version: 66.06
glider: 148
mission: 10
dive: 425
start: 9 18 111 15 38 22
data:
$ID,148
$MISSION,10
$DIVE,425
$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,-885981.06
$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,33
$R_STBD_OVSHOOT,59
$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
$GPS1,153131,2433.180,-15633.059,11,1.3,29,10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.2
$GPS2,153726,2433.165,-15633.030,10,1.4,10,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.241,0.076
$KALMAN_X,-33903.3,136.1,56.6,199430.4,986.0
$KALMAN_Y,-69100.8,-390.3,50.6,387916.3,-316.8
$MHEAD_RNG_PITCHd_Wd,277.0,107766,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.31,-136.3,0.0,0.0,0,97,0.00,0.00,-74.80,0.000,2,0.000,0.000,412,1959,3348,0,0,0,0,0,0
$GC,100,-1.31,-136.3,4.2,-8.2,10,125,12.32,2.35,-2.85,0.000,4,0.168,0.031,2695,3442,3512,0,0,0,0,0,0
$GC,200,-1.19,-136.3,26.5,-11.1,24,211,0.12,2.53,0.00,0.000,6,0.081,0.023,2728,1871,3513,0,0,0,0,0,0
$GC,479,-1.04,-136.3,60.9,-12.5,50,484,0.15,2.55,0.00,0.000,4,0.106,0.038,2762,292,3513,0,0,0,0,0,0
$GC,502,-0.95,-136.3,64.2,-12.4,51,506,0.00,2.45,0.00,0.000,6,0.000,0.017,2762,1884,3513,0,0,0,0,0,0
$GC,769,-0.95,-136.3,90.2,-10.2,75,774,0.10,2.60,0.00,0.000,4,0.117,0.038,2784,293,3513,0,0,0,0,0,0
$GC,791,-1.05,-136.3,92.6,-9.1,76,802,0.08,2.42,0.00,0.000,6,0.035,0.017,2689,1862,3513,0,0,0,0,0,0
$GC,1059,-0.91,-136.3,123.9,-10.8,101,1065,0.43,0.00,0.00,0.000,6,0.080,0.000,2789,1866,3513,0,0,0,0,0,0
$GC,1323,-1.12,-136.3,141.4,-6.8,126,1328,0.17,2.47,0.00,0.000,4,0.047,0.026,2665,3437,3514,0,0,0,0,0,0
$GC,1364,-1.03,-136.3,145.1,-11.3,129,1373,0.43,2.50,0.00,0.000,6,0.075,0.021,2763,1847,3514,0,0,0,0,0,0
$GC,1633,-1.17,-136.3,164.5,-5.9,154,1638,0.12,0.00,0.00,0.000,6,0.061,0.000,2666,1847,3514,0,0,0,0,0,0
$GC,1896,-1.03,-136.3,189.7,-10.0,179,1905,0.40,2.50,0.00,0.000,4,0.082,0.025,2762,3431,3514,0,0,0,0,0,0
$GC,1923,-1.03,-136.3,191.6,-8.8,181,1928,0.00,2.50,0.00,0.000,6,0.000,0.021,2762,1845,3514,0,0,0,0,0,0
$STATE,2044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2044,begin apogee
$GC,2050,-0.31,0.0,200.4,7.2,192,2159,0.68,0.00,105.45,0.575,6,0.067,0.000,2921,1609,2955,0,0,0,0,0,0
$STATE,2159,end apogee,CONTROL_FINISHED_OK
$STATE,2160,begin climb
$GC,2163,1.31,136.3,203.6,0.0,194,2280,1.42,2.62,107.47,0.571,4,0.031,0.042,3302,3181,2398,0,0,0,0,0,0
$GC,2446,1.06,160.5,193.3,8.9,205,2474,0.32,2.50,20.80,0.535,6,0.098,0.027,3224,1659,2299,0,0,0,0,0,0
$GC,2730,1.07,213.6,171.0,7.5,232,2780,0.00,2.55,43.92,0.548,4,0.000,0.054,3223,174,2083,0,0,0,0,0,0
$GC,2804,1.01,231.3,164.7,9.2,239,2826,0.00,2.25,16.15,0.512,6,0.000,0.019,3223,1618,2011,0,0,0,0,0,0
$GC,3082,1.01,237.7,137.2,9.8,265,3090,0.00,0.00,6.25,0.426,6,0.000,0.000,3223,1621,1985,0,0,0,0,0,0
$GC,3344,1.05,263.8,113.2,8.8,290,3381,0.00,2.60,23.77,0.506,4,0.000,0.030,3223,3187,1876,0,0,0,0,0,0
$GC,3415,1.13,263.8,106.1,10.5,296,3419,0.00,2.53,0.00,0.000,6,0.000,0.027,3223,1618,1874,0,0,0,0,0,0
$GC,3678,1.22,289.8,79.9,8.8,320,3704,0.12,0.00,22.30,0.485,6,0.064,0.000,3292,1618,1772,0,0,0,0,0,0
$GC,3961,1.25,314.5,52.4,8.9,346,3990,0.12,2.58,21.88,0.463,4,0.114,0.028,3264,3197,1672,0,0,0,0,0,0
$GC,4019,1.33,325.5,46.7,9.6,350,4043,0.00,2.58,10.85,0.426,6,0.000,0.028,3264,1633,1626,0,0,0,0,0,0
$GC,4320,1.33,325.5,13.1,12.6,387,4331,0.00,2.42,0.00,0.000,4,0.000,0.044,3264,176,1624,0,0,0,0,0,0
$GC,4351,1.33,325.5,9.7,11.3,390,4361,0.00,2.28,0.00,0.000,6,0.000,0.019,3264,1630,1624,0,0,0,0,0,0
$STATE,4403,end climb,SURFACE_DEPTH_REACHED
$STATE,4403,begin surface coast
$FINISH,0.5,1.010914
$STATE,4445,end surface coast,CONTROL_FINISHED_OK
$STATE,4445,begin surface
$SM_CCo,4467,45.22,0.436,0,0,1324,400.08
$SM_GC,1.36,0.00,0.00,45.22,0.000,0.000,0.436,411,1922,1324,-11.86,1.47,400.08
$IRIDIUM_FIX,2425.21,-15636.89,121200,141443
$TT8_MAMPS,0.027612
$HUMID,61.89
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.8,39.311
$10V_AH,10.3,44.173
$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,28.400,50.450,378.850,45.225,0.000,24.283,33.426,158.636,0.250,0.000,11.714,732.002,1595.344,408.946,1333.808,801.884,33.344,957.814,0.000,1685.931,0.000,0.539,0.000
$DEVICE_MAMPS,167.973,53.690,575.250,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,270.246,514.332,596.487,611.352,1135.237,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,32133,403
$CAP_FILE_SIZE,64440,0
$CFSIZE,260165632,112173056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,165426,2432.767,-15633.081,11,1.6,11,10.5