version: 66.06
glider: 148
mission: 9
dive: 60
start: 11 19 110 7 14 9
data:
$ID,148
$MISSION,9
$DIVE,60
$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,-858703.12
$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,44
$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
$GPS1,070236,2250.745,-15752.671,12,1.7,22,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.2
$GPS2,071314,2250.769,-15752.517,10,1.3,10,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.213,-0.149
$KALMAN_X,-37602.6,197.2,86.1,67166.9,-315.2
$KALMAN_Y,21328.1,-37.4,316.8,109657.5,145.1
$MHEAD_RNG_PITCHd_Wd,224.9,4848,-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,-82.85,0.000,2,0.000,0.000,413,1849,3312,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.2,-4.8,11,131,12.25,0.00,-6.60,0.000,6,0.176,0.000,2613,1849,3667,0,0,0,0,0,0
$GC,405,-1.18,-146.0,53.6,-13.7,47,410,0.12,2.42,0.00,0.000,4,0.117,0.031,2640,3357,3669,0,0,0,0,0,0
$GC,436,-1.18,-146.0,57.6,-12.8,49,441,0.00,2.50,0.00,0.000,6,0.000,0.022,2640,1765,3668,0,0,0,0,0,0
$GC,703,-1.18,-146.0,91.0,-13.6,73,707,0.00,2.53,0.00,0.000,4,0.000,0.029,2640,3350,3669,0,0,0,0,0,0
$GC,750,-1.26,-146.0,97.0,-11.4,77,755,0.00,2.47,0.00,0.000,6,0.000,0.022,2640,1776,3669,0,0,0,0,0,0
$GC,1018,-1.39,-146.0,117.5,-7.0,101,1023,0.17,0.00,0.00,0.000,6,0.048,0.000,2553,1777,3670,0,0,0,0,0,0
$GC,1282,-1.26,-146.0,147.0,-12.1,126,1287,0.30,2.50,0.00,0.000,4,0.091,0.029,2622,3353,3670,0,0,0,0,0,0
$GC,1322,-1.40,-146.0,151.2,-7.8,129,1331,0.08,2.50,0.00,0.000,6,0.035,0.024,2562,1791,3670,0,0,0,0,0,0
$GC,1587,-1.32,-146.0,183.5,-13.6,154,1592,0.22,2.58,0.00,0.000,4,0.096,0.038,2611,187,3671,0,0,0,0,0,0
$GC,1616,-1.42,-146.0,187.8,-11.1,156,1625,0.00,2.53,0.00,0.000,6,0.000,0.020,2611,1798,3671,0,0,0,0,0,0
$GC,1882,-1.51,-146.0,211.4,-8.8,173,1884,0.17,0.00,0.00,0.000,6,0.053,0.000,2541,1801,3671,0,0,0,0,0,0
$GC,2127,-1.39,-146.0,242.4,-12.8,179,2132,0.25,2.45,0.00,0.000,4,0.094,0.029,2594,3343,3671,0,0,0,0,0,0
$GC,2141,-1.32,-146.0,244.5,-12.4,179,2146,0.00,2.47,0.00,0.000,6,0.000,0.021,2594,1774,3671,0,0,0,0,0,0
$GC,2412,-1.39,-146.0,268.0,-8.7,186,2416,0.00,2.50,0.00,0.000,4,0.000,0.031,2594,3349,3671,0,0,0,0,0,0
$GC,2455,-1.50,-146.0,271.6,-8.1,187,2459,0.00,2.47,0.00,0.000,6,0.000,0.024,2594,1789,3671,0,0,0,0,0,0
$GC,2742,-1.57,-146.0,297.0,-9.1,194,2744,0.15,0.00,0.00,0.000,6,0.058,0.000,2527,1789,3671,0,0,0,0,0,0
$GC,2987,-1.46,-146.0,327.6,-13.0,200,2992,0.25,2.53,0.00,0.000,4,0.095,0.034,2585,3348,3670,0,0,0,0,0,0
$GC,3010,-1.46,-146.0,330.8,-11.5,200,3015,0.00,2.45,0.00,0.000,6,0.000,0.025,2585,1796,3670,0,0,0,0,0,0
