version: 66.06
glider: 148
mission: 9
dive: 509
start: 1 13 111 6 57 8
data:
$ID,148
$MISSION,9
$DIVE,509
$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,185
$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,380
$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,-869204.12
$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,2860
$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,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$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
$GPS1,064034,2247.052,-15758.985,132,1.5,132,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.8
$GPS2,065614,2247.102,-15758.957,19,1.5,19,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,0.018
$KALMAN_X,-101971.1,82.5,197.8,120450.6,-901.5
$KALMAN_Y,-135329.0,-100.8,-470.1,260371.5,-304.6
$MHEAD_RNG_PITCHd_Wd,264.1,6906,-15.9,-9.009
$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,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.60,0.000,2,0.000,0.000,407,1827,3328,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.5,-3.8,10,125,11.70,2.67,-7.10,0.000,4,0.158,0.050,2596,205,3717,0,0,0,0,0,0
$GC,196,-1.17,-146.0,25.9,-12.6,24,205,0.00,2.47,0.00,0.000,6,0.000,0.021,2595,1753,3718,0,0,0,0,0,0
$GC,476,-1.03,-146.0,65.8,-12.3,51,481,0.17,2.62,0.00,0.000,4,0.106,0.030,2632,3377,3719,0,0,0,0,0,0
$GC,542,-1.03,-146.0,73.9,-9.8,56,547,0.00,2.53,0.00,0.000,6,0.000,0.022,2632,1793,3719,0,0,0,0,0,0
$GC,806,-1.03,-146.0,102.0,-9.9,80,811,0.00,2.55,0.00,0.000,4,0.000,0.028,2632,3380,3719,0,0,0,0,0,0
$GC,836,-1.03,-146.0,105.2,-8.8,82,845,0.00,2.53,0.00,0.000,6,0.000,0.023,2632,1812,3719,0,0,0,0,0,0
$GC,1104,-1.10,-146.0,126.5,-8.8,107,1108,0.00,2.60,0.00,0.000,4,0.000,0.039,2632,212,3719,0,0,0,0,0,0
$GC,1133,-1.22,-146.0,129.6,-10.4,109,1138,0.17,2.50,0.00,0.000,6,0.048,0.018,2545,1841,3719,0,0,0,0,0,0
$GC,1398,-1.05,-146.0,168.4,-14.7,133,1403,0.40,0.00,0.00,0.000,6,0.081,0.000,2630,1844,3720,0,0,0,0,0,0
$GC,1663,-1.15,-146.0,192.9,-8.1,158,1667,0.00,2.42,0.00,0.000,4,0.000,0.029,2630,3378,3720,0,0,0,0,0,0
$GC,1702,-1.31,-146.0,196.3,-7.3,161,1708,0.22,2.53,0.00,0.000,6,0.038,0.022,2523,1793,3720,0,0,0,0,0,0
$GC,1985,-1.10,-146.0,235.4,-14.3,171,1987,0.43,0.00,0.00,0.000,6,0.081,0.000,2617,1793,3721,0,0,0,0,0,0
$GC,2228,-1.20,-146.0,255.1,-7.4,177,2232,0.00,2.53,0.00,0.000,4,0.000,0.030,2617,3374,3721,0,0,0,0,0,0
$GC,2295,-1.36,-146.0,259.9,-6.6,178,2300,0.22,2.47,0.00,0.000,6,0.037,0.024,2508,1814,3720,0,0,0,0,0,0
$GC,2561,-1.13,-146.0,292.9,-13.3,185,2568,0.47,2.62,0.00,0.000,4,0.081,0.043,2607,211,3720,0,0,0,0,0,0
$GC,2601,-1.29,-146.0,297.9,-9.9,185,2608,0.12,2.55,0.00,0.000,6,0.062,0.022,2525,1825,3720,0,0,0,0,0,0
