version: 66.06
glider: 148
mission: 9
dive: 510
start: 1 13 111 10 8 8
data:
$ID,148
$MISSION,9
$DIVE,510
$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,-869292.75
$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,28
$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
$GPS1,094934,2246.816,-15800.781,54,2.2,73,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.7
$GPS2,100714,2246.926,-15800.668,66,99.0,85,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,-0.006
$KALMAN_X,-102037.5,75.5,87.3,117686.2,-580.7
$KALMAN_Y,-135819.7,-463.8,-142.3,260573.6,183.9
$MHEAD_RNG_PITCHd_Wd,258.4,3984,-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,17,-1.17,-146.0,0.0,0.0,0,88,0.00,0.00,-68.30,0.000,2,0.000,0.000,410,1848,3239,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.4,-4.6,9,125,11.45,2.72,-9.30,0.000,4,0.150,0.054,2596,211,3719,0,0,0,0,0,0
$GC,154,-1.03,-146.0,16.6,-14.0,17,163,0.12,2.53,0.00,0.000,6,0.081,0.019,2629,1806,3720,0,0,0,0,0,0
$GC,438,-1.03,-146.0,48.4,-13.0,52,442,0.00,2.47,0.00,0.000,4,0.000,0.029,2629,3367,3721,0,0,0,0,0,0
$GC,503,-1.12,-146.0,57.2,-13.0,57,508,0.00,2.53,0.00,0.000,6,0.000,0.023,2629,1788,3721,0,0,0,0,0,0
$GC,772,-1.12,-146.0,88.7,-10.3,81,777,0.00,2.53,0.00,0.000,4,0.000,0.029,2629,3361,3721,0,0,0,0,0,0
$GC,807,-1.12,-146.0,93.7,-11.4,84,811,0.00,2.45,0.00,0.000,6,0.000,0.023,2629,1807,3721,0,0,0,0,0,0
$GC,1069,-1.12,-146.0,119.8,-9.2,108,1073,0.00,2.47,0.00,0.000,4,0.000,0.028,2629,3367,3721,0,0,0,0,0,0
$GC,1097,-1.12,-146.0,122.4,-10.4,110,1101,0.00,2.45,0.00,0.000,6,0.000,0.021,2629,1805,3721,0,0,0,0,0,0
$GC,1360,-1.20,-146.0,146.1,-7.7,134,1365,0.12,2.58,0.00,0.000,4,0.061,0.040,2533,215,3721,0,0,0,0,0,0
$GC,1392,-1.05,-146.0,149.9,-12.5,136,1402,0.40,2.50,0.00,0.000,6,0.074,0.018,2628,1814,3722,0,0,0,0,0,0
$GC,1654,-1.13,-146.0,169.5,-8.4,161,1658,0.00,2.45,0.00,0.000,4,0.000,0.029,2628,3359,3722,0,0,0,0,0,0
$GC,1695,-1.26,-146.0,173.2,-9.0,164,1701,0.17,2.45,0.00,0.000,6,0.044,0.022,2520,1812,3721,0,0,0,0,0,0
$GC,1975,-1.02,-146.0,212.8,-14.0,185,1982,0.47,2.58,0.00,0.000,4,0.081,0.037,2630,212,3721,0,0,0,0,0,0
$GC,1996,-1.02,-146.0,215.3,-10.2,185,2000,0.00,2.50,0.00,0.000,6,0.000,0.019,2630,1821,3721,0,0,0,0,0,0
$GC,2262,-1.14,-146.0,231.7,-6.2,192,2266,0.00,2.42,0.00,0.000,4,0.000,0.030,2630,3358,3722,0,0,0,0,0,0
$GC,2295,-1.28,-146.0,234.3,-7.5,192,2300,0.20,2.45,0.00,0.000,6,0.043,0.023,2545,1820,3722,0,0,0,0,0,0
$GC,2547,-1.16,-146.0,261.5,-11.2,198,2552,0.25,2.50,0.00,0.000,4,0.083,0.030,2606,3367,3722,0,0,0,0,0,0
$GC,2571,-1.16,-146.0,264.2,-9.8,198,2575,0.00,2.42,0.00,0.000,6,0.000,0.023,2606,1827,3722,0,0,0,0,0,0
$GC,2830,-1.23,-146.0,283.6,-7.4,205,2834,0.00,2.45,0.00,0.000,4,0.000,0.032,2606,3356,3722,0,0,0,0,0,0
$GC,2856,-1.32,-146.0,285.3,-7.4,205,2861,0.15,2.42,0.00,0.000,6,0.052,0.025,2523,1840,3721,0,0,0,0,0,0
