version: 66.06
glider: 148
mission: 10
dive: 426
start: 9 18 111 17 2 4
data:
$ID,148
$MISSION,10
$DIVE,426
$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,-885993.06
$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,32
$R_STBD_OVSHOOT,91
$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
$GPS1,165426,2432.767,-15633.081,11,1.6,11,10.5
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.4
$GPS2,170108,2432.726,-15633.074,9,1.7,9,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.196,0.160
$KALMAN_X,-33516.6,365.0,338.5,198468.6,707.6
$KALMAN_Y,-70308.7,-312.7,132.1,388153.5,-597.4
$MHEAD_RNG_PITCHd_Wd,298.7,108079,-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,16,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,95,0.00,0.00,-74.35,0.000,2,0.000,0.000,411,1923,3313,0,0,0,0,0,0
$GC,99,-1.31,-136.3,3.9,-6.9,10,124,11.77,2.38,-3.42,0.000,4,0.147,0.035,2697,3405,3512,0,0,0,0,0,0
$GC,218,-1.20,-136.3,30.5,-13.4,27,229,0.10,2.47,0.00,0.000,6,0.081,0.023,2725,1865,3513,0,0,0,0,0,0
$GC,488,-1.08,-136.3,65.8,-13.3,52,493,0.12,2.55,0.00,0.000,4,0.112,0.039,2753,292,3513,0,0,0,0,0,0
$GC,535,-1.20,-136.3,71.6,-9.8,55,540,0.10,2.38,0.00,0.000,6,0.074,0.017,2685,1850,3513,0,0,0,0,0,0
$GC,804,-1.09,-136.3,103.4,-11.5,79,809,0.28,2.45,0.00,0.000,4,0.084,0.024,2750,3424,3514,0,0,0,0,0,0
$GC,836,-1.23,-136.3,107.3,-8.8,81,843,0.12,2.42,0.00,0.000,6,0.061,0.021,2672,1861,3514,0,0,0,0,0,0
$GC,1100,-1.11,-136.3,135.2,-9.9,106,1111,0.32,0.00,0.00,0.000,6,0.083,0.000,2747,1860,3514,0,0,0,0,0,0
$GC,1364,-1.24,-136.3,155.2,-7.9,131,1369,0.10,2.47,0.00,0.000,4,0.074,0.026,2668,3425,3515,0,0,0,0,0,0
$GC,1396,-1.24,-136.3,157.7,-10.2,133,1401,0.22,2.45,0.00,0.000,6,0.085,0.021,2720,1870,3515,0,0,0,0,0,0
$GC,1662,-1.24,-136.3,180.5,-7.8,157,1666,0.00,2.58,0.00,0.000,4,0.000,0.040,2720,297,3514,0,0,0,0,0,0
$GC,1711,-1.38,-136.3,184.9,-7.9,161,1717,0.12,2.38,0.00,0.000,6,0.062,0.018,2646,1858,3515,0,0,0,0,0,0
$STATE,1863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1863,begin apogee
$GC,1869,-0.31,0.0,200.1,10.6,176,1979,1.20,0.00,105.70,0.574,6,0.077,0.000,2919,1608,2954,0,0,0,0,0,0
$STATE,1980,end apogee,CONTROL_FINISHED_OK
$STATE,1980,begin climb
$GC,1983,1.31,136.3,202.1,0.0,178,2099,1.42,2.42,106.93,0.571,4,0.028,0.052,3292,210,2397,0,0,0,0,0,0
$GC,2323,0.96,136.3,178.6,10.8,198,2333,0.38,2.20,0.00,0.000,6,0.087,0.019,3206,1606,2392,0,0,0,0,0,0
$GC,2593,1.07,223.9,161.9,5.7,223,2672,0.00,2.40,71.25,0.549,4,0.000,0.047,3206,202,2041,0,0,0,0,0,0
$GC,2680,1.11,257.4,155.2,8.4,231,2718,0.08,2.25,29.85,0.527,6,0.039,0.020,3253,1622,1904,0,0,0,0,0,0
$GC,2973,1.11,257.4,120.8,11.4,259,2977,0.00,2.55,0.00,0.000,4,0.000,0.033,3252,3194,1899,0,0,0,0,0,0
$GC,3043,1.11,257.4,112.9,11.4,265,3047,0.00,2.47,0.00,0.000,6,0.000,0.027,3252,1665,1895,0,0,0,0,0,0
$GC,3311,1.13,270.4,85.3,9.5,289,3333,0.00,2.53,11.12,0.456,4,0.000,0.054,3252,173,1851,0,0,0,0,0,0
$GC,3358,1.05,270.4,80.2,10.7,293,3363,0.15,2.25,0.00,0.000,6,0.100,0.019,3218,1638,1851,0,0,0,0,0,0
$GC,3626,1.23,322.1,57.7,7.5,317,3678,0.15,2.55,44.53,0.481,4,0.055,0.030,3295,3197,1640,0,0,0,0,0,0
$GC,3705,1.23,322.1,50.2,10.9,323,3710,0.17,2.55,0.00,0.000,6,0.199,0.028,3256,1630,1636,0,0,0,0,0,0
$GC,3981,1.26,349.4,25.3,8.7,351,4011,0.00,2.42,24.00,0.444,4,0.000,0.044,3256,178,1528,0,0,0,0,0,0
$GC,4035,1.28,363.2,20.1,9.4,357,4055,0.00,2.30,13.05,0.418,6,0.000,0.018,3256,1641,1472,0,0,0,0,0,0
$STATE,4197,end climb,SURFACE_DEPTH_REACHED
$STATE,4197,begin surface coast
$FINISH,0.5,1.018956
$STATE,4245,end surface coast,CONTROL_FINISHED_OK
$STATE,4245,begin surface
$SM_CCo,4266,29.77,0.432,0,0,1324,400.08
$SM_GC,1.20,0.00,0.00,29.77,0.000,0.000,0.432,409,1929,1324,-11.87,1.67,400.08
$IRIDIUM_FIX,2422.84,-15632.54,121200,151524
$TT8_MAMPS,0.026845
$HUMID,61.81
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,23.8,39.391
$10V_AH,10.3,44.274
$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,28.175,54.100,406.425,29.775,0.000,26.545,40.741,198.888,0.750,0.000,11.345,712.531,1434.940,375.807,1345.307,834.489,33.347,949.544,0.000,1676.992,0.000,0.539,0.000
$DEVICE_MAMPS,198.653,54.457,573.716,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,260.132,487.723,567.926,601.368,1129.549,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,31962,388
$CAP_FILE_SIZE,65171,0
$CFSIZE,260165632,112132096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,181506,2432.393,-15633.216,39,1.6,45,10.5