version: 66.06
glider: 148
mission: 10
dive: 12
start: 8 13 111 17 5 28
data:
$ID,148
$MISSION,10
$DIVE,12
$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,-876883.75
$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,30
$R_STBD_OVSHOOT,82
$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
$GPS1,163927,2147.690,-15813.356,23,99.0,42,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.7
$GPS2,170434,2147.641,-15813.660,52,99.0,71,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SECOND
$TGT_LATLONG,2151.500,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,0.197
$KALMAN_X,-4613.6,-626.4,-1000.7,-1190.2,631.4
$KALMAN_Y,-966.8,-111.0,-546.0,13539.3,996.4
$MHEAD_RNG_PITCHd_Wd,22.7,8485,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-68.00,0.000,2,0.000,0.000,411,1940,3281,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.5,-6.6,9,119,11.90,2.40,-5.10,0.000,4,0.156,0.037,2641,3428,3573,0,0,0,0,0,0
$GC,143,-0.62,-116.8,21.3,-33.7,15,154,0.77,2.50,0.00,0.000,6,0.095,0.023,2809,1877,3574,0,0,0,0,0,0
$GC,428,-0.80,-116.8,53.4,-10.0,44,439,0.15,0.00,0.00,0.000,6,0.060,0.000,2746,1877,3574,0,0,0,0,0,0
$GC,695,-0.80,-116.8,91.4,-12.6,69,700,0.12,0.00,0.00,0.000,6,0.114,0.000,2773,1877,3575,0,0,0,0,0,0
$GC,958,-0.98,-116.8,119.3,-8.8,94,963,0.15,2.58,0.00,0.000,4,0.061,0.041,2708,307,3575,0,0,0,0,0,0
$GC,983,-1.07,-116.8,121.7,-9.6,95,988,0.00,2.42,0.00,0.000,6,0.000,0.019,2708,1866,3575,0,0,0,0,0,0
$GC,1244,-1.07,-116.8,150.9,-10.9,120,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1867,3575,0,0,0,0,0,0
$GC,1498,-1.07,-116.8,177.7,-12.6,144,1503,0.00,2.53,0.00,0.000,4,0.000,0.040,2708,310,3576,0,0,0,0,0,0
$GC,1533,-1.07,-116.8,182.2,-12.8,147,1537,0.00,2.45,0.00,0.000,6,0.000,0.020,2708,1882,3576,0,0,0,0,0,0
$GC,1822,-1.13,-116.8,214.3,-10.8,165,1826,0.00,2.53,0.00,0.000,4,0.000,0.031,2708,3465,3576,0,0,0,0,0,0
$GC,1861,-1.24,-116.8,218.7,-10.1,165,1867,0.12,2.47,0.00,0.000,6,0.063,0.023,2651,1885,3576,0,0,0,0,0,0
$GC,2111,-1.24,-116.8,251.6,-13.1,172,2113,0.12,0.00,0.00,0.000,6,0.118,0.000,2678,1885,3576,0,0,0,0,0,0
$GC,2355,-1.24,-116.8,278.3,-11.2,178,2359,0.00,2.58,0.00,0.000,4,0.000,0.044,2678,315,3576,0,0,0,0,0,0
$GC,2378,-1.24,-116.8,281.4,-12.5,178,2383,0.00,2.45,0.00,0.000,6,0.000,0.022,2678,1883,3576,0,0,0,0,0,0
$GC,2637,-1.24,-116.8,310.0,-11.1,185,2642,0.00,2.60,0.00,0.000,4,0.000,0.046,2678,318,3575,0,0,0,0,0,0
$GC,2697,-1.31,-116.8,317.2,-12.2,186,2702,0.00,2.47,0.00,0.000,6,0.000,0.024,2678,1873,3575,0,0,0,0,0,0
$GC,2965,-1.31,-116.8,346.8,-11.1,193,2969,0.00,2.58,0.00,0.000,4,0.000,0.040,2678,3465,3574,0,0,0,0,0,0
$GC,2993,-1.38,-116.8,350.0,-11.8,193,2999,0.12,2.53,0.00,0.000,6,0.067,0.035,2613,1885,3574,0,0,0,0,0,0
$GC,3250,-1.27,-116.8,384.6,-13.6,200,3257,0.25,2.65,0.00,0.000,4,0.101,0.054,2670,306,3572,0,0,0,0,0,0
$GC,3282,-1.27,-116.8,388.4,-10.9,200,3287,0.00,2.50,0.00,0.000,6,0.000,0.028,2670,1877,3572,0,0,0,0,0,0
