version: 66.06
glider: 148
mission: 10
dive: 430
start: 9 18 111 22 52 33
data:
$ID,148
$MISSION,10
$DIVE,430
$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,-886072.56
$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
$GPS1,223751,2431.805,-15633.523,40,1.6,55,10.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.0
$GPS2,225137,2431.758,-15633.531,9,1.2,9,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.142,0.208
$KALMAN_X,-32401.5,621.9,-131.1,196777.4,-157.3
$KALMAN_Y,-74615.7,-350.1,-579.9,391412.3,-438.3
$MHEAD_RNG_PITCHd_Wd,315.3,108256,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.32,-135.8,0.0,0.0,0,96,0.00,0.00,-74.60,0.000,2,0.000,0.000,408,1939,3338,0,0,0,0,0,0
$GC,99,-1.32,-136.3,4.0,-7.4,10,124,11.77,2.42,-3.08,0.000,4,0.148,0.038,2692,3446,3514,0,0,0,0,0,0
$GC,205,-1.22,-136.3,28.1,-13.7,25,216,0.10,2.55,0.00,0.000,6,0.077,0.023,2720,1861,3515,0,0,0,0,0,0
$GC,485,-1.10,-136.3,63.5,-12.4,51,490,0.12,2.58,0.00,0.000,4,0.113,0.039,2748,286,3515,0,0,0,0,0,0
$GC,535,-1.21,-136.3,69.1,-8.7,54,544,0.08,2.45,0.00,0.000,6,0.035,0.017,2688,1876,3515,0,0,0,0,0,0
$GC,802,-1.11,-136.3,99.4,-11.8,79,807,0.25,2.42,0.00,0.000,4,0.085,0.025,2749,3430,3515,0,0,0,0,0,0
$GC,832,-1.19,-136.3,102.6,-9.8,81,837,0.00,2.50,0.00,0.000,6,0.000,0.021,2749,1854,3515,0,0,0,0,0,0
$GC,1101,-1.30,-136.3,125.2,-7.8,106,1106,0.17,2.50,0.00,0.000,4,0.048,0.044,2658,297,3516,0,0,0,0,0,0
$GC,1164,-1.21,-136.3,131.6,-10.7,111,1169,0.30,2.38,0.00,0.000,6,0.083,0.017,2726,1855,3516,0,0,0,0,0,0
$GC,1426,-1.27,-136.3,151.7,-7.4,135,1430,0.00,2.45,0.00,0.000,4,0.000,0.026,2727,3428,3515,0,0,0,0,0,0
$GC,1476,-1.42,-136.3,155.1,-8.1,139,1481,0.20,2.47,0.00,0.000,6,0.040,0.021,2622,1850,3515,0,0,0,0,0,0
$GC,1742,-1.17,-136.3,190.7,-14.2,163,1751,0.52,2.50,0.00,0.000,4,0.082,0.036,2733,286,3516,0,0,0,0,0,0
$GC,1796,-1.38,-136.3,197.1,-8.9,168,1806,0.15,2.38,0.00,0.000,6,0.022,0.018,2643,1832,3515,0,0,0,0,0,0
$STATE,1836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1836,begin apogee
$GC,1843,-0.31,0.0,201.2,10.9,172,1955,1.23,0.00,106.15,0.572,6,0.073,0.000,2924,1601,2954,0,0,0,0,0,0
$STATE,1956,end apogee,CONTROL_FINISHED_OK
$STATE,1956,begin climb
$GC,1958,1.32,136.3,207.1,0.0,175,2075,1.40,2.35,107.00,0.569,4,0.025,0.051,3303,208,2397,0,0,0,0,0,0
$GC,2358,0.92,136.3,174.7,10.3,197,2365,0.52,2.20,0.00,0.000,6,0.093,0.019,3189,1620,2392,0,0,0,0,0,0
$GC,2623,1.03,226.1,157.3,5.6,222,2705,0.10,2.40,73.12,0.543,4,0.078,0.044,3239,202,2032,0,0,0,0,0,0
$GC,2740,0.95,226.1,147.5,11.5,233,2745,0.20,2.25,0.00,0.000,6,0.094,0.020,3196,1633,2031,0,0,0,0,0,0
$GC,3006,1.09,281.0,127.1,7.3,257,3060,0.12,2.60,46.95,0.522,4,0.064,0.033,3260,3205,1807,0,0,0,0,0,0
$GC,3098,1.09,281.0,117.0,13.2,265,3103,0.15,2.53,0.00,0.000,6,0.097,0.028,3226,1656,1803,0,0,0,0,0,0
$GC,3365,1.16,285.8,87.8,9.9,289,3375,0.00,2.45,4.12,0.337,4,0.000,0.044,3226,173,1788,0,0,0,0,0,0
$GC,3399,1.17,291.0,83.7,9.8,292,3411,0.00,2.28,6.20,0.399,6,0.000,0.019,3226,1619,1768,0,0,0,0,0,0
$GC,3671,1.37,357.8,63.8,6.8,317,3738,0.25,2.60,57.65,0.485,4,0.038,0.029,3340,3193,1494,0,0,0,0,0,0
$GC,3757,1.24,357.8,54.2,14.1,323,3771,0.38,2.58,0.00,0.000,6,0.085,0.028,3257,1616,1490,0,0,0,0,0,0
$GC,4036,1.31,358.4,23.7,10.1,352,4047,0.00,2.40,0.00,0.000,4,0.000,0.051,3257,180,1488,0,0,0,0,0,0
$GC,4068,1.38,358.4,20.2,11.4,355,4079,0.10,2.25,0.00,0.000,6,0.029,0.019,3342,1619,1488,0,0,0,0,0,0
$STATE,4182,end climb,SURFACE_DEPTH_REACHED
$STATE,4182,begin surface coast
$FINISH,0.5,1.011678
$STATE,4226,end surface coast,CONTROL_FINISHED_OK
$STATE,4226,begin surface
$SM_CCo,4247,29.10,0.430,0,0,1324,400.08
$SM_GC,1.30,0.00,0.00,29.10,0.000,0.000,0.430,409,1934,1324,-11.87,1.81,400.08
$IRIDIUM_FIX,2422.84,-15627.25,121200,222247
$TT8_MAMPS,0.026845
$HUMID,62.12
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.50
$XPDR_PINGS,3
$24V_AH,23.8,39.748
$10V_AH,10.2,44.692
$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,29.825,59.150,401.200,29.100,0.000,85.823,127.288,338.858,0.750,0.000,10.931,708.110,1538.699,383.325,1339.067,1139.301,33.350,971.105,0.000,1661.646,0.000,0.539,0.000
$DEVICE_MAMPS,148.031,51.389,572.182,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,252.932,466.231,548.886,582.975,1096.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,32112,378
$CAP_FILE_SIZE,74084,0
$CFSIZE,260165632,111955968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,000445,2431.620,-15633.824,12,1.7,14,10.4