version: 66.06
glider: 148
mission: 10
dive: 609
start: 10 1 111 17 17 16
data:
$ID,148
$MISSION,10
$DIVE,609
$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,0
$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,-889942.12
$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,31
$R_STBD_OVSHOOT,49
$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
$GPS1,170601,2238.270,-15810.604,39,1.1,40,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.1
$GPS2,171620,2238.202,-15810.701,10,1.4,10,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,0.208
$KALMAN_X,-81201.1,3.2,-535.8,6772.4,-408.7
$KALMAN_Y,-44943.6,-169.5,-502.6,-9517.2,-1075.3
$MHEAD_RNG_PITCHd_Wd,45.4,22193,-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,-116.8,0.0,0.0,0,94,0.00,0.00,-73.97,0.000,2,0.000,0.000,410,1726,3293,0,0,0,0,0,0
$GC,97,-1.38,-116.8,3.6,-6.4,10,121,12.30,0.00,-2.53,0.000,6,0.167,0.000,2681,1726,3435,0,0,0,0,0,0
$GC,403,-1.16,-116.8,54.4,-14.8,47,409,0.25,2.55,0.00,0.000,4,0.097,0.038,2739,165,3436,0,0,0,0,0,0
$GC,438,-1.09,-116.8,59.2,-13.1,49,442,0.00,2.38,0.00,0.000,6,0.000,0.017,2739,1734,3436,0,0,0,0,0,0
$GC,705,-1.09,-116.8,83.6,-6.0,73,710,0.00,2.42,0.00,0.000,4,0.000,0.023,2739,3286,3437,0,0,0,0,0,0
$GC,777,-1.24,-116.8,87.9,-5.5,79,781,0.00,2.47,0.00,0.000,6,0.000,0.021,2739,1725,3437,0,0,0,0,0,0
$GC,1045,-1.37,-116.8,108.3,-8.8,103,1050,0.20,0.00,0.00,0.000,6,0.043,0.000,2639,1725,3437,0,0,0,0,0,0
$GC,1309,-1.22,-116.8,138.7,-11.1,128,1314,0.32,2.50,0.00,0.000,4,0.082,0.038,2717,177,3437,0,0,0,0,0,0
$GC,1340,-1.34,-116.8,142.0,-8.2,130,1350,0.00,2.42,0.00,0.000,6,0.000,0.017,2718,1758,3438,0,0,0,0,0,0
$GC,1603,-1.44,-116.8,158.3,-7.2,155,1608,0.17,2.38,0.00,0.000,4,0.048,0.024,2631,3281,3438,0,0,0,0,0,0
$GC,1641,-1.36,-116.8,162.2,-10.9,158,1646,0.28,2.40,0.00,0.000,6,0.081,0.022,2693,1747,3438,0,0,0,0,0,0
$GC,1905,-1.36,-116.8,188.6,-9.2,182,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1747,3438,0,0,0,0,0,0
$GC,2162,-1.36,-116.8,203.6,-4.3,201,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1747,3438,0,0,0,0,0,0
$GC,2406,-1.43,-116.8,215.8,-5.5,207,2411,0.00,2.58,0.00,0.000,4,0.000,0.042,2694,186,3438,0,0,0,0,0,0
$GC,2432,-1.49,-116.8,217.7,-8.2,207,2437,0.12,2.38,0.00,0.000,6,0.062,0.023,2624,1755,3438,0,0,0,0,0,0
$GC,2697,-1.35,-116.8,245.5,-10.9,214,2702,0.28,2.38,0.00,0.000,4,0.084,0.024,2691,3278,3438,0,0,0,0,0,0
$GC,2728,-1.45,-116.8,248.4,-9.0,214,2732,0.00,2.42,0.00,0.000,6,0.000,0.023,2691,1748,3438,0,0,0,0,0,0
$GC,2984,-1.53,-116.8,267.7,-7.1,221,2989,0.15,2.58,0.00,0.000,4,0.054,0.045,2606,181,3437,0,0,0,0,0,0
$GC,3012,-1.41,-116.8,270.1,-9.6,221,3017,0.32,2.40,0.00,0.000,6,0.084,0.018,2680,1737,3437,0,0,0,0,0,0
$GC,3273,-1.41,-116.8,289.3,-7.1,228,3278,0.00,2.47,0.00,0.000,4,0.000,0.028,2680,3285,3435,0,0,0,0,0,0
$GC,3327,-1.51,-116.8,293.4,-7.3,229,3332,0.00,2.40,0.00,0.000,6,0.000,0.024,2680,1760,3435,0,0,0,0,0,0
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3452,-0.31,0.0,302.3,7.5,232,3548,1.05,0.00,92.93,0.658,6,0.068,0.000,2925,1679,2955,0,0,0,0,0,0
