version: 66.06
glider: 148
mission: 9
dive: 498
start: 1 11 111 20 13 21
data:
$ID,148
$MISSION,9
$DIVE,498
$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,-869001.12
$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,52
$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
$GPS1,200515,2248.991,-15802.931,36,2.9,55,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.7
$GPS2,201226,2248.965,-15802.979,15,1.7,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.007,0.177
$KALMAN_X,-95058.1,-13.6,-69.7,106980.2,-116.7
$KALMAN_Y,-128076.0,383.3,-467.8,256081.0,-44.5
$MHEAD_RNG_PITCHd_Wd,352.3,1918,-23.8,-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,-1.57,-69.0,0.0,0.0,0,95,0.00,0.00,-75.38,0.000,2,0.000,0.000,414,1841,3318,0,0,0,0,0,0
$GC,100,-1.63,-118.1,3.6,-4.7,10,125,10.88,2.70,-5.38,0.000,4,0.149,0.043,2497,204,3603,0,0,0,0,0,0
$GC,208,-1.63,-118.1,30.1,-18.6,26,213,0.00,2.47,0.00,0.000,6,0.000,0.021,2497,1787,3603,0,0,0,0,0,0
$GC,476,-1.52,-118.1,81.0,-19.5,50,481,0.15,2.55,0.00,0.000,4,0.120,0.031,2527,3370,3605,0,0,0,0,0,0
$GC,499,-1.43,-118.1,87.0,-19.3,51,505,0.10,2.50,0.00,0.000,6,0.129,0.022,2548,1783,3605,0,0,0,0,0,0
$GC,763,-1.56,-118.1,122.9,-12.2,76,768,0.12,2.55,0.00,0.000,4,0.067,0.027,2497,3370,3605,0,0,0,0,0,0
$GC,804,-1.56,-118.1,128.4,-14.2,79,809,0.10,2.47,0.00,0.000,6,0.120,0.022,2519,1804,3605,0,0,0,0,0,0
$GC,1071,-1.63,-118.1,165.5,-13.8,103,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1804,3606,0,0,0,0,0,0
$GC,1332,-1.72,-118.1,200.4,-12.4,128,1334,0.15,0.00,0.00,0.000,6,0.058,0.000,2460,1804,3607,0,0,0,0,0,0
$GC,1576,-1.72,-118.1,237.6,-15.5,134,1581,0.12,2.50,0.00,0.000,4,0.117,0.029,2486,3368,3607,0,0,0,0,0,0
$GC,1601,-1.72,-118.1,241.2,-14.8,134,1605,0.00,2.47,0.00,0.000,6,0.000,0.022,2486,1798,3607,0,0,0,0,0,0
$GC,1860,-1.72,-118.1,277.7,-14.2,141,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1798,3607,0,0,0,0,0,0
$GC,2103,-1.72,-118.1,310.7,-13.3,147,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1798,3607,0,0,0,0,0,0
$GC,2347,-1.72,-118.1,341.8,-12.5,153,2352,0.00,2.53,0.00,0.000,4,0.000,0.035,2486,3364,3607,0,0,0,0,0,0
$GC,2377,-1.72,-118.1,345.5,-12.2,153,2381,0.00,2.47,0.00,0.000,6,0.000,0.025,2486,1810,3607,0,0,0,0,0,0
$GC,2632,-1.78,-118.1,378.2,-12.9,160,2636,0.00,2.67,0.00,0.000,4,0.000,0.053,2486,208,3606,0,0,0,0,0,0
$GC,2692,-1.87,-118.1,387.2,-14.5,161,2697,0.15,2.53,0.00,0.000,6,0.059,0.025,2433,1795,3606,0,0,0,0,0,0
$GC,2963,-1.87,-118.1,430.5,-16.2,168,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1795,3605,0,0,0,0,0,0
$GC,3205,-1.87,-118.1,467.9,-15.3,174,3209,0.00,2.72,0.00,0.000,4,0.000,0.061,2432,208,3604,0,0,0,0,0,0
$GC,3247,-1.87,-118.1,474.7,-15.7,175,3252,0.00,2.58,0.00,0.000,6,0.000,0.033,2432,1792,3604,0,0,0,0,0,0
$STATE,3451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3451,begin apogee
$GC,3458,-0.31,0.0,504.6,14.5,180,3560,1.62,0.00,97.70,0.849,6,0.083,0.000,2793,1674,3120,0,0,0,0,0,0
$STATE,3561,end apogee,CONTROL_FINISHED_OK
$STATE,3561,begin climb
$GC,3563,1.63,118.1,507.0,0.0,182,3673,1.73,2.62,98.05,0.836,4,0.019,0.066,3240,188,2637,0,0,0,0,0,0
$GC,3716,1.17,124.6,506.6,8.4,186,3729,0.62,2.45,6.65,0.647,6,0.116,0.030,3116,1679,2611,0,0,0,0,0,0
$GC,3990,1.20,146.5,486.3,7.1,193,4015,0.00,2.62,19.48,0.788,4,0.000,0.061,3116,185,2522,0,0,0,0,0,0
$GC,4059,1.10,153.7,481.0,8.4,194,4071,0.00,2.42,7.50,0.675,6,0.000,0.028,3116,1680,2493,0,0,0,0,0,0
$GC,4318,1.11,161.3,459.8,8.3,200,4331,0.00,2.60,7.43,0.680,4,0.000,0.058,3116,186,2462,0,0,0,0,0,0
$GC,4507,1.05,161.3,441.7,9.4,204,4512,0.12,2.40,0.00,0.000,6,0.128,0.026,3090,1678,2458,0,0,0,0,0,0
