version: 66.06
glider: 148
mission: 12
dive: 12
start: 5 24 113 12 3 53
data:
$ID,148
$MISSION,12
$DIVE,12
$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,-1015180.6
$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,86
$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
$GPS1,115730,2244.751,-15800.587,9,1.6,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.7
$GPS2,120300,2244.769,-15800.596,10,1.5,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAL2
$TGT_LATLONG,2243.400,-15800.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.043,-0.256
$KALMAN_X,-546.9,219.4,-426.9,-163.3,-24.0
$KALMAN_Y,4571.0,-160.5,-360.3,-4455.7,149.3
$MHEAD_RNG_PITCHd_Wd,179.5,2588,-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,15,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,-59.50,0.000,2,0.000,0.000,414,1625,3015,0,0,0,0,0,0
$GC,83,-1.27,-146.0,3.5,-5.9,8,114,14.85,2.40,-9.65,0.000,4,0.170,0.050,3130,159,3595,0,0,0,0,0,0
$GC,126,0.11,-146.0,19.7,-37.9,13,134,1.35,2.20,0.00,0.000,6,0.087,0.019,3430,1580,3596,0,0,0,0,0,0
$GC,409,-0.71,-146.0,45.2,-9.7,47,422,0.75,2.35,0.00,0.000,4,0.074,0.046,3258,169,3596,0,0,0,0,0,0
$GC,516,-1.48,-146.0,54.9,-8.0,56,528,0.70,2.20,0.00,0.000,6,0.035,0.019,3073,1651,3596,0,0,0,0,0,0
$GC,785,-1.11,-146.0,106.4,-20.9,81,790,0.43,2.38,0.00,0.000,4,0.095,0.025,3168,3168,3596,0,0,0,0,0,0
$GC,814,-0.94,-146.0,112.1,-16.3,83,819,0.17,2.50,0.00,0.000,6,0.087,0.028,3209,1609,3596,0,0,0,0,0,0
$GC,1081,-1.07,-146.0,135.8,-8.7,107,1086,0.12,2.38,0.00,0.000,4,0.064,0.048,3146,173,3597,0,0,0,0,0,0
$GC,1111,-1.07,-146.0,139.1,-11.6,109,1116,0.15,2.20,0.00,0.000,6,0.101,0.019,3179,1609,3597,0,0,0,0,0,0
$GC,1375,-1.07,-146.0,167.2,-10.4,133,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1612,3597,0,0,0,0,0,0
$GC,1639,-1.15,-146.0,192.8,-9.0,158,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1612,3597,0,0,0,0,0,0
$GC,1884,-1.23,-146.0,216.3,-9.5,170,1889,0.15,2.45,0.00,0.000,4,0.055,0.027,3109,3166,3597,0,0,0,0,0,0
$GC,1899,-1.23,-146.0,218.2,-10.0,170,1905,0.15,2.47,0.00,0.000,6,0.100,0.027,3142,1603,3597,0,0,0,0,0,0
$GC,2169,-1.23,-146.0,249.4,-11.2,177,2173,0.00,2.33,0.00,0.000,4,0.000,0.048,3142,174,3597,0,0,0,0,0,0
$GC,2196,-1.23,-146.0,253.0,-12.6,177,2200,0.00,2.17,0.00,0.000,6,0.000,0.021,3142,1594,3597,0,0,0,0,0,0
$GC,2451,-1.23,-146.0,279.8,-10.2,184,2455,0.00,2.50,0.00,0.000,4,0.000,0.031,3142,3176,3597,0,0,0,0,0,0
$GC,2480,-1.31,-146.0,282.7,-9.8,184,2484,0.00,2.55,0.00,0.000,6,0.000,0.033,3141,1609,3597,0,0,0,0,0,0
$STATE,2691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2691,begin apogee
$GC,2698,-0.31,0.0,302.4,9.1,190,2814,0.88,0.00,112.00,0.657,6,0.071,0.000,3344,1411,3000,0,0,0,0,0,0
