version: 66.06
glider: 148
mission: 10
dive: 458
start: 9 20 111 14 14 50
data:
$ID,148
$MISSION,10
$DIVE,458
$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,-886683.31
$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,60
$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
$GPS1,135416,2428.292,-15638.678,10,3.2,30,10.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.1
$GPS2,141355,2428.237,-15638.681,15,1.6,32,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.240,0.080
$KALMAN_X,-24960.6,-61.6,-415.0,181432.3,573.4
$KALMAN_Y,-101544.3,-534.3,-198.7,411625.0,-65.6
$MHEAD_RNG_PITCHd_Wd,278.0,104308,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.31,-136.3,0.0,0.0,0,98,0.00,0.00,-75.20,0.000,2,0.000,0.000,408,1943,3341,0,0,0,0,0,0
$GC,101,-1.31,-136.3,3.6,-6.6,10,126,11.85,2.40,-3.03,0.000,4,0.150,0.037,2697,3441,3513,0,0,0,0,0,0
$GC,221,-1.23,-136.3,29.1,-12.6,27,232,0.08,2.53,0.00,0.000,6,0.087,0.024,2719,1869,3514,0,0,0,0,0,0
$GC,490,-1.10,-136.3,66.3,-11.7,52,495,0.15,2.58,0.00,0.000,4,0.107,0.038,2751,282,3514,0,0,0,0,0,0
$GC,550,-1.17,-136.3,72.8,-9.9,56,555,0.00,2.45,0.00,0.000,6,0.000,0.017,2752,1878,3514,0,0,0,0,0,0
$GC,813,-1.17,-136.3,97.3,-9.3,80,817,0.00,2.42,0.00,0.000,4,0.000,0.025,2752,3435,3514,0,0,0,0,0,0
$GC,875,-1.33,-136.3,102.6,-8.9,85,880,0.20,2.45,0.00,0.000,6,0.040,0.021,2643,1862,3514,0,0,0,0,0,0
$GC,1141,-1.06,-136.3,137.3,-12.5,109,1146,0.55,0.00,0.00,0.000,6,0.082,0.000,2754,1861,3514,0,0,0,0,0,0
$GC,1405,-1.18,-136.3,156.6,-6.9,134,1409,0.00,2.53,0.00,0.000,4,0.000,0.039,2754,299,3514,0,0,0,0,0,0
$GC,1434,-1.33,-136.3,158.6,-8.1,136,1439,0.22,2.47,0.00,0.000,6,0.038,0.017,2651,1923,3514,0,0,0,0,0,0
$GC,1701,-1.16,-136.3,189.5,-11.5,160,1710,0.35,2.62,0.00,0.000,4,0.081,0.036,2733,298,3514,0,0,0,0,0,0
$GC,1722,-1.16,-136.3,192.2,-10.2,162,1727,0.00,2.45,0.00,0.000,6,0.000,0.018,2733,1896,3514,0,0,0,0,0,0
$STATE,1843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1843,begin apogee
$GC,1849,-0.31,0.0,200.6,6.7,173,1958,0.80,0.00,105.32,0.572,6,0.067,0.000,2921,1610,2955,0,0,0,0,0,0
$STATE,1958,end apogee,CONTROL_FINISHED_OK
$STATE,1958,begin climb
$GC,1962,1.31,136.3,203.0,0.0,175,2077,1.40,2.42,106.75,0.568,4,0.023,0.050,3304,200,2397,0,0,0,0,0,0
$GC,2360,0.94,165.6,176.6,8.6,201,2391,0.47,2.22,24.27,0.533,6,0.088,0.018,3196,1617,2278,0,0,0,0,0,0
$GC,2657,1.03,238.9,157.3,6.4,229,2725,0.00,2.45,60.30,0.545,4,0.000,0.047,3196,198,1980,0,0,0,0,0,0
$GC,2830,1.04,245.5,141.6,9.8,245,2842,0.00,2.25,7.20,0.440,6,0.000,0.019,3196,1640,1953,0,0,0,0,0,0
$GC,3109,1.20,288.4,116.1,8.0,271,3154,0.22,2.55,36.78,0.515,4,0.043,0.038,3283,3199,1777,0,0,0,0,0,0
$GC,3225,1.20,293.0,104.6,9.9,281,3235,0.15,2.47,4.32,0.351,6,0.100,0.028,3250,1676,1760,0,0,0,0,0,0
$GC,3491,1.24,324.4,80.8,8.5,306,3524,0.00,0.00,28.58,0.490,6,0.000,0.000,3250,1676,1631,0,0,0,0,0,0
$GC,3783,1.33,328.9,55.4,9.9,333,3798,0.12,2.50,4.62,0.347,4,0.064,0.028,3308,3200,1613,0,0,0,0,0,0
$GC,3828,1.33,329.8,50.9,10.1,336,3833,0.12,2.47,0.00,0.000,6,0.107,0.028,3279,1659,1611,0,0,0,0,0,0
$GC,4105,1.36,354.4,23.4,8.9,365,4134,0.00,0.00,22.58,0.445,6,0.000,0.000,3279,1659,1509,0,0,0,0,0,0
$STATE,4272,end climb,SURFACE_DEPTH_REACHED
$STATE,4275,begin surface coast
$FINISH,0.5,1.009743
$STATE,4318,end surface coast,CONTROL_FINISHED_OK
$STATE,4318,begin surface
$SM_CCo,4340,37.35,0.437,0,0,1323,400.08
$SM_GC,1.31,0.00,0.00,37.35,0.000,0.000,0.437,412,1939,1323,-11.86,1.95,400.08
$IRIDIUM_FIX,2413.38,-15523.57,141200,141440
$TT8_MAMPS,0.026845
$HUMID,62.01
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.8,42.137
$10V_AH,10.2,47.602
$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,28.175,44.975,400.725,37.350,0.000,143.969,221.320,370.774,0.250,0.000,33.814,718.442,1703.223,381.498,1401.671,1355.931,33.349,945.528,0.000,1729.287,0.000,0.539,0.000
$DEVICE_MAMPS,149.565,49.855,572.182,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,265.738,501.493,582.134,610.935,1146.302,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,31967,396
$CAP_FILE_SIZE,72955,0
$CFSIZE,260165632,110825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,152858,2427.968,-15638.734,9,99.0,29,10.4