version: 66.06
glider: 148
mission: 9
dive: 538
start: 1 17 111 9 3 29
data:
$ID,148
$MISSION,9
$DIVE,538
$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,208
$T_MISSION,450
$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,-869901.12
$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,30
$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
$GPS1,084437,2247.032,-15803.535,68,1.2,68,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.6
$GPS2,090233,2246.733,-15803.516,12,1.3,13,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.101,0.095
$KALMAN_X,-117740.1,-813.3,-126.0,129603.5,-298.4
$KALMAN_Y,-159109.3,-890.3,-95.8,283887.0,-611.3
$MHEAD_RNG_PITCHd_Wd,36.8,1010,-26.9,-8.013
$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,17,begin dive
$GC,20,-1.74,-45.3,0.0,0.0,0,95,0.00,0.00,-69.95,0.000,6,0.000,0.000,406,1854,3304,0,0,0,0,0,0
$GC,98,-1.77,-69.1,4.3,-5.2,10,123,11.27,2.72,-1.83,0.000,4,0.168,0.051,2464,207,3405,0,0,0,0,0,0
$GC,298,-1.65,-69.1,49.6,-19.9,34,303,0.17,2.47,0.00,0.000,6,0.123,0.019,2499,1799,3406,0,0,0,0,0,0
$GC,560,-1.65,-69.1,95.3,-16.5,58,564,0.00,2.58,0.00,0.000,4,0.000,0.037,2499,204,3406,0,0,0,0,0,0
$GC,593,-1.71,-69.1,100.6,-15.5,60,601,0.00,2.50,0.00,0.000,6,0.000,0.019,2498,1795,3407,0,0,0,0,0,0
$GC,860,-1.85,-69.1,136.2,-12.9,85,865,0.17,2.60,0.00,0.000,4,0.054,0.038,2437,203,3407,0,0,0,0,0,0
$GC,910,-1.78,-69.1,144.7,-17.9,89,916,0.17,2.47,0.00,0.000,6,0.112,0.018,2472,1801,3407,0,0,0,0,0,0
$GC,1173,-1.86,-69.1,181.0,-14.0,113,1177,0.00,2.60,0.00,0.000,4,0.000,0.038,2472,205,3408,0,0,0,0,0,0
$GC,1205,-1.86,-69.1,185.7,-14.5,115,1210,0.00,2.47,0.00,0.000,6,0.000,0.018,2472,1802,3408,0,0,0,0,0,0
$GC,1480,-1.98,-69.1,222.4,-13.1,130,1485,0.17,2.62,0.00,0.000,4,0.054,0.039,2407,197,3408,0,0,0,0,0,0
$GC,1518,-1.90,-69.1,228.7,-16.5,130,1524,0.17,2.45,0.00,0.000,6,0.112,0.018,2443,1788,3408,0,0,0,0,0,0
$GC,1770,-1.97,-69.1,262.2,-13.4,137,1774,0.00,2.60,0.00,0.000,4,0.000,0.040,2443,204,3408,0,0,0,0,0,0
$GC,1835,-1.97,-69.1,272.2,-14.6,138,1839,0.00,2.42,0.00,0.000,6,0.000,0.019,2443,1776,3408,0,0,0,0,0,0
$GC,2100,-2.04,-69.1,306.4,-13.0,145,2105,0.12,2.60,0.00,0.000,4,0.069,0.044,2393,204,3408,0,0,0,0,0,0
$GC,2162,-1.95,-69.1,316.8,-18.6,146,2167,0.20,2.47,0.00,0.000,6,0.109,0.022,2434,1771,3408,0,0,0,0,0,0
$GC,2430,-1.95,-69.1,351.4,-12.5,153,2435,0.00,2.60,0.00,0.000,4,0.000,0.048,2434,200,3407,0,0,0,0,0,0
$GC,2465,-1.95,-69.1,356.0,-14.0,153,2469,0.00,2.50,0.00,0.000,6,0.000,0.023,2434,1785,3407,0,0,0,0,0,0
$GC,2714,-2.01,-69.1,386.9,-12.4,159,2719,0.00,2.62,0.00,0.000,4,0.000,0.051,2434,212,3406,0,0,0,0,0,0
$GC,2774,-2.01,-69.1,395.4,-13.4,160,2779,0.00,2.47,0.00,0.000,6,0.000,0.025,2434,1772,3405,0,0,0,0,0,0
$GC,3045,-2.09,-69.1,428.2,-12.0,167,3050,0.12,2.65,0.00,0.000,4,0.069,0.056,2387,212,3404,0,0,0,0,0,0
$GC,3102,-1.98,-69.1,437.1,-15.3,168,3107,0.20,2.47,0.00,0.000,6,0.110,0.028,2427,1759,3404,0,0,0,0,0,0
$GC,3377,-2.05,-69.1,472.3,-12.7,175,3382,0.00,2.65,0.00,0.000,4,0.000,0.061,2427,207,3402,0,0,0,0,0,0
$GC,3400,-2.05,-69.1,476.0,-14.2,175,3405,0.00,2.50,0.00,0.000,6,0.000,0.030,2427,1765,3402,0,0,0,0,0,0
$STATE,3616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3617,begin apogee
$GC,3622,-0.31,0.0,504.2,13.0,181,3684,1.62,0.00,57.38,0.852,6,0.084,0.000,2788,1662,3120,0,0,0,0,0,0
$STATE,3684,end apogee,CONTROL_FINISHED_OK
$STATE,3685,begin climb
$GC,3689,1.77,69.1,506.0,0.0,182,3751,1.88,0.00,58.03,0.838,6,0.029,0.000,3277,1662,2837,0,0,0,0,0,0
