version: 66.06
glider: 148
mission: 9
dive: 75
start: 11 21 110 3 14 51
data:
$ID,148
$MISSION,9
$DIVE,75
$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,-858984.88
$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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,030225,2253.463,-15748.813,36,1.9,36,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-66.2
$GPS2,031356,2253.438,-15748.826,14,1.1,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.147
$KALMAN_X,-45389.3,184.6,-142.4,81545.4,-535.7
$KALMAN_Y,20870.8,161.6,-564.2,115738.6,340.7
$MHEAD_RNG_PITCHd_Wd,114.3,14260,-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,-82.85,0.000,2,0.000,0.000,412,1835,3296,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.0,-4.2,11,132,12.15,2.70,-6.90,0.000,4,0.173,0.052,2615,182,3668,0,0,0,0,0,0
$GC,166,-1.20,-146.0,19.6,-17.6,19,175,0.08,2.50,0.00,0.000,6,0.088,0.021,2635,1758,3669,0,0,0,0,0,0
$GC,444,-1.20,-146.0,54.2,-12.3,50,448,0.00,2.53,0.00,0.000,4,0.000,0.030,2636,3353,3669,0,0,0,0,0,0
$GC,498,-1.26,-146.0,60.4,-11.5,54,502,0.00,2.47,0.00,0.000,6,0.000,0.022,2636,1775,3669,0,0,0,0,0,0
$GC,761,-1.26,-146.0,90.4,-10.7,78,765,0.00,2.50,0.00,0.000,4,0.000,0.029,2636,3353,3669,0,0,0,0,0,0
$GC,828,-1.38,-146.0,96.4,-7.3,84,833,0.15,2.45,0.00,0.000,6,0.053,0.023,2549,1791,3669,0,0,0,0,0,0
$GC,1092,-1.19,-146.0,131.6,-13.7,108,1104,0.43,2.55,0.00,0.000,4,0.092,0.042,2634,194,3670,0,0,0,0,0,0
$GC,1128,-1.36,-146.0,135.4,-9.9,111,1133,0.12,2.53,0.00,0.000,6,0.064,0.019,2564,1822,3670,0,0,0,0,0,0
$GC,1390,-1.28,-146.0,163.9,-11.5,135,1395,0.28,2.40,0.00,0.000,4,0.091,0.029,2625,3353,3670,0,0,0,0,0,0
$GC,1421,-1.39,-146.0,167.2,-8.7,137,1427,0.12,2.45,0.00,0.000,6,0.062,0.022,2530,1798,3671,0,0,0,0,0,0
$GC,1715,-1.22,-146.0,207.2,-14.9,162,1722,0.43,2.58,0.00,0.000,4,0.088,0.038,2628,191,3671,0,0,0,0,0,0
$GC,1745,-1.34,-146.0,211.3,-10.7,162,1750,0.00,2.53,0.00,0.000,6,0.000,0.021,2628,1816,3671,0,0,0,0,0,0
$GC,2000,-1.50,-146.0,229.8,-6.9,169,2005,0.22,2.42,0.00,0.000,4,0.042,0.030,2529,3349,3671,0,0,0,0,0,0
$GC,2045,-1.41,-146.0,234.1,-10.1,170,2051,0.28,2.45,0.00,0.000,6,0.087,0.024,2591,1797,3671,0,0,0,0,0,0
$GC,2333,-1.41,-146.0,257.4,-7.9,177,2337,0.00,2.45,0.00,0.000,4,0.000,0.031,2591,3343,3671,0,0,0,0,0,0
$GC,2352,-1.41,-146.0,258.9,-7.9,177,2356,0.00,2.42,0.00,0.000,6,0.000,0.023,2591,1796,3671,0,0,0,0,0,0
$GC,2617,-1.41,-146.0,282.2,-9.2,184,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1796,3670,0,0,0,0,0,0
$GC,2860,-1.48,-146.0,304.9,-9.5,190,2864,0.00,2.60,0.00,0.000,4,0.000,0.046,2591,198,3670,0,0,0,0,0,0