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2818,1.27,146.0,308.6,0.0,193,2944,1.42,2.67,115.95,0.656,4,0.028,0.042,3700,2979,2403,0,0,0,0,0,0
$GC,3185,1.11,259.0,305.4,4.8,201,3289,0.22,2.60,92.50,0.656,6,0.110,0.041,3654,1432,1944,0,0,0,0,0,0
$GC,3539,0.98,259.0,269.4,11.2,210,3544,0.12,2.20,0.00,0.000,4,0.128,0.065,3628,168,1939,0,0,0,0,0,0
$GC,3610,0.86,259.0,260.5,12.0,211,3615,0.12,1.98,0.00,0.000,6,0.125,0.023,3602,1431,1938,0,0,0,0,0,0
$GC,3875,0.91,297.3,238.2,8.2,218,3912,0.00,2.17,32.50,0.615,4,0.000,0.054,3602,164,1787,0,0,0,0,0,0
$GC,4006,0.91,297.3,224.4,11.4,220,4010,0.00,1.95,0.00,0.000,6,0.000,0.024,3602,1406,1787,0,0,0,0,0,0
$GC,4298,1.01,315.1,197.2,9.2,227,4320,0.12,2.58,16.10,0.566,4,0.068,0.029,3647,2988,1714,0,0,0,0,0,0
$GC,4353,1.01,315.1,191.8,10.4,232,4357,0.00,2.60,0.00,0.000,6,0.000,0.036,3647,1404,1711,0,0,0,0,0,0
$GC,4619,1.01,315.1,162.3,11.6,256,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,3647,1404,1711,0,0,0,0,0,0
$GC,4884,1.01,315.1,130.7,12.3,281,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,3647,1404,1710,0,0,0,0,0,0
$GC,5146,1.01,315.1,101.3,10.2,306,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,3647,1404,1709,0,0,0,0,0,0
$GC,5404,1.01,315.1,76.0,10.2,330,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3647,1404,1709,0,0,0,0,0,0
$GC,5672,1.05,350.8,50.8,8.3,355,5708,0.00,2.08,31.17,0.478,4,0.000,0.053,3647,164,1568,0,0,0,0,0,0
$GC,5740,1.05,350.8,44.2,10.7,361,5744,0.00,1.90,0.00,0.000,6,0.000,0.021,3647,1414,1568,0,0,0,0,0,0
$GC,6033,1.13,350.8,14.4,11.0,398,6042,0.00,2.53,0.00,0.000,4,0.000,0.029,3647,2983,1565,0,0,0,0,0,0
$GC,6103,1.28,356.3,7.5,9.7,408,6121,0.15,2.60,5.20,0.341,6,0.031,0.035,3707,1410,1547,0,0,0,0,0,0
$STATE,6136,end climb,SURFACE_DEPTH_REACHED
$STATE,6136,begin surface coast
$FINISH,0.4,1.022077
$STATE,6185,end surface coast,CONTROL_FINISHED_OK
$STATE,6185,begin surface
$SM_CCo,6209,20.20,0.430,0,0,1450,380.21
$SM_GC,1.87,0.00,0.00,20.20,0.000,0.000,0.430,414,1625,1450,-13.80,0.71,380.21
$IRIDIUM_FIX,2237.01,-15758.03,180802,101000
$TT8_MAMPS,0.027612
$HUMID,63.97
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,22.90
$XPDR_PINGS,22
$24V_AH,23.6,1.340
$10V_AH,9.9,1.265
$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,35.050,61.475,405.425,20.200,0.000,25.141,38.309,147.343,5.500,0.000,17.114,817.486,3220.926,425.295,1679.491,421.192,33.344,1037.706,0.000,1693.521,0.000,0.538,0.000
$DEVICE_MAMPS,170.274,65.195,656.552,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,281.827,300.838,382.626,804.439,1096.442,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,32213,419
$CAP_FILE_SIZE,76878,0
$CFSIZE,260165632,171454464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,134919,2243.868,-15800.825,35,3.1,55,10.1