$GC,3116,-1.15,-146.0,312.9,-10.9,212,3118,0.40,0.00,0.00,0.000,6,0.078,0.000,2609,1840,3721,0,0,0,0,0,0
$GC,3360,-1.25,-146.0,332.1,-7.9,218,3364,0.00,2.47,0.00,0.000,4,0.000,0.035,2609,3357,3720,0,0,0,0,0,0
$GC,3399,-1.39,-146.0,335.3,-7.5,218,3405,0.22,2.45,0.00,0.000,6,0.038,0.027,2514,1836,3719,0,0,0,0,0,0
$GC,3649,-1.21,-146.0,366.5,-12.5,225,3651,0.38,0.00,0.00,0.000,6,0.084,0.000,2596,1834,3718,0,0,0,0,0,0
$GC,3893,-1.27,-146.0,386.4,-7.8,231,3897,0.00,2.50,0.00,0.000,4,0.000,0.040,2596,3354,3717,0,0,0,0,0,0
$GC,3938,-1.39,-146.0,389.8,-7.7,232,3943,0.17,2.42,0.00,0.000,6,0.048,0.028,2508,1850,3717,0,0,0,0,0,0
$GC,4226,-1.19,-146.0,424.3,-12.3,239,4233,0.38,2.75,0.00,0.000,4,0.084,0.056,2594,215,3715,0,0,0,0,0,0
$GC,4282,-1.33,-146.0,429.4,-7.8,240,4287,0.10,2.60,0.00,0.000,6,0.076,0.027,2535,1833,3715,0,0,0,0,0,0
$GC,4561,-1.23,-146.0,457.7,-10.6,247,4566,0.25,2.53,0.00,0.000,4,0.085,0.046,2593,3364,3713,0,0,0,0,0,0
$GC,4601,-1.35,-146.0,461.3,-8.1,247,4607,0.12,2.45,0.00,0.000,6,0.061,0.028,2515,1847,3712,0,0,0,0,0,0
$GC,4851,-1.19,-146.0,491.0,-12.3,254,4858,0.35,2.80,0.00,0.000,4,0.085,0.063,2596,217,3710,0,0,0,0,0,0
$GC,4892,-1.36,-146.0,495.1,-8.8,254,4898,0.12,2.62,0.00,0.000,6,0.063,0.033,2531,1839,3710,0,0,0,0,0,0
$STATE,4976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4976,begin apogee
$GC,4984,-0.31,0.0,504.1,10.4,257,5107,1.15,0.00,119.12,0.862,6,0.078,0.000,2790,1662,3120,0,0,0,0,0,0
$STATE,5107,end apogee,CONTROL_FINISHED_OK
$STATE,5108,begin climb
$GC,5110,1.17,146.0,509.7,0.0,260,5242,1.33,2.65,122.43,0.848,4,0.027,0.067,3127,195,2523,0,0,0,0,0,0
$GC,5362,0.73,146.0,501.3,11.2,265,5371,0.50,2.45,0.00,0.000,6,0.096,0.031,3022,1683,2517,0,0,0,0,0,0
$GC,5617,0.82,217.1,485.7,6.0,272,5685,0.00,2.65,60.92,0.833,4,0.000,0.060,3021,182,2232,0,0,0,0,0,0
$GC,5715,0.74,217.1,478.4,10.0,274,5719,0.00,2.47,0.00,0.000,6,0.000,0.029,3021,1686,2230,0,0,0,0,0,0
$GC,5990,0.76,227.9,455.2,8.6,281,6006,0.00,2.60,9.62,0.720,4,0.000,0.058,3021,188,2189,0,0,0,0,0,0
$GC,6052,0.76,227.9,448.9,9.6,282,6057,0.00,2.40,0.00,0.000,6,0.000,0.026,3021,1681,2188,0,0,0,0,0,0
$GC,6322,0.78,250.0,426.7,8.1,289,6350,0.00,2.75,20.70,0.783,4,0.000,0.055,3021,3254,2098,0,0,0,0,0,0
$GC,6360,0.83,284.6,423.6,7.6,289,6398,0.00,2.62,32.17,0.792,6,0.000,0.034,3021,1690,1958,0,0,0,0,0,0
$GC,6651,0.85,305.9,400.2,8.1,297,6674,0.10,0.00,20.08,0.764,6,0.077,0.000,3072,1690,1872,0,0,0,0,0,0
$GC,6892,0.78,305.9,372.9,11.8,303,6894,0.20,0.00,0.00,0.000,6,0.093,0.000,3029,1690,1867,0,0,0,0,0,0
$GC,7135,0.78,305.9,348.6,10.0,309,7140,0.00,2.62,0.00,0.000,4,0.000,0.041,3028,3254,1864,0,0,0,0,0,0
$GC,7183,0.90,305.9,344.1,9.6,310,7189,0.12,2.60,0.00,0.000,6,0.065,0.035,3086,1683,1861,0,0,0,0,0,0
$GC,7469,0.80,305.9,311.3,11.8,317,7471,0.22,0.00,0.00,0.000,6,0.094,0.000,3037,1683,1861,0,0,0,0,0,0
