version: 66.06
glider: 148
mission: 10
dive: 603
start: 10 1 111 5 2 31
data:
$ID,148
$MISSION,10
$DIVE,603
$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,-889812
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,045510,2241.044,-15807.515,11,2.2,31,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.7
$GPS2,050132,2241.014,-15807.600,11,1.1,11,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,0.143
$KALMAN_X,-68457.5,-1189.1,-380.6,350.3,-568.7
$KALMAN_Y,-36036.6,-796.5,-558.9,-12547.1,-544.0
$MHEAD_RNG_PITCHd_Wd,69.2,14932,-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,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-69.93,0.000,2,0.000,0.000,405,1745,3164,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.3,-5.3,9,121,12.35,2.62,-5.07,0.000,4,0.169,0.048,2683,172,3431,0,0,0,0,0,0
$GC,159,-1.25,-116.8,17.9,-14.9,17,169,0.10,2.42,0.00,0.000,6,0.099,0.017,2708,1730,3433,0,0,0,0,0,0
$GC,453,-1.11,-116.8,53.3,-11.8,49,458,0.17,2.45,0.00,0.000,4,0.108,0.023,2746,3293,3433,0,0,0,0,0,0
$GC,501,-1.19,-116.8,58.7,-9.5,52,505,0.00,2.50,0.00,0.000,6,0.000,0.022,2746,1710,3434,0,0,0,0,0,0
$GC,771,-1.26,-116.8,78.8,-6.0,76,776,0.12,2.53,0.00,0.000,4,0.062,0.024,2670,3294,3434,0,0,0,0,0,0
$GC,781,-1.26,-116.8,80.1,-5.8,76,792,0.17,2.50,0.00,0.000,6,0.074,0.023,2714,1732,3434,0,0,0,0,0,0
$GC,1049,-1.26,-116.8,97.4,-7.5,101,1053,0.00,2.50,0.00,0.000,4,0.000,0.040,2715,180,3435,0,0,0,0,0,0
$GC,1089,-1.38,-116.8,101.3,-8.8,104,1100,0.08,2.40,0.00,0.000,6,0.035,0.016,2651,1745,3435,0,0,0,0,0,0
$GC,1356,-1.26,-116.8,135.6,-14.3,129,1361,0.25,0.00,0.00,0.000,6,0.087,0.000,2711,1746,3435,0,0,0,0,0,0
$GC,1625,-1.33,-116.8,163.7,-9.0,154,1630,0.00,2.55,0.00,0.000,4,0.000,0.039,2711,173,3436,0,0,0,0,0,0
$GC,1664,-1.47,-116.8,167.2,-8.6,157,1669,0.17,2.33,0.00,0.000,6,0.048,0.016,2629,1726,3435,0,0,0,0,0,0
$GC,1930,-1.33,-116.8,193.0,-9.7,181,1935,0.28,2.53,0.00,0.000,4,0.084,0.040,2696,179,3436,0,0,0,0,0,0
$GC,1970,-1.42,-116.8,196.5,-7.6,184,1974,0.00,2.33,0.00,0.000,6,0.000,0.017,2696,1719,3436,0,0,0,0,0,0
$GC,2223,-1.42,-116.8,215.5,-7.4,193,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1722,3436,0,0,0,0,0,0
$GC,2467,-1.50,-116.8,230.4,-5.9,199,2472,0.15,2.55,0.00,0.000,4,0.054,0.042,2622,181,3436,0,0,0,0,0,0
$GC,2487,-1.50,-116.8,232.2,-8.0,199,2492,0.17,2.30,0.00,0.000,6,0.092,0.018,2661,1702,3436,0,0,0,0,0,0
$GC,2753,-1.50,-116.8,257.5,-10.9,206,2757,0.00,2.50,0.00,0.000,4,0.000,0.025,2662,3290,3436,0,0,0,0,0,0
$GC,2807,-1.50,-116.8,264.4,-12.1,207,2812,0.00,2.53,0.00,0.000,6,0.000,0.024,2662,1720,3435,0,0,0,0,0,0
$GC,3087,-1.50,-116.8,288.8,-8.0,214,3092,0.00,2.53,0.00,0.000,4,0.000,0.027,2662,3275,3435,0,0,0,0,0,0
$GC,3116,-1.50,-116.8,290.8,-5.9,214,3120,0.00,2.47,0.00,0.000,6,0.000,0.025,2662,1725,3435,0,0,0,0,0,0
$STATE,3333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3333,begin apogee
