version: 66.06
glider: 148
mission: 9
dive: 495
start: 1 11 111 10 55 49
data:
$ID,148
$MISSION,9
$DIVE,495
$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,-868955.5
$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,31
$R_STBD_OVSHOOT,84
$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
$GPS1,104424,2246.848,-15802.201,43,2.0,43,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.5
$GPS2,105455,2246.807,-15802.191,12,1.6,29,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.129,0.088
$KALMAN_X,-93980.4,-237.0,-224.4,107635.6,-137.1
$KALMAN_Y,-125639.7,-365.4,288.8,249644.6,-502.9
$MHEAD_RNG_PITCHd_Wd,294.3,1426,-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,18,-1.76,-53.9,0.0,0.0,0,95,0.00,0.00,-72.65,0.000,6,0.000,0.000,413,1837,3338,0,0,0,0,0,0
$GC,98,-1.79,-80.6,4.1,-6.0,10,123,10.85,2.70,-2.10,0.000,4,0.154,0.050,2463,198,3452,0,0,0,0,0,0
$GC,134,-0.56,-80.6,16.3,-31.1,14,143,1.20,2.45,0.00,0.000,6,0.087,0.019,2728,1744,3452,0,0,0,0,0,0
$GC,442,-1.29,-87.7,36.0,-8.2,58,456,0.57,2.58,-0.28,0.000,4,0.020,0.037,2535,3368,3480,0,0,0,0,0,0
$GC,527,-1.46,-87.7,45.5,-11.9,65,531,0.00,2.50,0.00,0.000,6,0.000,0.021,2534,1790,3480,0,0,0,0,0,0
$GC,796,-1.57,-87.7,85.4,-16.2,89,801,0.00,2.58,0.00,0.000,4,0.000,0.040,2534,212,3480,0,0,0,0,0,0
$GC,835,-1.74,-87.7,93.5,-16.4,92,844,0.17,2.50,0.00,0.000,6,0.025,0.020,2463,1797,3480,0,0,0,0,0,0
$GC,1103,-1.74,-87.7,138.8,-15.9,117,1107,0.00,2.47,0.00,0.000,4,0.000,0.027,2463,3364,3481,0,0,0,0,0,0
$GC,1120,-1.74,-87.7,142.5,-15.9,118,1124,0.00,2.45,0.00,0.000,6,0.000,0.021,2463,1799,3481,0,0,0,0,0,0
$GC,1386,-1.80,-87.7,180.3,-14.1,142,1390,0.00,2.58,0.00,0.000,4,0.000,0.038,2463,207,3482,0,0,0,0,0,0
$GC,1445,-1.86,-87.7,190.5,-16.3,147,1454,0.00,2.50,0.00,0.000,6,0.000,0.019,2463,1797,3482,0,0,0,0,0,0
$GC,1718,-1.95,-87.7,229.3,-13.9,159,1723,0.12,2.60,0.00,0.000,4,0.067,0.038,2413,211,3483,0,0,0,0,0,0
$GC,1753,-1.95,-87.7,234.6,-16.5,159,1758,0.10,2.45,0.00,0.000,6,0.137,0.018,2433,1793,3483,0,0,0,0,0,0
$GC,2004,-1.95,-87.7,271.7,-15.1,165,2008,0.00,2.58,0.00,0.000,4,0.000,0.041,2433,212,3483,0,0,0,0,0,0
$GC,2078,-1.95,-87.7,284.3,-15.5,166,2082,0.00,2.45,0.00,0.000,6,0.000,0.020,2433,1778,3483,0,0,0,0,0,0
$GC,2334,-1.95,-87.7,321.3,-14.3,173,2338,0.00,2.58,0.00,0.000,4,0.000,0.044,2433,219,3483,0,0,0,0,0,0
$GC,2371,-1.95,-87.7,327.5,-15.6,173,2376,0.00,2.45,0.00,0.000,6,0.000,0.021,2433,1777,3483,0,0,0,0,0,0
$GC,2620,-1.95,-87.7,364.8,-15.0,180,2625,0.00,2.62,0.00,0.000,4,0.000,0.049,2433,212,3482,0,0,0,0,0,0
$GC,2677,-1.95,-87.7,374.1,-16.3,181,2682,0.00,2.45,0.00,0.000,6,0.000,0.024,2433,1753,3483,0,0,0,0,0,0
$GC,2950,-2.01,-87.7,412.7,-13.9,188,2955,0.00,2.60,0.00,0.000,4,0.000,0.054,2433,215,3481,0,0,0,0,0,0
$GC,2969,-2.01,-87.7,415.6,-14.3,188,2973,0.00,2.47,0.00,0.000,6,0.000,0.026,2433,1762,3481,0,0,0,0,0,0
$GC,3235,-2.09,-87.7,450.9,-13.6,195,3240,0.12,2.65,0.00,0.000,4,0.069,0.058,2388,217,3479,0,0,0,0,0,0
$GC,3287,-2.02,-87.7,460.4,-19.7,196,3292,0.15,2.50,0.00,0.000,6,0.120,0.031,2419,1756,3479,0,0,0,0,0,0
$STATE,3563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3563,begin apogee
$GC,3570,-0.31,0.0,500.3,14.2,203,3647,1.67,0.00,72.78,0.846,6,0.084,0.000,2789,1667,3120,0,0,0,0,0,0
$STATE,3648,end apogee,CONTROL_FINISHED_OK
$STATE,3648,begin climb
$GC,3650,1.80,87.7,503.3,0.0,205,3735,1.90,2.80,73.25,0.834,4,0.029,0.054,3258,3260,2760,0,0,0,0,0,0