$GC,3270,-1.53,-146.0,353.6,-8.6,207,3274,0.00,2.65,0.00,0.000,4,0.000,0.050,2585,196,3670,0,0,0,0,0,0
$GC,3286,-1.61,-146.0,354.8,-7.5,207,3291,0.15,2.50,0.00,0.000,6,0.058,0.022,2522,1788,3670,0,0,0,0,0,0
$GC,3555,-1.51,-146.0,384.0,-10.8,214,3560,0.22,2.53,0.00,0.000,4,0.099,0.038,2571,3346,3669,0,0,0,0,0,0
$GC,3570,-1.51,-146.0,385.6,-10.4,214,3574,0.00,2.47,0.00,0.000,6,0.000,0.026,2571,1796,3668,0,0,0,0,0,0
$GC,3839,-1.51,-146.0,409.0,-9.0,221,3844,0.00,2.55,0.00,0.000,4,0.000,0.043,2571,3346,3667,0,0,0,0,0,0
$GC,3860,-1.51,-146.0,411.0,-9.5,221,3864,0.00,2.50,0.00,0.000,6,0.000,0.029,2571,1795,3667,0,0,0,0,0,0
$GC,4123,-1.51,-146.0,433.8,-8.2,228,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1795,3665,0,0,0,0,0,0
$GC,4369,-1.57,-146.0,453.1,-7.9,234,4373,0.00,2.58,0.00,0.000,4,0.000,0.046,2571,3347,3663,0,0,0,0,0,0
$GC,4416,-1.67,-146.0,457.1,-7.0,235,4421,0.15,2.50,0.00,0.000,6,0.054,0.031,2486,1804,3663,0,0,0,0,0,0
$GC,4699,-1.49,-146.0,491.0,-12.1,242,4706,0.38,2.75,0.00,0.000,4,0.094,0.064,2569,186,3661,0,0,0,0,0,0
$GC,4739,-1.61,-146.0,495.1,-8.5,242,4745,0.00,2.60,0.00,0.000,6,0.000,0.034,2569,1786,3661,0,0,0,0,0,0
$STATE,4824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4824,begin apogee
$GC,4830,-0.31,0.0,501.9,7.9,245,4951,1.15,0.00,117.95,0.876,6,0.077,0.000,2830,1639,3070,0,0,0,0,0,0
$STATE,4952,end apogee,CONTROL_FINISHED_OK
$STATE,4952,begin climb
$GC,4956,1.28,146.0,506.2,0.0,248,5086,1.40,2.60,121.50,0.860,4,0.024,0.064,3194,177,2474,0,0,0,0,0,0
$GC,5353,0.72,146.0,464.6,15.8,256,5359,0.68,2.40,0.00,0.000,6,0.123,0.028,3059,1656,2466,0,0,0,0,0,0
$GC,5604,0.69,189.1,442.4,8.0,263,5647,0.00,2.58,36.62,0.818,4,0.000,0.058,3059,179,2298,0,0,0,0,0,0
$GC,5712,0.58,215.4,433.2,8.8,265,5741,0.15,2.40,23.45,0.792,6,0.120,0.028,3029,1657,2191,0,0,0,0,0,0
$GC,6030,0.64,258.0,409.5,8.1,273,6069,0.00,0.00,37.55,0.803,6,0.000,0.000,3029,1657,2018,0,0,0,0,0,0
$GC,6314,0.64,261.3,381.2,9.9,280,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1657,2010,0,0,0,0,0,0
$GC,6558,0.75,301.2,360.7,8.2,286,6599,0.15,0.00,38.33,0.785,6,0.060,0.000,3085,1658,1841,0,0,0,0,0,0
$GC,6840,0.68,301.2,322.8,14.2,293,6845,0.17,2.53,0.00,0.000,4,0.110,0.054,3049,186,1835,0,0,0,0,0,0
$GC,6891,0.68,301.2,316.1,13.2,294,6895,0.00,2.38,0.00,0.000,6,0.000,0.025,3049,1665,1834,0,0,0,0,0,0
$GC,7170,0.69,303.9,287.1,9.9,301,7174,0.00,2.58,0.00,0.000,4,0.000,0.043,3050,3218,1832,0,0,0,0,0,0
$GC,7213,0.79,311.2,283.0,9.7,302,7227,0.10,2.55,8.10,0.636,6,0.081,0.034,3094,1669,1801,0,0,0,0,0,0
