version: 66.06
glider: 148
mission: 10
dive: 457
start: 9 20 111 12 40 3
data:
$ID,148
$MISSION,10
$DIVE,457
$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,-886648.88
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,122936,2428.353,-15638.691,10,1.8,26,10.4
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.8
$GPS2,123907,2428.325,-15638.678,10,1.3,15,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,0.143
$KALMAN_X,-25697.9,-138.2,-360.9,182199.2,159.2
$KALMAN_Y,-100606.4,-603.7,-392.5,411107.5,-127.4
$MHEAD_RNG_PITCHd_Wd,294.2,104221,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.32,-135.9,0.0,0.0,0,95,0.00,0.00,-74.35,0.000,2,0.000,0.000,411,1855,3328,0,0,0,0,0,0
$GC,98,-1.32,-136.3,4.0,-7.6,10,123,12.32,2.58,-3.12,0.000,4,0.167,0.033,2692,3455,3510,0,0,0,0,0,0
$GC,191,-1.21,-136.3,26.1,-12.7,23,202,0.10,2.58,0.00,0.000,6,0.077,0.025,2720,1863,3511,0,0,0,0,0,0
$GC,475,-1.08,-136.3,62.2,-11.3,50,480,0.15,2.58,0.00,0.000,4,0.105,0.041,2754,279,3511,0,0,0,0,0,0
$GC,534,-1.15,-136.3,69.4,-10.9,54,538,0.00,2.47,0.00,0.000,6,0.000,0.018,2753,1883,3511,0,0,0,0,0,0
$GC,797,-1.15,-136.3,95.2,-8.9,78,801,0.00,2.42,0.00,0.000,4,0.000,0.025,2754,3439,3511,0,0,0,0,0,0
$GC,843,-1.31,-136.3,99.6,-9.0,82,849,0.20,2.47,0.00,0.000,6,0.041,0.021,2647,1865,3511,0,0,0,0,0,0
$GC,1107,-1.08,-136.3,133.0,-11.9,106,1118,0.50,0.00,0.00,0.000,6,0.081,0.000,2754,1864,3512,0,0,0,0,0,0
$GC,1371,-1.19,-136.3,153.1,-7.3,131,1376,0.10,2.53,0.00,0.000,4,0.075,0.039,2674,299,3512,0,0,0,0,0,0
$GC,1411,-1.19,-136.3,157.3,-10.7,134,1417,0.25,2.45,0.00,0.000,6,0.084,0.018,2730,1896,3512,0,0,0,0,0,0
$GC,1674,-1.26,-136.3,177.8,-7.4,159,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1900,3512,0,0,0,0,0,0
$GC,1930,-1.33,-136.3,197.0,-8.0,183,1935,0.12,2.62,0.00,0.000,4,0.061,0.039,2647,300,3512,0,0,0,0,0,0
$STATE,1954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1954,begin apogee
$GC,1961,-0.31,0.0,200.1,11.6,185,2070,1.20,0.00,105.03,0.574,6,0.074,0.000,2922,1651,2955,0,0,0,0,0,0
$STATE,2071,end apogee,CONTROL_FINISHED_OK
$STATE,2071,begin climb
$GC,2074,1.32,136.3,204.1,0.0,187,2190,1.42,2.45,107.05,0.572,4,0.031,0.051,3295,184,2397,0,0,0,0,0,0
$GC,2475,1.00,167.8,179.9,8.5,209,2510,0.40,2.22,26.10,0.538,6,0.094,0.019,3208,1613,2269,0,0,0,0,0,0
$GC,2765,1.08,229.4,158.7,7.0,237,2821,0.00,2.45,51.17,0.545,4,0.000,0.047,3208,182,2018,0,0,0,0,0,0
$GC,2877,1.11,254.8,150.2,8.8,247,2905,0.10,2.28,22.67,0.520,6,0.079,0.019,3256,1633,1915,0,0,0,0,0,0
$GC,3165,1.14,275.9,123.2,9.0,273,3190,0.00,2.50,18.55,0.502,4,0.000,0.046,3256,185,1829,0,0,0,0,0,0
$GC,3303,1.14,275.9,107.9,10.7,286,3307,0.00,2.20,0.00,0.000,6,0.000,0.020,3256,1609,1829,0,0,0,0,0,0
$GC,3566,1.15,289.3,80.5,9.4,310,3583,0.00,2.58,12.25,0.461,4,0.000,0.032,3256,3199,1773,0,0,0,0,0,0
$GC,3644,1.26,303.3,73.4,9.4,316,3662,0.00,2.55,12.85,0.456,6,0.000,0.028,3256,1626,1718,0,0,0,0,0,0
$GC,3924,1.31,343.0,49.7,8.1,341,3965,0.00,2.42,35.60,0.472,4,0.000,0.044,3256,169,1554,0,0,0,0,0,0
$GC,3983,1.42,374.7,44.9,8.5,345,4025,0.17,2.25,27.62,0.460,6,0.049,0.018,3331,1632,1425,0,0,0,0,0,0
$STATE,4301,end climb,SURFACE_DEPTH_REACHED
$STATE,4302,begin surface coast
$FINISH,0.5,1.000971
$STATE,4340,end surface coast,CONTROL_FINISHED_OK
$STATE,4340,begin surface
$SM_CCo,4361,19.77,0.423,0,0,1324,400.08
$SM_GC,1.60,0.00,0.00,19.77,0.000,0.000,0.423,408,1942,1324,-11.88,2.04,400.08
$IRIDIUM_FIX,2418.11,-15640.00,141200,111103
$TT8_MAMPS,0.026845
$HUMID,61.97
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.8,42.034
$10V_AH,10.2,47.492
$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,28.700,49.000,418.900,19.775,0.000,53.542,122.167,194.034,0.250,0.000,16.814,720.254,1542.964,370.756,1389.904,933.473,33.348,953.418,0.000,1719.099,0.000,0.539,0.000
$DEVICE_MAMPS,167.206,50.622,574.483,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,263.269,488.784,569.621,594.281,1119.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,32139,392
$CAP_FILE_SIZE,64838,0
$CFSIZE,260165632,110874624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,135416,2428.292,-15638.678,10,3.2,30,10.4