version: 66.06
glider: 148
mission: 10
dive: 586
start: 9 29 111 18 21 12
data:
$ID,148
$MISSION,10
$DIVE,586
$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,-889449.81
$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,30
$R_STBD_OVSHOOT,42
$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
$GPS1,181004,2250.798,-15749.582,10,2.1,30,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.1
$GPS2,182014,2250.773,-15749.684,12,1.0,12,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.044,-0.230
$KALMAN_X,-35776.5,-544.0,-97.5,-2756.8,-1039.3
$KALMAN_Y,-18117.3,168.5,-1211.6,-12702.4,591.5
$MHEAD_RNG_PITCHd_Wd,217.0,20609,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,91,0.00,0.00,-69.05,0.000,2,0.000,0.000,412,1746,3131,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.1,-4.6,9,120,11.70,2.65,-5.95,0.000,4,0.145,0.056,2683,169,3432,0,0,0,0,0,0
$GC,210,-1.28,-116.8,23.5,-13.3,25,221,0.10,2.45,0.00,0.000,6,0.084,0.017,2709,1743,3433,0,0,0,0,0,0
$GC,497,-1.17,-116.8,61.1,-13.3,53,507,0.12,0.00,0.00,0.000,6,0.114,0.000,2736,1746,3434,0,0,0,0,0,0
$GC,759,-1.17,-116.8,91.2,-9.7,78,763,0.00,2.58,0.00,0.000,4,0.000,0.040,2736,169,3434,0,0,0,0,0,0
$GC,769,-1.17,-116.8,92.3,-9.6,78,781,0.00,2.38,0.00,0.000,6,0.000,0.017,2736,1722,3434,0,0,0,0,0,0
$GC,1040,-1.28,-116.8,113.5,-7.9,103,1045,0.10,2.42,0.00,0.000,4,0.076,0.024,2672,3273,3435,0,0,0,0,0,0
$GC,1056,-1.28,-116.8,115.5,-8.2,104,1062,0.12,2.50,0.00,0.000,6,0.072,0.022,2707,1708,3435,0,0,0,0,0,0
$GC,1329,-1.28,-116.8,135.5,-6.1,129,1333,0.00,2.47,0.00,0.000,4,0.000,0.041,2706,174,3435,0,0,0,0,0,0
$GC,1360,-1.28,-116.8,137.9,-7.1,131,1366,0.00,2.33,0.00,0.000,6,0.000,0.016,2707,1696,3435,0,0,0,0,0,0
$GC,1624,-1.35,-116.8,157.0,-8.4,156,1629,0.00,2.45,0.00,0.000,4,0.000,0.024,2706,3276,3435,0,0,0,0,0,0
$GC,1675,-1.50,-116.8,161.5,-8.0,160,1681,0.17,2.50,0.00,0.000,6,0.048,0.022,2622,1695,3435,0,0,0,0,0,0
$GC,1939,-1.33,-116.8,189.2,-10.6,185,1944,0.30,2.45,0.00,0.000,4,0.084,0.039,2695,179,3435,0,0,0,0,0,0
$GC,1981,-1.42,-116.8,193.3,-8.8,188,1986,0.00,2.30,0.00,0.000,6,0.000,0.017,2695,1703,3435,0,0,0,0,0,0
$GC,2236,-1.42,-116.8,214.7,-8.8,201,2241,0.00,2.45,0.00,0.000,4,0.000,0.024,2694,3278,3435,0,0,0,0,0,0
$GC,2284,-1.57,-116.8,219.4,-8.8,202,2289,0.20,2.47,0.00,0.000,6,0.044,0.023,2607,1705,3435,0,0,0,0,0,0
$GC,2567,-1.39,-116.8,249.5,-10.5,209,2572,0.32,2.47,0.00,0.000,4,0.083,0.041,2685,180,3435,0,0,0,0,0,0
$GC,2632,-1.46,-116.8,255.2,-8.6,210,2636,0.00,2.30,0.00,0.000,6,0.000,0.018,2685,1697,3435,0,0,0,0,0,0
$GC,2901,-1.46,-116.8,277.6,-8.8,217,2905,0.00,2.47,0.00,0.000,4,0.000,0.026,2685,3269,3435,0,0,0,0,0,0
$GC,2977,-1.58,-116.8,284.5,-8.5,218,2983,0.12,2.50,0.00,0.000,6,0.026,0.025,2606,1713,3434,0,0,0,0,0,0
$STATE,3154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3154,begin apogee
$GC,3160,-0.31,0.0,304.6,11.4,223,3257,1.38,0.00,92.93,0.657,6,0.073,0.000,2922,1713,2955,0,0,0,0,0,0