$GC,3538,-1.33,-116.8,411.3,-8.7,207,3543,0.00,2.65,0.00,0.000,4,0.000,0.058,2670,313,3571,0,0,0,0,0,0
$GC,3571,-1.41,-116.8,414.7,-10.1,207,3576,0.12,2.53,0.00,0.000,6,0.071,0.036,2627,1870,3570,0,0,0,0,0,0
$GC,3821,-1.41,-116.8,444.3,-12.0,213,3826,0.00,2.65,0.00,0.000,4,0.000,0.062,2627,317,3568,0,0,0,0,0,0
$GC,3856,-1.41,-116.8,449.5,-15.7,213,3861,0.00,2.55,0.00,0.000,6,0.000,0.038,2627,1862,3568,0,0,0,0,0,0
$GC,4106,-1.41,-116.8,484.0,-13.4,219,4110,0.00,2.67,0.00,0.000,4,0.000,0.066,2627,317,3566,0,0,0,0,0,0
$GC,4129,-1.33,-116.8,487.4,-14.4,219,4134,0.15,2.55,0.00,0.000,6,0.112,0.038,2658,1860,3566,0,0,0,0,0,0
$GC,4391,-1.33,-116.8,514.3,-10.1,226,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1860,3564,0,0,0,0,0,0
$GC,4633,-1.33,-116.8,536.7,-9.0,232,4637,0.00,2.67,0.00,0.000,4,0.000,0.070,2658,318,3562,0,0,0,0,0,0
$GC,4656,-1.33,-116.8,539.0,-10.2,232,4660,0.00,2.53,0.00,0.000,6,0.000,0.040,2658,1856,3561,0,0,0,0,0,0
$GC,4918,-1.39,-116.8,562.4,-9.2,239,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1856,3559,0,0,0,0,0,0
$GC,5160,-1.46,-116.8,583.6,-8.5,245,5161,0.12,0.00,0.00,0.000,6,0.074,0.000,2617,1857,3557,0,0,0,0,0,0
$STATE,5359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5360,begin apogee
$GC,5366,-0.31,0.0,603.9,10.2,250,5462,1.20,0.00,92.45,0.953,6,0.088,0.000,2880,1689,3095,0,0,0,0,0,0
$STATE,5462,end apogee,CONTROL_FINISHED_OK
$STATE,5463,begin climb
$GC,5466,1.38,116.8,605.6,0.0,252,5574,1.58,2.80,98.22,0.931,4,0.039,0.081,3257,181,2617,0,0,0,0,0,0
$GC,5629,1.07,186.0,606.3,6.0,256,5698,0.35,2.58,60.08,0.917,6,0.116,0.037,3186,1709,2336,0,0,0,0,0,0
$GC,5942,1.08,197.9,578.7,9.3,264,5958,0.00,2.80,10.48,0.804,4,0.000,0.073,3186,191,2288,0,0,0,0,0,0
$GC,5997,0.98,197.9,573.1,10.8,265,6002,0.10,2.53,0.00,0.000,6,0.138,0.037,3166,1691,2286,0,0,0,0,0,0
$GC,6275,0.99,204.3,546.6,9.6,272,6284,0.00,0.00,6.47,0.716,6,0.000,0.000,3166,1691,2262,0,0,0,0,0,0
$GC,6520,0.99,204.3,521.4,10.3,278,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1692,2259,0,0,0,0,0,0
$GC,6764,1.07,215.2,497.8,9.4,284,6780,0.00,2.78,10.88,0.802,4,0.000,0.063,3166,3285,2216,0,0,0,0,0,0
$GC,6800,1.17,236.8,494.3,8.8,284,6828,0.15,2.67,20.67,0.854,6,0.062,0.038,3217,1702,2129,0,0,0,0,0,0
$GC,7099,1.17,236.8,459.0,12.1,292,7104,0.00,2.72,0.00,0.000,4,0.000,0.074,3217,177,2124,0,0,0,0,0,0
$GC,7164,1.04,236.8,450.2,14.0,293,7170,0.20,2.50,0.00,0.000,6,0.113,0.030,3177,1701,2123,0,0,0,0,0,0
$GC,7436,1.04,236.8,421.5,10.2,300,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1701,2122,0,0,0,0,0,0
$GC,7680,1.05,244.0,398.3,9.6,306,7692,0.00,2.72,6.40,0.673,4,0.000,0.062,3176,176,2099,0,0,0,0,0,0
$GC,7707,1.07,256.4,395.4,9.3,306,7725,0.00,2.47,12.70,0.768,6,0.000,0.031,3177,1686,2049,0,0,0,0,0,0
$GC,7971,1.16,261.9,369.4,9.7,313,7979,0.10,0.00,6.00,0.643,6,0.084,0.000,3215,1686,2027,0,0,0,0,0,0