$GC,7503,0.72,311.2,245.6,13.4,309,7508,0.17,2.55,0.00,0.000,4,0.110,0.056,3057,167,1799,0,0,0,0,0,0
$GC,7542,0.72,311.2,240.0,12.7,309,7548,0.00,2.38,0.00,0.000,6,0.000,0.023,3058,1666,1798,0,0,0,0,0,0
$GC,7792,0.72,311.2,213.3,10.5,316,7796,0.00,2.53,0.00,0.000,4,0.000,0.036,3057,3222,1797,0,0,0,0,0,0
$GC,7831,0.82,311.2,209.1,11.4,316,7836,0.00,2.55,0.00,0.000,6,0.000,0.030,3057,1655,1795,0,0,0,0,0,0
$GC,8087,0.82,311.2,180.2,10.6,335,8092,0.00,2.45,0.00,0.000,4,0.000,0.048,3057,171,1796,0,0,0,0,0,0
$GC,8115,0.82,311.2,177.5,11.9,337,8119,0.00,2.35,0.00,0.000,6,0.000,0.023,3058,1669,1795,0,0,0,0,0,0
$GC,8382,0.82,316.1,151.4,9.8,362,8390,0.10,0.00,5.03,0.469,6,0.082,0.000,3100,1671,1781,0,0,0,0,0,0
$GC,8652,0.82,316.1,119.8,11.3,387,8656,0.00,2.50,0.00,0.000,4,0.000,0.036,3100,3227,1780,0,0,0,0,0,0
$GC,8679,0.82,316.1,116.3,10.5,389,8683,0.00,2.55,0.00,0.000,6,0.000,0.030,3100,1654,1778,0,0,0,0,0,0
$GC,8946,0.82,316.1,87.7,10.1,413,8950,0.00,2.42,0.00,0.000,4,0.000,0.052,3100,174,1778,0,0,0,0,0,0
$GC,8996,0.82,316.1,81.8,10.7,417,9002,0.00,2.33,0.00,0.000,6,0.000,0.021,3100,1668,1778,0,0,0,0,0,0
$GC,9263,0.82,316.1,55.9,10.3,442,9267,0.00,2.47,0.00,0.000,4,0.000,0.033,3100,3220,1778,0,0,0,0,0,0
$GC,9292,0.82,316.1,52.4,10.6,444,9297,0.00,2.50,0.00,0.000,6,0.000,0.027,3100,1661,1778,0,0,0,0,0,0
$GC,9567,0.82,316.1,23.5,10.5,472,9576,0.00,2.53,0.00,0.000,4,0.000,0.032,3100,3218,1778,0,0,0,0,0,0
$GC,9585,0.83,317.5,21.7,10.0,474,9594,0.00,2.50,0.00,0.000,6,0.000,0.026,3100,1667,1778,0,0,0,0,0,0
$STATE,9764,end climb,SURFACE_DEPTH_REACHED
$STATE,9764,begin surface coast
$FINISH,0.5,1.023473
$STATE,9809,end surface coast,CONTROL_FINISHED_OK
$STATE,9809,begin surface
$SM_CCo,9829,68.93,0.431,1,0,1234,450.13
$SM_GC,1.44,0.00,0.00,68.93,0.000,0.000,0.431,412,1830,1234,-11.45,1.67,450.13
$IRIDIUM_FIX,2241.69,-15749.78,130200,040423
$TT8_MAMPS,0.026845
$HUMID,39.84
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.6,11.653
$10V_AH,10.5,9.785
$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,29.725,115.500,388.525,68.925,0.000,24.608,36.587,450.617,0.250,0.000,12.309,1054.697,6264.170,527.428,1920.049,777.655,33.354,1265.423,0.000,1928.601,0.000,0.538,0.000
$DEVICE_MAMPS,175.643,64.428,875.914,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.711,321.500,399.906,618.448,1094.003,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,38366,509
$CAP_FILE_SIZE,114580,0
$CFSIZE,260165632,168542208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191110,100030,2249.852,-15753.738,38,1.6,38,10.1