version: 66.06
glider: 148
mission: 10
dive: 454
start: 9 20 111 8 27 33
data:
$ID,148
$MISSION,10
$DIVE,454
$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,-886600.5
$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,39
$R_STBD_OVSHOOT,52
$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
$GPS1,082031,2428.229,-15638.145,7,1.8,13,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.1
$GPS2,082638,2428.204,-15638.153,11,1.6,23,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.048,0.248
$KALMAN_X,-26566.4,-107.8,555.5,183035.5,-256.2
$KALMAN_Y,-98180.4,-610.0,-279.4,408357.0,-687.3
$MHEAD_RNG_PITCHd_Wd,338.7,105074,-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,-136.0,0.0,0.0,0,97,0.00,0.00,-75.10,0.000,2,0.000,0.000,407,1858,3334,0,0,0,0,0,0
$GC,100,-1.32,-136.3,3.8,-7.1,10,125,12.32,2.55,-3.20,0.000,4,0.166,0.035,2694,3442,3513,0,0,0,0,0,0
$GC,175,-1.25,-136.3,22.3,-13.4,20,186,0.08,2.53,0.00,0.000,6,0.083,0.024,2716,1879,3513,0,0,0,0,0,0
$GC,461,-1.09,-136.3,60.3,-13.8,49,467,0.15,2.58,0.00,0.000,4,0.107,0.038,2751,287,3513,0,0,0,0,0,0
$GC,508,-1.16,-136.3,66.3,-11.5,52,513,0.00,2.42,0.00,0.000,6,0.000,0.018,2751,1877,3513,0,0,0,0,0,0
$GC,771,-1.16,-136.3,90.8,-8.9,76,775,0.00,2.42,0.00,0.000,4,0.000,0.025,2751,3435,3514,0,0,0,0,0,0
$GC,792,-1.22,-136.3,92.2,-8.2,77,797,0.12,2.50,0.00,0.000,6,0.062,0.021,2666,1848,3514,0,0,0,0,0,0
$GC,1060,-1.00,-136.3,126.2,-13.0,101,1069,0.55,2.50,0.00,0.000,4,0.083,0.035,2770,296,3514,0,0,0,0,0,0
$GC,1087,-1.00,-136.3,129.0,-10.7,103,1091,0.00,2.38,0.00,0.000,6,0.000,0.017,2770,1865,3514,0,0,0,0,0,0
$GC,1355,-1.18,-136.3,146.1,-5.4,127,1359,0.15,2.45,0.00,0.000,4,0.054,0.026,2676,3429,3514,0,0,0,0,0,0
$GC,1438,-1.18,-136.3,153.9,-9.2,134,1444,0.25,2.45,0.00,0.000,6,0.084,0.021,2733,1865,3514,0,0,0,0,0,0
$GC,1701,-1.27,-136.3,174.6,-8.4,159,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1865,3514,0,0,0,0,0,0
$GC,1957,-1.36,-136.3,194.6,-8.3,183,1962,0.15,2.47,0.00,0.000,4,0.054,0.027,2649,3430,3514,0,0,0,0,0,0
$STATE,2005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2005,begin apogee
$GC,2014,-0.31,0.0,200.3,11.0,187,2123,1.15,0.00,105.55,0.574,6,0.078,0.000,2914,1632,2954,0,0,0,0,0,0
$STATE,2124,end apogee,CONTROL_FINISHED_OK
$STATE,2124,begin climb
$GC,2127,1.32,136.3,204.4,0.0,190,2243,1.45,2.50,106.95,0.571,4,0.029,0.051,3290,183,2397,0,0,0,0,0,0
$GC,2527,0.97,144.6,180.5,9.7,212,2547,0.40,2.22,7.45,0.460,6,0.094,0.019,3203,1622,2364,0,0,0,0,0,0
$GC,2802,1.09,243.0,164.9,5.2,238,2893,0.10,2.45,81.30,0.552,4,0.078,0.046,3252,176,1964,0,0,0,0,0,0
$GC,2959,0.99,243.0,149.1,12.5,253,2964,0.20,2.30,0.00,0.000,6,0.097,0.021,3208,1638,1961,0,0,0,0,0,0
$GC,3225,1.02,268.0,123.5,8.8,277,3252,0.00,2.47,21.85,0.507,4,0.000,0.046,3208,176,1861,0,0,0,0,0,0
$GC,3274,1.02,268.0,118.0,10.3,281,3280,0.00,2.28,0.00,0.000,6,0.000,0.020,3208,1628,1861,0,0,0,0,0,0
$GC,3537,1.16,291.8,93.8,8.9,306,3564,0.15,2.58,20.65,0.490,4,0.056,0.033,3278,3198,1763,0,0,0,0,0,0
$GC,3598,1.16,291.8,86.7,12.2,311,3604,0.17,2.55,0.00,0.000,6,0.092,0.029,3239,1623,1760,0,0,0,0,0,0
$GC,3867,1.26,312.8,61.3,9.0,336,3896,0.10,2.45,18.80,0.467,4,0.077,0.044,3291,175,1678,0,0,0,0,0,0
$GC,3925,1.26,312.8,54.9,11.4,340,3929,0.12,2.28,0.00,0.000,6,0.110,0.020,3264,1628,1678,0,0,0,0,0,0
$GC,4194,1.35,337.8,30.7,8.9,364,4227,0.00,2.47,22.45,0.449,4,0.000,0.044,3264,176,1577,0,0,0,0,0,0
$GC,4241,1.43,346.9,26.2,9.6,368,4257,0.10,2.30,9.45,0.406,6,0.033,0.019,3327,1633,1539,0,0,0,0,0,0
$STATE,4440,end climb,SURFACE_DEPTH_REACHED
$STATE,4440,begin surface coast
$FINISH,0.5,1.023434
$STATE,4488,end surface coast,CONTROL_FINISHED_OK
$STATE,4488,begin surface
$SM_CCo,4511,38.83,0.436,0,0,1324,400.08
$SM_GC,1.48,0.00,0.00,38.83,0.000,0.000,0.436,410,1919,1324,-11.87,1.39,400.08
$IRIDIUM_FIX,2420.48,-15636.89,141200,070736
$TT8_MAMPS,0.026845
$HUMID,62.04
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.8,41.791
$10V_AH,10.3,47.183
$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,29.350,59.350,394.450,38.825,0.000,28.082,39.122,149.884,0.000,0.000,25.409,747.664,1555.813,390.138,1417.387,810.197,33.351,972.147,0.000,1756.193,0.000,0.539,0.000
$DEVICE_MAMPS,166.439,51.389,574.483,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,272.373,516.962,600.576,617.419,1161.929,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,32070,406
$CAP_FILE_SIZE,67336,0
$CFSIZE,260165632,110993408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,094434,2428.157,-15638.357,11,2.4,30,10.4