$STATE,3258,end apogee,CONTROL_FINISHED_OK
$STATE,3258,begin climb
$GC,3260,1.38,116.8,308.0,0.0,225,3367,1.48,2.65,94.62,0.651,4,0.025,0.055,3320,183,2477,0,0,0,0,0,0
$GC,3378,1.09,202.4,310.5,5.1,227,3461,0.43,2.35,71.47,0.644,6,0.097,0.020,3230,1664,2129,0,0,0,0,0,0
$GC,3724,1.10,215.2,278.4,9.3,236,3741,0.00,2.72,11.25,0.566,4,0.000,0.048,3230,3268,2076,0,0,0,0,0,0
$GC,3751,1.13,238.7,276.0,8.6,236,3780,0.00,2.58,21.58,0.604,6,0.000,0.028,3230,1701,1980,0,0,0,0,0,0
$GC,4055,1.17,269.2,250.2,8.2,244,4089,0.00,2.67,27.60,0.609,4,0.000,0.036,3230,3270,1855,0,0,0,0,0,0
$GC,4137,1.17,269.2,242.4,10.6,245,4142,0.00,2.60,0.00,0.000,6,0.000,0.029,3230,1702,1851,0,0,0,0,0,0
$GC,4392,1.17,269.2,213.1,11.9,252,4397,0.00,2.58,0.00,0.000,4,0.000,0.035,3230,3277,1850,0,0,0,0,0,0
$GC,4408,1.17,269.2,211.3,11.6,252,4412,0.00,2.58,0.00,0.000,6,0.000,0.028,3230,1692,1849,0,0,0,0,0,0
$GC,4673,1.22,309.4,188.7,7.7,267,4721,0.10,2.67,34.67,0.584,4,0.077,0.041,3282,3268,1692,0,0,0,0,0,0
$GC,4783,1.22,309.4,176.1,13.1,277,4788,0.12,2.58,0.00,0.000,6,0.106,0.029,3254,1697,1688,0,0,0,0,0,0
$GC,5050,1.22,309.4,143.9,11.7,301,5055,0.00,2.60,0.00,0.000,4,0.000,0.035,3253,3277,1686,0,0,0,0,0,0
$GC,5121,1.30,309.4,136.7,10.0,307,5126,0.00,2.53,0.00,0.000,6,0.000,0.028,3254,1722,1685,0,0,0,0,0,0
$GC,5390,1.34,343.1,116.6,8.1,331,5435,0.12,2.62,29.83,0.528,4,0.064,0.035,3310,3274,1554,0,0,0,0,0,0
$GC,5449,1.34,343.1,108.6,13.5,336,5460,0.10,2.53,0.00,0.000,6,0.077,0.028,3283,1744,1552,0,0,0,0,0,0
$GC,5720,1.42,343.1,74.0,12.7,361,5724,0.00,2.47,0.00,0.000,4,0.000,0.033,3283,3277,1551,0,0,0,0,0,0
$GC,5816,1.52,343.1,61.7,11.3,368,5821,0.15,2.45,0.00,0.000,6,0.055,0.026,3347,1758,1548,0,0,0,0,0,0
$GC,6089,1.43,343.1,26.9,12.4,393,6099,0.22,2.50,0.00,0.000,4,0.091,0.031,3297,3275,1548,0,0,0,0,0,0
$GC,6111,1.43,343.1,24.1,12.0,395,6121,0.00,2.42,0.00,0.000,6,0.000,0.027,3297,1785,1548,0,0,0,0,0,0
$STATE,6306,end climb,SURFACE_DEPTH_REACHED
$STATE,6306,begin surface coast
$FINISH,0.6,1.008924
$STATE,6355,end surface coast,CONTROL_FINISHED_OK
$STATE,6355,begin surface
$SM_CCo,6377,34.90,0.437,0,0,1323,400.08
$SM_GC,1.58,0.00,0.00,34.90,0.000,0.000,0.437,411,1695,1323,-11.86,-0.71,400.08
$IRIDIUM_FIX,2241.69,-15751.94,231200,181813
$TT8_MAMPS,0.026845
$HUMID,66.18
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.00
$XPDR_PINGS,3
$24V_AH,23.7,52.686
$10V_AH,10.0,61.227
$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,28.900,90.350,383.950,34.900,0.000,58.130,71.376,265.879,0.750,0.000,13.612,910.706,3141.775,415.150,1520.699,1037.975,33.327,1088.831,0.000,1854.287,0.000,0.537,0.000
$DEVICE_MAMPS,144.963,90.506,657.319,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,290.469,470.673,562.155,586.625,1089.392,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,35299,431
$CAP_FILE_SIZE,88962,0
$CFSIZE,260165632,105295872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,258.7,1
$GPS,290911,200855,2250.151,-15750.722,7,1.1,8,10.1