version: 66.06
glider: 148
mission: 10
dive: 451
start: 9 20 111 4 20 5
data:
$ID,148
$MISSION,10
$DIVE,451
$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,-886522.69
$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,92
$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
$GPS1,041310,2428.804,-15637.563,11,3.1,31,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.9
$GPS2,041909,2428.804,-15637.535,13,1.6,14,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.181,0.177
$KALMAN_X,-26720.2,73.2,1.2,184621.5,416.6
$KALMAN_Y,-95234.9,-470.8,118.5,405986.6,-507.7
$MHEAD_RNG_PITCHd_Wd,303.9,105322,-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,-136.3,0.0,0.0,0,97,0.00,0.00,-74.72,0.000,2,0.000,0.000,410,1924,3336,0,0,0,0,0,0
$GC,100,-1.31,-136.3,4.1,-7.7,10,125,11.80,2.38,-3.08,0.000,4,0.150,0.037,2695,3403,3514,0,0,0,0,0,0
$GC,182,-1.16,-136.3,25.6,-16.1,21,193,0.15,2.47,0.00,0.000,6,0.078,0.024,2734,1867,3515,0,0,0,0,0,0
$GC,459,-1.06,-136.3,60.0,-11.6,47,464,0.10,2.55,0.00,0.000,4,0.125,0.038,2757,290,3515,0,0,0,0,0,0
$GC,497,-1.15,-136.3,64.9,-10.4,49,505,0.00,2.40,0.00,0.000,6,0.000,0.018,2756,1837,3515,0,0,0,0,0,0
$GC,760,-1.23,-136.3,87.0,-7.7,74,765,0.15,2.50,0.00,0.000,4,0.054,0.026,2676,3433,3515,0,0,0,0,0,0
$GC,792,-1.23,-136.3,89.6,-8.9,76,797,0.20,2.47,0.00,0.000,6,0.088,0.021,2721,1849,3515,0,0,0,0,0,0
$GC,1055,-1.23,-136.3,112.0,-8.5,100,1059,0.00,2.50,0.00,0.000,4,0.000,0.038,2721,297,3516,0,0,0,0,0,0
$GC,1102,-1.23,-136.3,116.6,-9.7,104,1107,0.00,2.38,0.00,0.000,6,0.000,0.017,2721,1858,3515,0,0,0,0,0,0
$GC,1365,-1.23,-136.3,141.5,-9.4,128,1369,0.00,2.53,0.00,0.000,4,0.000,0.038,2721,292,3516,0,0,0,0,0,0
$GC,1409,-1.30,-136.3,145.1,-9.9,131,1413,0.00,2.33,0.00,0.000,6,0.000,0.017,2721,1837,3516,0,0,0,0,0,0
$GC,1671,-1.30,-136.3,167.3,-8.2,155,1676,0.00,2.47,0.00,0.000,4,0.000,0.025,2721,3428,3516,0,0,0,0,0,0
$GC,1703,-1.38,-136.3,170.1,-9.0,157,1709,0.15,2.50,0.00,0.000,6,0.055,0.021,2620,1828,3516,0,0,0,0,0,0
$STATE,1943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1943,begin apogee
$GC,1949,-0.31,0.0,200.4,12.7,180,2063,1.33,0.00,105.80,0.572,6,0.081,0.000,2918,1606,2954,0,0,0,0,0,0
$STATE,2064,end apogee,CONTROL_FINISHED_OK
$STATE,2064,begin climb
$GC,2066,1.31,136.3,205.9,0.0,183,2183,1.42,2.35,106.97,0.570,4,0.029,0.050,3291,202,2397,0,0,0,0,0,0
$GC,2465,1.03,177.8,185.5,8.0,205,2505,0.32,2.22,34.05,0.546,6,0.086,0.019,3215,1613,2229,0,0,0,0,0,0
$GC,2767,1.11,239.0,164.0,7.1,234,2823,0.00,2.65,51.12,0.545,4,0.000,0.035,3215,3198,1979,0,0,0,0,0,0
$GC,2910,1.21,261.5,153.0,9.0,247,2940,0.17,2.50,20.23,0.517,6,0.048,0.028,3303,1649,1887,0,0,0,0,0,0
$GC,3191,1.06,261.5,121.3,11.2,274,3196,0.35,2.47,0.00,0.000,4,0.087,0.054,3220,169,1884,0,0,0,0,0,0
$GC,3225,1.06,261.5,117.4,11.0,276,3235,0.00,2.30,0.00,0.000,6,0.000,0.020,3221,1628,1884,0,0,0,0,0,0
$GC,3493,1.19,293.7,93.9,8.5,301,3528,0.10,2.62,27.38,0.498,4,0.077,0.032,3274,3196,1755,0,0,0,0,0,0
$GC,3611,1.19,293.7,80.5,12.3,312,3616,0.12,2.55,0.00,0.000,6,0.103,0.028,3246,1627,1750,0,0,0,0,0,0
$GC,3881,1.33,332.3,55.8,8.2,336,3922,0.15,2.62,33.33,0.475,4,0.056,0.031,3315,3200,1599,0,0,0,0,0,0
$GC,3946,1.33,332.3,49.2,10.8,341,3951,0.15,2.53,0.00,0.000,6,0.097,0.028,3279,1652,1596,0,0,0,0,0,0
$GC,4223,1.34,344.0,23.4,9.5,370,4240,0.00,2.45,10.90,0.414,4,0.000,0.051,3279,173,1551,0,0,0,0,0,0
$GC,4284,1.34,344.0,16.8,10.3,378,4294,0.00,2.33,0.00,0.000,6,0.000,0.019,3279,1651,1551,0,0,0,0,0,0
$STATE,4430,end climb,SURFACE_DEPTH_REACHED
$STATE,4430,begin surface coast
$FINISH,0.4,1.018611
$STATE,4491,end surface coast,CONTROL_FINISHED_OK
$STATE,4492,begin surface
$SM_CCo,4514,39.88,0.436,0,0,1323,400.08
$SM_GC,1.21,0.00,0.00,39.88,0.000,0.000,0.436,410,1908,1323,-11.87,1.07,400.08
$IRIDIUM_FIX,2420.48,-15635.65,141200,030331
$TT8_MAMPS,0.026845
$HUMID,62.04
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.8,41.555
$10V_AH,10.3,46.874
$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,28.075,59.700,389.775,39.875,0.000,27.224,43.710,145.499,0.500,0.000,16.345,757.088,1499.314,383.282,1461.071,817.452,33.352,978.464,0.000,1805.726,0.000,0.539,0.000
$DEVICE_MAMPS,149.565,53.690,572.182,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,274.490,491.707,579.141,634.873,1217.134,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,32132,409
$CAP_FILE_SIZE,67394,0
$CFSIZE,260165632,111116288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,053710,2428.577,-15637.776,10,2.1,30,10.4