version: 66.06
glider: 148
mission: 12
dive: 11
start: 5 24 113 10 21 10
data:
$ID,148
$MISSION,12
$DIVE,11
$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,-1015162.9
$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,3412
$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,1600
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,90
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3000
$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
$GPS1,101428,2245.688,-15800.359,32,3.3,52,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-77.9
$GPS2,102018,2245.711,-15800.377,16,1.8,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAL2
$TGT_LATLONG,2243.400,-15800.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.260
$KALMAN_X,-523.3,115.8,16.5,-154.4,-346.8
$KALMAN_Y,4089.1,197.2,-48.7,-2897.0,-148.5
$MHEAD_RNG_PITCHd_Wd,170.2,4372,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,79,0.00,0.00,-59.62,0.000,2,0.000,0.000,413,1616,2996,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.5,-6.2,8,115,14.70,2.40,-9.95,0.000,4,0.166,0.048,3130,166,3598,0,0,0,0,0,0
$GC,216,-1.10,-146.0,37.5,-18.4,25,220,0.20,2.17,0.00,0.000,6,0.094,0.021,3173,1560,3599,0,0,0,0,0,0
$GC,483,-1.10,-146.0,74.5,-12.5,49,488,0.00,2.58,0.00,0.000,4,0.000,0.025,3173,3191,3598,0,0,0,0,0,0
$GC,538,-1.23,-146.0,81.9,-10.8,53,544,0.12,2.55,0.00,0.000,6,0.063,0.031,3112,1602,3599,0,0,0,0,0,0
$GC,802,-1.02,-146.0,123.4,-16.3,78,807,0.32,2.53,0.00,0.000,4,0.088,0.025,3187,3186,3599,0,0,0,0,0,0
$GC,845,-1.15,-146.0,128.5,-10.0,81,850,0.12,2.53,0.00,0.000,6,0.061,0.029,3119,1619,3599,0,0,0,0,0,0
$GC,1106,-1.02,-146.0,166.3,-13.5,105,1111,0.28,2.35,0.00,0.000,4,0.089,0.043,3184,168,3600,0,0,0,0,0,0
$GC,1133,-1.02,-146.0,169.7,-12.0,107,1137,0.00,2.25,0.00,0.000,6,0.000,0.020,3184,1647,3600,0,0,0,0,0,0
$GC,1396,-1.12,-146.0,194.7,-9.4,131,1401,0.00,2.38,0.00,0.000,4,0.000,0.025,3184,3180,3600,0,0,0,0,0,0
$GC,1413,-1.24,-146.0,196.3,-9.6,132,1418,0.17,2.50,0.00,0.000,6,0.050,0.028,3114,1615,3600,0,0,0,0,0,0
$GC,1695,-1.13,-146.0,233.5,-13.0,141,1700,0.22,2.35,0.00,0.000,4,0.093,0.046,3164,171,3600,0,0,0,0,0,0
$GC,1710,-1.06,-146.0,235.5,-12.8,141,1714,0.00,2.22,0.00,0.000,6,0.000,0.021,3164,1639,3600,0,0,0,0,0,0
$GC,1980,-1.14,-146.0,259.0,-8.7,148,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1641,3600,0,0,0,0,0,0
$GC,2223,-1.22,-146.0,280.4,-9.0,154,2227,0.00,2.42,0.00,0.000,4,0.000,0.051,3164,168,3599,0,0,0,0,0,0
$GC,2258,-1.34,-146.0,283.7,-9.2,154,2263,0.17,2.22,0.00,0.000,6,0.048,0.024,3092,1605,3599,0,0,0,0,0,0
$STATE,2424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2424,begin apogee
$GC,2430,-0.31,0.0,304.9,12.7,158,2547,1.10,0.00,112.53,0.660,6,0.074,0.000,3344,1404,3000,0,0,0,0,0,0
$STATE,2547,end apogee,CONTROL_FINISHED_OK
$STATE,2547,begin climb
