version: 66.06
glider: 148
mission: 9
dive: 58
start: 11 19 110 1 28 59
data:
$ID,148
$MISSION,9
$DIVE,58
$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,-858676.62
$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
$GPS1,011930,2251.946,-15750.384,31,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.4
$GPS2,012803,2252.002,-15750.338,10,1.4,17,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.170,-0.197
$KALMAN_X,-37048.6,51.7,-26.2,70618.3,-552.4
$KALMAN_Y,20148.8,226.5,-344.0,113518.8,663.2
$MHEAD_RNG_PITCHd_Wd,210.7,9210,-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,-82.55,0.000,2,0.000,0.000,413,1860,3281,0,0,0,0,0,0
$GC,106,-1.28,-146.0,3.1,-4.6,11,131,12.15,2.72,-7.38,0.000,4,0.173,0.048,2612,190,3667,0,0,0,0,0,0
$GC,183,-1.28,-146.0,21.0,-13.9,22,192,0.00,2.50,0.00,0.000,6,0.000,0.021,2613,1775,3668,0,0,0,0,0,0
$GC,463,-1.20,-146.0,59.3,-13.9,52,468,0.12,2.53,0.00,0.000,4,0.117,0.031,2639,3349,3669,0,0,0,0,0,0
$GC,508,-1.20,-146.0,65.8,-11.0,55,516,0.00,2.53,0.00,0.000,6,0.000,0.023,2638,1772,3669,0,0,0,0,0,0
$GC,772,-1.26,-146.0,91.3,-8.0,80,776,0.00,2.53,0.00,0.000,4,0.000,0.029,2639,3352,3669,0,0,0,0,0,0
$GC,805,-1.35,-146.0,94.5,-8.9,82,814,0.10,2.50,0.00,0.000,6,0.029,0.023,2547,1779,3669,0,0,0,0,0,0
$GC,1073,-1.20,-146.0,133.4,-14.5,107,1078,0.38,0.00,0.00,0.000,6,0.091,0.000,2633,1778,3670,0,0,0,0,0,0
$GC,1335,-1.33,-146.0,156.6,-8.4,132,1340,0.00,2.47,0.00,0.000,4,0.000,0.029,2633,3349,3670,0,0,0,0,0,0
$GC,1376,-1.54,-146.0,159.9,-7.6,135,1385,0.25,2.50,0.00,0.000,6,0.018,0.024,2512,1785,3670,0,0,0,0,0,0
$GC,1641,-1.32,-146.0,200.4,-16.7,160,1648,0.43,2.55,0.00,0.000,4,0.090,0.038,2608,193,3671,0,0,0,0,0,0
$GC,1688,-1.47,-146.0,206.8,-10.8,161,1693,0.12,2.47,0.00,0.000,6,0.065,0.020,2545,1792,3671,0,0,0,0,0,0
$GC,1976,-1.37,-146.0,243.9,-12.9,168,1981,0.25,2.47,0.00,0.000,4,0.093,0.031,2604,3346,3671,0,0,0,0,0,0
$GC,2007,-1.44,-146.0,247.0,-9.7,168,2011,0.00,2.47,0.00,0.000,6,0.000,0.023,2604,1771,3671,0,0,0,0,0,0
$GC,2261,-1.52,-146.0,269.5,-8.9,175,2266,0.15,2.53,0.00,0.000,4,0.060,0.031,2547,3342,3671,0,0,0,0,0,0
$GC,2285,-1.52,-146.0,272.3,-11.7,175,2290,0.10,2.47,0.00,0.000,6,0.120,0.023,2568,1778,3671,0,0,0,0,0,0
$GC,2546,-1.52,-146.0,298.0,-9.7,182,2551,0.00,2.53,0.00,0.000,4,0.000,0.033,2568,3349,3671,0,0,0,0,0,0
$GC,2579,-1.52,-146.0,301.0,-8.3,182,2583,0.00,2.45,0.00,0.000,6,0.000,0.024,2568,1792,3671,0,0,0,0,0,0
$GC,2829,-1.52,-146.0,323.7,-9.6,188,2833,0.00,2.62,0.00,0.000,4,0.000,0.046,2568,193,3671,0,0,0,0,0,0
