version: 66.06
glider: 148
mission: 10
dive: 587
start: 9 29 111 20 18 53
data:
$ID,148
$MISSION,10
$DIVE,587
$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,-889468.81
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,200855,2250.151,-15750.722,7,1.1,8,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.7
$GPS2,201755,2250.102,-15750.810,10,1.5,15,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.072,-0.223
$KALMAN_X,-37142.2,-478.7,-413.1,-3053.4,-725.1
$KALMAN_Y,-18934.1,198.6,-251.0,-14110.6,642.0
$MHEAD_RNG_PITCHd_Wd,213.4,18321,-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,17,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-75.93,0.000,2,0.000,0.000,411,1692,3348,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.9,-7.3,10,119,12.32,2.53,-1.45,0.000,4,0.168,0.048,2680,183,3434,0,0,0,0,0,0
$GC,227,-1.28,-116.8,30.7,-13.4,28,232,0.12,2.38,0.00,0.000,6,0.118,0.017,2707,1740,3435,0,0,0,0,0,0
$GC,498,-1.18,-116.8,62.8,-11.0,52,503,0.12,2.55,0.00,0.000,4,0.114,0.040,2734,189,3435,0,0,0,0,0,0
$GC,533,-1.18,-116.8,66.8,-9.5,54,537,0.00,2.33,0.00,0.000,6,0.000,0.016,2734,1711,3435,0,0,0,0,0,0
$GC,797,-1.26,-116.8,86.7,-9.2,78,801,0.00,2.45,0.00,0.000,4,0.000,0.024,2734,3287,3436,0,0,0,0,0,0
$GC,828,-1.40,-116.8,89.8,-10.2,80,833,0.20,2.50,0.00,0.000,6,0.041,0.022,2628,1698,3436,0,0,0,0,0,0
$GC,1093,-1.18,-116.8,126.1,-12.7,104,1107,0.47,2.45,0.00,0.000,4,0.082,0.038,2728,180,3437,0,0,0,0,0,0
$GC,1174,-1.33,-116.8,133.6,-8.5,111,1179,0.12,2.30,0.00,0.000,6,0.062,0.016,2657,1705,3437,0,0,0,0,0,0
$GC,1436,-1.26,-116.8,156.5,-8.8,135,1441,0.25,2.45,0.00,0.000,4,0.086,0.022,2717,3277,3437,0,0,0,0,0,0
$GC,1476,-1.44,-116.8,159.7,-6.4,138,1486,0.15,2.55,0.00,0.000,6,0.022,0.022,2617,1686,3437,0,0,0,0,0,0
$GC,1745,-1.26,-116.8,186.0,-10.4,163,1750,0.40,2.45,0.00,0.000,4,0.081,0.039,2712,173,3437,0,0,0,0,0,0
$GC,1787,-1.39,-116.8,190.1,-7.7,166,1793,0.10,2.28,0.00,0.000,6,0.075,0.017,2651,1689,3438,0,0,0,0,0,0
$GC,2076,-1.31,-116.8,214.5,-8.5,182,2081,0.22,2.50,0.00,0.000,4,0.087,0.024,2702,3259,3437,0,0,0,0,0,0
$GC,2120,-1.47,-116.8,218.7,-8.2,182,2127,0.10,2.50,0.00,0.000,6,0.028,0.023,2621,1700,3438,0,0,0,0,0,0
$GC,2370,-1.30,-116.8,245.9,-11.3,189,2375,0.32,2.47,0.00,0.000,4,0.082,0.041,2700,173,3437,0,0,0,0,0,0
$GC,2428,-1.41,-116.8,251.4,-9.3,190,2434,0.00,2.30,0.00,0.000,6,0.000,0.018,2700,1676,3437,0,0,0,0,0,0
$GC,2708,-1.50,-116.8,267.4,-5.1,197,2713,0.15,2.55,0.00,0.000,4,0.054,0.026,2626,3267,3436,0,0,0,0,0,0
$GC,2743,-1.50,-116.8,269.7,-6.6,197,2748,0.17,2.53,0.00,0.000,6,0.090,0.024,2667,1684,3437,0,0,0,0,0,0
$GC,2999,-1.50,-116.8,288.7,-8.0,204,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1684,3435,0,0,0,0,0,0
$STATE,3159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3159,begin apogee
$GC,3164,-0.31,0.0,300.8,7.4,208,3261,1.10,0.00,93.18,0.656,6,0.071,0.000,2920,1683,2955,0,0,0,0,0,0
$STATE,3262,end apogee,CONTROL_FINISHED_OK
