version: 66.06
glider: 148
mission: 10
dive: 10
start: 8 13 111 10 10 32
data:
$ID,148
$MISSION,10
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,400
$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,52523
$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,-876793.12
$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,2950
$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,1890
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3095
$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
$GPS1,095030,2145.630,-15811.874,38,1.4,44,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.3
$GPS2,100937,2145.542,-15812.211,14,1.3,14,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SECOND
$TGT_LATLONG,2151.500,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,0.205
$KALMAN_X,-141.7,-1902.1,597.1,-3506.1,-1005.1
$KALMAN_Y,-119.7,-683.1,495.0,8332.6,-587.6
$MHEAD_RNG_PITCHd_Wd,19.0,11229,-19.8,-10.000
$D_GRID,600
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-65.85,0.000,2,0.000,0.000,415,1924,3215,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-5.8,9,115,11.90,0.00,-6.45,0.000,6,0.156,0.000,2642,1924,3572,0,0,0,0,0,0
$GC,385,-1.03,-116.8,74.9,-20.2,41,399,0.35,2.65,0.00,0.000,4,0.107,0.039,2720,306,3574,0,0,0,0,0,0
$GC,436,-1.03,-116.8,84.4,-16.2,45,440,0.00,2.42,0.00,0.000,6,0.000,0.021,2720,1859,3574,0,0,0,0,0,0
$GC,704,-1.03,-116.8,117.7,-10.6,69,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1860,3574,0,0,0,0,0,0
$GC,965,-1.10,-116.8,143.6,-9.6,94,969,0.00,2.58,0.00,0.000,4,0.000,0.038,2720,3465,3575,0,0,0,0,0,0
$GC,1016,-1.26,-116.8,149.0,-10.2,98,1027,0.15,2.55,0.00,0.000,6,0.027,0.024,2642,1876,3575,0,0,0,0,0,0
$GC,1280,-1.15,-116.8,187.0,-15.5,123,1285,0.25,2.53,0.00,0.000,4,0.100,0.037,2698,310,3575,0,0,0,0,0,0
$GC,1320,-1.23,-116.8,192.9,-12.9,126,1329,0.00,2.50,0.00,0.000,6,0.000,0.021,2698,1881,3575,0,0,0,0,0,0
$GC,1594,-1.31,-116.8,221.1,-10.0,138,1596,0.15,0.00,0.00,0.000,6,0.062,0.000,2644,1883,3575,0,0,0,0,0,0
$GC,1836,-1.24,-116.8,247.7,-10.7,144,1841,0.15,2.58,0.00,0.000,4,0.109,0.043,2677,314,3575,0,0,0,0,0,0
$GC,1865,-1.24,-116.8,250.8,-10.1,144,1869,0.00,2.45,0.00,0.000,6,0.000,0.023,2677,1878,3575,0,0,0,0,0,0
$GC,2119,-1.24,-116.8,274.9,-9.6,151,2124,0.00,2.60,0.00,0.000,4,0.000,0.037,2677,3468,3575,0,0,0,0,0,0
$GC,2163,-1.34,-116.8,279.2,-9.8,151,2169,0.00,2.55,0.00,0.000,6,0.000,0.025,2677,1888,3575,0,0,0,0,0,0
$GC,2413,-1.34,-116.8,300.6,-8.6,158,2418,0.00,2.60,0.00,0.000,4,0.000,0.048,2677,308,3574,0,0,0,0,0,0
$GC,2469,-1.42,-116.8,305.8,-9.6,159,2475,0.12,2.53,0.00,0.000,6,0.035,0.025,2625,1876,3573,0,0,0,0,0,0
$GC,2749,-1.35,-116.8,337.5,-11.7,166,2755,0.12,2.67,0.00,0.000,4,0.116,0.053,2651,315,3572,0,0,0,0,0,0
$GC,2788,-1.35,-116.8,342.3,-11.8,166,2793,0.00,2.53,0.00,0.000,6,0.000,0.028,2651,1868,3572,0,0,0,0,0,0
$GC,3043,-1.35,-116.8,368.6,-10.4,173,3048,0.00,2.62,0.00,0.000,4,0.000,0.045,2651,3469,3570,0,0,0,0,0,0
