version: 66.06
glider: 148
mission: 10
dive: 610
start: 10 1 111 19 23 10
data:
$ID,148
$MISSION,10
$DIVE,610
$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,-889973.69
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,191537,2238.136,-15810.961,8,1.9,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.1
$GPS2,192216,2238.083,-15811.018,9,99.0,28,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,0.131
$KALMAN_X,-83011.8,55.3,80.9,7375.1,-724.2
$KALMAN_Y,-46170.6,-288.3,-601.0,-8298.1,-487.9
$MHEAD_RNG_PITCHd_Wd,45.8,22764,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-75.07,0.000,2,0.000,0.000,410,1736,3329,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.1,-8.0,10,125,12.35,2.53,-1.83,0.000,4,0.169,0.035,2682,3306,3434,0,0,0,0,0,0
$GC,139,-0.01,-116.8,16.3,-33.2,14,150,1.33,2.58,0.00,0.000,6,0.074,0.025,2983,1724,3435,0,0,0,0,0,0
$GC,443,-0.86,-116.8,41.0,-9.1,53,457,0.73,2.53,0.00,0.000,4,0.036,0.026,2796,3310,3436,0,0,0,0,0,0
$GC,600,-1.14,-116.8,53.3,-7.9,65,605,0.22,2.53,0.00,0.000,6,0.041,0.021,2725,1704,3436,0,0,0,0,0,0
$GC,870,-1.21,-116.8,78.3,-9.4,89,875,0.00,2.47,0.00,0.000,4,0.000,0.041,2725,185,3437,0,0,0,0,0,0
$GC,957,-1.32,-116.8,88.0,-10.1,96,967,0.00,2.42,0.00,0.000,6,0.000,0.016,2724,1779,3437,0,0,0,0,0,0
$GC,1226,-1.42,-116.8,109.0,-7.4,121,1231,0.17,0.00,0.00,0.000,6,0.051,0.000,2652,1780,3438,0,0,0,0,0,0
$GC,1489,-1.32,-116.8,132.0,-8.4,146,1494,0.22,2.60,0.00,0.000,4,0.092,0.038,2702,183,3438,0,0,0,0,0,0
$GC,1518,-1.32,-116.8,134.2,-7.1,148,1523,0.00,2.40,0.00,0.000,6,0.000,0.017,2702,1756,3438,0,0,0,0,0,0
$GC,1782,-1.39,-116.8,150.3,-6.3,172,1786,0.00,2.38,0.00,0.000,4,0.000,0.023,2702,3292,3438,0,0,0,0,0,0
$GC,1829,-1.52,-116.8,153.8,-6.9,176,1834,0.17,2.47,0.00,0.000,6,0.048,0.021,2633,1725,3438,0,0,0,0,0,0
$GC,2091,-1.41,-116.8,179.7,-10.0,200,2093,0.22,0.00,0.00,0.000,6,0.098,0.000,2682,1724,3438,0,0,0,0,0,0
$GC,2366,-1.41,-116.8,203.9,-8.6,223,2370,0.00,2.45,0.00,0.000,4,0.000,0.024,2682,3291,3438,0,0,0,0,0,0
$GC,2394,-1.52,-116.8,206.4,-8.4,223,2399,0.10,2.47,0.00,0.000,6,0.075,0.022,2617,1726,3438,0,0,0,0,0,0
$GC,2651,-1.36,-116.8,232.6,-10.4,230,2653,0.35,0.00,0.00,0.000,6,0.088,0.000,2695,1726,3438,0,0,0,0,0,0
$GC,2895,-1.44,-116.8,251.6,-7.7,236,2899,0.00,2.45,0.00,0.000,4,0.000,0.025,2695,3285,3438,0,0,0,0,0,0
$GC,2961,-1.57,-116.8,257.2,-7.9,237,2966,0.20,2.42,0.00,0.000,6,0.042,0.023,2601,1745,3438,0,0,0,0,0,0
$GC,3227,-1.38,-116.8,284.5,-9.9,244,3229,0.38,0.00,0.00,0.000,6,0.087,0.000,2686,1745,3437,0,0,0,0,0,0
$GC,3470,-1.45,-116.8,295.5,-3.7,250,3475,0.00,2.42,0.00,0.000,4,0.000,0.026,2686,3282,3436,0,0,0,0,0,0
$GC,3499,-1.57,-116.8,296.3,-3.0,250,3505,0.12,2.47,0.00,0.000,6,0.025,0.025,2601,1746,3436,0,0,0,0,0,0
$STATE,3595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3595,begin apogee
$GC,3602,-0.31,0.0,301.7,5.7,253,3699,1.40,0.00,93.07,0.659,6,0.076,0.000,2921,1670,2955,0,0,0,0,0,0