$GC,2853,-1.13,-146.0,330.0,-13.4,192,2858,0.35,2.47,0.00,0.000,4,0.082,0.034,2607,3366,3720,0,0,0,0,0,0
$GC,2887,-1.22,-146.0,333.9,-8.9,192,2892,0.00,2.50,0.00,0.000,6,0.000,0.027,2607,1816,3720,0,0,0,0,0,0
$GC,3137,-1.32,-146.0,350.3,-6.2,198,3143,0.15,2.55,0.00,0.000,4,0.054,0.038,2521,3373,3718,0,0,0,0,0,0
$GC,3183,-1.24,-146.0,354.1,-9.1,199,3188,0.30,2.47,0.00,0.000,6,0.076,0.027,2589,1824,3719,0,0,0,0,0,0
$GC,3471,-1.24,-146.0,377.8,-8.8,206,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1824,3717,0,0,0,0,0,0
$GC,3716,-1.24,-146.0,400.9,-9.5,212,3720,0.00,2.55,0.00,0.000,4,0.000,0.042,2589,3362,3716,0,0,0,0,0,0
$GC,3772,-1.34,-146.0,406.2,-9.3,213,3776,0.00,2.47,0.00,0.000,6,0.000,0.028,2588,1824,3715,0,0,0,0,0,0
$GC,4045,-1.34,-146.0,427.4,-7.2,220,4049,0.00,2.58,0.00,0.000,4,0.000,0.044,2589,3365,3713,0,0,0,0,0,0
$GC,4084,-1.43,-146.0,430.0,-6.7,220,4090,0.17,2.50,0.00,0.000,6,0.048,0.029,2507,1830,3713,0,0,0,0,0,0
$GC,4334,-1.24,-146.0,457.8,-11.7,227,4341,0.32,2.75,0.00,0.000,4,0.084,0.060,2584,211,3711,0,0,0,0,0,0
$GC,4371,-1.33,-146.0,461.7,-10.2,227,4376,0.00,2.62,0.00,0.000,6,0.000,0.030,2584,1828,3710,0,0,0,0,0,0
$GC,4621,-1.33,-146.0,484.9,-9.4,233,4625,0.00,2.58,0.00,0.000,4,0.000,0.051,2584,3377,3709,0,0,0,0,0,0
$GC,4691,-1.44,-146.0,491.5,-9.2,234,4696,0.15,2.47,0.00,0.000,6,0.056,0.030,2502,1845,3708,0,0,0,0,0,0
$STATE,4787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4793,-0.31,0.0,504.2,13.5,237,4916,1.30,0.00,118.62,0.870,6,0.077,0.000,2791,1664,3120,0,0,0,0,0,0
$STATE,4917,end apogee,CONTROL_FINISHED_OK
$STATE,4917,begin climb
$GC,4919,1.17,146.0,510.8,0.0,240,5051,1.33,2.70,122.82,0.852,4,0.024,0.072,3132,183,2524,0,0,0,0,0,0
$GC,5255,0.72,146.0,496.3,9.3,247,5263,0.55,2.45,0.00,0.000,6,0.100,0.028,3017,1679,2514,0,0,0,0,0,0
$GC,5519,0.82,228.1,481.5,5.6,254,5596,0.00,2.83,69.60,0.837,4,0.000,0.058,3017,3261,2189,0,0,0,0,0,0
$GC,5614,0.85,252.8,474.8,8.0,256,5643,0.12,2.62,23.05,0.791,6,0.064,0.036,3085,1698,2089,0,0,0,0,0,0
$GC,5889,0.69,252.8,443.6,11.4,262,5891,0.35,0.00,0.00,0.000,6,0.089,0.000,3010,1698,2081,0,0,0,0,0,0
$GC,6132,0.75,306.3,426.1,6.8,268,6185,0.00,2.72,47.75,0.806,4,0.000,0.048,3010,3259,1870,0,0,0,0,0,0
$GC,6219,0.95,360.3,420.2,6.8,270,6276,0.25,2.65,48.47,0.794,6,0.041,0.036,3080,1689,1650,0,0,0,0,0,0
$GC,6548,0.87,360.3,383.5,11.5,278,6555,0.15,2.70,0.00,0.000,4,0.105,0.051,3049,3259,1642,0,0,0,0,0,0
$GC,6597,0.95,360.3,378.1,10.8,279,6602,0.00,2.62,0.00,0.000,6,0.000,0.036,3049,1696,1638,0,0,0,0,0,0
$GC,6881,0.95,360.3,346.3,11.8,286,6885,0.00,2.65,0.00,0.000,4,0.000,0.047,3049,3268,1637,0,0,0,0,0,0
$GC,6943,1.04,360.3,338.9,11.5,287,6948,0.15,2.60,0.00,0.000,6,0.058,0.036,3097,1702,1635,0,0,0,0,0,0
