version: 66.06
glider: 148
mission: 9
dive: 539
start: 1 17 111 12 12 34
data:
$ID,148
$MISSION,9
$DIVE,539
$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,-869931.31
$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,42
$R_STBD_OVSHOOT,69
$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
$GPS1,115107,2247.177,-15803.637,32,1.5,32,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.3
$GPS2,121136,2246.928,-15803.703,12,1.4,28,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.133,0.040
$KALMAN_X,-119071.3,-922.4,-267.2,130865.5,-156.9
$KALMAN_Y,-160537.9,-118.9,-261.7,285069.8,-280.4
$MHEAD_RNG_PITCHd_Wd,63.0,1208,-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,15,begin dive
$GC,18,-1.74,-45.3,0.0,0.0,0,88,0.00,0.00,-68.15,0.000,2,0.000,0.000,410,1823,3274,0,0,0,0,0,0
$GC,91,-1.78,-77.6,3.7,-4.2,9,116,10.93,2.67,-3.25,0.000,4,0.156,0.048,2463,209,3440,0,0,0,0,0,0
$GC,357,-1.78,-77.6,57.8,-19.0,40,361,0.00,2.42,0.00,0.000,6,0.000,0.019,2463,1768,3441,0,0,0,0,0,0
$GC,619,-1.78,-77.6,109.4,-19.5,64,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1769,3441,0,0,0,0,0,0
$GC,877,-1.78,-77.6,151.9,-15.1,88,881,0.00,2.53,0.00,0.000,4,0.000,0.037,2464,208,3441,0,0,0,0,0,0
$GC,914,-1.78,-77.6,158.1,-16.7,91,918,0.00,2.47,0.00,0.000,6,0.000,0.018,2463,1809,3441,0,0,0,0,0,0
$GC,1182,-1.86,-77.6,194.4,-13.3,115,1186,0.00,2.58,0.00,0.000,4,0.000,0.037,2464,217,3442,0,0,0,0,0,0
$GC,1201,-1.94,-77.6,198.1,-13.5,116,1207,0.10,2.42,0.00,0.000,6,0.081,0.018,2421,1795,3442,0,0,0,0,0,0
$GC,1463,-1.94,-77.6,238.1,-15.1,124,1467,0.00,2.55,0.00,0.000,4,0.000,0.038,2421,217,3443,0,0,0,0,0,0
$GC,1560,-1.94,-77.6,254.6,-15.5,126,1564,0.00,2.40,0.00,0.000,6,0.000,0.019,2420,1774,3443,0,0,0,0,0,0
$GC,1839,-1.94,-77.6,295.0,-14.2,133,1843,0.00,2.53,0.00,0.000,4,0.000,0.041,2420,219,3443,0,0,0,0,0,0
$GC,1954,-1.94,-77.6,313.5,-15.5,135,1959,0.00,2.42,0.00,0.000,6,0.000,0.021,2420,1766,3443,0,0,0,0,0,0
$GC,2213,-1.94,-77.6,350.3,-14.4,142,2217,0.00,2.55,0.00,0.000,4,0.000,0.047,2420,221,3443,0,0,0,0,0,0
$GC,2346,-1.94,-77.6,371.1,-16.7,144,2351,0.00,2.40,0.00,0.000,6,0.000,0.023,2420,1749,3443,0,0,0,0,0,0
$GC,2595,-1.94,-77.6,407.8,-14.5,151,2599,0.00,2.55,0.00,0.000,4,0.000,0.054,2420,224,3441,0,0,0,0,0,0
$GC,2613,-1.94,-77.6,410.7,-14.3,151,2618,0.00,2.45,0.00,0.000,6,0.000,0.026,2420,1754,3441,0,0,0,0,0,0
$GC,2879,-1.94,-77.6,447.3,-13.7,158,2883,0.00,2.60,0.00,0.000,4,0.000,0.058,2421,217,3440,0,0,0,0,0,0
$GC,2906,-1.94,-77.6,451.8,-14.7,158,2911,0.00,2.47,0.00,0.000,6,0.000,0.030,2420,1747,3440,0,0,0,0,0,0
$GC,3161,-1.94,-77.6,484.5,-12.5,165,3165,0.00,2.60,0.00,0.000,4,0.000,0.060,2420,218,3438,0,0,0,0,0,0
$GC,3209,-1.94,-77.6,491.0,-14.0,166,3213,0.00,2.47,0.00,0.000,6,0.000,0.031,2420,1743,3438,0,0,0,0,0,0
$STATE,3285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3285,begin apogee
$GC,3291,-0.31,0.0,501.2,12.6,168,3359,1.67,0.00,64.57,0.841,6,0.085,0.000,2789,1681,3120,0,0,0,0,0,0
$STATE,3360,end apogee,CONTROL_FINISHED_OK
$STATE,3360,begin climb
$GC,3363,1.78,77.6,502.7,0.0,169,3432,1.85,0.00,65.20,0.827,6,0.028,0.000,3275,1681,2802,0,0,0,0,0,0
$GC,3655,1.56,130.0,502.7,1.8,177,3708,0.35,2.72,45.00,0.825,4,0.126,0.054,3203,3257,2587,0,0,0,0,0,0
$GC,3863,1.56,130.0,485.9,10.4,181,3868,0.00,2.58,0.00,0.000,6,0.000,0.036,3204,1714,2583,0,0,0,0,0,0
$GC,4122,1.49,130.0,460.8,9.7,188,4127,0.00,2.72,0.00,0.000,4,0.000,0.072,3203,162,2580,0,0,0,0,0,0