$GC,2898,-1.58,-146.0,309.0,-10.6,190,2905,0.15,2.53,0.00,0.000,6,0.056,0.024,2524,1801,3670,0,0,0,0,0,0
$GC,3148,-1.47,-146.0,341.8,-13.3,197,3153,0.25,2.50,0.00,0.000,4,0.094,0.038,2582,3349,3670,0,0,0,0,0,0
$GC,3195,-1.58,-146.0,346.9,-9.5,198,3200,0.10,2.42,0.00,0.000,6,0.077,0.026,2517,1810,3670,0,0,0,0,0,0
$GC,3480,-1.45,-146.0,383.2,-13.0,205,3487,0.28,2.67,0.00,0.000,4,0.093,0.051,2579,192,3668,0,0,0,0,0,0
$GC,3506,-1.45,-146.0,386.7,-11.4,205,3510,0.00,2.55,0.00,0.000,6,0.000,0.025,2579,1798,3668,0,0,0,0,0,0
$GC,3767,-1.53,-146.0,409.9,-8.9,212,3771,0.00,2.50,0.00,0.000,4,0.000,0.043,2579,3347,3667,0,0,0,0,0,0
$GC,3832,-1.67,-146.0,415.0,-7.6,213,3837,0.17,2.47,0.00,0.000,6,0.048,0.028,2490,1810,3667,0,0,0,0,0,0
$GC,4097,-1.50,-146.0,443.2,-10.8,220,4104,0.35,2.72,0.00,0.000,4,0.094,0.058,2568,189,3665,0,0,0,0,0,0
$GC,4139,-1.61,-146.0,446.9,-7.8,220,4144,0.00,2.60,0.00,0.000,6,0.000,0.031,2568,1801,3665,0,0,0,0,0,0
$GC,4388,-1.61,-146.0,465.5,-7.6,227,4393,0.00,2.55,0.00,0.000,4,0.000,0.049,2568,3350,3663,0,0,0,0,0,0
$GC,4433,-1.71,-146.0,469.4,-8.7,228,4438,0.17,2.50,0.00,0.000,6,0.051,0.031,2486,1810,3663,0,0,0,0,0,0
$STATE,4678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4678,begin apogee
$GC,4683,-0.31,0.0,500.4,12.9,234,4806,1.58,0.00,118.07,0.870,6,0.090,0.000,2830,1644,3070,0,0,0,0,0,0
$STATE,4806,end apogee,CONTROL_FINISHED_OK
$STATE,4806,begin climb
$GC,4809,1.28,146.0,505.4,0.0,237,4939,1.40,2.78,121.30,0.854,4,0.025,0.054,3177,3226,2473,0,0,0,0,0,0
$GC,5019,0.90,146.0,496.1,12.6,241,5026,0.40,2.62,0.00,0.000,6,0.122,0.038,3099,1659,2467,0,0,0,0,0,0
$GC,5269,0.70,146.0,470.5,10.1,248,5274,0.22,2.62,0.00,0.000,4,0.117,0.073,3054,171,2464,0,0,0,0,0,0
$GC,5326,0.56,158.8,465.0,9.4,249,5343,0.15,2.40,10.60,0.738,6,0.124,0.028,3025,1649,2421,0,0,0,0,0,0
$GC,5605,0.64,222.6,445.3,7.1,256,5663,0.00,0.00,55.72,0.828,6,0.000,0.000,3025,1649,2162,0,0,0,0,0,0
$GC,5886,0.69,259.1,422.6,8.3,263,5921,0.10,0.00,32.35,0.798,6,0.080,0.000,3067,1649,2013,0,0,0,0,0,0
$GC,6131,0.69,259.1,394.6,11.8,269,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1649,2005,0,0,0,0,0,0
$GC,6374,0.69,259.1,366.0,11.6,275,6378,0.00,2.53,0.00,0.000,4,0.000,0.056,3067,170,2003,0,0,0,0,0,0
$GC,6406,0.60,259.1,362.0,12.6,275,6411,0.17,2.40,0.00,0.000,6,0.113,0.026,3032,1659,2002,0,0,0,0,0,0
$GC,6656,0.68,272.4,338.4,9.4,281,6673,0.00,2.67,10.88,0.696,4,0.000,0.048,3032,3226,1959,0,0,0,0,0,0
$GC,6692,0.79,285.7,335.1,9.4,281,6714,0.17,2.62,13.80,0.713,6,0.053,0.033,3102,1646,1904,0,0,0,0,0,0
$GC,6994,0.68,285.7,298.4,12.1,289,7002,0.25,2.62,0.00,0.000,4,0.104,0.041,3046,3223,1898,0,0,0,0,0,0