$GC,3338,-0.31,0.0,302.2,5.2,220,3435,1.12,0.00,92.55,0.656,6,0.069,0.000,2923,1725,2955,0,0,0,0,0,0
$STATE,3435,end apogee,CONTROL_FINISHED_OK
$STATE,3435,begin climb
$GC,3439,1.38,116.8,303.9,0.0,222,3543,1.45,2.67,95.00,0.647,4,0.022,0.057,3330,181,2477,0,0,0,0,0,0
$GC,3553,1.08,218.4,304.8,4.1,224,3650,0.47,2.35,84.82,0.642,6,0.096,0.021,3228,1669,2063,0,0,0,0,0,0
$GC,3891,1.11,239.4,277.5,8.8,233,3911,0.00,0.00,18.55,0.597,6,0.000,0.000,3229,1669,1978,0,0,0,0,0,0
$GC,4135,1.11,239.4,249.4,12.0,239,4139,0.00,2.53,0.00,0.000,4,0.000,0.050,3228,174,1973,0,0,0,0,0,0
$GC,4191,1.11,239.4,242.0,12.3,240,4196,0.00,2.45,0.00,0.000,6,0.000,0.021,3228,1712,1974,0,0,0,0,0,0
$GC,4465,1.17,292.3,220.2,7.0,247,4518,0.00,2.62,45.90,0.603,4,0.000,0.050,3228,181,1762,0,0,0,0,0,0
$GC,4535,1.22,331.5,215.5,7.7,248,4579,0.12,2.42,35.58,0.590,6,0.065,0.021,3282,1712,1602,0,0,0,0,0,0
$GC,4840,1.22,331.5,176.4,14.3,267,4845,0.12,2.62,0.00,0.000,4,0.110,0.048,3254,171,1596,0,0,0,0,0,0
$GC,4864,1.22,331.5,173.0,15.5,268,4869,0.00,2.40,0.00,0.000,6,0.000,0.021,3254,1701,1596,0,0,0,0,0,0
$GC,5131,1.22,331.5,138.3,12.6,293,5135,0.00,2.55,0.00,0.000,4,0.000,0.033,3254,3275,1593,0,0,0,0,0,0
$GC,5170,1.33,331.5,132.6,12.3,296,5181,0.08,2.60,0.00,0.000,6,0.036,0.029,3306,1698,1590,0,0,0,0,0,0
$GC,5439,1.33,331.5,100.8,11.5,321,5444,0.12,2.55,0.00,0.000,4,0.107,0.031,3278,3278,1590,0,0,0,0,0,0
$GC,5472,1.40,331.5,97.4,10.4,323,5476,0.00,2.55,0.00,0.000,6,0.000,0.029,3278,1691,1588,0,0,0,0,0,0
$GC,5743,1.48,331.5,70.6,10.9,347,5748,0.15,2.50,0.00,0.000,4,0.056,0.045,3349,176,1588,0,0,0,0,0,0
$GC,5839,1.32,331.5,57.2,13.2,354,5844,0.32,2.38,0.00,0.000,6,0.088,0.020,3276,1690,1587,0,0,0,0,0,0
$GC,6109,1.48,376.4,35.5,7.4,378,6151,0.15,0.00,36.83,0.463,6,0.055,0.000,3349,1690,1418,0,0,0,0,0,0
$STATE,6374,end climb,SURFACE_DEPTH_REACHED
$STATE,6374,begin surface coast
$FINISH,0.4,1.023380
$STATE,6412,end surface coast,CONTROL_FINISHED_OK
$STATE,6412,begin surface
$SM_CCo,6433,18.75,0.421,0,0,1324,400.08
$SM_GC,1.62,0.00,0.00,18.75,0.000,0.000,0.421,407,1693,1324,-11.89,-0.76,400.08
$IRIDIUM_FIX,2234.68,-15805.41,251200,020210
$TT8_MAMPS,0.026845
$HUMID,66.49
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.30
$XPDR_PINGS,1
$24V_AH,23.7,54.189
$10V_AH,10.0,63.131
$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,29.825,79.725,409.225,18.750,0.000,28.093,42.962,156.452,0.250,0.000,13.001,887.729,3232.697,422.473,1427.666,866.739,33.352,1034.481,0.000,1782.721,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,56.758,655.785,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,284.176,489.315,566.500,589.564,1102.415,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356000
$DATA_FILE_SIZE,35065,421
$CAP_FILE_SIZE,80946,0
$CFSIZE,260165632,104529920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274,247.8,1
$GPS,011011,065113,2240.749,-15807.873,9,1.3,27,10.0