version: 66.06
glider: 148
mission: 12
dive: 6
start: 5 24 113 2 34 25
data:
$ID,148
$MISSION,12
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,240
$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,140
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$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,-1015053.6
$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,3420
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,94
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2900
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,022842,2246.591,-15759.859,7,1.1,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-77.0
$GPS2,023330,2246.648,-15759.852,9,1.1,14,10.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,CAL1
$TGT_LATLONG,2247.830,-15759.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.086,0.246
$KALMAN_X,-419.9,-439.2,-355.2,1561.9,291.7
$KALMAN_Y,1012.9,513.5,76.7,1466.5,466.2
$MHEAD_RNG_PITCHd_Wd,330.5,2190,-17.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.28,-146.0,0.0,0.0,0,92,0.00,0.00,-74.43,0.000,2,0.000,0.000,414,1574,3210,0,0,0,0,0,0
$GC,95,-1.28,-146.0,4.5,-9.6,10,121,14.88,2.35,-4.45,0.000,4,0.171,0.036,3133,3071,3496,0,0,0,0,0,0
$GC,224,-1.28,-146.0,40.7,-15.5,25,228,0.00,2.50,0.00,0.000,6,0.000,0.035,3134,1539,3496,0,0,0,0,0,0
$GC,490,-1.12,-146.0,86.6,-16.1,49,495,0.20,2.25,0.00,0.000,4,0.100,0.043,3176,161,3496,0,0,0,0,0,0
$GC,510,-1.01,-146.0,90.3,-14.3,50,518,0.05,2.08,0.00,0.000,6,0.098,0.019,3193,1519,3496,0,0,0,0,0,0
$GC,777,-1.01,-146.0,115.7,-9.1,75,781,0.00,2.45,0.00,0.000,4,0.000,0.025,3193,3097,3496,0,0,0,0,0,0
$GC,835,-1.23,-146.0,121.2,-8.0,80,840,0.17,2.53,0.00,0.000,6,0.049,0.039,3106,1535,3496,0,0,0,0,0,0
$GC,1098,-1.04,-146.0,160.2,-14.4,104,1103,0.35,2.20,0.00,0.000,4,0.086,0.043,3186,171,3496,0,0,0,0,0,0
$GC,1128,-1.04,-146.0,163.6,-11.6,106,1132,0.00,2.10,0.00,0.000,6,0.000,0.021,3186,1550,3496,0,0,0,0,0,0
$GC,1395,-1.13,-146.0,188.0,-8.4,130,1399,0.00,2.40,0.00,0.000,4,0.000,0.025,3186,3104,3496,0,0,0,0,0,0
$GC,1444,-1.35,-146.0,192.4,-8.1,134,1450,0.25,2.50,0.00,0.000,6,0.039,0.032,3082,1552,3496,0,0,0,0,0,0
$STATE,1511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1511,begin apogee
$GC,1518,-0.31,0.0,201.7,15.3,141,1634,1.20,0.00,110.15,0.568,6,0.083,0.000,3352,1359,2899,0,0,0,0,0,0
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1637,1.28,146.0,207.1,0.0,144,1759,1.38,0.00,115.25,0.568,6,0.024,0.000,3722,1358,2303,0,0,0,0,0,0
$GC,2006,1.01,207.6,198.1,7.2,153,2064,0.40,2.00,49.75,0.551,4,0.103,0.054,3638,189,2052,0,0,0,0,0,0
$GC,2088,0.88,233.2,192.4,8.9,161,2118,0.12,1.83,22.48,0.527,6,0.120,0.021,3613,1382,1947,0,0,0,0,0,0
$GC,2373,0.91,253.6,167.4,9.1,188,2397,0.00,2.53,17.92,0.510,4,0.000,0.029,3613,2923,1865,0,0,0,0,0,0
$GC,2428,1.03,253.6,161.8,10.2,193,2434,0.12,2.55,0.00,0.000,6,0.064,0.036,3669,1379,1862,0,0,0,0,0,0
$GC,2691,0.93,253.6,129.4,11.9,218,2696,0.22,2.00,0.00,0.000,4,0.097,0.051,3620,164,1861,0,0,0,0,0,0
$GC,2723,0.93,253.6,125.6,10.9,220,2732,0.00,1.83,0.00,0.000,6,0.000,0.021,3620,1352,1861,0,0,0,0,0,0
$GC,2989,0.96,283.6,102.1,8.7,245,3020,0.00,1.98,25.30,0.487,4,0.000,0.051,3619,171,1742,0,0,0,0,0,0
$GC,3055,0.96,283.6,95.7,11.9,251,3059,0.00,1.80,0.00,0.000,6,0.000,0.021,3620,1359,1742,0,0,0,0,0,0
$GC,3327,1.09,319.6,71.7,8.4,276,3365,0.15,2.53,31.25,0.471,4,0.058,0.028,3680,2930,1596,0,0,0,0,0,0
$GC,3381,1.09,319.6,65.7,11.1,280,3386,0.10,2.60,0.00,0.000,6,0.116,0.037,3657,1344,1593,0,0,0,0,0,0
$GC,3649,1.09,323.6,36.1,9.9,304,3658,0.00,0.00,4.43,0.323,6,0.000,0.000,3657,1344,1579,0,0,0,0,0,0
$GC,3948,1.11,338.7,4.7,9.4,348,3958,0.00,0.00,7.70,0.370,2,0.000,0.000,3656,1344,1549,0,0,0,0,0,0
$STATE,3959,end climb,SURFACE_DEPTH_REACHED
$STATE,3959,begin surface coast
$FINISH,0.4,1.021321
$STATE,4005,end surface coast,CONTROL_FINISHED_OK
$STATE,4005,begin surface
$SM_CCo,4028,50.22,0.433,0,0,1268,400.08
$SM_GC,1.07,0.00,0.00,50.22,0.000,0.000,0.433,414,1573,1268,-13.83,0.93,400.08
$IRIDIUM_FIX,2239.35,-15800.20,180802,010151
$TT8_MAMPS,0.027612
$HUMID,63.03
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,23.40
$XPDR_PINGS,107
$24V_AH,23.7,0.825
$10V_AH,9.9,0.685
$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,32.625,45.500,384.225,50.225,0.000,28.805,33.272,122.298,26.750,0.000,15.628,653.172,1596.241,440.464,1342.675,346.161,33.304,897.449,0.000,1352.147,0.000,0.541,0.000
$DEVICE_MAMPS,171.041,54.457,568.347,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,237.538,271.915,353.665,739.715,1009.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,28872,356
$CAP_FILE_SIZE,58111,0
$CFSIZE,260165632,171708416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,034312,2247.470,-15759.939,8,1.4,8,10.1