$GC,4002,1.63,123.3,495.8,5.0,212,4039,0.20,2.62,30.20,0.818,6,0.129,0.035,3219,1695,2617,0,0,0,0,0,0
$GC,4303,1.51,123.7,471.1,9.0,220,4310,0.15,2.70,0.00,0.000,4,0.133,0.074,3191,162,2611,0,0,0,0,0,0
$GC,4576,1.33,123.7,444.6,10.2,225,4583,0.20,2.42,0.00,0.000,6,0.130,0.026,3153,1661,2607,0,0,0,0,0,0
$GC,4826,1.35,141.5,426.4,7.0,232,4846,0.00,2.60,15.20,0.769,4,0.000,0.058,3153,166,2543,0,0,0,0,0,0
$GC,5112,1.35,143.8,401.6,8.8,238,5117,0.00,2.40,0.00,0.000,6,0.000,0.025,3153,1655,2539,0,0,0,0,0,0
$GC,5392,1.44,158.5,380.9,7.4,245,5413,0.00,2.60,15.45,0.751,4,0.000,0.057,3153,164,2472,0,0,0,0,0,0
$GC,5678,1.44,158.5,353.4,9.2,251,5683,0.00,2.40,0.00,0.000,6,0.000,0.025,3153,1658,2468,0,0,0,0,0,0
$GC,5952,1.55,178.1,333.5,6.8,258,5976,0.17,2.65,17.40,0.731,4,0.056,0.055,3212,162,2393,0,0,0,0,0,0
$GC,6243,1.39,178.1,302.4,11.0,264,6248,0.25,2.38,0.00,0.000,6,0.116,0.025,3164,1641,2389,0,0,0,0,0,0
$GC,6519,1.50,189.8,281.0,7.7,271,6536,0.10,2.58,10.82,0.661,4,0.081,0.053,3204,159,2345,0,0,0,0,0,0
$GC,6541,1.50,189.8,278.5,10.1,271,6545,0.00,2.40,0.00,0.000,6,0.000,0.024,3204,1645,2345,0,0,0,0,0,0
$GC,6804,1.50,189.8,251.8,10.6,278,6808,0.00,2.53,0.00,0.000,4,0.000,0.053,3204,161,2342,0,0,0,0,0,0
$GC,6996,1.40,189.8,228.1,13.8,282,7001,0.17,2.38,0.00,0.000,6,0.120,0.023,3168,1649,2342,0,0,0,0,0,0
$GC,7276,1.53,194.1,202.0,8.5,289,7288,0.10,2.53,4.43,0.469,4,0.080,0.051,3212,156,2328,0,0,0,0,0,0
$GC,7433,1.43,194.1,186.8,10.2,301,7438,0.20,2.35,0.00,0.000,6,0.119,0.021,3174,1644,2328,0,0,0,0,0,0
$GC,7697,1.56,198.6,165.4,8.5,325,7708,0.10,2.55,5.45,0.491,4,0.080,0.048,3220,163,2309,0,0,0,0,0,0
$GC,7743,1.45,198.6,160.3,10.3,329,7750,0.22,2.30,0.00,0.000,6,0.117,0.021,3176,1623,2308,0,0,0,0,0,0
$GC,8008,1.58,201.6,137.5,8.7,354,8022,0.12,2.47,4.03,0.407,4,0.066,0.046,3228,166,2298,0,0,0,0,0,0
$GC,8315,1.49,201.6,102.4,9.2,383,8321,0.20,2.30,0.00,0.000,6,0.119,0.021,3189,1640,2298,0,0,0,0,0,0
$GC,8579,1.66,232.0,87.9,5.6,408,8613,0.12,2.47,27.25,0.550,4,0.064,0.044,3245,163,2174,0,0,0,0,0,0
$GC,8660,1.56,232.0,80.5,9.7,415,8666,0.22,2.28,0.00,0.000,6,0.119,0.021,3201,1616,2173,0,0,0,0,0,0
$GC,8929,1.67,232.0,61.0,9.4,440,8934,0.00,2.42,0.00,0.000,4,0.000,0.044,3201,154,2171,0,0,0,0,0,0
$GC,9091,1.67,232.0,41.7,11.3,454,9100,0.00,2.30,0.00,0.000,6,0.000,0.020,3201,1609,2170,0,0,0,0,0,0
$GC,9374,1.78,232.0,18.8,9.4,488,9383,0.20,2.42,0.00,0.000,4,0.044,0.041,3300,156,2170,0,0,0,0,0,0
$STATE,9464,end climb,SURFACE_DEPTH_REACHED
$STATE,9464,begin surface coast
$FINISH,0.6,1.011245
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9525,73.10,0.062,0,0,1570,380.21
$SM_GC,1.74,0.00,0.00,73.10,0.000,0.000,0.062,414,1806,1570,-11.25,0.45,380.21
$IRIDIUM_FIX,2237.01,-15803.24,060400,070716
$TT8_MAMPS,0.026845
$HUMID,48.77
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.00
$XPDR_PINGS,3
$24V_AH,23.5,63.960
$10V_AH,10.0,56.754
$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,31.300,120.275,276.250,73.100,0.000,27.966,32.266,409.348,0.750,0.000,31.388,1128.387,5534.023,414.502,2383.295,765.619,33.385,1313.194,0.000,2353.732,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,78.234,846.001,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.789,325.716,407.955,661.888,1169.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38524,507
$CAP_FILE_SIZE,121157,0
$CFSIZE,260165632,144154624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110111,133706,2247.221,-15803.060,34,1.2,39,10.1