$GC,2853,-1.52,-146.0,326.4,-11.6,188,2857,0.00,2.50,0.00,0.000,6,0.000,0.024,2568,1780,3671,0,0,0,0,0,0
$GC,3112,-1.52,-146.0,351.8,-9.5,195,3116,0.00,2.53,0.00,0.000,4,0.000,0.037,2568,3346,3670,0,0,0,0,0,0
$GC,3159,-1.59,-146.0,355.9,-9.0,196,3163,0.00,2.47,0.00,0.000,6,0.000,0.026,2568,1797,3670,0,0,0,0,0,0
$GC,3443,-1.59,-146.0,379.2,-8.4,203,3447,0.00,2.55,0.00,0.000,4,0.000,0.041,2568,3353,3669,0,0,0,0,0,0
$GC,3480,-1.68,-146.0,382.8,-9.5,203,3486,0.15,2.50,0.00,0.000,6,0.057,0.028,2482,1799,3669,0,0,0,0,0,0
$GC,3731,-1.48,-146.0,417.2,-14.4,210,3739,0.40,2.70,0.00,0.000,4,0.094,0.055,2573,193,3667,0,0,0,0,0,0
$GC,3773,-1.58,-146.0,422.1,-10.2,210,3779,0.00,2.58,0.00,0.000,6,0.000,0.028,2572,1803,3667,0,0,0,0,0,0
$GC,4023,-1.66,-146.0,442.6,-8.0,217,4028,0.15,2.55,0.00,0.000,4,0.060,0.046,2515,3347,3665,0,0,0,0,0,0
$GC,4076,-1.66,-146.0,448.0,-9.9,218,4082,0.10,2.47,0.00,0.000,6,0.121,0.031,2537,1815,3665,0,0,0,0,0,0
$GC,4355,-1.66,-146.0,477.3,-10.8,225,4359,0.00,2.75,0.00,0.000,4,0.000,0.064,2537,194,3663,0,0,0,0,0,0
$GC,4388,-1.66,-146.0,481.2,-11.4,225,4393,0.00,2.62,0.00,0.000,6,0.000,0.035,2537,1805,3663,0,0,0,0,0,0
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4601,-0.31,0.0,502.1,9.8,230,4722,1.30,0.00,117.57,0.876,6,0.081,0.000,2830,1629,3069,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4725,1.28,146.0,506.1,0.0,233,4856,1.42,2.60,121.18,0.859,4,0.026,0.066,3187,184,2472,0,0,0,0,0,0
$GC,5072,0.74,146.0,475.3,14.0,240,5082,0.62,2.40,0.00,0.000,6,0.126,0.029,3064,1656,2464,0,0,0,0,0,0
$GC,5326,0.69,193.1,454.5,7.9,247,5371,0.00,2.58,39.50,0.824,4,0.000,0.059,3063,189,2281,0,0,0,0,0,0
$GC,5468,0.55,193.1,440.2,10.5,250,5473,0.20,2.35,0.00,0.000,6,0.112,0.028,3022,1640,2278,0,0,0,0,0,0
$GC,5742,0.62,246.9,419.3,7.5,257,5794,0.00,2.75,46.33,0.815,4,0.000,0.050,3023,3230,2062,0,0,0,0,0,0
$GC,5814,0.71,261.6,413.3,9.4,258,5836,0.12,2.67,14.20,0.746,6,0.069,0.036,3076,1639,2002,0,0,0,0,0,0
$GC,6115,0.64,261.6,375.4,12.9,266,6120,0.17,2.53,0.00,0.000,4,0.111,0.064,3041,171,1995,0,0,0,0,0,0
$GC,6140,0.64,261.6,372.2,12.6,266,6144,0.00,2.35,0.00,0.000,6,0.000,0.026,3041,1634,1993,0,0,0,0,0,0
$GC,6399,0.64,261.6,343.7,11.1,273,6403,0.00,2.65,0.00,0.000,4,0.000,0.045,3041,3220,1991,0,0,0,0,0,0
$GC,6436,0.73,261.6,339.5,11.3,273,6442,0.00,2.65,0.00,0.000,6,0.000,0.034,3041,1621,1990,0,0,0,0,0,0
$GC,6686,0.73,261.6,312.6,10.5,280,6690,0.00,2.47,0.00,0.000,4,0.000,0.064,3041,174,1989,0,0,0,0,0,0
$GC,6728,0.73,261.6,308.2,10.1,281,6732,0.00,2.33,0.00,0.000,6,0.000,0.024,3041,1642,1989,0,0,0,0,0,0