$STATE,3549,end apogee,CONTROL_FINISHED_OK
$STATE,3549,begin climb
$GC,3552,1.38,116.8,305.7,0.0,234,3655,1.50,2.53,95.20,0.652,4,0.025,0.056,3321,208,2477,0,0,0,0,0,0
$GC,3841,0.95,131.4,294.9,9.2,241,3861,0.57,2.35,12.70,0.585,6,0.094,0.021,3197,1683,2418,0,0,0,0,0,0
$GC,4129,1.02,185.8,275.2,6.9,248,4182,0.00,2.75,45.83,0.635,4,0.000,0.046,3197,3266,2196,0,0,0,0,0,0
$GC,4219,1.03,193.8,267.3,9.5,250,4232,0.00,2.53,7.78,0.528,6,0.000,0.028,3197,1727,2165,0,0,0,0,0,0
$GC,4501,1.04,197.8,240.0,9.8,257,4507,0.00,0.00,4.60,0.439,6,0.000,0.000,3197,1727,2148,0,0,0,0,0,0
$GC,4745,1.18,245.3,221.1,7.3,263,4794,0.20,2.65,41.65,0.611,4,0.044,0.036,3277,3273,1954,0,0,0,0,0,0
$GC,4883,1.11,245.3,207.1,10.6,266,4889,0.17,2.60,0.00,0.000,6,0.074,0.029,3233,1708,1948,0,0,0,0,0,0
$GC,5151,1.18,303.0,187.5,6.7,285,5205,0.00,0.00,50.08,0.590,6,0.000,0.000,3233,1707,1718,0,0,0,0,0,0
$GC,5459,1.27,303.0,156.8,11.1,314,5464,0.15,2.58,0.00,0.000,4,0.056,0.031,3297,3278,1712,0,0,0,0,0,0
$GC,5518,1.27,303.0,149.7,12.9,319,5523,0.15,2.58,0.00,0.000,6,0.099,0.028,3263,1699,1709,0,0,0,0,0,0
$GC,5786,1.27,303.0,119.9,10.2,343,5791,0.00,2.60,0.00,0.000,4,0.000,0.033,3264,3290,1708,0,0,0,0,0,0
$GC,5838,1.36,303.0,113.8,10.4,347,5844,0.00,2.55,0.00,0.000,6,0.000,0.028,3264,1709,1706,0,0,0,0,0,0
$GC,6102,1.38,323.7,89.5,8.8,372,6127,0.12,2.60,17.65,0.499,4,0.065,0.032,3329,3286,1635,0,0,0,0,0,0
$GC,6183,1.38,323.7,80.2,12.0,379,6188,0.17,2.53,0.00,0.000,6,0.101,0.027,3293,1730,1631,0,0,0,0,0,0
$GC,6450,1.38,323.7,53.1,10.1,403,6454,0.00,2.50,0.00,0.000,4,0.000,0.030,3293,3293,1630,0,0,0,0,0,0
$GC,6483,1.47,329.0,49.8,9.7,405,6498,0.00,2.53,5.50,0.383,6,0.000,0.026,3293,1728,1612,0,0,0,0,0,0
$GC,6766,1.48,337.1,23.6,9.5,435,6786,0.00,2.55,8.68,0.408,4,0.000,0.030,3293,3275,1578,0,0,0,0,0,0
$GC,6823,1.55,337.1,17.5,10.9,442,6834,0.10,2.50,0.00,0.000,6,0.030,0.026,3357,1741,1576,0,0,0,0,0,0
$STATE,6937,end climb,SURFACE_DEPTH_REACHED
$STATE,6937,begin surface coast
$FINISH,0.5,1.012644
$STATE,6983,end surface coast,CONTROL_FINISHED_OK
$STATE,6983,begin surface
$SM_CCo,7004,44.75,0.442,0,0,1323,400.08
$SM_GC,1.34,0.00,0.00,44.75,0.000,0.000,0.442,411,1737,1323,-11.87,0.48,400.08
$IRIDIUM_FIX,2230.01,-15806.28,251200,151515
$TT8_MAMPS,0.027612
$HUMID,66.10
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,23.7,54.728
$10V_AH,9.9,63.811
$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,30.425,80.100,382.575,44.750,0.000,89.594,100.204,160.256,0.250,0.000,12.207,915.815,3701.983,430.284,1606.583,1015.780,33.329,1105.153,0.000,1964.929,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,109.681,658.086,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.905,530.250,616.065,619.660,1158.291,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,38376,465
$CAP_FILE_SIZE,88843,0
$CFSIZE,260165632,104247296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011011,191537,2238.136,-15810.961,8,1.9,9,10.0