$STATE,3700,end apogee,CONTROL_FINISHED_OK
$STATE,3700,begin climb
$GC,3702,1.38,116.8,302.9,0.0,255,3805,1.50,0.00,94.57,0.651,6,0.027,0.000,3321,1670,2478,0,0,0,0,0,0
$GC,4031,1.16,207.1,296.3,4.8,263,4114,0.32,0.00,75.97,0.648,6,0.097,0.000,3246,1670,2108,0,0,0,0,0,0
$GC,4359,1.08,207.1,265.9,11.1,271,4364,0.00,2.65,0.00,0.000,4,0.000,0.045,3246,3246,2101,0,0,0,0,0,0
$GC,4393,1.08,207.1,261.1,13.1,271,4398,0.00,2.47,0.00,0.000,6,0.000,0.029,3246,1725,2099,0,0,0,0,0,0
$GC,4643,1.08,207.1,231.0,11.5,277,4648,0.00,2.53,0.00,0.000,4,0.000,0.035,3246,3242,2097,0,0,0,0,0,0
$GC,4676,1.09,212.7,227.7,9.7,277,4686,0.00,2.47,4.28,0.416,6,0.000,0.028,3246,1706,2086,0,0,0,0,0,0
$GC,4938,1.15,260.8,206.9,7.2,284,4986,0.00,2.55,43.08,0.607,4,0.000,0.033,3246,3251,1889,0,0,0,0,0,0
$GC,5042,1.22,318.0,200.1,6.7,286,5099,0.00,2.53,49.90,0.597,6,0.000,0.028,3246,1712,1657,0,0,0,0,0,0
$GC,5353,1.22,318.0,172.3,11.5,314,5357,0.00,2.50,0.00,0.000,4,0.000,0.034,3246,3245,1651,0,0,0,0,0,0
$GC,5433,1.30,318.0,161.4,14.3,321,5443,0.08,2.53,0.00,0.000,6,0.035,0.028,3296,1716,1648,0,0,0,0,0,0
$GC,5697,1.24,318.0,121.0,14.6,346,5702,0.17,2.50,0.00,0.000,4,0.097,0.035,3258,3255,1647,0,0,0,0,0,0
$GC,5747,1.32,318.0,114.3,12.7,350,5751,0.00,2.50,0.00,0.000,6,0.000,0.028,3258,1720,1645,0,0,0,0,0,0
$GC,6010,1.44,365.0,90.4,7.3,374,6056,0.17,2.55,39.75,0.521,4,0.052,0.032,3325,3250,1465,0,0,0,0,0,0
$GC,6118,1.44,365.0,79.3,10.4,383,6124,0.10,2.45,0.00,0.000,6,0.118,0.028,3304,1749,1460,0,0,0,0,0,0
$GC,6385,1.44,365.0,52.7,10.7,408,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1749,1459,0,0,0,0,0,0
$GC,6664,1.44,365.0,21.4,10.4,439,6674,0.00,2.45,0.00,0.000,4,0.000,0.031,3303,3248,1458,0,0,0,0,0,0
$GC,6713,1.51,365.0,15.8,11.1,445,6723,0.00,2.45,0.00,0.000,6,0.000,0.027,3304,1743,1456,0,0,0,0,0,0
$STATE,6821,end climb,SURFACE_DEPTH_REACHED
$STATE,6821,begin surface coast
$FINISH,0.5,1.009662
$STATE,6872,end surface coast,CONTROL_FINISHED_OK
$STATE,6872,begin surface
$SM_CCo,6893,27.83,0.439,0,0,1323,400.08
$SM_GC,1.43,0.00,0.00,27.83,0.000,0.000,0.439,410,1739,1323,-11.87,0.54,400.08
$IRIDIUM_FIX,2234.68,-15813.65,251200,171710
$TT8_MAMPS,0.027612
$HUMID,67.68
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,23.7,54.815
$10V_AH,10.0,63.926
$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,31.925,74.775,400.625,27.825,0.000,30.631,42.510,162.907,0.250,0.000,30.949,895.191,3463.872,431.162,1625.965,904.714,33.328,1088.892,0.000,1996.169,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,154.167,658.853,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.791,505.969,601.896,658.656,1244.736,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,38370,468
$CAP_FILE_SIZE,84075,0
$CFSIZE,260165632,104206336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011011,211955,2237.705,-15811.404,40,1.2,41,10.0