4756,begin apogee
$GC,4763,-0.31,0.0,501.7,9.3,261,4884,1.27,0.00,117.12,0.875,6,0.081,0.000,2831,1644,3070,0,0,0,0,0,0
$STATE,4884,end apogee,CONTROL_FINISHED_OK
$STATE,4884,begin climb
$GC,4887,1.28,146.0,506.7,0.0,264,5017,1.40,2.60,121.40,0.859,4,0.025,0.067,3180,174,2473,0,0,0,0,0,0
$GC,5274,0.76,146.0,471.9,14.0,272,5282,0.57,2.38,0.00,0.000,6,0.130,0.030,3067,1637,2464,0,0,0,0,0,0
$GC,5534,0.71,195.2,450.7,7.8,279,5582,0.00,2.53,41.35,0.828,4,0.000,0.058,3067,185,2273,0,0,0,0,0,0
$GC,5644,0.55,195.2,440.2,10.7,281,5650,0.22,2.38,0.00,0.000,6,0.112,0.028,3022,1647,2269,0,0,0,0,0,0
$GC,5909,0.64,263.9,421.2,6.9,288,5974,0.00,2.58,59.15,0.818,4,0.000,0.058,3021,184,1993,0,0,0,0,0,0
$GC,6002,0.64,263.9,413.2,10.8,290,6006,0.00,2.35,0.00,0.000,6,0.000,0.027,3021,1642,1991,0,0,0,0,0,0
$GC,6279,0.74,282.8,387.4,9.2,297,6304,0.17,2.72,16.83,0.760,4,0.051,0.048,3087,3229,1916,0,0,0,0,0,0
$GC,6329,0.74,282.8,381.4,13.2,298,6334,0.12,2.60,0.00,0.000,6,0.120,0.035,3063,1659,1913,0,0,0,0,0,0
$GC,6612,0.74,282.8,350.2,10.7,305,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1660,1910,0,0,0,0,0,0
$GC,6855,0.74,282.8,324.2,10.7,311,6860,0.00,2.62,0.00,0.000,4,0.000,0.040,3062,3236,1908,0,0,0,0,0,0
$GC,6900,0.82,282.8,319.7,10.7,312,6904,0.00,2.65,0.00,0.000,6,0.000,0.035,3062,1633,1906,0,0,0,0,0,0
$GC,7188,0.82,282.8,288.8,10.9,319,7193,0.00,2.47,0.00,0.000,4,0.000,0.061,3063,174,1905,0,0,0,0,0,0
$GC,7257,0.82,282.8,280.0,12.8,320,7262,0.00,2.30,0.00,0.000,6,0.000,0.023,3063,1646,1904,0,0,0,0,0,0
$GC,7519,0.82,282.8,250.1,11.6,327,7523,0.00,2.50,0.00,0.000,4,0.000,0.052,3062,166,1903,0,0,0,0,0,0
$GC,7542,0.82,282.8,247.0,12.4,327,7546,0.00,2.30,0.00,0.000,6,0.000,0.023,3062,1640,1903,0,0,0,0,0,0
$GC,7801,0.82,282.8,218.7,10.7,334,7805,0.00,2.55,0.00,0.000,4,0.000,0.037,3062,3221,1903,0,0,0,0,0,0
$GC,7825,0.83,292.5,216.4,9.6,334,7838,0.00,2.58,7.50,0.583,6,0.000,0.030,3063,1633,1877,0,0,0,0,0,0
$GC,8090,0.83,294.8,190.2,9.9,346,8094,0.00,2.42,0.00,0.000,4,0.000,0.048,3063,168,1875,0,0,0,0,0,0
$GC,8114,0.83,294.8,187.0,11.4,348,8118,0.00,2.28,0.00,0.000,6,0.000,0.022,3062,1639,1875,0,0,0,0,0,0
$GC,8386,0.84,298.3,160.4,9.9,373,8398,0.00,2.60,6.68,0.521,4,0.000,0.035,3063,3219,1853,0,0,0,0,0,0
$GC,8434,0.94,298.3,154.5,10.7,378,8439,0.17,2.58,0.00,0.000,6,0.051,0.029,3122,1633,1851,0,0,0,0,0,0
$GC,8698,0.85,298.3,119.6,13.9,402,8707,0.17,0.00,0.00,0.000,6,0.111,0.000,3087,1633,1851,0,0,0,0,0,0
$GC,8964,0.86,308.3,91.6,9.6,427,8985,0.00,2.45,10.12,0.518,4,0.000,0.051,3086,175,1812,0,0,0,0,0,0
$GC,9010,0.86,308.3,87.0,10.3,431,9014,0.00,2.28,0.00,0.000,6,0.000,0.021,3086,1641,1812,0,0,0,0,0,0
$GC,9278,0.97,339.6,63.3,8.6,455,9316,0.10,2.62,27.92,0.535,4,0.079,0.034,3142,3223,1683,0,0,0,0,0,0
$GC,9396,0.97,339.6,49.7,12.6,465,9401,0.15,2.55,0.00,0.000,6,0.108,0.028,3111,1641,1679,0,0,0,0,0,0
$GC,9675,0.97,339.6,19.2,11.3,496,9683,0.00,2.42,0.00,0.000,4,0.000,0.044,3111,173,1679,0,0,0,0,0,0
$GC,9698,0.97,339.6,16.2,12.0,499,9707,0.00,2.33,0.00,0.000,6,0.000,0.020,3110,1650,1679,0,0,0,0,0,0
$STATE,9802,end climb,SURFACE_DEPTH_REACHED
$STATE,9802,begin surface coast
$FINISH,0.7,1.011409
$STATE,9843,end surface coast,CONTROL_FINISHED_OK
$STATE,9844,begin surface
$SM_CCo,9865,58.95,0.417,1,0,1234,450.13
$SM_GC,1.47,0.00,0.00,58.95,0.000,0.000,0.417,413,1825,1234,-11.44,1.55,450.13
$IRIDIUM_FIX,2246.36,-15748.90,140200,212158
$TT8_MAMPS,0.026845
$HUMID,40.70
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,13.384
$10V_AH,10.5,11.198
$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,33.000,124.950,408.075,58.950,0.000,86.552,100.897,776.235,0.500,0.000,12.879,1079.883,6223.545,512.127,2084.787,1260.887,33.367,1335.583,0.000,2080.292,0.000,0.540,0.000
$DEVICE_MAMPS,157.235,67.496,875.147,417.248,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.501,323.156,414.823,666.792,1177.443,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,41755,521
$CAP_FILE_SIZE,128334,0
$CFSIZE,260165632,167804928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211110,000106,2254.155,-15749.904,24,1.2,24,10.1