version: 66.06
glider: 148
mission: 10
dive: 404
start: 9 17 111 10 31 1
data:
$ID,148
$MISSION,10
$DIVE,404
$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,-885455.38
$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,34
$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
$GPS1,102016,2436.723,-15630.956,9,99.0,29,10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.3
$GPS2,103006,2436.681,-15630.955,11,1.5,27,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.162,0.194
$KALMAN_X,-43315.1,-157.5,162.2,212610.0,-6.1
$KALMAN_Y,-48585.2,-395.2,-273.8,374235.8,-491.7
$MHEAD_RNG_PITCHd_Wd,309.6,108107,-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,-136.2,0.0,0.0,0,95,0.00,0.00,-74.70,0.000,2,0.000,0.000,413,1955,3343,0,0,0,0,0,0
$GC,98,-1.31,-136.3,4.0,-8.0,10,123,12.32,2.40,-2.95,0.000,4,0.168,0.036,2695,3449,3511,0,0,0,0,0,0
$GC,198,-1.21,-136.3,28.2,-13.4,24,209,0.10,2.55,0.00,0.000,6,0.078,0.025,2722,1870,3512,0,0,0,0,0,0
$GC,478,-1.08,-136.3,63.5,-12.5,50,488,0.15,0.00,0.00,0.000,6,0.106,0.000,2755,1870,3513,0,0,0,0,0,0
$GC,746,-1.08,-136.3,88.0,-8.7,75,750,0.00,2.50,0.00,0.000,4,0.000,0.028,2755,3449,3513,0,0,0,0,0,0
$GC,787,-1.25,-136.3,92.2,-9.0,78,798,0.12,2.50,0.00,0.000,6,0.024,0.021,2631,1873,3513,0,0,0,0,0,0
$GC,1056,-0.99,-136.3,128.8,-13.5,103,1065,0.57,2.47,0.00,0.000,4,0.081,0.025,2765,3446,3513,0,0,0,0,0,0
$GC,1082,-0.99,-136.3,132.2,-12.5,105,1086,0.00,2.45,0.00,0.000,6,0.000,0.021,2765,1871,3513,0,0,0,0,0,0
$GC,1346,-1.14,-136.3,153.8,-8.1,129,1351,0.10,2.50,0.00,0.000,4,0.073,0.028,2673,3450,3513,0,0,0,0,0,0
$GC,1368,-1.14,-136.3,155.5,-8.4,130,1373,0.30,2.47,0.00,0.000,6,0.077,0.021,2743,1877,3514,0,0,0,0,0,0
$GC,1635,-1.23,-136.3,177.2,-7.8,154,1640,0.00,2.55,0.00,0.000,4,0.000,0.039,2743,297,3514,0,0,0,0,0,0
$GC,1676,-1.40,-136.3,180.9,-7.9,157,1682,0.22,2.45,0.00,0.000,6,0.038,0.018,2642,1900,3513,0,0,0,0,0,0
$STATE,1849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1850,begin apogee
$GC,1858,-0.31,0.0,200.1,11.5,174,1967,1.23,0.00,105.38,0.575,6,0.075,0.000,2922,1606,2955,0,0,0,0,0,0
$STATE,1968,end apogee,CONTROL_FINISHED_OK
$STATE,1968,begin climb
$GC,1970,1.31,136.3,203.3,0.0,176,2086,1.42,2.40,107.47,0.570,4,0.028,0.054,3298,209,2398,0,0,0,0,0,0
$GC,2363,0.98,161.7,177.3,8.8,198,2391,0.40,2.20,21.02,0.529,6,0.088,0.018,3207,1610,2295,0,0,0,0,0,0
$GC,2645,1.08,243.2,158.3,6.0,225,2719,0.00,2.38,67.88,0.548,4,0.000,0.046,3206,207,1962,0,0,0,0,0,0
$GC,2755,1.08,243.2,149.1,10.2,235,2762,0.00,2.25,0.00,0.000,6,0.000,0.020,3206,1629,1960,0,0,0,0,0,0
$GC,3019,1.20,274.8,126.1,8.5,260,3056,0.17,2.60,27.27,0.516,4,0.049,0.035,3286,3186,1832,0,0,0,0,0,0
$GC,3064,1.10,274.8,120.9,12.7,263,3073,0.22,2.47,0.00,0.000,6,0.071,0.027,3230,1662,1830,0,0,0,0,0,0
$GC,3327,1.19,292.9,95.3,9.2,288,3351,0.00,2.53,15.68,0.482,4,0.000,0.047,3230,180,1759,0,0,0,0,0,0
$GC,3420,1.31,292.9,85.7,10.6,296,3429,0.15,2.30,0.00,0.000,6,0.024,0.020,3317,1637,1758,0,0,0,0,0,0
$GC,3688,1.21,292.9,56.0,11.0,321,3698,0.28,0.00,0.00,0.000,6,0.097,0.000,3254,1640,1755,0,0,0,0,0,0
$GC,3958,1.33,339.0,32.2,7.8,346,4005,0.10,2.47,39.70,0.463,4,0.076,0.051,3311,165,1571,0,0,0,0,0,0
$GC,4074,1.21,339.0,18.3,14.1,360,4083,0.22,2.30,0.00,0.000,6,0.074,0.019,3255,1624,1571,0,0,0,0,0,0
$STATE,4191,end climb,SURFACE_DEPTH_REACHED
$STATE,4191,begin surface coast
$FINISH,0.6,1.022859
$STATE,4235,end surface coast,CONTROL_FINISHED_OK
$STATE,4235,begin surface
$SM_CCo,4256,42.65,0.438,0,0,1323,400.08
$SM_GC,1.35,0.00,0.00,42.65,0.000,0.000,0.438,405,1902,1323,-11.89,0.90,400.08
$IRIDIUM_FIX,2427.58,-15633.77,111200,101007
$TT8_MAMPS,0.026845
$HUMID,62.16
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,23.8,37.613
$10V_AH,10.3,42.003
$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,29.475,49.525,384.400,42.650,0.000,46.557,74.872,241.997,0.750,0.000,28.643,701.984,1528.922,385.210,1340.351,938.646,33.345,956.270,0.000,1655.367,0.000,0.540,0.000
$DEVICE_MAMPS,167.973,54.457,575.250,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,257.153,485.836,565.821,589.780,1104.106,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,32137,384
$CAP_FILE_SIZE,65835,0
$CFSIZE,260165632,113012736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170911,114352,2436.704,-15631.134,10,99.0,29,10.5