version: 66.06
glider: 148
mission: 10
dive: 582
start: 9 29 111 10 21 17
data:
$ID,148
$MISSION,10
$DIVE,582
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,430
$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,360
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-889394.12
$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,2990
$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,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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
$GPS1,101343,2254.479,-15743.068,7,2.0,12,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.8
$GPS2,102019,2254.458,-15743.126,13,1.9,30,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.193,-0.133
$KALMAN_X,-29559.6,-317.9,-626.6,2509.0,-431.4
$KALMAN_Y,-14327.5,-543.9,894.8,-11049.8,-171.2
$MHEAD_RNG_PITCHd_Wd,231.8,33725,-19.8,-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,18,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-76.88,0.000,2,0.000,0.000,406,1719,3381,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.2,-7.4,10,120,11.85,2.58,-0.88,0.000,4,0.152,0.034,2679,3317,3434,0,0,0,0,0,0
$GC,202,-1.29,-116.8,26.0,-12.5,24,213,0.10,2.60,0.00,0.000,6,0.082,0.025,2707,1713,3436,0,0,0,0,0,0
$GC,487,-1.19,-116.8,62.3,-12.8,51,492,0.10,2.53,0.00,0.000,4,0.127,0.040,2728,175,3436,0,0,0,0,0,0
$GC,510,-1.19,-116.8,65.8,-12.3,52,514,0.00,2.42,0.00,0.000,6,0.000,0.017,2729,1754,3436,0,0,0,0,0,0
$GC,773,-1.19,-116.8,88.0,-8.0,76,778,0.00,2.58,0.00,0.000,4,0.000,0.039,2729,170,3437,0,0,0,0,0,0
$GC,795,-1.26,-116.8,89.4,-7.9,77,799,0.00,2.33,0.00,0.000,6,0.000,0.017,2728,1711,3437,0,0,0,0,0,0
$GC,1063,-1.35,-116.8,111.1,-7.9,101,1068,0.15,2.45,0.00,0.000,4,0.055,0.023,2658,3282,3438,0,0,0,0,0,0
$GC,1092,-1.35,-116.8,114.2,-10.7,103,1098,0.12,2.55,0.00,0.000,6,0.071,0.023,2692,1688,3438,0,0,0,0,0,0
$GC,1360,-1.35,-116.8,136.4,-8.0,128,1364,0.00,2.42,0.00,0.000,4,0.000,0.039,2692,177,3438,0,0,0,0,0,0
$GC,1404,-1.44,-116.8,139.4,-8.3,131,1408,0.00,2.28,0.00,0.000,6,0.000,0.016,2693,1686,3438,0,0,0,0,0,0
$GC,1667,-1.44,-116.8,160.7,-8.2,155,1671,0.00,2.45,0.00,0.000,4,0.000,0.023,2692,3270,3439,0,0,0,0,0,0
$GC,1698,-1.50,-116.8,163.3,-8.3,157,1705,0.12,2.55,0.00,0.000,6,0.065,0.023,2624,1665,3439,0,0,0,0,0,0
$GC,1961,-1.35,-116.8,191.6,-10.4,182,1966,0.28,2.40,0.00,0.000,4,0.086,0.038,2691,172,3439,0,0,0,0,0,0
$GC,2024,-1.43,-116.8,197.2,-8.6,187,2028,0.00,2.28,0.00,0.000,6,0.000,0.017,2691,1683,3439,0,0,0,0,0,0
$GC,2307,-1.43,-116.8,221.3,-8.6,196,2311,0.00,2.47,0.00,0.000,4,0.000,0.025,2691,3272,3439,0,0,0,0,0,0
$GC,2400,-1.53,-116.8,229.8,-8.3,198,2406,0.15,2.53,0.00,0.000,6,0.054,0.023,2614,1683,3439,0,0,0,0,0,0
$GC,2684,-1.40,-116.8,258.3,-9.7,205,2689,0.28,2.50,0.00,0.000,4,0.084,0.025,2679,3267,3438,0,0,0,0,0,0
$GC,2708,-1.40,-116.8,260.3,-6.6,205,2712,0.00,2.53,0.00,0.000,6,0.000,0.025,2680,1683,3439,0,0,0,0,0,0
$GC,2970,-1.40,-116.8,279.4,-7.7,212,2974,0.00,2.53,0.00,0.000,4,0.000,0.026,2680,3268,3438,0,0,0,0,0,0
$GC,3007,-1.53,-116.8,282.8,-9.0,212,3014,0.10,2.50,0.00,0.000,6,0.074,0.025,2614,1703,3438,0,0,0,0,0,0
