version: 66.06
glider: 148
mission: 11
dive: 60
start: 5 27 112 11 29 46
data:
$ID,148
$MISSION,11
$DIVE,60
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,400
$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,95
$T_MISSION,220
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$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,380
$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,-899063.5
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3040
$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,1740
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,110
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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
$GPS1,111528,2226.477,-15825.039,6,3.1,26,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.1
$GPS2,112852,2226.366,-15825.166,15,4.2,34,10.0
$SPEED_LIMITS,0.122,0.208
$TGT_NAME,T02
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.172,0.117
$KALMAN_X,-115548.0,-1363.5,-231.3,74818.7,-664.5
$KALMAN_Y,-64667.1,77.0,-661.9,31722.6,-637.8
$MHEAD_RNG_PITCHd_Wd,45.7,69054,-14.0,-7.018
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.02,-116.8,0.0,0.0,0,93,0.00,0.00,-75.10,0.000,2,0.000,0.000,414,1684,3221,0,0,0,0,0,0
$GC,96,-1.02,-116.8,3.4,-3.6,10,121,12.48,2.50,-1.12,0.000,4,0.150,0.034,2811,3259,3280,0,0,0,0,0,0
$GC,133,1.10,-116.8,15.9,-23.9,14,142,3.33,2.47,0.00,0.000,6,0.081,0.029,3276,1742,3280,4,0,0,0,0,0
$GC,431,0.84,-116.8,37.2,-6.5,53,436,0.22,2.58,0.00,0.000,4,0.037,0.042,3161,165,3282,0,0,0,0,0,0
$GC,509,0.93,-116.8,44.3,-9.7,59,514,0.35,2.30,0.00,0.000,6,0.085,0.018,3238,1680,3282,0,0,0,0,0,0
$GC,779,0.81,-116.8,63.6,-6.6,83,787,0.10,0.00,0.00,0.000,6,0.076,0.000,3170,1683,3281,0,0,0,0,0,0
$GC,1043,0.88,-116.8,88.0,-9.1,108,1048,0.25,2.47,0.00,0.000,4,0.084,0.041,3230,164,3281,0,0,0,0,0,0
$GC,1094,0.67,-116.8,92.2,-7.1,112,1102,0.15,2.35,0.00,0.000,6,0.023,0.018,3125,1688,3282,0,0,0,0,0,0
$GC,1362,0.85,-116.8,122.4,-11.3,137,1367,0.40,2.47,0.00,0.000,4,0.083,0.041,3219,172,3282,0,0,0,0,0,0
$GC,1402,0.65,-116.8,127.0,-8.6,140,1411,0.12,2.33,0.00,0.000,6,0.025,0.019,3136,1680,3282,0,0,0,0,0,0
$GC,1665,0.77,-116.8,153.4,-10.0,165,1671,0.28,2.45,0.00,0.000,4,0.087,0.041,3202,174,3281,0,0,0,0,0,0
$GC,1723,0.65,-116.8,157.9,-6.0,170,1727,0.00,2.28,0.00,0.000,6,0.000,0.018,3202,1670,3282,0,0,0,0,0,0
$GC,1987,0.53,-116.8,171.3,-4.3,194,1992,0.20,2.45,0.00,0.000,4,0.044,0.043,3111,168,3282,0,0,0,0,0,0
$GC,2057,0.71,-116.8,177.6,-10.0,200,2063,0.45,2.25,0.00,0.000,6,0.061,0.019,3191,1651,3282,1,0,0,0,0,0
$GC,2321,0.60,-116.8,192.8,-5.8,225,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1654,3282,0,0,0,0,0,0