$GC,2550,1.27,146.0,310.8,0.0,161,2674,1.42,2.70,116.30,0.659,4,0.025,0.044,3707,2991,2403,0,0,0,0,0,0
$GC,2719,1.09,289.3,318.0,3.4,165,2846,0.28,2.58,118.30,0.660,6,0.114,0.039,3653,1440,1819,0,0,0,0,0,0
$GC,3130,0.98,289.3,267.1,13.4,175,3135,0.12,2.17,0.00,0.000,4,0.132,0.062,3627,164,1813,0,0,0,0,0,0
$GC,3197,0.89,289.3,257.8,13.5,176,3200,0.00,2.00,0.00,0.000,6,0.000,0.024,3627,1431,1812,0,0,0,0,0,0
$GC,3469,0.89,289.3,228.5,10.5,183,3473,0.00,2.15,0.00,0.000,4,0.000,0.055,3627,164,1811,0,0,0,0,0,0
$GC,3534,0.83,289.3,221.1,11.2,184,3538,0.17,1.95,0.00,0.000,6,0.114,0.024,3591,1421,1810,0,0,0,0,0,0
$GC,3799,0.97,318.1,197.8,8.7,191,3829,0.12,2.55,23.70,0.584,4,0.067,0.028,3639,2999,1702,0,0,0,0,0,0
$GC,3853,0.97,318.1,192.5,10.9,196,3858,0.00,2.62,0.00,0.000,6,0.000,0.038,3639,1406,1700,0,0,0,0,0,0
$GC,4120,0.97,318.1,161.9,11.8,220,4124,0.00,2.05,0.00,0.000,4,0.000,0.061,3639,166,1698,0,0,0,0,0,0
$GC,4157,0.91,318.1,157.1,13.5,223,4161,0.15,1.92,0.00,0.000,6,0.113,0.022,3609,1428,1699,0,0,0,0,0,0
$GC,4422,1.00,318.1,130.1,10.3,247,4425,0.00,2.10,0.00,0.000,4,0.000,0.060,3609,172,1698,0,0,0,0,0,0
$GC,4450,1.00,318.1,127.1,11.6,249,4454,0.00,1.90,0.00,0.000,6,0.000,0.021,3609,1430,1698,0,0,0,0,0,0
$GC,4718,1.10,318.3,100.3,10.0,274,4723,0.17,2.45,0.00,0.000,4,0.054,0.029,3670,2975,1698,0,0,0,0,0,0
$GC,4749,1.10,318.3,96.4,11.6,276,4758,0.00,2.60,0.00,0.000,6,0.000,0.036,3670,1406,1696,0,0,0,0,0,0
$GC,5015,1.10,318.3,64.4,13.1,301,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,3670,1406,1696,0,0,0,0,0,0
$GC,5281,1.10,319.6,34.0,9.9,326,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,3670,1406,1696,0,0,0,0,0,0
$GC,5585,1.13,339.1,4.8,9.1,372,5594,0.00,0.00,7.75,0.386,2,0.000,0.000,3669,1406,1668,0,0,0,0,0,0
$STATE,5595,end climb,SURFACE_DEPTH_REACHED
$STATE,5595,begin surface coast
$FINISH,0.4,1.023043
$STATE,5648,end surface coast,CONTROL_FINISHED_OK
$STATE,5648,begin surface
$SM_CCo,5671,40.38,0.444,0,0,1450,380.21
$SM_GC,1.31,0.00,0.00,40.38,0.000,0.000,0.444,414,1624,1450,-13.79,0.68,380.21
$IRIDIUM_FIX,2237.01,-15802.37,180802,080838
$TT8_MAMPS,0.027612
$HUMID,64.76
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,22.70
$XPDR_PINGS,11
$24V_AH,23.6,1.253
$10V_AH,9.9,1.160
$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,33.025,65.750,378.575,40.375,0.000,24.731,38.043,152.732,2.750,0.000,34.725,754.475,2969.969,435.145,1502.774,405.003,33.344,961.669,0.000,1490.865,0.000,0.538,0.000
$DEVICE_MAMPS,166.439,62.127,660.387,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,256.572,268.426,344.507,728.014,993.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,28839,381
$CAP_FILE_SIZE,73125,0
$CFSIZE,260165632,171499520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,115730,2244.751,-15800.587,9,1.6,27,10.1