$GC,7710,0.80,305.9,288.2,9.1,323,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1683,1860,0,0,0,0,0,0
$GC,7956,0.82,319.5,267.5,8.4,329,7972,0.00,2.67,11.32,0.654,4,0.000,0.041,3037,3254,1816,0,0,0,0,0,0
$GC,8005,0.94,319.5,262.9,9.6,330,8010,0.12,2.60,0.00,0.000,6,0.064,0.031,3090,1678,1813,0,0,0,0,0,0
$GC,8286,0.87,319.5,232.9,10.6,337,8291,0.17,2.65,0.00,0.000,4,0.096,0.041,3051,3254,1812,0,0,0,0,0,0
$GC,8330,0.99,328.5,228.9,8.6,338,8346,0.10,2.58,8.68,0.598,6,0.077,0.031,3099,1690,1780,0,0,0,0,0,0
$GC,8623,0.90,328.5,197.2,11.2,345,8628,0.20,2.60,0.00,0.000,4,0.093,0.054,3055,170,1777,0,0,0,0,0,0
$GC,8658,0.90,328.5,193.1,10.6,348,8663,0.00,2.42,0.00,0.000,6,0.000,0.023,3055,1701,1777,0,0,0,0,0,0
$GC,8920,0.90,328.5,168.9,9.3,372,8925,0.00,2.58,0.00,0.000,4,0.000,0.050,3055,164,1776,0,0,0,0,0,0
$GC,8940,0.90,328.5,167.2,9.3,373,8945,0.00,2.40,0.00,0.000,6,0.000,0.022,3055,1689,1776,0,0,0,0,0,0
$GC,9208,0.90,331.3,140.7,8.9,397,9212,0.00,2.55,0.00,0.000,4,0.000,0.035,3055,3261,1776,0,0,0,0,0,0
$GC,9260,1.06,349.5,136.1,8.2,401,9287,0.15,2.58,19.42,0.582,6,0.056,0.027,3128,1678,1694,0,0,0,0,0,0
$GC,9543,0.98,349.5,107.0,10.7,428,9548,0.25,2.60,0.00,0.000,4,0.087,0.032,3069,3260,1692,0,0,0,0,0,0
$GC,9564,0.98,349.5,105.3,9.8,429,9568,0.00,2.55,0.00,0.000,6,0.000,0.027,3069,1689,1690,0,0,0,0,0,0
$GC,9831,1.06,349.5,81.7,9.3,453,9835,0.00,2.55,0.00,0.000,4,0.000,0.031,3069,3255,1690,0,0,0,0,0,0
$GC,9859,1.15,349.5,78.7,9.8,455,9864,0.17,2.53,0.00,0.000,6,0.049,0.028,3150,1687,1689,0,0,0,0,0,0
$GC,10128,0.99,349.5,44.6,10.8,479,10133,0.30,2.50,0.00,0.000,4,0.090,0.044,3080,166,1689,0,0,0,0,0,0
$GC,10161,1.05,393.8,41.4,7.2,481,10206,0.00,2.40,39.58,0.507,6,0.000,0.020,3079,1691,1513,0,0,0,0,0,0
$GC,10485,1.05,393.8,9.1,13.9,521,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1694,1509,0,0,0,0,0,0
$STATE,10531,end climb,SURFACE_DEPTH_REACHED
$STATE,10531,begin surface coast
$FINISH,0.9,1.023997
$STATE,10570,end surface coast,CONTROL_FINISHED_OK
$STATE,10570,begin surface
$SM_CCo,10653,0.00,0.000,0,0,1502,396.65
$SM_GC,1.59,10.88,0.00,0.00,0.027,0.000,0.000,412,1848,1502,-11.17,1.64,396.65
$IRIDIUM_FIX,2234.68,-15952.63,080400,101051
$TT8_MAMPS,0.026845
$HUMID,50.00
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.4,65.930
$10V_AH,10.0,58.503
$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,31.825,142.425,464.050,0.000,0.000,59.669,86.551,624.566,0.250,0.000,87.989,1119.407,6909.999,489.977,2086.200,1102.092,33.381,1319.929,0.000,2014.176,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,80.535,862.108,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.489,337.654,415.348,632.058,1116.399,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,41517,534
$CAP_FILE_SIZE,133111,0
$CFSIZE,260165632,143253504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130111,130706,2246.558,-15802.774,37,2.0,48,10.1