version: 66.06
glider: 148
mission: 10
dive: 440
start: 9 19 111 13 0 52
data:
$ID,148
$MISSION,10
$DIVE,440
$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,-886285.38
$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,44
$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
$GPS1,124633,2430.459,-15635.642,41,1.1,44,10.4
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.0
$GPS2,125956,2430.464,-15635.637,15,1.2,15,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.223,0.121
$KALMAN_X,-29345.8,-235.9,-363.6,191179.6,264.0
$KALMAN_Y,-84552.3,-574.7,-274.2,398869.4,-116.5
$MHEAD_RNG_PITCHd_Wd,288.0,106387,-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,-136.3,0.0,0.0,0,96,0.00,0.00,-73.62,0.000,2,0.000,0.000,411,1943,3316,0,0,0,0,0,0
$GC,99,-1.31,-136.3,4.0,-7.6,10,124,11.88,2.42,-3.35,0.000,4,0.152,0.032,2695,3461,3510,0,0,0,0,0,0
$GC,181,-1.20,-136.3,24.6,-13.4,21,192,0.10,2.58,0.00,0.000,6,0.077,0.024,2723,1864,3511,0,0,0,0,0,0
$GC,466,-1.05,-136.3,64.5,-13.7,48,471,0.17,2.58,0.00,0.000,4,0.100,0.038,2762,285,3511,0,0,0,0,0,0
$GC,504,-1.12,-136.3,70.0,-10.8,50,512,0.00,2.50,0.00,0.000,6,0.000,0.018,2762,1893,3511,0,0,0,0,0,0
$GC,771,-1.12,-136.3,93.8,-7.8,75,775,0.00,2.40,0.00,0.000,4,0.000,0.025,2762,3435,3511,0,0,0,0,0,0
$GC,813,-1.29,-136.3,97.8,-7.6,78,824,0.17,2.50,0.00,0.000,6,0.019,0.020,2647,1859,3511,0,0,0,0,0,0
$GC,1082,-1.07,-136.3,129.9,-12.2,103,1087,0.45,0.00,0.00,0.000,6,0.081,0.000,2754,1858,3512,0,0,0,0,0,0
$GC,1346,-1.17,-136.3,151.7,-7.5,128,1350,0.00,2.47,0.00,0.000,4,0.000,0.026,2754,3434,3512,0,0,0,0,0,0
$GC,1435,-1.34,-136.3,158.3,-7.7,136,1440,0.22,2.42,0.00,0.000,6,0.036,0.020,2638,1868,3512,0,0,0,0,0,0
$GC,1701,-1.13,-136.3,188.8,-11.7,160,1707,0.47,0.00,0.00,0.000,6,0.080,0.000,2741,1867,3512,0,0,0,0,0,0
$STATE,1843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1843,begin apogee
$GC,1849,-0.31,0.0,200.2,7.4,174,1957,0.77,0.00,104.80,0.569,6,0.066,0.000,2921,1615,2955,0,0,0,0,0,0
$STATE,1958,end apogee,CONTROL_FINISHED_OK
$STATE,1958,begin climb
$GC,1962,1.31,136.3,203.0,0.0,176,2077,1.42,2.40,107.20,0.565,4,0.029,0.051,3290,204,2397,0,0,0,0,0,0
$GC,2357,1.01,174.3,179.7,8.2,198,2396,0.35,2.22,31.05,0.539,6,0.086,0.018,3209,1621,2242,0,0,0,0,0,0
$GC,2652,1.10,251.2,162.0,6.3,226,2723,0.10,2.42,64.25,0.545,4,0.077,0.047,3260,198,1929,0,0,0,0,0,0
$GC,2815,0.96,251.2,146.3,11.3,241,2820,0.28,2.25,0.00,0.000,6,0.087,0.020,3199,1632,1927,0,0,0,0,0,0
$GC,3082,1.12,289.8,125.1,8.2,265,3128,0.15,2.62,32.42,0.515,4,0.055,0.033,3270,3204,1770,0,0,0,0,0,0
$GC,3218,1.12,289.8,108.7,12.5,277,3223,0.17,2.50,0.00,0.000,6,0.092,0.028,3231,1665,1765,0,0,0,0,0,0
$GC,3485,1.25,319.2,83.4,8.6,301,3518,0.12,2.50,25.48,0.486,4,0.065,0.045,3293,167,1652,0,0,0,0,0,0
$GC,3556,1.16,319.2,75.7,12.5,307,3561,0.22,2.28,0.00,0.000,6,0.091,0.020,3242,1639,1652,0,0,0,0,0,0
$GC,3824,1.33,372.3,53.6,7.5,331,3878,0.15,2.58,45.15,0.473,4,0.055,0.029,3311,3201,1435,0,0,0,0,0,0
$GC,3895,1.33,372.3,46.4,11.5,336,3900,0.15,2.58,0.00,0.000,6,0.099,0.028,3278,1621,1432,0,0,0,0,0,0
$GC,4179,1.33,372.3,15.8,12.1,369,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1622,1430,0,0,0,0,0,0
$STATE,4268,end climb,SURFACE_DEPTH_REACHED
$STATE,4268,begin surface coast
$FINISH,0.6,1.023289
$STATE,4303,end surface coast,CONTROL_FINISHED_OK
$STATE,4303,begin surface
$SM_CCo,4327,22.10,0.426,0,0,1324,400.08
$SM_GC,1.36,0.00,0.00,22.10,0.000,0.000,0.426,408,1935,1324,-11.88,1.87,400.08
$IRIDIUM_FIX,2420.48,-15637.83,131200,131358
$TT8_MAMPS,0.026845
$HUMID,61.85
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.8,40.611
$10V_AH,10.2,45.733
$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,28.825,44.950,410.350,22.100,0.000,76.589,105.071,347.089,0.250,0.000,16.479,710.816,1587.576,372.605,1369.733,1116.639,33.348,952.964,0.000,1692.176,0.000,0.539,0.000
$DEVICE_MAMPS,151.866,51.389,569.114,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.164,478.453,561.127,591.651,1103.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,32205,387
$CAP_FILE_SIZE,71111,0
$CFSIZE,260165632,111558656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,141431,2430.486,-15635.667,10,1.4,29,10.4