$STATE,3173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3173,begin apogee
$GC,3179,-0.31,0.0,300.9,10.9,217,3276,1.35,0.00,93.57,0.659,6,0.075,0.000,2922,1703,2954,0,0,0,0,0,0
$STATE,3277,end apogee,CONTROL_FINISHED_OK
$STATE,3277,begin climb
$GC,3281,1.38,116.8,304.1,0.0,219,3380,1.48,0.00,94.90,0.652,6,0.026,0.000,3317,1703,2478,0,0,0,0,0,0
$GC,3610,1.08,138.5,288.1,8.7,227,3632,0.43,0.00,18.90,0.608,6,0.097,0.000,3226,1703,2389,0,0,0,0,0,0
$GC,3854,1.07,193.4,271.1,6.8,233,3902,0.00,0.00,46.62,0.633,6,0.000,0.000,3226,1703,2166,0,0,0,0,0,0
$GC,4136,1.10,218.2,248.1,8.6,240,4165,0.00,2.62,21.83,0.603,4,0.000,0.057,3226,184,2064,0,0,0,0,0,0
$GC,4239,1.03,218.2,236.5,11.5,242,4243,0.00,2.35,0.00,0.000,6,0.000,0.021,3226,1666,2063,0,0,0,0,0,0
$GC,4511,1.05,238.2,211.0,8.8,249,4536,0.00,2.60,18.05,0.580,4,0.000,0.052,3225,179,1982,0,0,0,0,0,0
$GC,4543,1.11,289.9,208.7,7.0,249,4598,0.00,2.42,45.97,0.599,6,0.000,0.021,3226,1696,1771,0,0,0,0,0,0
$GC,4848,1.13,299.4,180.8,9.5,269,4870,0.00,2.62,8.62,0.508,4,0.000,0.038,3226,3276,1732,0,0,0,0,0,0
$GC,4891,1.20,299.4,176.7,10.0,273,4896,0.10,2.58,0.00,0.000,6,0.076,0.029,3274,1704,1730,0,0,0,0,0,0
$GC,5156,1.20,299.4,147.1,11.2,297,5161,0.10,2.58,0.00,0.000,4,0.120,0.051,3251,176,1728,0,0,0,0,0,0
$GC,5218,1.20,299.4,139.2,12.1,302,5229,0.00,2.45,0.00,0.000,6,0.000,0.021,3252,1704,1728,0,0,0,0,0,0
$GC,5486,1.21,308.9,111.2,9.5,327,5500,0.00,2.60,8.88,0.474,4,0.000,0.033,3251,3283,1694,0,0,0,0,0,0
$GC,5523,1.37,352.3,107.9,7.5,330,5570,0.15,2.60,39.28,0.531,6,0.055,0.031,3322,1694,1518,0,0,0,0,0,0
$GC,5829,1.37,352.3,74.8,13.1,358,5834,0.15,2.53,0.00,0.000,4,0.107,0.046,3288,174,1513,0,0,0,0,0,0
$GC,5889,1.37,352.3,67.4,11.9,362,5893,0.00,2.38,0.00,0.000,6,0.000,0.021,3288,1684,1513,0,0,0,0,0,0
$GC,6158,1.43,352.3,40.7,10.5,386,6162,0.00,2.53,0.00,0.000,4,0.000,0.031,3288,3273,1511,0,0,0,0,0,0
$GC,6217,1.55,352.3,33.9,11.1,390,6222,0.15,2.58,0.00,0.000,6,0.056,0.028,3363,1683,1508,0,0,0,0,0,0
$STATE,6436,end climb,SURFACE_DEPTH_REACHED
$STATE,6437,begin surface coast
$FINISH,0.4,1.011356
$STATE,6473,end surface coast,CONTROL_FINISHED_OK
$STATE,6473,begin surface
$SM_CCo,6494,35.97,0.442,0,0,1324,400.08
$SM_GC,1.46,0.00,0.00,35.97,0.000,0.000,0.442,412,1680,1324,-11.86,-1.13,400.08
$IRIDIUM_FIX,2248.70,-15743.68,231200,080811
$TT8_MAMPS,0.027612
$HUMID,66.42
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,19.60
$XPDR_PINGS,2
$24V_AH,23.7,52.331
$10V_AH,10.0,60.797
$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,29.000,84.875,396.625,35.975,0.000,30.010,37.328,164.709,0.500,0.000,31.761,905.916,3257.568,462.552,1448.618,857.002,33.326,1046.897,0.000,1772.162,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,56.758,658.853,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,287.819,472.863,554.233,571.001,1060.609,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,35299,426
$CAP_FILE_SIZE,82986,0
$CFSIZE,260165632,105480192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.328,225.9,1
$GPS,290911,121131,2253.426,-15744.518,37,1.4,38,10.1