$GC,3071,-1.35,-116.8,371.7,-10.8,173,3076,0.00,2.58,0.00,0.000,6,0.000,0.032,2651,1867,3570,0,0,0,0,0,0
$GC,3327,-1.35,-116.8,397.4,-9.9,180,3332,0.00,2.65,0.00,0.000,4,0.000,0.060,2650,310,3568,0,0,0,0,0,0
$GC,3412,-1.35,-116.8,405.2,-9.2,181,3417,0.00,2.53,0.00,0.000,6,0.000,0.030,2651,1867,3568,0,0,0,0,0,0
$GC,3662,-1.35,-116.8,428.9,-9.8,188,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1867,3565,0,0,0,0,0,0
$GC,3906,-1.35,-116.8,458.4,-12.2,194,3910,0.00,2.67,0.00,0.000,4,0.000,0.065,2651,312,3564,0,0,0,0,0,0
$GC,3929,-1.35,-116.8,461.3,-11.7,194,3935,0.00,2.58,0.00,0.000,6,0.000,0.037,2651,1858,3563,0,0,0,0,0,0
$GC,4194,-1.35,-116.8,490.0,-10.5,201,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1859,3561,0,0,0,0,0,0
$GC,4438,-1.35,-116.8,515.0,-10.3,207,4443,0.00,2.67,0.00,0.000,4,0.000,0.067,2651,310,3559,0,0,0,0,0,0
$GC,4485,-1.35,-116.8,520.2,-10.8,208,4489,0.00,2.58,0.00,0.000,6,0.000,0.040,2651,1861,3558,0,0,0,0,0,0
$GC,4768,-1.35,-116.8,547.4,-9.5,215,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1862,3556,0,0,0,0,0,0
$GC,5011,-1.35,-116.8,567.8,-8.0,221,5016,0.00,2.78,0.00,0.000,4,0.000,0.061,2651,3466,3554,0,0,0,0,0,0
$GC,5035,-1.35,-116.8,569.9,-9.4,221,5040,0.00,2.62,0.00,0.000,6,0.000,0.038,2651,1864,3554,0,0,0,0,0,0
$GC,5300,-1.35,-116.8,591.0,-8.0,228,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1864,3552,0,0,0,0,0,0
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5419,begin apogee
$GC,5425,-0.31,0.0,601.0,8.2,231,5521,1.02,0.00,91.55,0.966,6,0.087,0.000,2878,1696,3094,0,0,0,0,0,0
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5524,1.38,116.8,602.8,0.0,233,5633,1.58,2.78,98.45,0.941,4,0.041,0.051,3253,3282,2617,0,0,0,0,0,0
$GC,5662,1.25,210.4,605.6,4.6,236,5752,0.15,2.70,80.60,0.926,6,0.138,0.039,3228,1702,2236,0,0,0,0,0,0
$GC,5996,1.14,210.4,569.5,12.0,245,5998,0.15,0.00,0.00,0.000,6,0.129,0.000,3198,1702,2228,0,0,0,0,0,0
$GC,6237,1.14,210.4,543.9,10.3,251,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1702,2225,0,0,0,0,0,0
$GC,6481,1.14,210.9,519.3,10.0,257,6486,0.00,2.72,0.00,0.000,4,0.000,0.046,3198,3286,2224,0,0,0,0,0,0
$GC,6502,1.15,213.0,517.2,9.9,257,6506,0.00,2.70,0.00,0.000,6,0.000,0.042,3198,1698,2223,0,0,0,0,0,0
$GC,6770,1.16,226.2,492.2,9.2,264,6790,0.00,2.78,12.90,0.825,4,0.000,0.081,3198,166,2172,0,0,0,0,0,0
$GC,6841,1.07,226.2,484.1,12.0,265,6847,0.00,2.55,0.00,0.000,6,0.000,0.032,3198,1695,2171,0,0,0,0,0,0
$GC,7107,1.07,226.2,455.3,11.1,272,7111,0.00,2.72,0.00,0.000,4,0.000,0.061,3197,3281,2169,0,0,0,0,0,0
$GC,7143,1.07,226.2,450.9,11.2,272,7149,0.00,2.67,0.00,0.000,6,0.000,0.043,3198,1689,2168,0,0,0,0,0,0
$GC,7395,1.07,226.2,424.6,10.5,279,7399,0.00,2.67,0.00,0.000,4,0.000,0.074,3198,173,2167,0,0,0,0,0,0
$GC,7421,1.01,226.2,421.4,12.1,279,7426,0.10,2.53,0.00,0.000,6,0.104,0.030,3174,1698,2167,0,0,0,0,0,0
$GC,7686,1.03,242.7,396.0,9.0,286,7707,0.00,2.72,15.40,0.797,4,0.000,0.065,3174,173,2105,0,0,0,0,0,0
$GC,7750,1.04,248.3,389.9,9.7,287,7762,0.00,2.50,6.72,0.680,6,0.000,0.029,3174,1697,2082,0,0,0,0,0,0
