version: 66.06
glider: 148
mission: 10
dive: 436
start: 9 19 111 7 24 22
data:
$ID,148
$MISSION,10
$DIVE,436
$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,-886201
$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,94
$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
$GPS1,071544,2430.427,-15634.496,6,1.1,7,10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.4
$GPS2,072326,2430.385,-15634.529,12,1.1,12,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.081,0.239
$KALMAN_X,-30289.8,-45.5,453.3,193031.0,-77.9
$KALMAN_Y,-81287.0,-817.2,-92.5,395520.1,-718.1
$MHEAD_RNG_PITCHd_Wd,330.9,108060,-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,20,-1.32,-136.0,0.0,0.0,0,127,0.00,0.00,-104.05,0.000,2,0.000,0.000,407,1921,3334,0,0,0,0,0,0
$GC,130,-1.32,-136.3,4.0,-7.4,14,155,11.88,2.38,-3.10,0.000,4,0.150,0.036,2697,3410,3513,0,0,0,0,0,0
$GC,216,-1.25,-136.3,25.2,-13.4,26,227,0.00,2.47,0.00,0.000,6,0.000,0.023,2697,1867,3514,0,0,0,0,0,0
$GC,500,-1.03,-136.3,67.3,-15.3,53,505,0.28,2.42,0.00,0.000,4,0.093,0.025,2761,3404,3514,0,0,0,0,0,0
$GC,523,-0.91,-136.3,71.3,-14.6,54,528,0.12,2.40,0.00,0.000,6,0.102,0.021,2791,1869,3514,0,0,0,0,0,0
$GC,787,-1.08,-136.3,92.2,-6.5,78,799,0.15,0.00,0.00,0.000,6,0.054,0.000,2692,1869,3514,0,0,0,0,0,0
$GC,1057,-0.99,-136.3,118.9,-10.1,103,1062,0.32,2.40,0.00,0.000,4,0.079,0.023,2771,3402,3514,0,0,0,0,0,0
$GC,1109,-1.23,-136.3,124.0,-7.1,107,1116,0.20,2.40,0.00,0.000,6,0.041,0.020,2661,1866,3514,0,0,0,0,0,0
$GC,1374,-1.08,-136.3,155.3,-13.1,132,1384,0.38,0.00,0.00,0.000,6,0.081,0.000,2750,1865,3514,0,0,0,0,0,0
$GC,1642,-1.21,-136.3,177.1,-7.2,157,1646,0.10,2.42,0.00,0.000,4,0.076,0.027,2673,3401,3514,0,0,0,0,0,0
$GC,1698,-1.21,-136.3,182.8,-10.0,162,1704,0.22,2.40,0.00,0.000,6,0.081,0.021,2727,1875,3514,0,0,0,0,0,0
$STATE,1946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1946,begin apogee
$GC,1952,-0.31,0.0,200.5,7.2,185,2061,0.85,0.00,105.60,0.572,6,0.068,0.000,2923,1609,2955,0,0,0,0,0,0
$STATE,2061,end apogee,CONTROL_FINISHED_OK
$STATE,2062,begin climb
$GC,2065,1.32,136.3,203.1,0.0,187,2178,1.42,0.00,108.93,0.569,6,0.031,0.000,3290,1609,2398,0,0,0,0,0,0
$GC,2395,1.09,165.9,190.0,8.6,201,2428,0.25,2.40,24.80,0.539,4,0.103,0.054,3232,196,2277,0,0,0,0,0,0
$GC,2595,0.95,166.3,170.9,10.1,220,2600,0.17,2.15,0.00,0.000,6,0.103,0.019,3195,1582,2274,0,0,0,0,0,0
$GC,2861,1.03,230.2,150.1,6.9,244,2919,0.00,2.65,52.83,0.539,4,0.000,0.033,3195,3197,2015,0,0,0,0,0,0
$GC,2939,1.16,270.6,144.0,8.1,251,2981,0.20,2.55,35.05,0.528,6,0.044,0.028,3275,1636,1850,0,0,0,0,0,0
$GC,3237,1.06,270.6,108.8,10.9,279,3242,0.25,2.40,0.00,0.000,4,0.088,0.044,3219,178,1843,0,0,0,0,0,0
$GC,3286,1.07,278.6,103.6,9.7,283,3299,0.00,2.22,6.53,0.415,6,0.000,0.019,3219,1611,1819,0,0,0,0,0,0
$GC,3565,1.22,311.0,80.1,8.5,309,3602,0.15,2.62,27.83,0.489,4,0.056,0.031,3295,3193,1685,0,0,0,0,0,0
$GC,3625,1.22,311.0,74.0,11.5,314,3630,0.17,2.60,0.00,0.000,6,0.093,0.028,3255,1599,1682,0,0,0,0,0,0
$GC,3892,1.32,335.9,48.5,8.9,338,3923,0.10,2.38,21.45,0.460,4,0.077,0.044,3327,164,1585,0,0,0,0,0,0
$GC,3941,1.20,335.9,42.0,13.1,341,3949,0.32,2.28,0.00,0.000,6,0.077,0.020,3250,1603,1585,0,0,0,0,0,0
$GC,4231,1.27,335.9,12.9,10.3,379,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1606,1580,0,0,0,0,0,0
$STATE,4320,end climb,SURFACE_DEPTH_REACHED
$STATE,4320,begin surface coast
$FINISH,0.5,1.023371
$STATE,4367,end surface coast,CONTROL_FINISHED_OK
$STATE,4367,begin surface
$SM_CCo,4390,36.53,0.433,0,0,1324,400.08
$SM_GC,1.51,0.00,0.00,36.53,0.000,0.000,0.433,414,1919,1324,-11.85,1.39,400.08
$IRIDIUM_FIX,2422.84,-15634.71,131200,060629
$TT8_MAMPS,0.026845
$HUMID,61.77
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.8,40.273
$10V_AH,10.3,45.320
$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,28.900,44.325,383.000,36.525,0.000,25.827,31.654,263.248,0.000,0.000,14.066,716.471,1553.465,418.523,1306.721,898.729,33.346,955.700,0.000,1655.873,0.000,0.539,0.000
$DEVICE_MAMPS,149.565,53.690,572.182,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,267.378,513.155,593.282,608.318,1136.725,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,32110,399
$CAP_FILE_SIZE,64295,0
$CFSIZE,260165632,111726592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,083922,2430.395,-15634.770,12,3.1,32,10.4