$GC,8213,1.16,261.9,342.6,11.2,319,8217,0.00,2.70,0.00,0.000,4,0.000,0.055,3215,3277,2025,0,0,0,0,0,0
$GC,8259,1.16,261.9,336.9,11.8,320,8263,0.00,2.62,0.00,0.000,6,0.000,0.034,3215,1683,2023,0,0,0,0,0,0
$GC,8542,1.16,261.9,305.9,11.1,327,8546,0.00,2.60,0.00,0.000,4,0.000,0.066,3215,171,2023,0,0,0,0,0,0
$GC,8648,1.16,261.9,291.6,13.2,329,8653,0.00,2.47,0.00,0.000,6,0.000,0.026,3216,1692,2023,0,0,0,0,0,0
$GC,8922,1.16,261.9,258.6,11.5,336,8927,0.00,2.62,0.00,0.000,4,0.000,0.057,3215,176,2022,0,0,0,0,0,0
$GC,8972,1.16,261.9,253.0,11.3,337,8976,0.00,2.38,0.00,0.000,6,0.000,0.024,3216,1680,2022,0,0,0,0,0,0
$GC,9259,1.17,264.9,224.3,9.8,344,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1683,2021,0,0,0,0,0,0
$GC,9502,1.19,279.9,202.5,9.1,350,9521,0.00,0.00,16.92,0.636,6,0.000,0.000,3215,1683,1953,0,0,0,0,0,0
$GC,9758,1.26,292.5,176.3,9.3,371,9780,0.00,2.60,12.57,0.592,4,0.000,0.050,3216,178,1901,0,0,0,0,0,0
$GC,9790,1.26,294.5,172.8,9.9,374,9794,0.00,2.40,0.00,0.000,6,0.000,0.022,3216,1680,1900,0,0,0,0,0,0
$GC,10053,1.35,294.5,144.7,11.1,398,10055,0.10,0.00,0.00,0.000,6,0.079,0.000,3263,1681,1899,0,0,0,0,0,0
$GC,10307,1.35,294.5,111.5,12.8,422,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1681,1899,0,0,0,0,0,0
$GC,10562,1.35,295.5,83.7,9.9,446,10577,0.00,2.62,4.03,0.367,4,0.000,0.036,3263,3272,1889,0,0,0,0,0,0
$GC,10613,1.35,295.5,78.6,11.5,450,10618,0.00,2.58,0.00,0.000,6,0.000,0.029,3263,1668,1888,0,0,0,0,0,0
$GC,10882,1.35,295.5,52.5,10.2,474,10886,0.00,2.47,0.00,0.000,4,0.000,0.047,3263,169,1888,0,0,0,0,0,0
$GC,10953,1.35,295.5,43.9,10.9,479,10964,0.00,2.38,0.00,0.000,6,0.000,0.021,3263,1674,1888,0,0,0,0,0,0
$GC,11240,1.35,295.5,16.0,11.3,514,11250,0.00,2.60,0.00,0.000,4,0.000,0.035,3263,3271,1888,0,0,0,0,0,0
$GC,11284,1.35,300.8,11.8,9.7,519,11304,0.00,2.58,6.65,0.393,6,0.000,0.026,3263,1679,1867,0,0,0,0,0,0
$STATE,11357,end climb,SURFACE_DEPTH_REACHED
$STATE,11357,begin surface coast
$FINISH,0.5,1.023355
$STATE,11401,end surface coast,CONTROL_FINISHED_OK
$STATE,11401,begin surface
$SM_CCo,11422,60.05,0.466,0,0,1463,400.08
$SM_GC,1.13,0.00,0.00,60.05,0.000,0.000,0.466,411,1975,1463,-11.68,2.40,400.08
$IRIDIUM_FIX,2138.81,-15811.92,061100,171748
$TT8_MAMPS,0.027612
$HUMID,58.30
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,23.30
$XPDR_PINGS,4
$24V_AH,23.4,1.683
$10V_AH,10.4,2.172
$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,29.325,123.825,364.525,60.050,0.000,133.105,263.430,645.119,1.000,0.000,73.441,1100.311,7854.744,470.734,1802.934,1760.443,33.360,1265.501,0.000,2096.064,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,81.302,953.381,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.894,473.411,557.883,561.293,1046.996,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356196
$DATA_FILE_SIZE,41558,535
$CAP_FILE_SIZE,129073,0
$CFSIZE,260165632,130486272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,201807,2149.522,-15813.327,35,1.1,35,9.9