version: 66.06
glider: 148
mission: 10
dive: 419
start: 9 18 111 7 13 59
data:
$ID,148
$MISSION,10
$DIVE,419
$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,-885820.25
$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,90
$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
$GPS1,070630,2433.836,-15632.836,30,1.5,35,10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.8
$GPS2,071304,2433.772,-15632.838,15,2.9,34,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.045,0.248
$KALMAN_X,-37071.6,-126.7,367.9,202896.1,6.3
$KALMAN_Y,-63660.0,-698.8,-97.8,384055.6,-897.6
$MHEAD_RNG_PITCHd_Wd,339.1,107540,-18.4,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.31,-136.2,0.0,0.0,0,96,0.00,0.00,-74.30,0.000,2,0.000,0.000,412,1911,3325,0,0,0,0,0,0
$GC,99,-1.31,-136.3,4.0,-7.6,10,124,12.30,2.40,-3.22,0.000,4,0.167,0.032,2693,3418,3512,0,0,0,0,0,0
$GC,180,-1.24,-136.3,22.9,-10.9,21,191,0.08,2.50,0.00,0.000,6,0.084,0.024,2716,1867,3512,0,0,0,0,0,0
$GC,461,-1.08,-136.3,60.9,-13.6,49,466,0.17,2.58,0.00,0.000,4,0.102,0.040,2754,290,3513,0,0,0,0,0,0
$GC,507,-1.08,-136.3,66.7,-10.6,52,511,0.00,2.38,0.00,0.000,6,0.000,0.016,2754,1861,3512,0,0,0,0,0,0
$GC,770,-1.14,-136.3,90.9,-8.7,76,774,0.00,2.42,0.00,0.000,4,0.000,0.025,2754,3425,3513,0,0,0,0,0,0
$GC,815,-1.32,-136.3,94.0,-8.0,79,820,0.20,2.45,0.00,0.000,6,0.041,0.020,2654,1865,3513,0,0,0,0,0,0
$GC,1082,-1.10,-136.3,126.0,-11.8,103,1091,0.43,2.53,0.00,0.000,4,0.083,0.037,2747,291,3513,0,0,0,0,0,0
$GC,1115,-1.20,-136.3,129.6,-8.3,106,1119,0.00,2.40,0.00,0.000,6,0.000,0.017,2747,1864,3514,0,0,0,0,0,0
$GC,1378,-1.31,-136.3,148.0,-7.5,130,1383,0.17,2.47,0.00,0.000,4,0.048,0.026,2662,3429,3514,0,0,0,0,0,0
$GC,1450,-1.31,-136.3,155.0,-10.5,136,1455,0.17,2.45,0.00,0.000,6,0.091,0.021,2704,1873,3514,0,0,0,0,0,0
$GC,1716,-1.31,-136.3,180.8,-9.4,160,1720,0.00,2.45,0.00,0.000,4,0.000,0.026,2704,3434,3514,0,0,0,0,0,0
$GC,1757,-1.41,-136.3,184.5,-9.7,163,1761,0.00,2.42,0.00,0.000,6,0.000,0.021,2704,1876,3514,0,0,0,0,0,0
$STATE,1930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1930,begin apogee
$GC,1936,-0.31,0.0,200.5,8.7,179,2045,0.95,0.00,105.70,0.574,6,0.068,0.000,2924,1610,2954,0,0,0,0,0,0
$STATE,2046,end apogee,CONTROL_FINISHED_OK
$STATE,2046,begin climb
$GC,2050,1.31,136.3,203.6,0.0,181,2165,1.40,2.58,107.25,0.571,4,0.026,0.034,3294,3184,2398,0,0,0,0,0,0
$GC,2238,1.08,180.4,201.0,7.9,185,2281,0.32,2.47,36.25,0.553,6,0.100,0.027,3225,1659,2218,0,0,0,0,0,0
$GC,2537,1.03,208.6,175.4,8.7,211,2567,0.00,2.53,24.27,0.535,4,0.000,0.051,3225,176,2103,0,0,0,0,0,0
$GC,2735,0.92,209.2,154.3,10.1,230,2741,0.15,2.22,0.00,0.000,6,0.108,0.019,3192,1607,2101,0,0,0,0,0,0
$GC,3004,1.04,255.3,135.1,7.8,255,3050,0.10,2.62,39.67,0.531,4,0.077,0.032,3249,3187,1913,0,0,0,0,0,0
$GC,3101,1.04,255.3,125.7,10.5,264,3106,0.15,2.58,0.00,0.000,6,0.100,0.028,3215,1609,1908,0,0,0,0,0,0
$GC,3365,1.14,280.2,102.6,8.9,288,3398,0.10,2.45,21.80,0.499,4,0.077,0.048,3273,175,1811,0,0,0,0,0,0
$GC,3424,1.03,280.2,96.7,11.5,293,3429,0.28,2.28,0.00,0.000,6,0.085,0.020,3211,1625,1811,0,0,0,0,0,0
$GC,3692,1.18,306.6,72.0,8.8,317,3721,0.15,2.58,23.08,0.482,4,0.055,0.029,3281,3204,1703,0,0,0,0,0,0
$GC,3835,1.21,330.6,57.4,8.9,329,3862,0.10,2.55,21.40,0.467,6,0.074,0.028,3252,1649,1607,0,0,0,0,0,0
$GC,4131,1.36,379.0,34.9,7.7,356,4187,0.12,2.50,41.47,0.463,4,0.064,0.045,3312,182,1409,0,0,0,0,0,0
$GC,4199,1.28,379.0,27.7,12.4,361,4210,0.15,2.35,0.00,0.000,6,0.074,0.020,3272,1663,1409,0,0,0,0,0,0
$STATE,4396,end climb,SURFACE_DEPTH_REACHED
$STATE,4396,begin surface coast
$FINISH,0.6,1.022746
$STATE,4444,end surface coast,CONTROL_FINISHED_OK
$STATE,4444,begin surface
$SM_CCo,4465,16.88,0.420,0,0,1324,400.08
$SM_GC,1.53,0.00,0.00,16.88,0.000,0.000,0.420,411,1941,1324,-11.86,2.04,400.08
$IRIDIUM_FIX,2422.84,-15634.71,121200,050547
$TT8_MAMPS,0.027612
$HUMID,62.28
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.8,38.819
$10V_AH,10.3,43.551
$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,28.900,59.825,420.900,16.875,0.000,30.163,34.772,169.353,0.500,0.000,37.014,743.008,1499.771,372.558,1444.025,821.325,33.350,968.868,0.000,1748.577,0.000,0.539,0.000
$DEVICE_MAMPS,167.206,51.389,574.483,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,267.506,493.044,576.918,620.509,1159.240,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,32024,398
$CAP_FILE_SIZE,68461,0
$CFSIZE,260165632,112414720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,083006,2433.698,-15632.915,23,4.1,43,10.5