$STATE,3262,begin climb
$GC,3266,1.38,116.8,302.4,0.0,210,3371,1.48,2.62,94.47,0.648,4,0.027,0.055,3312,187,2477,0,0,0,0,0,0
$GC,3505,0.99,132.8,290.0,9.1,215,3526,0.47,2.35,14.05,0.587,6,0.093,0.020,3209,1667,2413,0,0,0,0,0,0
$GC,3778,1.10,223.9,275.5,4.8,222,3865,0.00,2.58,76.57,0.637,4,0.000,0.050,3209,180,2040,0,0,0,0,0,0
$GC,3872,1.14,253.5,269.6,8.3,224,3905,0.12,2.42,26.77,0.607,6,0.066,0.021,3263,1697,1921,0,0,0,0,0,0
$GC,4157,1.06,253.5,233.0,13.7,231,4162,0.20,2.65,0.00,0.000,4,0.094,0.046,3220,3266,1913,0,0,0,0,0,0
$GC,4243,1.15,253.5,222.8,10.7,232,4251,0.00,2.53,0.00,0.000,6,0.000,0.029,3220,1713,1910,0,0,0,0,0,0
$GC,4494,1.20,296.1,201.9,7.5,239,4538,0.12,2.62,36.50,0.591,4,0.065,0.036,3277,3277,1745,0,0,0,0,0,0
$GC,4573,1.20,296.1,193.6,11.6,243,4585,0.08,2.60,0.00,0.000,6,0.082,0.030,3254,1710,1741,0,0,0,0,0,0
$GC,4841,1.20,296.1,160.9,13.4,268,4845,0.00,2.58,0.00,0.000,4,0.000,0.042,3255,3271,1739,0,0,0,0,0,0
$GC,4889,1.20,296.1,153.8,13.6,272,4894,0.00,2.50,0.00,0.000,6,0.000,0.028,3254,1736,1737,0,0,0,0,0,0
$GC,5156,1.20,296.1,123.3,11.0,297,5160,0.00,2.50,0.00,0.000,4,0.000,0.035,3255,3274,1737,0,0,0,0,0,0
$GC,5196,1.21,301.2,118.4,9.7,300,5207,0.00,2.50,3.58,0.334,6,0.000,0.027,3254,1748,1728,0,0,0,0,0,0
$GC,5465,1.32,337.3,97.4,7.9,325,5511,0.10,2.58,33.88,0.519,4,0.077,0.035,3306,3273,1578,0,0,0,0,0,0
$GC,5526,1.32,337.3,90.2,11.6,330,5537,0.10,2.50,0.00,0.000,6,0.078,0.028,3279,1758,1576,0,0,0,0,0,0
$GC,5795,1.41,337.3,60.7,11.5,355,5800,0.00,2.45,0.00,0.000,4,0.000,0.032,3279,3276,1574,0,0,0,0,0,0
$GC,5892,1.55,337.3,49.7,11.0,362,5897,0.20,2.42,0.00,0.000,6,0.045,0.026,3356,1769,1571,0,0,0,0,0,0
$GC,6181,1.43,337.3,12.7,13.1,396,6191,0.25,2.47,0.00,0.000,4,0.092,0.032,3298,3269,1571,0,0,0,0,0,0
$GC,6212,1.43,337.3,9.0,12.1,399,6224,0.00,2.42,0.00,0.000,6,0.000,0.026,3297,1774,1570,0,0,0,0,0,0
$STATE,6260,end climb,SURFACE_DEPTH_REACHED
$STATE,6260,begin surface coast
$FINISH,0.5,1.023445
$STATE,6309,end surface coast,CONTROL_FINISHED_OK
$STATE,6309,begin surface
$SM_CCo,6331,42.92,0.441,0,0,1323,400.08
$SM_GC,1.31,0.00,0.00,42.92,0.000,0.000,0.441,412,1698,1323,-11.86,-0.62,400.08
$IRIDIUM_FIX,2241.69,-15748.90,231200,202057
$TT8_MAMPS,0.028379
$HUMID,65.90
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.7,52.775
$10V_AH,10.0,61.331
$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,31.075,89.425,379.000,42.925,0.000,56.649,116.221,158.566,0.250,0.000,18.393,889.060,3169.045,422.722,1478.108,960.247,33.327,1080.463,0.000,1797.752,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,113.516,655.785,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,277.754,458.095,536.186,562.348,1049.155,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,31993,412
$CAP_FILE_SIZE,86517,0
$CFSIZE,260165632,105254912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,233.1,1
$GPS,290911,220631,2249.215,-15751.729,39,1.1,40,10.1