$GC,4309,1.28,130.0,441.0,10.5,192,4315,0.32,2.47,0.00,0.000,6,0.128,0.027,3140,1685,2577,0,0,0,0,0,0
$GC,4593,1.38,130.0,417.4,8.3,199,4597,0.00,2.60,0.00,0.000,4,0.000,0.056,3140,166,2575,0,0,0,0,0,0
$GC,4769,1.38,130.0,401.9,8.5,202,4774,0.00,2.45,0.00,0.000,6,0.000,0.026,3140,1683,2574,0,0,0,0,0,0
$GC,5019,1.49,142.5,385.0,6.5,209,5031,0.17,0.00,9.43,0.699,6,0.056,0.000,3198,1683,2537,0,0,0,0,0,0
$GC,5264,1.50,146.5,367.1,7.5,215,5271,0.00,0.00,4.78,0.560,6,0.000,0.000,3198,1683,2522,0,0,0,0,0,0
$GC,5505,1.50,146.5,347.5,8.2,221,5510,0.00,2.60,0.00,0.000,4,0.000,0.056,3198,166,2520,0,0,0,0,0,0
$GC,5520,1.42,146.5,346.2,8.6,221,5525,0.15,2.45,0.00,0.000,6,0.133,0.025,3171,1684,2519,0,0,0,0,0,0
$GC,5791,1.42,152.3,326.1,7.3,228,5803,0.00,2.65,5.95,0.597,4,0.000,0.056,3170,173,2499,0,0,0,0,0,0
$GC,6071,1.35,156.7,303.2,7.5,234,6083,0.00,2.38,5.32,0.561,6,0.000,0.024,3170,1671,2480,0,0,0,0,0,0
$GC,6363,1.43,170.3,285.0,6.4,241,6383,0.00,2.60,13.15,0.676,4,0.000,0.054,3170,164,2424,0,0,0,0,0,0
$GC,6615,1.44,172.7,265.1,7.7,246,6619,0.00,2.40,0.00,0.000,6,0.000,0.024,3170,1666,2421,0,0,0,0,0,0
$GC,6881,1.53,178.1,246.3,7.4,253,6894,0.10,2.60,7.82,0.594,4,0.081,0.055,3209,161,2393,0,0,0,0,0,0
$GC,6954,1.41,178.1,239.4,10.8,254,6959,0.20,2.38,0.00,0.000,6,0.124,0.023,3171,1650,2392,0,0,0,0,0,0
$GC,7214,1.51,178.1,217.2,8.4,261,7218,0.00,2.50,0.00,0.000,4,0.000,0.053,3171,166,2391,0,0,0,0,0,0
$GC,7442,1.51,181.3,196.2,7.6,269,7451,0.00,2.35,4.15,0.442,6,0.000,0.022,3171,1646,2380,0,0,0,0,0,0
$GC,7707,1.63,188.2,177.2,7.2,294,7721,0.17,2.67,7.72,0.545,4,0.054,0.041,3231,3250,2351,0,0,0,0,0,0
$GC,7756,1.64,191.6,173.3,7.6,298,7766,0.00,2.65,4.50,0.445,6,0.000,0.030,3230,1634,2338,0,0,0,0,0,0
$GC,8024,1.64,191.6,147.4,10.0,323,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1634,2337,0,0,0,0,0,0
$GC,8285,1.66,209.1,123.8,5.9,348,8309,0.00,2.50,16.30,0.561,4,0.000,0.048,3231,176,2266,0,0,0,0,0,0
$GC,8561,1.57,209.1,101.3,10.2,374,8570,0.10,2.33,0.00,0.000,6,0.104,0.021,3207,1641,2263,0,0,0,0,0,0
$GC,8831,1.65,209.1,77.5,9.2,399,8835,0.00,2.45,0.00,0.000,4,0.000,0.049,3207,168,2263,0,0,0,0,0,0
$GC,8948,1.65,209.1,64.4,11.2,409,8952,0.00,2.30,0.00,0.000,6,0.000,0.020,3207,1641,2263,0,0,0,0,0,0
$GC,9218,1.73,209.1,41.2,9.9,433,9222,0.12,2.45,0.00,0.000,4,0.067,0.043,3257,171,2263,0,0,0,0,0,0
$STATE,9494,end climb,SURFACE_DEPTH_REACHED
$STATE,9494,begin surface coast
$FINISH,0.8,1.004789
$STATE,9539,end surface coast,CONTROL_FINISHED_OK
$STATE,9539,begin surface
$SM_CCo,9564,81.78,0.061,0,0,1569,380.21
$SM_GC,1.63,0.00,0.00,81.78,0.000,0.000,0.061,408,1796,1569,-11.28,0.17,380.21
$IRIDIUM_FIX,2239.35,-15802.37,120400,121243
$TT8_MAMPS,0.027612
$HUMID,49.84
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.50
$XPDR_PINGS,2
$24V_AH,23.4,69.615
$10V_AH,9.9,62.092
$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,27.825,105.550,253.900,81.775,0.000,83.696,111.288,710.198,0.500,0.000,29.537,1056.696,6040.183,415.862,2113.782,1249.536,33.372,1209.687,0.000,2094.719,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,109.681,840.632,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.364,291.857,373.550,550.600,971.220,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38433,478
$CAP_FILE_SIZE,118226,0
$CFSIZE,260165632,141438976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170111,145428,2247.515,-15802.958,8,4.7,27,10.1