version: 66.06
glider: 148
mission: 10
dive: 395
start: 9 16 111 21 55 17
data:
$ID,148
$MISSION,10
$DIVE,395
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,430
$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,66
$T_MISSION,660
$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,140
$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,-885196.44
$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,2990
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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
$GPS1,213958,2438.190,-15628.445,9,2.5,29,10.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.9
$GPS2,215422,2438.049,-15628.517,12,99.0,31,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,0.233
$KALMAN_X,-45439.6,473.9,149.3,218315.6,-241.9
$KALMAN_Y,-39711.6,-586.1,-286.3,368104.4,-678.2
$MHEAD_RNG_PITCHd_Wd,326.5,110917,-18.3,-10.101
$D_GRID,200
$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,-1.31,-136.3,0.0,0.0,0,88,0.00,0.00,-67.43,0.000,2,0.000,0.000,411,1932,3129,0,0,0,0,0,0
$GC,91,-1.31,-136.3,3.3,-5.3,9,116,12.32,2.40,-7.20,0.000,4,0.167,0.038,2695,3447,3512,0,0,0,0,0,0
$GC,197,-1.21,-136.3,24.6,-14.8,24,208,0.10,2.50,0.00,0.000,6,0.081,0.022,2723,1888,3513,0,0,0,0,0,0
$GC,476,-1.07,-136.3,63.8,-14.3,51,486,0.15,0.00,0.00,0.000,6,0.107,0.000,2756,1889,3513,0,0,0,0,0,0
$GC,741,-1.16,-136.3,90.2,-8.4,76,745,0.00,2.45,0.00,0.000,4,0.000,0.025,2756,3449,3513,0,0,0,0,0,0
$GC,773,-1.33,-136.3,92.9,-7.5,78,786,0.20,2.50,0.00,0.000,6,0.018,0.021,2631,1871,3513,0,0,0,0,0,0
$GC,1044,-1.09,-136.3,128.8,-13.4,103,1053,0.50,2.55,0.00,0.000,4,0.081,0.035,2748,287,3513,0,0,0,0,0,0
$GC,1075,-1.20,-136.3,132.9,-9.2,106,1080,0.00,2.42,0.00,0.000,6,0.000,0.017,2748,1890,3514,0,0,0,0,0,0
$GC,1344,-1.32,-136.3,154.2,-8.5,130,1349,0.20,2.40,0.00,0.000,4,0.042,0.025,2648,3429,3514,0,0,0,0,0,0
$GC,1383,-1.23,-136.3,158.5,-11.3,133,1389,0.32,2.42,0.00,0.000,6,0.077,0.021,2724,1882,3514,0,0,0,0,0,0
$GC,1650,-1.30,-136.3,182.1,-8.3,157,1654,0.00,2.58,0.00,0.000,4,0.000,0.038,2724,289,3514,0,0,0,0,0,0
$GC,1678,-1.37,-136.3,184.9,-9.7,159,1683,0.12,2.42,0.00,0.000,6,0.061,0.018,2649,1886,3514,0,0,0,0,0,0
$STATE,1809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1809,begin apogee
$GC,1816,-0.31,0.0,200.7,11.7,171,1925,1.20,0.00,105.47,0.571,6,0.074,0.000,2920,1608,2955,0,0,0,0,0,0
$STATE,1926,end apogee,CONTROL_FINISHED_OK
$STATE,1926,begin climb
$GC,1928,1.31,136.3,203.4,0.0,173,2045,1.42,2.42,107.93,0.569,4,0.031,0.052,3291,208,2397,0,0,0,0,0,0
$GC,2207,0.96,151.6,188.1,9.3,187,2227,0.43,2.20,13.45,0.508,6,0.092,0.018,3199,1624,2335,0,0,0,0,0,0
$GC,2481,1.05,229.7,169.5,6.2,213,2556,0.00,2.45,64.28,0.550,4,0.000,0.044,3198,201,2017,0,0,0,0,0,0
$GC,2664,1.06,235.8,153.5,9.8,230,2684,0.10,2.20,6.45,0.432,6,0.077,0.019,3251,1626,1991,0,0,0,0,0,0
$GC,2935,0.99,235.8,123.8,10.5,256,2940,0.20,2.35,0.00,0.000,4,0.092,0.043,3207,201,1987,0,0,0,0,0,0
$GC,2956,0.99,235.8,122.2,11.0,257,2960,0.00,2.20,0.00,0.000,6,0.000,0.018,3207,1627,1987,0,0,0,0,0,0
$GC,3224,1.13,288.6,100.5,7.5,281,3271,0.12,0.00,44.50,0.511,6,0.065,0.000,3270,1630,1777,0,0,0,0,0,0
$GC,3531,1.16,315.2,69.8,8.8,310,3562,0.12,0.00,23.12,0.476,6,0.108,0.000,3242,1630,1667,0,0,0,0,0,0
$GC,3820,1.26,321.4,43.3,9.8,337,3836,0.00,2.55,5.97,0.377,4,0.000,0.028,3242,3190,1642,0,0,0,0,0,0
$GC,3854,1.37,330.5,39.2,9.6,339,3869,0.15,2.53,9.12,0.413,6,0.024,0.027,3320,1644,1607,0,0,0,0,0,0
$STATE,4140,end climb,SURFACE_DEPTH_REACHED
$STATE,4140,begin surface coast
$FINISH,0.6,1.023294
$STATE,4188,end surface coast,CONTROL_FINISHED_OK
$STATE,4188,begin surface
$SM_CCo,4211,43.25,0.438,0,0,1323,400.08
$SM_GC,1.46,0.00,0.00,43.25,0.000,0.000,0.438,412,1915,1323,-11.86,1.27,400.08
$IRIDIUM_FIX,2427.58,-15628.48,101200,212159
$TT8_MAMPS,0.026845
$HUMID,62.20
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.9,36.869
$10V_AH,10.3,41.073
$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,29.300,44.275,380.300,43.250,0.000,84.337,122.452,358.054,0.000,0.000,33.420,702.458,1555.046,383.181,1332.469,1149.957,33.343,925.949,0.000,1653.105,0.000,0.539,0.000
$DEVICE_MAMPS,167.206,52.156,571.415,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.243,499.091,577.244,597.375,1124.434,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,32127,386
$CAP_FILE_SIZE,69362,0
$CFSIZE,260165632,113356800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,230805,2437.944,-15628.728,71,1.7,73,10.5