version: 66.06
glider: 148
mission: 10
dive: 399
start: 9 17 111 3 36 39
data:
$ID,148
$MISSION,10
$DIVE,399
$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,-885313.56
$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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,031908,2437.615,-15629.681,11,1.4,12,10.5
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.6
$GPS2,033544,2437.604,-15629.666,16,1.5,16,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.226,0.112
$KALMAN_X,-44294.7,29.0,-162.8,215940.9,265.5
$KALMAN_Y,-43485.0,-567.0,-217.6,370964.6,-191.1
$MHEAD_RNG_PITCHd_Wd,285.8,109434,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,95,0.00,0.00,-74.47,0.000,2,0.000,0.000,408,1942,3352,0,0,0,0,0,0
$GC,98,-1.31,-136.3,4.1,-8.0,10,123,11.82,2.40,-2.75,0.000,4,0.150,0.036,2694,3442,3513,0,0,0,0,0,0
$GC,192,-1.23,-136.3,27.4,-14.9,23,203,0.10,2.53,0.00,0.000,6,0.081,0.023,2720,1869,3514,0,0,0,0,0,0
$GC,472,-1.08,-136.3,65.8,-12.5,49,477,0.15,2.55,0.00,0.000,4,0.107,0.038,2754,290,3514,0,0,0,0,0,0
$GC,522,-1.17,-136.3,71.9,-9.1,52,531,0.00,2.45,0.00,0.000,6,0.000,0.017,2754,1872,3514,0,0,0,0,0,0
$GC,791,-1.17,-136.3,94.3,-9.0,77,795,0.00,2.45,0.00,0.000,4,0.000,0.025,2754,3435,3514,0,0,0,0,0,0
$GC,809,-1.27,-136.3,96.1,-7.9,78,815,0.12,2.50,0.00,0.000,6,0.022,0.021,2657,1858,3514,0,0,0,0,0,0
$GC,1083,-1.10,-136.3,127.6,-11.5,103,1089,0.38,0.00,0.00,0.000,6,0.084,0.000,2746,1858,3514,0,0,0,0,0,0
$GC,1348,-1.21,-136.3,147.4,-7.4,128,1352,0.00,2.50,0.00,0.000,4,0.000,0.025,2746,3439,3514,0,0,0,0,0,0
$GC,1370,-1.35,-136.3,149.5,-8.2,129,1376,0.17,2.50,0.00,0.000,6,0.021,0.021,2644,1863,3514,0,0,0,0,0,0
$GC,1638,-1.16,-136.3,181.2,-12.4,154,1647,0.38,2.53,0.00,0.000,4,0.084,0.035,2733,295,3514,0,0,0,0,0,0
$GC,1655,-1.06,-136.3,183.8,-12.1,155,1662,0.12,2.42,0.00,0.000,6,0.100,0.018,2764,1876,3514,0,0,0,0,0,0
$GC,1921,-1.24,-136.3,199.8,-5.2,180,1925,0.17,1.92,0.00,0.000,3,0.046,0.025,2655,3127,3514,0,0,0,0,0,0
$STATE,1926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1926,begin apogee
$GC,1935,-0.31,0.0,200.3,5.4,180,2043,1.12,0.00,105.28,0.570,6,0.073,0.000,2916,1626,2955,0,0,0,0,0,0
$STATE,2044,end apogee,CONTROL_FINISHED_OK
$STATE,2044,begin climb
$GC,2047,1.31,136.3,203.8,0.0,183,2163,1.45,2.45,107.38,0.567,4,0.029,0.054,3292,191,2397,0,0,0,0,0,0
$GC,2446,0.99,147.5,176.4,9.5,205,2462,0.35,2.25,9.62,0.480,6,0.085,0.018,3210,1623,2353,0,0,0,0,0,0
$GC,2716,1.10,236.7,159.1,5.6,231,2797,0.00,0.00,73.78,0.545,6,0.000,0.000,3210,1623,1989,0,0,0,0,0,0
$GC,3056,1.11,245.7,129.5,9.7,263,3067,0.00,0.00,8.38,0.452,6,0.000,0.000,3210,1624,1952,0,0,0,0,0,0
$GC,3320,1.12,255.8,104.3,9.6,288,3333,0.10,0.00,9.90,0.457,6,0.077,0.000,3262,1624,1912,0,0,0,0,0,0
$GC,3591,1.12,255.8,74.9,10.2,313,3596,0.12,2.42,0.00,0.000,4,0.105,0.046,3234,177,1908,0,0,0,0,0,0
$GC,3613,1.12,255.8,71.6,10.6,314,3624,0.00,2.30,0.00,0.000,6,0.000,0.019,3234,1640,1908,0,0,0,0,0,0
$GC,3884,1.26,316.6,50.6,7.1,339,3942,0.12,2.58,51.62,0.477,4,0.064,0.031,3299,3193,1662,0,0,0,0,0,0
$GC,3978,1.26,316.6,41.0,11.9,346,3983,0.15,2.55,0.00,0.000,6,0.098,0.027,3265,1624,1658,0,0,0,0,0,0
$GC,4270,1.26,316.6,12.4,11.0,384,4280,0.00,2.40,0.00,0.000,4,0.000,0.043,3265,174,1656,0,0,0,0,0,0
$GC,4313,1.26,316.6,7.9,10.5,389,4324,0.00,2.28,0.00,0.000,6,0.000,0.018,3265,1644,1656,0,0,0,0,0,0
$STATE,4366,end climb,SURFACE_DEPTH_REACHED
$STATE,4366,begin surface coast
$FINISH,0.6,1.023227
$STATE,4447,end surface coast,CONTROL_FINISHED_OK
$STATE,4447,begin surface
$SM_CCo,4468,47.30,0.435,0,0,1323,400.08
$SM_GC,1.30,0.00,0.00,47.30,0.000,0.000,0.435,409,1898,1323,-11.87,0.79,400.08
$IRIDIUM_FIX,2429.95,-15628.48,111200,030329
$TT8_MAMPS,0.026845
$HUMID,60.90
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.9,37.214
$10V_AH,10.3,41.495
$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,28.225,48.675,365.950,47.300,0.000,113.089,137.225,396.183,0.000,0.000,17.705,740.784,1713.024,386.371,1397.236,1280.968,33.349,942.272,0.000,1758.810,0.000,0.539,0.000
$DEVICE_MAMPS,149.565,54.457,569.881,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,273.779,510.801,596.863,640.400,1194.139,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,35190,408
$CAP_FILE_SIZE,73827,0
$CFSIZE,260165632,113192960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170911,045311,2437.311,-15629.959,14,99.0,34,10.5