version: 66.06
glider: 148
mission: 10
dive: 459
start: 9 20 111 15 35 53
data:
$ID,148
$MISSION,10
$DIVE,459
$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,-886715.5
$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,31
$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
$GPS1,152858,2427.968,-15638.734,9,99.0,29,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.8
$GPS2,153458,2427.938,-15638.748,10,99.0,29,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.103
$KALMAN_X,-24482.9,59.3,-197.8,180507.5,763.4
$KALMAN_Y,-102623.2,-448.7,1.4,411867.2,-306.8
$MHEAD_RNG_PITCHd_Wd,283.7,104529,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,96,0.00,0.00,-74.15,0.000,2,0.000,0.000,412,1940,3283,0,0,0,0,0,0
$GC,99,-1.31,-136.3,3.5,-6.2,10,124,12.32,2.40,-4.18,0.000,4,0.167,0.034,2697,3442,3509,0,0,0,0,0,0
$GC,187,-1.20,-136.3,22.9,-12.3,22,198,0.10,2.53,0.00,0.000,6,0.079,0.025,2725,1867,3510,0,0,0,0,0,0
$GC,473,-1.05,-136.3,61.1,-12.7,51,478,0.15,2.58,0.00,0.000,4,0.110,0.037,2758,288,3510,0,0,0,0,0,0
$GC,519,-1.12,-136.3,67.3,-12.1,54,524,0.00,2.45,0.00,0.000,6,0.000,0.017,2758,1878,3510,0,0,0,0,0,0
$GC,782,-1.12,-136.3,93.3,-9.3,78,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1882,3511,0,0,0,0,0,0
$GC,1037,-1.19,-136.3,113.9,-7.4,102,1042,0.12,2.60,0.00,0.000,4,0.063,0.038,2677,283,3511,0,0,0,0,0,0
$GC,1107,-1.13,-136.3,121.4,-11.0,108,1112,0.30,2.40,0.00,0.000,6,0.082,0.017,2745,1854,3511,0,0,0,0,0,0
$GC,1368,-1.19,-136.3,141.9,-8.1,132,1372,0.00,2.45,0.00,0.000,4,0.000,0.025,2745,3430,3511,0,0,0,0,0,0
$GC,1399,-1.32,-136.3,144.4,-9.1,134,1404,0.17,2.50,0.00,0.000,6,0.044,0.021,2645,1836,3511,0,0,0,0,0,0
$GC,1660,-1.10,-136.3,177.1,-12.5,158,1669,0.43,2.45,0.00,0.000,4,0.083,0.035,2742,298,3511,0,0,0,0,0,0
$GC,1716,-1.27,-136.3,182.3,-8.1,163,1722,0.12,2.35,0.00,0.000,6,0.061,0.017,2658,1851,3511,0,0,0,0,0,0
$STATE,1889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1889,begin apogee
$GC,1897,-0.31,0.0,200.1,10.6,180,2005,1.15,0.00,104.90,0.571,6,0.076,0.000,2919,1604,2955,0,0,0,0,0,0
$STATE,2006,end apogee,CONTROL_FINISHED_OK
$STATE,2006,begin climb
$GC,2008,1.31,136.3,203.2,0.0,182,2126,1.42,2.65,107.55,0.567,4,0.026,0.038,3293,3169,2398,0,0,0,0,0,0
$GC,2159,1.09,172.3,202.2,8.3,185,2198,0.30,2.42,30.20,0.547,6,0.098,0.026,3229,1660,2250,0,0,0,0,0,0
$GC,2458,1.06,212.1,176.5,8.1,209,2496,0.00,2.55,33.33,0.539,4,0.000,0.031,3229,3171,2089,0,0,0,0,0,0
$GC,2521,1.08,221.9,170.7,9.6,215,2540,0.00,2.53,9.30,0.474,6,0.000,0.027,3229,1617,2049,0,0,0,0,0,0
$GC,2796,1.11,247.1,146.9,8.8,241,2828,0.00,2.47,22.42,0.518,4,0.000,0.047,3229,171,1946,0,0,0,0,0,0
$GC,2854,1.04,247.1,140.9,10.5,246,2865,0.00,2.25,0.00,0.000,6,0.000,0.020,3229,1590,1945,0,0,0,0,0,0
$GC,3122,1.07,271.6,117.2,8.9,271,3154,0.00,2.62,21.98,0.503,4,0.000,0.031,3229,3201,1845,0,0,0,0,0,0
$GC,3221,1.19,294.9,107.7,8.9,280,3247,0.00,2.55,20.50,0.494,6,0.000,0.027,3229,1627,1751,0,0,0,0,0,0
$GC,3514,1.31,317.5,80.3,9.0,307,3540,0.17,2.60,20.35,0.478,4,0.049,0.031,3304,3201,1660,0,0,0,0,0,0
$GC,3569,1.31,317.5,74.5,11.4,311,3574,0.12,2.53,0.00,0.000,6,0.107,0.028,3276,1645,1656,0,0,0,0,0,0
$GC,3840,1.31,317.5,45.9,10.6,335,3844,0.00,2.50,0.00,0.000,4,0.000,0.030,3275,3205,1654,0,0,0,0,0,0
$GC,3898,1.37,317.5,38.3,11.9,339,3903,0.00,2.50,0.00,0.000,6,0.000,0.028,3276,1657,1652,0,0,0,0,0,0
$GC,4197,1.40,334.8,6.9,9.2,381,4217,0.00,2.50,15.27,0.419,4,0.000,0.025,3276,3207,1589,0,0,0,0,0,0
$STATE,4227,end climb,SURFACE_DEPTH_REACHED
$STATE,4227,begin surface coast
$FINISH,0.7,1.023325
$STATE,4250,end surface coast,CONTROL_FINISHED_OK
$STATE,4250,begin surface
$SM_CCo,4275,44.00,0.436,0,0,1323,400.08
$SM_GC,1.39,0.00,0.00,44.00,0.000,0.000,0.436,414,1851,1323,-11.85,-0.51,400.08
$IRIDIUM_FIX,2420.48,-16009.12,141200,141455
$TT8_MAMPS,0.026845
$HUMID,61.26
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.8,42.212
$10V_AH,10.3,47.703
$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,28.375,59.900,385.800,44.000,0.000,27.754,32.511,140.291,0.000,0.000,31.547,717.326,1438.570,412.396,1348.701,765.874,33.348,944.035,0.000,1658.084,0.000,0.539,0.000
$DEVICE_MAMPS,167.206,46.787,571.415,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.784,480.566,561.063,592.614,1111.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356000
$DATA_FILE_SIZE,32119,387
$CAP_FILE_SIZE,64748,0
$CFSIZE,260165632,110792704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,164906,2427.527,-15638.932,33,1.3,33,10.4