version: 66.06
glider: 148
mission: 10
dive: 456
start: 9 20 111 11 14 24
data:
$ID,148
$MISSION,10
$DIVE,456
$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,-886631.44
$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,51
$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
$GPS1,110704,2428.167,-15638.593,10,2.7,29,10.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.2
$GPS2,111326,2428.159,-15638.592,11,1.6,11,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.119,0.223
$KALMAN_X,-26268.8,-147.3,-49.8,182620.2,-280.0
$KALMAN_Y,-99934.4,-638.6,-467.4,410240.4,-383.1
$MHEAD_RNG_PITCHd_Wd,321.6,104512,-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,15,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,95,0.00,0.00,-74.85,0.000,2,0.000,0.000,416,1934,3336,0,0,0,0,0,0
$GC,99,-1.31,-136.3,4.1,-8.1,10,124,11.68,2.42,-3.10,0.000,4,0.145,0.036,2695,3446,3513,0,0,0,0,0,0
$GC,198,-1.21,-136.3,26.3,-14.6,24,209,0.10,2.55,0.00,0.000,6,0.080,0.025,2723,1871,3514,0,0,0,0,0,0
$GC,476,-1.08,-136.3,61.3,-11.3,50,481,0.15,2.60,0.00,0.000,4,0.108,0.039,2757,286,3514,0,0,0,0,0,0
$GC,546,-1.15,-136.3,69.2,-10.4,55,551,0.00,2.42,0.00,0.000,6,0.000,0.017,2757,1875,3514,0,0,0,0,0,0
$GC,815,-1.15,-136.3,90.9,-7.8,79,819,0.00,2.42,0.00,0.000,4,0.000,0.026,2757,3433,3515,0,0,0,0,0,0
$GC,854,-1.29,-136.3,94.6,-7.6,82,865,0.17,2.53,0.00,0.000,6,0.048,0.021,2659,1846,3515,0,0,0,0,0,0
$GC,1125,-1.09,-136.3,125.1,-11.5,107,1134,0.38,2.50,0.00,0.000,4,0.087,0.022,2747,3438,3515,0,0,0,0,0,0
$GC,1142,-0.97,-136.3,127.7,-10.9,108,1153,0.10,2.50,0.00,0.000,6,0.071,0.021,2776,1866,3515,0,0,0,0,0,0
$GC,1409,-1.16,-136.3,143.9,-6.3,133,1415,0.17,2.55,0.00,0.000,4,0.048,0.039,2675,289,3516,0,0,0,0,0,0
$GC,1467,-1.16,-136.3,149.9,-11.0,138,1473,0.28,2.38,0.00,0.000,6,0.084,0.017,2738,1857,3516,0,0,0,0,0,0
$GC,1731,-1.24,-136.3,169.8,-7.3,162,1736,0.00,2.47,0.00,0.000,4,0.000,0.027,2738,3439,3516,0,0,0,0,0,0
$GC,1797,-1.39,-136.3,175.0,-7.9,168,1803,0.20,2.47,0.00,0.000,6,0.041,0.021,2670,1860,3516,0,0,0,0,0,0
$STATE,2056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2056,begin apogee
$GC,2065,-0.31,0.0,200.0,9.4,192,2179,1.10,0.00,105.82,0.575,6,0.079,0.000,2919,1606,2955,0,0,0,0,0,0
$STATE,2179,end apogee,CONTROL_FINISHED_OK
$STATE,2180,begin climb
$GC,2182,1.31,136.3,204.3,0.0,195,2298,1.45,2.38,107.07,0.571,4,0.033,0.051,3295,205,2398,0,0,0,0,0,0
$GC,2318,0.97,190.9,204.4,7.4,198,2371,0.45,2.20,44.70,0.557,6,0.097,0.018,3200,1618,2176,0,0,0,0,0,0
$GC,2631,1.07,275.5,181.6,5.9,222,2713,0.10,2.60,71.82,0.555,4,0.078,0.036,3248,3190,1829,0,0,0,0,0,0
$GC,2722,0.98,275.5,173.7,10.6,230,2728,0.20,2.50,0.00,0.000,6,0.090,0.028,3204,1660,1827,0,0,0,0,0,0
$GC,2991,1.06,280.4,147.6,9.9,255,2997,0.00,0.00,4.20,0.360,6,0.000,0.000,3204,1660,1812,0,0,0,0,0,0
$GC,3254,1.18,294.2,121.5,9.4,280,3278,0.17,2.47,13.20,0.488,4,0.051,0.054,3279,174,1754,0,0,0,0,0,0
$GC,3366,1.11,294.2,107.3,13.1,290,3371,0.22,2.28,0.00,0.000,6,0.091,0.020,3229,1627,1754,0,0,0,0,0,0
$GC,3628,1.24,326.2,82.9,8.5,314,3665,0.12,2.60,28.83,0.495,4,0.065,0.031,3290,3201,1622,0,0,0,0,0,0
$GC,3755,1.24,326.2,70.2,10.6,325,3760,0.15,2.53,0.00,0.000,6,0.098,0.028,3256,1644,1617,0,0,0,0,0,0
$GC,4023,1.36,365.3,47.4,8.2,349,4067,0.12,0.00,33.70,0.471,6,0.064,0.000,3328,1644,1463,0,0,0,0,0,0
$GC,4350,1.25,365.3,6.0,14.6,391,4361,0.28,2.55,0.00,0.000,4,0.091,0.030,3262,3201,1459,0,0,0,0,0,0
$STATE,4370,end climb,SURFACE_DEPTH_REACHED
$STATE,4370,begin surface coast
$FINISH,0.6,1.012271
$STATE,4394,end surface coast,CONTROL_FINISHED_OK
$STATE,4394,begin surface
$SM_CCo,4417,27.38,0.435,0,0,1323,400.08
$SM_GC,1.17,0.00,0.00,27.38,0.000,0.000,0.435,411,1855,1323,-11.86,-0.45,400.08
$IRIDIUM_FIX,2420.48,-15640.00,141200,090932
$TT8_MAMPS,0.026845
$HUMID,61.73
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.8,41.949
$10V_AH,10.3,47.389
$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,28.975,54.450,409.350,27.375,0.000,30.765,34.082,178.966,0.750,0.000,12.522,725.548,1526.797,398.101,1362.852,821.790,33.349,971.452,0.000,1692.798,0.000,0.539,0.000
$DEVICE_MAMPS,144.963,54.457,575.250,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,265.763,479.924,563.636,599.907,1124.927,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,32049,396
$CAP_FILE_SIZE,65741,0
$CFSIZE,260165632,110911488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,122936,2428.353,-15638.691,10,1.8,26,10.4