$GC,7213,0.92,360.3,300.3,14.2,294,7218,0.17,2.62,0.00,0.000,4,0.100,0.048,3061,3259,1635,0,0,0,0,0,0
$GC,7238,0.92,360.3,297.0,12.1,294,7243,0.00,2.53,0.00,0.000,6,0.000,0.031,3061,1717,1634,0,0,0,0,0,0
$GC,7497,0.92,360.3,268.9,10.8,301,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1717,1634,0,0,0,0,0,0
$GC,7741,0.92,360.3,242.6,10.8,307,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1717,1633,0,0,0,0,0,0
$GC,7986,0.92,360.3,216.7,10.8,313,7991,0.00,2.58,0.00,0.000,4,0.000,0.037,3061,3272,1633,0,0,0,0,0,0
$GC,8009,0.92,360.3,213.8,11.0,313,8014,0.00,2.55,0.00,0.000,6,0.000,0.029,3061,1715,1632,0,0,0,0,0,0
$GC,8274,0.92,360.3,187.2,9.3,329,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1715,1632,0,0,0,0,0,0
$GC,8530,0.92,360.3,163.7,9.7,353,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1715,1632,0,0,0,0,0,0
$GC,8787,0.92,360.3,136.8,10.1,377,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1715,1631,0,0,0,0,0,0
$GC,9050,1.01,375.0,113.0,8.4,402,9066,0.00,2.62,10.98,0.528,4,0.000,0.048,3061,163,1590,0,0,0,0,0,0
$GC,9108,1.11,375.0,107.7,9.1,407,9114,0.17,2.50,0.00,0.000,6,0.048,0.021,3145,1746,1590,0,0,0,0,0,0
$GC,9377,0.97,375.0,74.2,14.3,432,9385,0.30,0.00,0.00,0.000,6,0.087,0.000,3075,1748,1589,0,0,0,0,0,0
$GC,9642,0.98,384.9,51.7,8.6,457,9658,0.00,2.67,10.10,0.462,4,0.000,0.044,3075,177,1549,0,0,0,0,0,0
$GC,9682,0.98,384.9,48.3,9.4,460,9686,0.00,2.47,0.00,0.000,6,0.000,0.021,3075,1741,1549,0,0,0,0,0,0
$GC,9959,0.99,389.0,21.1,8.8,491,9969,0.00,2.53,4.85,0.365,4,0.000,0.031,3075,3274,1533,0,0,0,0,0,0
$GC,9990,0.99,389.0,17.6,10.3,495,9999,0.00,2.53,0.00,0.000,6,0.000,0.025,3075,1725,1532,0,0,0,0,0,0
$STATE,10113,end climb,SURFACE_DEPTH_REACHED
$STATE,10113,begin surface coast
$FINISH,0.7,1.023367
$STATE,10155,end surface coast,CONTROL_FINISHED_OK
$STATE,10155,begin surface
$SM_CCo,10235,0.00,0.000,0,0,1525,391.01
$SM_GC,1.61,10.75,0.00,0.00,0.022,0.000,0.000,411,1849,1525,-11.18,1.64,391.01
$IRIDIUM_FIX,2239.35,-15757.16,080400,060632
$TT8_MAMPS,0.026078
$HUMID,50.00
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.4,65.782
$10V_AH,9.9,58.380
$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,30.975,118.675,456.250,0.000,0.000,55.098,73.132,592.842,0.000,0.000,20.828,1070.404,6611.458,467.753,1993.881,1025.076,33.389,1274.484,0.000,1989.004,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,72.098,869.778,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.148,331.170,410.806,618.970,1093.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,41411,520
$CAP_FILE_SIZE,122316,0
$CFSIZE,260165632,143323136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130111,094934,2246.816,-15800.781,54,2.2,73,10.1