$GC,7017,0.70,303.7,295.5,9.2,289,7039,0.00,2.60,16.33,0.705,6,0.000,0.033,3046,1648,1832,0,0,0,0,0,0
$GC,7283,0.71,312.8,270.1,9.6,296,7299,0.00,2.53,9.10,0.637,4,0.000,0.058,3046,167,1793,0,0,0,0,0,0
$GC,7343,0.78,312.8,263.9,10.9,297,7348,0.10,2.38,0.00,0.000,6,0.080,0.024,3091,1660,1792,0,0,0,0,0,0
$GC,7616,0.78,312.8,228.0,13.4,304,7620,0.00,2.55,0.00,0.000,4,0.000,0.039,3091,3222,1790,0,0,0,0,0,0
$GC,7653,0.78,312.8,223.2,12.2,304,7658,0.00,2.58,0.00,0.000,6,0.000,0.031,3090,1651,1788,0,0,0,0,0,0
$GC,7905,0.78,312.8,193.3,11.7,314,7910,0.00,2.45,0.00,0.000,4,0.000,0.048,3091,173,1788,0,0,0,0,0,0
$GC,7944,0.71,312.8,188.1,12.9,317,7950,0.17,2.30,0.00,0.000,6,0.107,0.024,3055,1642,1787,0,0,0,0,0,0
$GC,8208,0.78,312.8,162.3,10.3,342,8212,0.00,2.58,0.00,0.000,4,0.000,0.035,3054,3231,1787,0,0,0,0,0,0
$GC,8272,0.94,312.8,155.0,11.3,348,8278,0.20,2.55,0.00,0.000,6,0.046,0.029,3131,1641,1785,0,0,0,0,0,0
$GC,8533,0.82,312.8,117.2,14.9,372,8535,0.25,0.00,0.00,0.000,6,0.104,0.000,3079,1641,1785,0,0,0,0,0,0
$GC,8790,0.96,351.2,92.1,8.3,396,8832,0.12,2.65,33.08,0.566,4,0.067,0.035,3136,3219,1637,0,0,0,0,0,0
$GC,8849,0.96,351.2,85.8,12.2,401,8854,0.12,2.53,0.00,0.000,6,0.114,0.028,3110,1668,1635,0,0,0,0,0,0
$GC,9113,0.96,351.2,53.7,11.7,425,9117,0.00,2.45,0.00,0.000,4,0.000,0.044,3110,169,1633,0,0,0,0,0,0
$GC,9134,0.96,351.2,50.5,12.7,426,9143,0.00,2.38,0.00,0.000,6,0.000,0.021,3110,1675,1633,0,0,0,0,0,0
$GC,9412,0.96,351.2,17.6,11.5,459,9421,0.00,2.53,0.00,0.000,4,0.000,0.036,3110,3220,1633,0,0,0,0,0,0
$GC,9430,0.96,351.2,15.1,13.1,461,9438,0.00,2.50,0.00,0.000,6,0.000,0.026,3110,1676,1632,0,0,0,0,0,0
$STATE,9527,end climb,SURFACE_DEPTH_REACHED
$STATE,9527,begin surface coast
$FINISH,0.6,1.023501
$STATE,9576,end surface coast,CONTROL_FINISHED_OK
$STATE,9576,begin surface
$SM_CCo,9596,52.50,0.409,1,0,1234,450.13
$SM_GC,1.38,0.00,0.00,52.50,0.000,0.000,0.409,412,1836,1234,-11.45,1.87,450.13
$IRIDIUM_FIX,2246.36,-15751.06,150200,000057
$TT8_MAMPS,0.026845
$HUMID,41.53
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.90
$XPDR_PINGS,4
$24V_AH,23.6,13.652
$10V_AH,10.4,11.423
$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,32.050,131.725,421.225,52.500,0.000,30.265,43.151,484.742,1.000,0.000,16.189,1018.307,6129.590,546.264,1827.570,825.452,33.364,1291.633,0.000,1829.766,0.000,0.538,0.000
$DEVICE_MAMPS,172.575,72.865,869.778,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.525,294.627,372.052,580.584,1026.230,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38315,483
$CAP_FILE_SIZE,118635,0
$CFSIZE,260165632,167706624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211110,055655,2252.727,-15747.777,29,1.3,30,10.1