version: 66.06
glider: 148
mission: 12
dive: 8
start: 5 24 113 4 50 48
data:
$ID,148
$MISSION,12
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,340
$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,100
$T_MISSION,240
$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,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,-1015086.2
$T_RSLEEP,2
$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,24
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2960
$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
$GPS1,044506,2247.490,-15759.938,26,1.2,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-77.3
$GPS2,044955,2247.580,-15759.898,11,1.4,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAL2
$TGT_LATLONG,2243.400,-15800.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.110,-0.235
$KALMAN_X,-239.6,-390.5,201.9,700.0,538.6
$KALMAN_Y,2344.9,635.9,202.0,1610.4,857.4
$MHEAD_RNG_PITCHd_Wd,195.0,7929,-17.5,-10.000
$D_GRID,300
$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,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,415,1560,3118,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-6.6,9,121,14.15,2.30,-7.15,0.000,4,0.150,0.052,3138,168,3558,0,0,0,0,0,0
$GC,208,-1.16,-146.0,37.5,-16.6,23,213,0.15,2.08,0.00,0.000,6,0.107,0.021,3170,1517,3558,0,0,0,0,0,0
$GC,476,-1.06,-146.0,77.5,-13.1,47,480,0.00,2.53,0.00,0.000,4,0.000,0.025,3170,3121,3558,0,0,0,0,0,0
$GC,514,-1.06,-146.0,83.0,-11.8,50,519,0.00,2.55,0.00,0.000,6,0.000,0.031,3170,1530,3558,0,0,0,0,0,0
$GC,777,-1.06,-146.0,112.6,-11.0,74,778,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1530,3558,0,0,0,0,0,0
$GC,1031,-1.06,-146.0,142.3,-11.8,98,1035,0.00,2.50,0.00,0.000,4,0.000,0.025,3170,3115,3558,0,0,0,0,0,0
$GC,1072,-1.18,-146.0,146.4,-10.5,101,1077,0.00,2.50,0.00,0.000,6,0.000,0.031,3170,1547,3558,0,0,0,0,0,0
$GC,1335,-1.18,-146.0,175.7,-10.8,125,1339,0.00,2.22,0.00,0.000,4,0.000,0.046,3170,168,3558,0,0,0,0,0,0
$GC,1364,-1.18,-146.0,178.8,-11.9,127,1368,0.00,2.10,0.00,0.000,6,0.000,0.020,3170,1560,3558,0,0,0,0,0,0
$GC,1642,-1.18,-146.0,208.8,-10.5,147,1647,0.00,2.40,0.00,0.000,4,0.000,0.025,3170,3110,3558,0,0,0,0,0,0
$GC,1672,-1.29,-146.0,211.8,-10.0,147,1677,0.12,2.50,0.00,0.000,6,0.061,0.033,3097,1545,3558,0,0,0,0,0,0
$GC,1927,-1.13,-146.0,248.9,-14.9,154,1929,0.35,0.00,0.00,0.000,6,0.087,0.000,3174,1545,3558,0,0,0,0,0,0
$GC,2171,-1.24,-146.0,270.6,-8.4,160,2176,0.10,2.47,0.00,0.000,4,0.077,0.028,3121,3111,3558,0,0,0,0,0,0
$GC,2219,-1.24,-146.0,275.4,-10.3,161,2224,0.12,2.53,0.00,0.000,6,0.099,0.032,3150,1547,3558,0,0,0,0,0,0
$STATE,2499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2500,begin apogee
$GC,2506,-0.31,0.0,300.9,8.8,168,2622,0.88,0.00,111.72,0.649,6,0.068,0.000,3354,1373,2960,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2626,1.27,146.0,306.3,0.0,171,2750,1.38,2.05,115.47,0.645,4,0.025,0.061,3708,182,2363,0,0,0,0,0,0
