version: 66.06
glider: 148
mission: 10
dive: 423
start: 9 18 111 12 54 53
data:
$ID,148
$MISSION,10
$DIVE,423
$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,-885935.5
$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,31
$R_STBD_OVSHOOT,105
$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
$GPS1,124737,2433.560,-15633.420,32,1.0,33,10.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.3
$GPS2,125355,2433.561,-15633.413,10,1.6,15,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.228,0.110
$KALMAN_X,-35741.5,-187.9,-203.7,201191.6,353.9
$KALMAN_Y,-67218.2,-581.4,-328.2,387330.1,-158.4
$MHEAD_RNG_PITCHd_Wd,285.2,106859,-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,-136.3,0.0,0.0,0,95,0.00,0.00,-74.93,0.000,2,0.000,0.000,409,1925,3358,0,0,0,0,0,0
$GC,99,-1.31,-136.3,4.2,-8.4,10,124,11.88,2.72,-2.58,0.000,4,0.151,0.056,2696,288,3513,0,0,0,0,0,0
$GC,198,-1.21,-136.3,31.3,-17.0,24,203,0.12,2.38,0.00,0.000,6,0.115,0.017,2723,1832,3514,0,0,0,0,0,0
$GC,468,-1.07,-136.3,67.9,-12.4,48,473,0.15,2.53,0.00,0.000,4,0.108,0.025,2755,3436,3515,0,0,0,0,0,0
$GC,527,-1.19,-136.3,74.5,-8.9,52,532,0.10,2.47,0.00,0.000,6,0.074,0.021,2675,1867,3515,0,0,0,0,0,0
$GC,791,-0.96,-136.3,109.9,-14.0,76,805,0.52,2.53,0.00,0.000,4,0.083,0.035,2777,289,3515,0,0,0,0,0,0
$GC,833,-1.19,-136.3,114.5,-8.3,79,839,0.20,2.45,0.00,0.000,6,0.041,0.017,2667,1904,3515,0,0,0,0,0,0
$GC,1096,-1.03,-136.3,145.3,-11.8,104,1101,0.40,2.38,0.00,0.000,4,0.080,0.026,2762,3424,3515,0,0,0,0,0,0
$GC,1159,-1.23,-136.3,150.5,-7.1,109,1164,0.17,2.38,0.00,0.000,6,0.046,0.019,2659,1905,3516,0,0,0,0,0,0
$GC,1425,-1.05,-136.3,179.4,-11.0,133,1434,0.45,2.60,0.00,0.000,4,0.080,0.036,2758,297,3516,0,0,0,0,0,0
$GC,1451,-1.11,-136.3,182.3,-8.6,135,1461,0.00,2.47,0.00,0.000,6,0.000,0.018,2757,1898,3515,0,0,0,0,0,0
$STATE,1717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1717,begin apogee
$GC,1723,-0.31,0.0,200.5,7.1,160,1833,0.70,0.00,106.10,0.571,6,0.065,0.000,2922,1610,2954,0,0,0,0,0,0
$STATE,1834,end apogee,CONTROL_FINISHED_OK
$STATE,1834,begin climb
$GC,1836,1.31,136.3,205.6,0.0,163,1952,1.42,2.45,107.12,0.569,4,0.030,0.053,3292,201,2398,0,0,0,0,0,0
$GC,2233,0.98,153.1,178.9,9.3,185,2255,0.40,2.20,14.55,0.510,6,0.092,0.019,3205,1616,2329,0,0,0,0,0,0
$GC,2517,1.09,242.9,161.0,5.6,212,2598,0.10,2.40,74.53,0.545,4,0.078,0.046,3256,198,1963,0,0,0,0,0,0
$GC,2721,0.97,242.9,139.9,11.5,231,2726,0.25,2.25,0.00,0.000,6,0.091,0.019,3201,1633,1960,0,0,0,0,0,0
$GC,2987,1.13,294.2,117.7,7.5,255,3040,0.15,2.55,43.53,0.514,4,0.054,0.031,3275,3198,1751,0,0,0,0,0,0
$GC,3100,1.13,294.2,105.9,11.7,265,3105,0.17,2.50,0.00,0.000,6,0.090,0.029,3235,1668,1747,0,0,0,0,0,0
$GC,3366,1.27,327.6,81.1,8.4,289,3401,0.12,2.50,28.95,0.485,4,0.064,0.044,3297,171,1618,0,0,0,0,0,0
$GC,3441,1.21,327.6,73.5,12.3,295,3446,0.20,2.28,0.00,0.000,6,0.091,0.019,3252,1642,1617,0,0,0,0,0,0
$GC,3709,1.31,333.8,49.1,9.8,319,3724,0.10,2.47,6.25,0.380,4,0.077,0.044,3305,180,1593,0,0,0,0,0,0
$GC,3753,1.24,333.8,44.3,11.3,322,3758,0.20,2.25,0.00,0.000,6,0.095,0.018,3260,1639,1593,0,0,0,0,0,0
$GC,4042,1.24,333.8,12.9,10.2,358,4053,0.00,2.50,0.00,0.000,4,0.000,0.028,3260,3189,1590,0,0,0,0,0,0
$GC,4080,1.32,333.8,9.1,10.6,362,4090,0.00,2.55,0.00,0.000,6,0.000,0.027,3260,1622,1588,0,0,0,0,0,0
$STATE,4132,end climb,SURFACE_DEPTH_REACHED
$STATE,4132,begin surface coast
$FINISH,0.5,1.013382
$STATE,4187,end surface coast,CONTROL_FINISHED_OK
$STATE,4187,begin surface
$SM_CCo,4208,44.08,0.435,0,0,1323,400.08
$SM_GC,1.30,0.00,0.00,44.08,0.000,0.000,0.435,407,1874,1323,-11.88,0.11,400.08
$IRIDIUM_FIX,2425.21,-15633.77,121200,111154
$TT8_MAMPS,0.026845
$HUMID,60.78
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.60
$XPDR_PINGS,4
$24V_AH,23.8,39.157
$10V_AH,10.3,43.965
$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,29.150,54.575,381.025,44.075,0.000,30.740,34.531,172.184,1.000,0.000,16.651,706.666,1407.439,388.249,1346.275,788.708,33.349,952.644,0.000,1653.808,0.000,0.539,0.000
$DEVICE_MAMPS,151.099,55.991,570.648,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,252.614,465.678,544.215,575.684,1083.937,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,31989,377
$CAP_FILE_SIZE,65401,0
$CFSIZE,260165632,112254976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,140644,2433.492,-15633.297,12,1.9,18,10.5