$GC,8017,1.13,261.7,365.2,9.2,294,8039,0.00,2.70,12.52,0.760,4,0.000,0.063,3173,165,2028,0,0,0,0,0,0
$GC,8098,1.13,261.7,356.0,12.1,295,8103,0.00,2.47,0.00,0.000,6,0.000,0.028,3173,1691,2028,0,0,0,0,0,0
$GC,8349,1.22,261.7,328.1,11.6,301,8358,0.17,2.67,0.00,0.000,4,0.057,0.050,3231,3275,2025,0,0,0,0,0,0
$GC,8401,1.22,261.7,320.7,15.4,302,8406,0.00,2.65,0.00,0.000,6,0.000,0.035,3231,1684,2023,0,0,0,0,0,0
$GC,8684,1.22,261.7,283.5,12.6,309,8689,0.00,2.62,0.00,0.000,4,0.000,0.067,3231,173,2023,0,0,0,0,0,0
$GC,8722,1.12,261.7,278.5,13.6,309,8728,0.17,2.45,0.00,0.000,6,0.117,0.027,3196,1686,2023,0,0,0,0,0,0
$GC,8973,1.19,264.8,253.5,9.8,316,8977,0.00,2.67,0.00,0.000,4,0.000,0.045,3196,3283,2022,0,0,0,0,0,0
$GC,9017,1.29,275.6,249.1,9.4,317,9038,0.15,2.65,13.45,0.686,6,0.061,0.033,3249,1678,1970,0,0,0,0,0,0
$GC,9308,1.29,275.6,212.3,12.5,324,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1678,1967,0,0,0,0,0,0
$GC,9557,1.29,275.6,181.9,12.0,339,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1678,1966,0,0,0,0,0,0
$GC,9811,1.29,275.6,151.9,12.3,363,9815,0.00,2.65,0.00,0.000,4,0.000,0.038,3249,3290,1967,0,0,0,0,0,0
$GC,9843,1.29,275.6,148.6,12.5,365,9847,0.00,2.62,0.00,0.000,6,0.000,0.028,3249,1679,1965,0,0,0,0,0,0
$GC,10111,1.29,275.6,118.3,10.3,389,10115,0.00,2.62,0.00,0.000,4,0.000,0.035,3249,3285,1965,0,0,0,0,0,0
$GC,10170,1.29,275.6,111.1,10.1,394,10180,0.00,2.60,0.00,0.000,6,0.000,0.028,3249,1698,1965,0,0,0,0,0,0
$GC,10438,1.30,276.7,84.2,9.9,419,10443,0.00,2.53,0.00,0.000,4,0.000,0.048,3249,176,1965,0,0,0,0,0,0
$GC,10638,1.30,281.9,61.7,9.7,435,10650,0.00,2.40,6.55,0.445,6,0.000,0.021,3249,1693,1945,0,0,0,0,0,0
$GC,10906,1.31,288.9,38.8,9.6,460,10917,0.00,0.00,8.02,0.446,6,0.000,0.000,3249,1696,1917,0,0,0,0,0,0
$GC,11202,1.40,363.9,14.8,5.7,501,11276,0.00,0.00,64.68,0.488,6,0.000,0.000,3249,1696,1609,0,0,0,0,0,0
$STATE,11299,end climb,SURFACE_DEPTH_REACHED
$STATE,11299,begin surface coast
$FINISH,0.8,1.023371
$STATE,11342,end surface coast,CONTROL_FINISHED_OK
$STATE,11342,begin surface
$SM_CCo,11363,28.90,0.464,0,0,1463,400.08
$SM_GC,1.24,0.00,0.00,28.90,0.000,0.000,0.464,413,1912,1463,-11.67,0.59,400.08
$IRIDIUM_FIX,2136.49,-15812.78,061100,101054
$TT8_MAMPS,0.027612
$HUMID,59.72
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,23.00
$XPDR_PINGS,4
$24V_AH,23.4,1.411
$10V_AH,10.3,1.941
$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,28.075,130.925,410.850,28.900,0.000,110.042,170.626,411.004,1.000,0.000,16.004,1073.165,7774.529,427.387,1748.256,1516.510,33.346,1295.575,0.000,2079.786,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,80.535,965.653,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.989,447.353,529.536,528.756,987.822,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356240
$DATA_FILE_SIZE,41501,518
$CAP_FILE_SIZE,123541,0
$CFSIZE,260165632,130605056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,132137,2146.488,-15812.288,30,0.9,30,9.9