version: 66.06
glider: 148
mission: 10
dive: 452
start: 9 20 111 5 45 24
data:
$ID,148
$MISSION,10
$DIVE,452
$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,-886559.06
$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,31
$R_STBD_OVSHOOT,73
$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
$GPS1,053710,2428.577,-15637.776,10,2.1,30,10.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.2
$GPS2,054428,2428.552,-15637.766,12,2.1,31,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.120,0.222
$KALMAN_X,-26683.4,7.2,360.5,183898.1,224.0
$KALMAN_Y,-96277.6,-496.5,71.0,406633.9,-718.1
$MHEAD_RNG_PITCHd_Wd,321.3,105257,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,95,0.00,0.00,-74.25,0.000,2,0.000,0.000,410,1907,3337,0,0,0,0,0,0
$GC,98,-1.31,-136.3,4.3,-8.8,10,123,11.80,2.42,-3.08,0.000,4,0.149,0.038,2695,3421,3513,0,0,0,0,0,0
$GC,191,-1.22,-136.3,25.5,-14.0,23,202,0.08,2.50,0.00,0.000,6,0.083,0.025,2718,1866,3514,0,0,0,0,0,0
$GC,469,-1.08,-136.3,62.1,-13.3,49,474,0.17,2.58,0.00,0.000,4,0.100,0.039,2757,289,3514,0,0,0,0,0,0
$GC,528,-1.17,-136.3,69.5,-10.3,53,533,0.10,2.40,0.00,0.000,6,0.075,0.017,2684,1870,3514,0,0,0,0,0,0
$GC,796,-1.03,-136.3,100.9,-11.1,77,801,0.35,2.45,0.00,0.000,4,0.080,0.024,2764,3439,3514,0,0,0,0,0,0
$GC,854,-1.21,-136.3,106.5,-7.1,82,859,0.15,2.47,0.00,0.000,6,0.052,0.020,2665,1860,3514,0,0,0,0,0,0
$GC,1115,-0.99,-136.3,137.2,-12.5,106,1128,0.50,2.50,0.00,0.000,4,0.079,0.037,2765,300,3515,0,0,0,0,0,0
$GC,1175,-1.19,-136.3,141.7,-7.1,111,1181,0.15,2.40,0.00,0.000,6,0.052,0.017,2674,1878,3515,0,0,0,0,0,0
$GC,1437,-1.04,-136.3,166.9,-9.5,135,1442,0.43,2.42,0.00,0.000,4,0.080,0.025,2761,3430,3515,0,0,0,0,0,0
$GC,1477,-1.27,-136.3,169.9,-6.7,138,1488,0.17,2.47,0.00,0.000,6,0.019,0.021,2659,1866,3515,0,0,0,0,0,0
$GC,1744,-1.13,-136.3,196.7,-10.6,163,1752,0.32,2.53,0.00,0.000,4,0.083,0.038,2737,296,3515,0,0,0,0,0,0
$GC,1779,-1.22,-136.3,199.7,-8.1,166,1783,0.00,2.08,0.00,0.000,3,0.000,0.017,2737,1700,3515,0,0,0,0,0,0
$STATE,1784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1784,begin apogee
$GC,1790,-0.31,0.0,200.7,7.3,166,1899,0.75,0.00,105.62,0.572,6,0.072,0.000,2913,1594,2955,0,0,0,0,0,0
$STATE,1899,end apogee,CONTROL_FINISHED_OK
$STATE,1899,begin climb
$GC,1903,1.31,136.3,204.7,0.0,169,2018,1.45,2.35,106.95,0.570,4,0.026,0.049,3292,221,2397,0,0,0,0,0,0
$GC,2302,0.94,142.1,180.6,9.8,191,2322,0.45,2.15,5.35,0.413,6,0.093,0.019,3194,1611,2374,0,0,0,0,0,0
$GC,2578,1.06,238.3,165.2,5.3,217,2670,0.10,2.40,79.30,0.551,4,0.077,0.045,3247,217,1982,0,0,0,0,0,0
$GC,2726,0.97,238.3,151.4,11.6,231,2736,0.20,2.25,0.00,0.000,6,0.076,0.021,3198,1627,1979,0,0,0,0,0,0
$GC,2989,1.13,307.3,132.9,6.7,256,3058,0.15,2.65,58.08,0.530,4,0.055,0.034,3268,3209,1701,0,0,0,0,0,0
$GC,3095,1.13,307.3,122.1,11.8,265,3100,0.15,2.50,0.00,0.000,6,0.097,0.028,3234,1665,1696,0,0,0,0,0,0
$GC,3363,1.21,316.7,95.0,9.6,289,3384,0.00,2.47,8.77,0.440,4,0.000,0.051,3234,173,1662,0,0,0,0,0,0
$GC,3395,1.29,319.9,91.2,9.9,292,3411,0.15,2.30,4.72,0.365,6,0.055,0.019,3302,1644,1649,0,0,0,0,0,0
$GC,3668,1.29,319.9,59.7,11.2,317,3673,0.15,2.50,0.00,0.000,4,0.106,0.031,3269,3201,1646,0,0,0,0,0,0
$GC,3701,1.29,319.9,56.1,10.3,319,3705,0.00,2.50,0.00,0.000,6,0.000,0.027,3269,1639,1644,0,0,0,0,0,0
$GC,3971,1.31,340.2,32.0,9.1,343,3999,0.00,2.45,18.10,0.445,4,0.000,0.044,3269,182,1566,0,0,0,0,0,0
$GC,4041,1.31,340.2,24.2,11.3,351,4052,0.00,2.30,0.00,0.000,6,0.000,0.019,3269,1644,1565,0,0,0,0,0,0
$STATE,4242,end climb,SURFACE_DEPTH_REACHED
$STATE,4242,begin surface coast
$FINISH,0.5,1.023428
$STATE,4284,end surface coast,CONTROL_FINISHED_OK
$STATE,4284,begin surface
$SM_CCo,4306,42.35,0.438,0,0,1323,400.08
$SM_GC,1.28,0.00,0.00,42.35,0.000,0.000,0.438,410,1903,1323,-11.87,0.93,400.08
$IRIDIUM_FIX,2418.11,-15637.83,141200,040413
$TT8_MAMPS,0.026845
$HUMID,61.73
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.8,41.635
$10V_AH,10.3,46.977
$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,29.150,58.475,386.900,42.350,0.000,29.273,34.531,214.264,0.500,0.000,35.764,719.633,1432.129,398.908,1387.163,853.576,33.356,993.452,0.000,1699.609,0.000,0.539,0.000
$DEVICE_MAMPS,148.798,83.603,572.182,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.795,492.324,571.387,594.927,1121.712,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,32063,388
$CAP_FILE_SIZE,67876,0
$CFSIZE,260165632,111079424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,065937,2428.453,-15637.808,62,1.8,63,10.4