version: 66.06
glider: 148
mission: 10
dive: 2
start: 8 12 111 18 47 47
data:
$ID,148
$MISSION,10
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,200
$D_BOOST,0
$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,40
$T_MISSION,80
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,-876602.62
$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,33
$R_STBD_OVSHOOT,96
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$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,-11.834597
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,184236,2141.648,-15808.936,14,1.7,24,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-64.8
$GPS2,184656,2141.697,-15808.901,15,1.6,15,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,FIRST
$TGT_LATLONG,2145.500,-15813.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.175,0.156
$KALMAN_X,224.1,224.1,224.1,49.1,470.4
$KALMAN_Y,167.3,167.3,167.3,387.8,351.3
$MHEAD_RNG_PITCHd_Wd,301.9,9964,-19.8,-10.000
$D_GRID,120
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,130,0.00,0.00,-110.32,0.000,2,0.000,0.000,411,1813,3458,0,0,0,0,0,0
$GC,134,-1.38,-116.8,4.3,-10.0,16,158,11.80,2.42,-2.08,0.000,4,0.173,0.041,2552,3324,3584,0,0,0,0,0,0
$GC,241,-0.95,-116.8,42.4,-24.7,29,252,0.43,2.47,0.00,0.000,6,0.100,0.029,2646,1787,3584,0,0,0,0,0,0
$GC,505,-0.69,-116.8,97.4,-18.7,54,510,0.25,2.55,0.00,0.000,4,0.111,0.041,2702,210,3584,0,0,0,0,0,0
$GC,602,-0.78,-116.8,112.2,-12.8,62,613,0.00,2.38,0.00,0.000,6,0.000,0.025,2702,1713,3584,0,0,0,0,0,0
$STATE,674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,674,begin apogee
$GC,680,-0.31,0.0,121.3,13.3,69,781,0.38,0.00,88.45,0.516,6,0.097,0.000,2786,1716,3104,0,0,0,0,0,0
$STATE,781,end apogee,CONTROL_FINISHED_OK
$STATE,781,begin climb
$GC,784,1.38,116.8,128.9,0.0,79,886,1.62,2.65,91.22,0.512,4,0.068,0.057,3157,180,2628,0,0,0,0,0,0
$GC,982,1.75,335.2,132.8,-2.6,97,1162,0.35,2.28,172.38,0.516,6,0.032,0.021,3267,1653,1738,0,0,0,0,0,0
$GC,1422,1.75,335.2,90.0,13.7,137,1427,0.12,2.60,0.00,0.000,4,0.113,0.038,3240,3234,1732,0,0,0,0,0,0
$GC,1579,1.89,335.2,71.1,10.9,150,1584,0.12,2.47,0.00,0.000,6,0.069,0.029,3289,1682,1729,0,0,0,0,0,0
$GC,1847,1.89,335.2,38.5,10.6,174,1851,0.00,2.50,0.00,0.000,4,0.000,0.049,3289,166,1729,0,0,0,0,0,0
$GC,1916,1.89,335.2,29.2,13.3,179,1926,0.00,2.35,0.00,0.000,6,0.000,0.024,3288,1655,1728,0,0,0,0,0,0
$STATE,2111,end climb,SURFACE_DEPTH_REACHED
$STATE,2111,begin surface coast
$FINISH,0.3,1.009043
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2175,40.45,0.427,0,0,1473,400.08
$SM_GC,1.22,0.00,0.00,40.45,0.000,0.000,0.427,414,1838,1473,-11.25,1.36,400.08
$IRIDIUM_FIX,2134.17,-15810.62,051100,181826
$TT8_MAMPS,0.026845
$HUMID,55.63
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.8,0.613
$10V_AH,10.4,1.143
$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,26.675,24.875,352.050,40.450,0.000,0.000,0.000,0.000,0.250,0.000,17.097,366.046,479.533,311.026,823.741,313.055,30.180,754.453,0.000,1041.389,0.000,0.541,0.000
$DEVICE_MAMPS,173.342,56.758,516.191,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,140.135,292.113,344.726,394.529,744.409,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356140
$DATA_FILE_SIZE,16259,215
$CAP_FILE_SIZE,55389,0
$CFSIZE,260165632,131051520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120811,192552,2141.913,-15808.660,8,99.0,27,9.9