version: 66.06
glider: 148
mission: 9
dive: 492
start: 1 11 111 1 33 20
data:
$ID,148
$MISSION,9
$DIVE,492
$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,-868851.19
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,012204,2248.351,-15757.378,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.6
$GPS2,013226,2248.229,-15757.310,39,3.3,58,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.144,-0.059
$KALMAN_X,-93053.5,332.3,16.9,114301.1,-173.6
$KALMAN_Y,-122707.2,171.3,567.8,248524.6,-2000.5
$MHEAD_RNG_PITCHd_Wd,237.7,2425,-27.1,-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,-1.76,-53.9,0.0,0.0,0,95,0.00,0.00,-72.22,0.000,6,0.000,0.000,413,1884,3340,0,0,0,0,0,0
$GC,98,-1.79,-82.4,4.2,-5.8,10,123,10.88,2.40,-2.17,0.000,4,0.155,0.038,2462,3366,3460,0,0,0,0,0,0
$GC,177,-1.73,-82.4,27.5,-21.3,21,186,0.05,2.53,0.00,0.000,6,0.112,0.023,2476,1793,3461,0,0,0,0,0,0
$GC,454,-1.73,-82.4,80.9,-18.9,47,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1793,3462,0,0,0,0,0,0
$GC,717,-1.80,-82.4,129.5,-15.4,72,721,0.00,2.53,0.00,0.000,4,0.000,0.027,2476,3373,3463,0,0,0,0,0,0
$GC,735,-1.87,-82.4,132.0,-14.4,73,740,0.10,2.50,0.00,0.000,6,0.081,0.022,2434,1795,3463,0,0,0,0,0,0
$GC,1002,-1.87,-82.4,175.0,-17.8,97,1007,0.00,2.55,0.00,0.000,4,0.000,0.037,2433,214,3463,0,0,0,0,0,0
$GC,1046,-1.87,-82.4,184.3,-18.7,101,1051,0.00,2.47,0.00,0.000,6,0.000,0.018,2433,1811,3463,0,0,0,0,0,0
$GC,1300,-1.87,-82.4,226.1,-15.7,113,1304,0.00,2.60,0.00,0.000,4,0.000,0.038,2433,214,3464,0,0,0,0,0,0
$GC,1380,-1.87,-82.4,239.0,-16.3,114,1385,0.00,2.45,0.00,0.000,6,0.000,0.019,2433,1795,3464,0,0,0,0,0,0
$GC,1630,-1.87,-82.4,278.0,-15.5,120,1634,0.00,2.60,0.00,0.000,4,0.000,0.040,2433,211,3464,0,0,0,0,0,0
$GC,1669,-1.87,-82.4,283.9,-16.2,120,1674,0.00,2.47,0.00,0.000,6,0.000,0.021,2433,1790,3465,0,0,0,0,0,0
$GC,1918,-1.87,-82.4,317.3,-12.5,127,1922,0.00,2.53,0.00,0.000,4,0.000,0.035,2433,3363,3465,0,0,0,0,0,0
$GC,1941,-1.87,-82.4,320.4,-14.7,127,1946,0.00,2.50,0.00,0.000,6,0.000,0.026,2433,1807,3464,0,0,0,0,0,0
$GC,2200,-1.87,-82.4,354.0,-13.2,134,2204,0.00,2.65,0.00,0.000,4,0.000,0.050,2433,206,3464,0,0,0,0,0,0
$GC,2215,-1.87,-82.4,356.3,-13.6,134,2220,0.00,2.50,0.00,0.000,6,0.000,0.022,2433,1796,3464,0,0,0,0,0,0
$GC,2484,-1.87,-82.4,395.8,-14.8,141,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1801,3463,0,0,0,0,0,0
$GC,2728,-1.93,-82.4,431.4,-14.5,147,2732,0.00,2.70,0.00,0.000,4,0.000,0.058,2433,212,3462,0,0,0,0,0,0
$GC,2766,-1.93,-82.4,437.2,-14.8,147,2772,0.00,2.53,0.00,0.000,6,0.000,0.028,2433,1779,3462,0,0,0,0,0,0
$GC,3016,-2.01,-82.4,469.7,-12.7,154,3021,0.00,2.65,0.00,0.000,4,0.000,0.059,2433,217,3460,0,0,0,0,0,0
$GC,3072,-2.01,-82.4,477.7,-14.3,155,3076,0.00,2.53,0.00,0.000,6,0.000,0.032,2433,1776,3460,0,0,0,0,0,0
$STATE,3261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3261,begin apogee
$GC,3269,-0.31,0.0,502.9,13.2,160,3344,1.62,0.00,69.07,0.850,6,0.085,0.000,2791,1671,3120,0,0,0,0,0,0
$STATE,3344,end apogee,CONTROL_FINISHED_OK
$STATE,3345,begin climb
$GC,3347,1.79,82.4,505.6,0.0,162,3427,1.88,2.83,68.53,0.837,4,0.026,0.055,3270,3258,2782,0,0,0,0,0,0
$GC,3502,1.63,150.9,509.4,1.3,165,3570,0.28,2.62,58.83,0.834,6,0.127,0.036,3218,1697,2503,0,0,0,0,0,0
$GC,3859,1.54,150.9,473.6,11.5,174,3864,0.12,2.67,0.00,0.000,4,0.138,0.074,3194,168,2494,0,0,0,0,0,0