$GC,3976,1.57,151.0,513.1,-1.7,189,4057,0.32,2.65,69.53,0.850,4,0.120,0.065,3209,195,2503,0,0,0,0,0,0
$GC,4323,1.37,151.0,476.6,13.0,196,4328,0.25,2.38,0.00,0.000,6,0.123,0.030,3160,1658,2495,0,0,0,0,0,0
$GC,4583,1.37,151.0,452.9,8.8,203,4587,0.00,2.53,0.00,0.000,4,0.000,0.057,3160,188,2493,0,0,0,0,0,0
$GC,4852,1.30,151.0,425.4,9.4,208,4858,0.00,2.38,0.00,0.000,6,0.000,0.027,3160,1654,2490,0,0,0,0,0,0
$GC,5102,1.30,151.0,404.9,8.1,215,5106,0.00,2.53,0.00,0.000,4,0.000,0.056,3160,186,2488,0,0,0,0,0,0
$GC,5371,1.30,151.0,379.5,9.0,220,5377,0.00,2.35,0.00,0.000,6,0.000,0.025,3161,1643,2487,0,0,0,0,0,0
$GC,5621,1.37,152.1,359.9,7.9,227,5626,0.00,2.47,0.00,0.000,4,0.000,0.056,3160,189,2486,0,0,0,0,0,0
$GC,5891,1.37,152.1,333.3,10.1,232,5897,0.00,2.33,0.00,0.000,6,0.000,0.025,3160,1642,2485,0,0,0,0,0,0
$GC,6141,1.45,154.2,313.4,7.8,239,6145,0.00,2.47,0.00,0.000,4,0.000,0.054,3160,187,2484,0,0,0,0,0,0
$GC,6411,1.45,159.8,292.5,7.3,244,6423,0.00,2.30,5.00,0.542,6,0.000,0.024,3160,1634,2468,0,0,0,0,0,0
$GC,6707,1.56,174.4,273.9,6.3,252,6728,0.17,2.55,13.98,0.676,4,0.057,0.054,3217,183,2409,0,0,0,0,0,0
$GC,6996,1.39,174.4,245.7,9.7,258,7001,0.25,2.30,0.00,0.000,6,0.116,0.023,3167,1621,2406,0,0,0,0,0,0
$GC,7277,1.50,183.8,225.5,6.9,265,7293,0.00,2.47,9.35,0.605,4,0.000,0.052,3166,183,2370,0,0,0,0,0,0
$GC,7559,1.51,185.8,201.0,7.8,271,7563,0.00,2.28,0.00,0.000,6,0.000,0.022,3166,1625,2368,0,0,0,0,0,0
$GC,7826,1.63,187.3,181.1,7.8,293,7834,0.20,0.00,4.28,0.441,6,0.049,0.000,3235,1627,2355,0,0,0,0,0,0
$GC,8092,1.63,187.3,155.3,9.0,318,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1627,2354,0,0,0,0,0,0
$GC,8343,1.63,187.3,132.2,9.6,342,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1627,2355,0,0,0,0,0,0
$GC,8600,1.66,214.5,117.4,4.8,366,8634,0.00,2.47,24.27,0.568,4,0.000,0.046,3235,185,2245,0,0,0,0,0,0
$GC,8847,1.57,214.5,98.4,9.7,389,8851,0.15,2.25,0.00,0.000,6,0.120,0.021,3204,1617,2242,0,0,0,0,0,0
$GC,9114,1.66,214.5,77.0,8.7,413,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1617,2241,0,0,0,0,0,0
$GC,9380,1.74,214.5,53.1,10.0,438,9385,0.15,2.40,0.00,0.000,4,0.058,0.045,3261,175,2241,0,0,0,0,0,0
$GC,9396,1.74,214.5,50.7,10.1,439,9405,0.08,2.28,0.00,0.000,6,0.104,0.020,3242,1617,2241,0,0,0,0,0,0
$GC,9670,1.74,214.5,24.0,11.1,468,9678,0.00,2.40,0.00,0.000,4,0.000,0.044,3242,182,2241,0,0,0,0,0,0
$STATE,9827,end climb,SURFACE_DEPTH_REACHED
$STATE,9830,begin surface coast
$FINISH,0.6,1.004279
$STATE,9881,end surface coast,CONTROL_FINISHED_OK
$STATE,9881,begin surface
$SM_CCo,9905,79.28,0.061,0,0,1570,380.21
$SM_GC,1.64,0.00,0.00,79.28,0.000,0.000,0.061,411,1823,1570,-11.27,0.93,380.21
$IRIDIUM_FIX,2237.01,-15805.41,120400,090908
$TT8_MAMPS,0.026845
$HUMID,49.52
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,23.4,69.507
$10V_AH,10.0,61.978
$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,29.325,104.550,241.800,79.275,0.000,80.834,111.146,590.184,0.500,0.000,14.892,1111.148,6157.283,389.480,2296.220,1104.907,33.370,1270.162,0.000,2285.646,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,72.098,852.137,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.106,310.461,394.111,590.809,1044.637,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38294,501
$CAP_FILE_SIZE,123520,0
$CFSIZE,260165632,141488128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170111,115107,2247.177,-15803.637,32,1.5,32,10.1