$GC,7016,0.73,268.1,280.9,9.7,288,7027,0.00,2.60,4.43,0.512,4,0.000,0.041,3041,3216,1976,0,0,0,0,0,0
$GC,7090,0.87,278.1,273.8,9.6,289,7109,0.20,2.60,10.62,0.670,6,0.048,0.032,3122,1632,1936,0,0,0,0,0,0
$GC,7352,0.72,278.1,240.0,12.8,296,7354,0.30,0.00,0.00,0.000,6,0.106,0.000,3060,1633,1932,0,0,0,0,0,0
$GC,7597,0.74,291.5,216.8,9.4,302,7617,0.00,2.47,12.98,0.644,4,0.000,0.050,3060,171,1880,0,0,0,0,0,0
$GC,7636,0.74,291.5,212.4,11.8,302,7641,0.00,2.33,0.00,0.000,6,0.000,0.022,3059,1639,1879,0,0,0,0,0,0
$GC,7890,0.74,291.5,184.3,11.1,318,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1642,1877,0,0,0,0,0,0
$GC,8147,0.76,306.7,157.8,9.3,342,8169,0.00,2.60,14.07,0.596,4,0.000,0.033,3060,3215,1818,0,0,0,0,0,0
$GC,8203,0.87,306.7,152.2,10.1,347,8210,0.12,2.58,0.00,0.000,6,0.067,0.028,3115,1630,1815,0,0,0,0,0,0
$GC,8467,0.87,306.7,117.1,13.6,372,8468,0.12,0.00,0.00,0.000,6,0.121,0.000,3090,1630,1815,0,0,0,0,0,0
$GC,8720,0.89,318.4,92.6,9.5,396,8736,0.00,2.45,10.70,0.522,4,0.000,0.046,3090,177,1771,0,0,0,0,0,0
$GC,8777,0.89,318.4,87.1,10.4,401,8781,0.00,2.28,0.00,0.000,6,0.000,0.021,3090,1634,1771,0,0,0,0,0,0
$GC,9044,0.91,335.4,62.2,9.2,425,9069,0.00,2.60,16.15,0.517,4,0.000,0.031,3090,3219,1700,0,0,0,0,0,0
$GC,9110,1.03,341.4,56.1,9.8,430,9124,0.15,2.58,6.32,0.436,6,0.057,0.028,3158,1626,1677,0,0,0,0,0,0
$GC,9393,0.87,341.4,16.1,14.2,462,9402,0.30,2.40,0.00,0.000,4,0.100,0.042,3091,175,1676,0,0,0,0,0,0
$GC,9424,0.81,341.4,11.4,14.9,466,9433,0.00,2.30,0.00,0.000,6,0.000,0.022,3091,1630,1676,0,0,0,0,0,0
$STATE,9490,end climb,SURFACE_DEPTH_REACHED
$STATE,9491,begin surface coast
$FINISH,0.5,1.023569
$STATE,9536,end surface coast,CONTROL_FINISHED_OK
$STATE,9537,begin surface
$SM_CCo,9558,57.55,0.419,1,0,1234,450.13
$SM_GC,1.51,0.00,0.00,57.55,0.000,0.000,0.419,417,1864,1234,-11.42,2.66,450.13
$IRIDIUM_FIX,2244.02,-15751.06,120200,222226
$TT8_MAMPS,0.026845
$HUMID,40.07
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.6,11.400
$10V_AH,10.5,9.568
$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,30.700,131.650,414.050,57.550,0.000,30.520,37.766,311.344,0.250,0.000,18.689,1023.482,6048.710,528.297,1892.467,645.186,33.357,1319.301,0.000,1887.282,0.000,0.537,0.000
$DEVICE_MAMPS,173.342,65.962,875.914,418.782,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.545,301.371,375.995,578.862,1021.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,38402,483
$CAP_FILE_SIZE,116094,0
$CFSIZE,260165632,168648704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191110,041037,2251.408,-15751.522,37,1.2,37,10.1