$STATE,2433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2433,begin apogee
$GC,2441,-0.31,0.0,200.5,6.6,236,2536,0.88,0.00,91.80,0.573,6,0.021,0.000,2961,1800,2800,0,0,0,0,0,0
$STATE,2537,end apogee,CONTROL_FINISHED_OK
$STATE,2537,begin climb
$GC,2539,1.02,116.8,211.0,0.0,238,2643,1.35,2.45,94.57,0.573,4,0.091,0.025,3254,3329,2322,0,0,0,0,0,0
$GC,2702,1.92,186.9,212.9,4.2,241,2776,6.25,2.47,58.10,0.565,6,0.008,0.027,3456,1797,2036,18,0,0,0,0,0
$GC,3043,2.29,266.6,200.1,3.8,250,3119,0.30,2.70,67.47,0.562,4,0.044,0.056,3561,220,1712,0,0,0,0,0,0
$GC,3203,2.29,266.6,183.3,12.1,262,3209,0.12,2.33,0.00,0.000,6,0.097,0.021,3533,1685,1711,0,0,0,0,0,0
$GC,3467,2.29,266.6,161.0,7.4,287,3471,0.00,2.45,0.00,0.000,4,0.000,0.049,3533,226,1707,0,0,0,0,0,0
$GC,3541,2.29,266.6,154.5,8.5,294,3545,0.00,2.28,0.00,0.000,6,0.000,0.021,3533,1683,1707,0,0,0,0,0,0
$GC,3805,2.36,266.6,135.0,7.2,318,3809,0.00,2.40,0.00,0.000,4,0.000,0.054,3533,225,1706,0,0,0,0,0,0
$GC,3987,2.43,266.6,119.9,8.8,335,3992,0.17,2.22,0.00,0.000,6,0.043,0.021,3599,1672,1705,0,0,0,0,0,0
$GC,4253,2.33,266.6,92.5,9.7,359,4258,0.25,2.40,0.00,0.000,4,0.083,0.049,3540,216,1704,0,0,0,0,0,0
$GC,4388,2.34,279.2,82.3,6.5,371,4406,0.00,2.22,11.23,0.449,6,0.000,0.020,3540,1662,1660,0,0,0,0,0,0
$GC,4661,2.47,318.3,67.3,5.4,397,4701,0.15,2.42,33.62,0.476,4,0.052,0.047,3623,225,1501,0,0,0,0,0,0
$GC,4780,2.32,318.3,51.9,13.8,407,4788,0.32,2.22,0.00,0.000,6,0.066,0.021,3545,1626,1501,0,0,0,0,0,0
$GC,5049,2.41,318.3,30.4,9.9,432,5054,0.00,2.33,0.00,0.000,4,0.000,0.045,3544,225,1498,0,0,0,0,0,0
$GC,5113,2.52,318.3,24.0,9.9,441,5121,0.12,2.20,0.00,0.000,6,0.026,0.021,3606,1627,1498,0,0,0,0,0,0
$STATE,5284,end climb,SURFACE_DEPTH_REACHED
$STATE,5285,begin surface coast
$FINISH,0.4,1.009146
$STATE,5317,end surface coast,CONTROL_FINISHED_OK
$STATE,5317,begin surface
$SM_CCo,5341,44.80,0.435,0,0,1250,380.21
$SM_GC,1.40,0.00,0.00,44.80,0.000,0.000,0.435,417,1631,1250,-12.07,-3.05,380.21
$IRIDIUM_FIX,2220.67,-15830.97,210801,111145
$TT8_MAMPS,0.027612
$HUMID,59.72
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,23.40
$XPDR_PINGS,126
$24V_AH,23.7,7.478
$10V_AH,10.0,5.817
$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,41.000,62.100,356.800,44.800,0.000,84.286,111.175,322.008,31.500,0.000,36.450,871.151,2225.920,403.919,1921.832,769.739,33.345,1024.661,0.000,1909.003,0.000,0.539,0.000
$DEVICE_MAMPS,150.332,79.001,572.949,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.533,372.466,471.503,777.043,1364.038,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,38276,473
$CAP_FILE_SIZE,84207,0
$CFSIZE,260165632,169713664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,23,0,0,0
$GPS,270512,130101,2226.296,-15825.305,47,1.7,48,10.0