$GC,3016,0.79,170.9,290.6,8.9,179,3044,0.47,1.88,20.60,0.609,6,0.104,0.023,3596,1376,2262,0,0,0,0,0,0
$GC,3319,0.90,257.4,272.7,6.0,187,3399,0.00,2.08,72.28,0.637,4,0.000,0.054,3596,174,1909,0,0,0,0,0,0
$GC,3451,0.90,257.4,260.7,11.3,189,3455,0.00,1.92,0.00,0.000,6,0.000,0.024,3596,1381,1908,0,0,0,0,0,0
$GC,3738,0.97,266.0,232.2,9.6,196,3752,0.15,2.55,7.82,0.515,4,0.060,0.032,3651,2952,1875,0,0,0,0,0,0
$GC,3789,0.97,266.0,226.2,10.9,197,3794,0.00,2.55,0.00,0.000,6,0.000,0.038,3650,1402,1871,0,0,0,0,0,0
$GC,4068,0.90,266.0,195.4,11.3,204,4073,0.15,2.50,0.00,0.000,4,0.110,0.030,3619,2950,1870,0,0,0,0,0,0
$GC,4138,1.02,287.1,188.3,9.0,210,4164,0.05,2.58,18.35,0.563,6,0.050,0.037,3656,1400,1788,0,0,0,0,0,0
$GC,4419,0.95,287.1,155.5,10.8,237,4424,0.15,2.08,0.00,0.000,4,0.107,0.054,3625,166,1784,0,0,0,0,0,0
$GC,4458,0.95,287.1,150.7,12.4,240,4468,0.00,1.95,0.00,0.000,6,0.000,0.021,3625,1425,1785,0,0,0,0,0,0
$GC,4724,0.96,297.1,125.7,9.5,265,4746,0.00,2.42,9.18,0.479,4,0.000,0.028,3625,2937,1746,0,0,0,0,0,0
$GC,4800,1.11,314.4,118.3,9.2,272,4823,0.15,2.53,15.90,0.505,6,0.058,0.038,3685,1404,1678,0,0,0,0,0,0
$GC,5078,1.02,314.4,82.9,12.0,298,5082,0.20,2.05,0.00,0.000,4,0.100,0.051,3641,171,1675,0,0,0,0,0,0
$GC,5119,1.02,314.4,78.5,11.4,301,5122,0.00,1.85,0.00,0.000,6,0.000,0.021,3642,1405,1675,0,0,0,0,0,0
$GC,5391,1.03,321.1,52.3,9.7,326,5405,0.00,2.08,7.20,0.405,4,0.000,0.051,3642,165,1649,0,0,0,0,0,0
$GC,5463,1.03,321.1,44.1,10.4,332,5467,0.00,1.85,0.00,0.000,6,0.000,0.021,3642,1402,1649,0,0,0,0,0,0
$GC,5753,1.12,335.7,17.0,9.3,367,5779,0.10,2.47,14.02,0.428,4,0.084,0.029,3683,2927,1588,0,0,0,0,0,0
$GC,5802,1.12,335.7,11.8,11.0,373,5811,0.00,2.55,0.00,0.000,6,0.000,0.037,3683,1394,1586,0,0,0,0,0,0
$STATE,5869,end climb,SURFACE_DEPTH_REACHED
$STATE,5869,begin surface coast
$FINISH,0.4,1.021388
$STATE,5910,end surface coast,CONTROL_FINISHED_OK
$STATE,5910,begin surface
$SM_CCo,5934,36.17,0.440,0,0,1410,380.21
$SM_GC,1.22,0.00,0.00,36.17,0.000,0.000,0.440,411,1567,1410,-13.85,0.76,380.21
$IRIDIUM_FIX,2239.35,-15757.16,180802,030343
$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.80
$XPDR_PINGS,82
$24V_AH,23.6,0.992
$10V_AH,9.9,0.859
$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,31.950,69.025,392.550,36.175,0.000,29.880,40.111,118.272,20.500,0.000,12.861,785.624,3078.948,418.964,1604.191,383.073,33.345,1032.447,0.000,1613.345,0.000,0.539,0.000
$DEVICE_MAMPS,150.332,61.360,648.882,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,261.114,270.816,350.575,726.977,993.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,32098,389
$CAP_FILE_SIZE,77527,0
$CFSIZE,260165632,171622400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,063136,2247.171,-15800.176,36,1.6,37,10.1