$GC,4130,1.38,150.9,438.9,12.0,179,4136,0.17,2.42,0.00,0.000,6,0.127,0.025,3162,1683,2491,0,0,0,0,0,0
$GC,4380,1.38,150.9,413.2,9.9,186,4384,0.00,2.60,0.00,0.000,4,0.000,0.056,3161,164,2489,0,0,0,0,0,0
$GC,4649,1.31,150.9,385.9,10.2,191,4655,0.00,2.42,0.00,0.000,6,0.000,0.025,3162,1673,2487,0,0,0,0,0,0
$GC,4900,1.38,161.5,366.0,7.8,198,4912,0.00,2.60,7.12,0.640,4,0.000,0.054,3161,166,2461,0,0,0,0,0,0
$GC,5008,1.38,161.5,354.8,11.0,200,5012,0.00,2.42,0.00,0.000,6,0.000,0.025,3161,1672,2459,0,0,0,0,0,0
$GC,5281,1.46,161.5,329.1,9.5,207,5285,0.00,2.58,0.00,0.000,4,0.000,0.054,3161,162,2458,0,0,0,0,0,0
$GC,5527,1.46,161.5,303.6,10.5,212,5532,0.00,2.40,0.00,0.000,6,0.000,0.025,3161,1663,2456,0,0,0,0,0,0
$GC,5798,1.55,164.5,280.2,8.7,219,5803,0.15,2.70,0.00,0.000,4,0.061,0.051,3214,3257,2455,0,0,0,0,0,0
$GC,5836,1.55,164.5,276.2,9.3,219,5841,0.00,2.67,0.00,0.000,6,0.000,0.035,3214,1642,2455,0,0,0,0,0,0
$GC,6085,1.56,172.0,255.7,8.2,226,6097,0.00,0.00,9.68,0.634,6,0.000,0.000,3214,1642,2418,0,0,0,0,0,0
$GC,6331,1.57,176.8,235.1,8.5,232,6343,0.00,2.53,5.12,0.519,4,0.000,0.062,3214,170,2399,0,0,0,0,0,0
$GC,6408,1.41,176.8,227.7,10.2,233,6413,0.22,2.38,0.00,0.000,6,0.117,0.022,3169,1671,2398,0,0,0,0,0,0
$GC,6666,1.54,197.0,209.3,6.7,240,6691,0.12,2.60,19.23,0.647,4,0.067,0.052,3221,167,2315,0,0,0,0,0,0
$GC,6924,1.42,197.0,181.0,11.8,259,6929,0.25,2.35,0.00,0.000,6,0.113,0.022,3171,1649,2312,0,0,0,0,0,0
$GC,7188,1.56,197.0,156.0,9.2,283,7193,0.12,2.65,0.00,0.000,4,0.067,0.038,3224,3254,2310,0,0,0,0,0,0
$GC,7204,1.63,197.0,154.2,9.1,284,7209,0.00,2.65,0.00,0.000,6,0.000,0.030,3223,1633,2309,0,0,0,0,0,0
$GC,7468,1.63,197.0,127.9,9.4,308,7472,0.00,2.40,0.00,0.000,4,0.000,0.047,3224,171,2309,0,0,0,0,0,0
$GC,7581,1.53,197.0,115.0,11.3,318,7590,0.10,2.33,0.00,0.000,6,0.098,0.021,3200,1640,2309,0,0,0,0,0,0
$GC,7846,1.67,229.1,96.1,5.4,343,7877,0.10,0.00,27.60,0.559,6,0.079,0.000,3245,1642,2184,0,0,0,0,0,0
$GC,8129,1.67,229.1,68.5,10.7,370,8133,0.00,2.45,0.00,0.000,4,0.000,0.044,3245,168,2181,0,0,0,0,0,0
$GC,8210,1.56,229.1,59.1,11.9,377,8215,0.22,2.33,0.00,0.000,6,0.109,0.021,3199,1645,2180,0,0,0,0,0,0
$GC,8473,1.67,229.1,32.1,9.9,401,8478,0.10,2.45,0.00,0.000,4,0.077,0.046,3246,173,2180,0,0,0,0,0,0
$GC,8555,1.56,229.1,19.9,15.2,412,8563,0.17,2.30,0.00,0.000,6,0.092,0.019,3205,1646,2180,0,0,0,0,0,0
$STATE,8711,end climb,SURFACE_DEPTH_REACHED
$STATE,8711,begin surface coast
$FINISH,0.9,1.024149
$STATE,8750,end surface coast,CONTROL_FINISHED_OK
$STATE,8750,begin surface
$SM_CCo,8770,70.43,0.062,0,0,1570,380.21
$SM_GC,1.66,0.00,0.00,70.43,0.000,0.000,0.062,413,1876,1570,-11.26,2.43,380.21
$IRIDIUM_FIX,2241.69,-15824.51,050400,222235
$TT8_MAMPS,0.026845
$HUMID,50.00
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.5,63.554
$10V_AH,10.0,56.384
$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,27.950,106.350,265.175,70.425,0.000,24.657,34.800,368.347,0.000,0.000,60.594,963.585,5459.350,395.435,1927.353,716.388,33.386,1136.334,0.000,1882.906,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,73.632,849.836,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,299.784,272.338,348.013,524.969,924.718,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,35287,442
$CAP_FILE_SIZE,105853,0
$CFSIZE,260165632,144351232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110111,040230,2247.149,-15758.307,69,0.9,69,10.1