$GC,4788,1.19,189.5,422.8,6.5,211,4821,0.12,2.65,25.30,0.793,4,0.067,0.058,3140,188,2345,0,0,0,0,0,0
$GC,5003,1.10,189.5,399.7,12.1,215,5008,0.20,2.38,0.00,0.000,6,0.113,0.025,3100,1670,2341,0,0,0,0,0,0
$GC,5259,1.21,189.5,376.1,9.3,222,5264,0.10,2.55,0.00,0.000,4,0.079,0.057,3142,187,2338,0,0,0,0,0,0
$GC,5491,1.12,189.5,349.1,10.9,227,5496,0.17,2.35,0.00,0.000,6,0.116,0.025,3107,1666,2337,0,0,0,0,0,0
$GC,5776,1.24,196.7,324.8,8.4,234,5789,0.10,2.58,5.93,0.595,4,0.080,0.055,3148,191,2317,0,0,0,0,0,0
$GC,5813,1.14,196.7,320.8,11.2,234,5818,0.20,2.35,0.00,0.000,6,0.116,0.025,3108,1654,2316,0,0,0,0,0,0
$GC,6065,1.27,212.8,301.2,7.6,240,6086,0.12,2.58,15.20,0.699,4,0.067,0.056,3155,180,2251,0,0,0,0,0,0
$GC,6112,1.17,212.8,296.8,10.7,241,6117,0.20,2.38,0.00,0.000,6,0.117,0.024,3116,1655,2249,0,0,0,0,0,0
$GC,6395,1.28,212.8,270.9,9.2,248,6400,0.10,2.53,0.00,0.000,4,0.080,0.054,3157,182,2247,0,0,0,0,0,0
$GC,6440,1.21,212.8,265.6,13.5,249,6446,0.17,2.35,0.00,0.000,6,0.122,0.025,3124,1654,2247,0,0,0,0,0,0
$GC,6728,1.31,212.8,236.6,9.9,256,6733,0.10,2.53,0.00,0.000,4,0.081,0.053,3163,177,2246,0,0,0,0,0,0
$GC,6868,1.24,212.8,219.5,12.3,259,6873,0.17,2.33,0.00,0.000,6,0.127,0.023,3131,1648,2245,0,0,0,0,0,0
$GC,7134,1.34,213.7,195.7,8.9,267,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1650,2245,0,0,0,0,0,0
$GC,7388,1.44,213.7,171.5,9.8,291,7393,0.17,2.47,0.00,0.000,4,0.054,0.050,3191,183,2245,0,0,0,0,0,0
$GC,7437,1.30,213.7,166.0,12.6,295,7442,0.22,2.28,0.00,0.000,6,0.133,0.022,3148,1640,2244,0,0,0,0,0,0
$GC,7703,1.37,216.8,141.2,8.7,319,7707,0.00,2.45,0.00,0.000,4,0.000,0.048,3148,177,2244,0,0,0,0,0,0
$GC,7732,1.37,216.8,138.3,9.8,321,7736,0.00,2.28,0.00,0.000,6,0.000,0.022,3148,1637,2244,0,0,0,0,0,0
$GC,8001,1.47,231.6,117.0,7.7,345,8024,0.15,2.65,16.38,0.561,4,0.059,0.035,3207,3250,2174,0,0,0,0,0,0
$GC,8071,1.47,231.6,109.8,11.0,351,8078,0.12,2.62,0.00,0.000,6,0.116,0.028,3182,1645,2172,0,0,0,0,0,0
$GC,8336,1.49,246.4,88.0,7.7,376,8357,0.00,2.50,14.20,0.525,4,0.000,0.047,3181,178,2114,0,0,0,0,0,0
$GC,8373,1.50,250.1,84.9,8.7,379,8383,0.00,2.30,4.78,0.409,6,0.000,0.021,3182,1657,2099,0,0,0,0,0,0
$GC,8640,1.50,250.1,57.3,10.7,404,8644,0.00,2.47,0.00,0.000,4,0.000,0.044,3181,167,2097,0,0,0,0,0,0
$GC,8682,1.50,250.1,51.9,11.8,407,8691,0.00,2.33,0.00,0.000,6,0.000,0.021,3181,1638,2097,0,0,0,0,0,0
$GC,8960,1.50,250.1,23.0,10.2,437,8968,0.00,2.45,0.00,0.000,4,0.000,0.044,3181,177,2097,0,0,0,0,0,0
$GC,9020,1.50,250.1,15.0,12.9,446,9029,0.00,2.30,0.00,0.000,6,0.000,0.020,3181,1638,2097,0,0,0,0,0,0
$STATE,9116,end climb,SURFACE_DEPTH_REACHED
$STATE,9116,begin surface coast
$FINISH,0.8,0.999440
$STATE,9160,end surface coast,CONTROL_FINISHED_OK
$STATE,9160,begin surface
$SM_CCo,9182,66.40,0.418,1,0,1569,380.21
$SM_GC,1.72,0.00,0.00,66.40,0.000,0.000,0.418,412,1859,1569,-11.26,1.95,380.21
$IRIDIUM_FIX,2239.35,-15804.53,060400,171716
$TT8_MAMPS,0.026845
$HUMID,49.88
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.30
$XPDR_PINGS,1
$24V_AH,23.4,64.342
$10V_AH,10.0,57.099
$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,29.600,109.850,318.575,66.400,0.000,23.198,47.852,196.169,0.250,0.000,18.555,1007.093,5776.102,437.581,1888.713,572.329,33.385,1186.245,0.000,1886.675,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,65.962,849.069,418.015,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.775,293.915,367.840,555.246,981.885,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355296
$DATA_FILE_SIZE,38463,467
$CAP_FILE_SIZE,107987,0
$CFSIZE,260165632,143986688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110111,224846,2249.962,-15802.982,23,1.5,32,10.1