version: 66.06
glider: 148
mission: 10
dive: 449
start: 9 20 111 1 34 21
data:
$ID,148
$MISSION,10
$DIVE,449
$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,-886489.56
$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,35
$R_STBD_OVSHOOT,55
$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
$GPS1,011057,2429.106,-15637.078,11,2.3,31,10.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.1
$GPS2,013325,2429.172,-15637.056,9,1.5,14,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.206,0.146
$KALMAN_X,-27170.6,245.3,-541.7,186264.1,136.7
$KALMAN_Y,-93301.5,-399.5,-247.5,405020.1,-155.3
$MHEAD_RNG_PITCHd_Wd,295.1,105625,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.31,-136.2,0.0,0.0,0,95,0.00,0.00,-74.60,0.000,2,0.000,0.000,411,1956,3353,0,0,0,0,0,0
$GC,99,-1.31,-136.3,4.1,-8.0,10,124,11.88,2.40,-2.75,0.000,4,0.150,0.038,2697,3444,3514,0,0,0,0,0,0
$GC,224,-1.24,-136.3,30.5,-12.6,28,230,0.10,2.50,0.00,0.000,6,0.117,0.023,2720,1868,3515,0,0,0,0,0,0
$GC,494,-1.11,-136.3,64.0,-12.0,52,499,0.12,2.58,0.00,0.000,4,0.110,0.038,2748,287,3514,0,0,0,0,0,0
$GC,541,-1.19,-136.3,70.1,-10.9,55,545,0.00,2.45,0.00,0.000,6,0.000,0.017,2748,1882,3515,0,0,0,0,0,0
$GC,810,-1.26,-136.3,94.1,-7.5,79,815,0.12,2.42,0.00,0.000,4,0.062,0.026,2671,3432,3515,0,0,0,0,0,0
$GC,829,-1.26,-136.3,96.7,-9.0,80,838,0.15,2.47,0.00,0.000,6,0.069,0.021,2711,1870,3515,0,0,0,0,0,0
$GC,1098,-1.26,-136.3,119.1,-8.3,105,1102,0.00,2.58,0.00,0.000,4,0.000,0.042,2712,290,3515,0,0,0,0,0,0
$GC,1148,-1.32,-136.3,123.6,-8.0,109,1152,0.00,2.40,0.00,0.000,6,0.000,0.017,2711,1867,3515,0,0,0,0,0,0
$GC,1416,-1.32,-136.3,145.6,-7.6,133,1420,0.00,2.45,0.00,0.000,4,0.000,0.026,2712,3428,3515,0,0,0,0,0,0
$GC,1466,-1.42,-136.3,149.4,-7.3,137,1471,0.12,2.47,0.00,0.000,6,0.063,0.021,2634,1851,3515,0,0,0,0,0,0
$GC,1727,-1.21,-136.3,178.6,-11.6,161,1729,0.40,0.00,0.00,0.000,6,0.081,0.000,2724,1851,3515,0,0,0,0,0,0
$GC,1984,-1.30,-136.3,198.5,-7.5,185,1988,0.00,2.50,0.00,0.000,4,0.000,0.039,2724,299,3514,0,0,0,0,0,0
$STATE,2002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2002,begin apogee
$GC,2011,-0.31,0.0,200.3,8.6,186,2119,0.82,0.00,105.30,0.571,6,0.067,0.000,2920,1647,2955,0,0,0,0,0,0
$STATE,2120,end apogee,CONTROL_FINISHED_OK
$STATE,2120,begin climb
$GC,2123,1.31,136.3,204.5,0.0,189,2239,1.42,2.50,106.88,0.569,4,0.027,0.035,3299,3155,2397,0,0,0,0,0,0
$GC,2294,1.06,156.8,201.8,9.1,192,2321,0.38,2.47,17.70,0.526,6,0.103,0.027,3220,1635,2314,0,0,0,0,0,0
$GC,2580,1.02,173.4,174.3,9.3,216,2604,0.00,2.53,14.10,0.510,4,0.000,0.050,3220,167,2247,0,0,0,0,0,0
$GC,2629,0.91,173.4,169.7,10.8,220,2634,0.15,2.22,0.00,0.000,6,0.107,0.019,3188,1609,2246,0,0,0,0,0,0
$GC,2890,0.98,234.2,149.0,7.1,244,2948,0.00,2.67,50.75,0.539,4,0.000,0.032,3188,3202,1998,0,0,0,0,0,0
$GC,3035,1.12,247.8,137.0,9.4,257,3054,0.20,2.53,12.45,0.487,6,0.044,0.027,3265,1642,1944,0,0,0,0,0,0
$GC,3310,1.04,247.8,106.4,10.6,283,3315,0.22,2.42,0.00,0.000,4,0.089,0.044,3214,180,1941,0,0,0,0,0,0
$GC,3339,1.04,247.8,103.4,10.3,285,3344,0.00,2.30,0.00,0.000,6,0.000,0.020,3214,1642,1940,0,0,0,0,0,0
$GC,3608,1.16,272.6,80.2,8.9,310,3639,0.10,2.58,21.88,0.486,4,0.077,0.031,3267,3199,1841,0,0,0,0,0,0
$GC,3684,1.16,272.6,72.6,10.7,316,3689,0.12,2.50,0.00,0.000,6,0.106,0.026,3239,1645,1837,0,0,0,0,0,0
$GC,3953,1.30,320.2,49.4,7.7,340,4001,0.12,2.53,40.55,0.474,4,0.064,0.045,3305,174,1648,0,0,0,0,0,0
$GC,4037,1.17,320.2,38.8,14.2,347,4045,0.22,2.35,0.00,0.000,6,0.074,0.020,3247,1655,1648,0,0,0,0,0,0
$GC,4332,1.31,368.7,11.4,7.7,388,4380,0.12,0.00,40.95,0.445,6,0.064,0.000,3306,1659,1450,0,0,0,0,0,0
$STATE,4402,end climb,SURFACE_DEPTH_REACHED
$STATE,4402,begin surface coast
$FINISH,0.6,1.023298
$STATE,4446,end surface coast,CONTROL_FINISHED_OK
$STATE,4446,begin surface
$SM_CCo,4468,25.45,0.428,0,0,1322,400.08
$SM_GC,1.29,0.00,0.00,25.45,0.000,0.000,0.428,413,1951,1322,-11.86,2.29,400.08
$IRIDIUM_FIX,2420.48,-15635.65,141200,010125
$TT8_MAMPS,0.026845
$HUMID,61.73
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.9,41.391
$10V_AH,10.2,46.663
$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,28.400,59.175,410.550,25.450,0.000,86.742,136.689,833.977,0.250,0.000,16.358,745.391,1665.410,362.307,1392.721,1680.800,33.352,958.100,0.000,1739.152,0.000,0.540,0.000
$DEVICE_MAMPS,150.332,49.855,571.415,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,269.940,506.135,589.792,624.507,1168.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,32105,402
$CAP_FILE_SIZE,81601,0
$CFSIZE,260165632,111185920
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,025036,2429.023,-15637.361,34,1.3,40,10.4