version: 66.06
glider: 148
mission: 10
dive: 612
start: 10 1 111 23 30 40
data:
$ID,148
$MISSION,10
$DIVE,612
$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,-890029.25
$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,43
$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
$GPS1,232328,2236.961,-15812.183,11,2.1,31,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.3
$GPS2,232946,2236.868,-15812.286,17,2.3,36,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.075
$KALMAN_X,-87199.8,-209.2,26.2,9726.9,-1933.4
$KALMAN_Y,-49759.5,-528.7,-73.7,-7233.7,-880.7
$MHEAD_RNG_PITCHd_Wd,44.3,25829,-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,-74.95,0.000,2,0.000,0.000,409,1754,3338,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.3,-8.6,10,125,12.30,2.50,-1.65,0.000,4,0.167,0.035,2680,3313,3434,0,0,0,0,0,0
$GC,151,-0.86,-116.8,18.7,-24.1,16,162,0.50,2.60,0.00,0.000,6,0.072,0.025,2798,1715,3435,0,0,0,0,0,0
$GC,440,-1.02,-116.8,44.8,-8.0,49,445,0.15,2.53,0.00,0.000,4,0.053,0.041,2704,176,3436,0,0,0,0,0,0
$GC,453,-1.14,-116.8,46.8,-8.1,49,463,0.12,2.42,0.00,0.000,6,0.078,0.017,2736,1751,3436,0,0,0,0,0,0
$GC,722,-1.21,-116.8,71.5,-8.7,74,727,0.00,2.58,0.00,0.000,4,0.000,0.039,2736,177,3437,0,0,0,0,0,0
$GC,757,-1.31,-116.8,74.5,-8.3,76,762,0.12,2.35,0.00,0.000,6,0.062,0.016,2666,1725,3437,0,0,0,0,0,0
$GC,1019,-1.22,-116.8,103.4,-11.7,100,1024,0.25,2.40,0.00,0.000,4,0.089,0.021,2726,3271,3437,0,0,0,0,0,0
$GC,1084,-1.37,-116.8,110.3,-9.8,105,1091,0.15,2.47,0.00,0.000,6,0.054,0.021,2634,1707,3438,0,0,0,0,0,0
$GC,1347,-1.22,-116.8,140.1,-10.2,130,1353,0.35,2.47,0.00,0.000,4,0.086,0.038,2717,176,3438,0,0,0,0,0,0
$GC,1379,-1.33,-116.8,143.2,-8.4,132,1389,0.00,2.33,0.00,0.000,6,0.000,0.017,2717,1705,3438,0,0,0,0,0,0
$GC,1647,-1.44,-116.8,166.2,-10.0,157,1652,0.17,2.45,0.00,0.000,4,0.048,0.024,2624,3272,3439,0,0,0,0,0,0
$GC,1698,-1.36,-116.8,173.7,-14.1,161,1704,0.30,2.47,0.00,0.000,6,0.081,0.022,2693,1709,3439,0,0,0,0,0,0
$GC,1961,-1.43,-116.8,199.9,-7.8,186,1966,0.00,2.42,0.00,0.000,4,0.000,0.023,2693,3265,3439,0,0,0,0,0,0
$GC,1996,-1.54,-116.8,202.5,-7.4,186,2001,0.17,2.45,0.00,0.000,6,0.048,0.022,2597,1703,3439,0,0,0,0,0,0
$GC,2246,-1.32,-116.8,227.6,-9.9,192,2252,0.47,2.50,0.00,0.000,4,0.084,0.022,2697,3263,3439,0,0,0,0,0,0
$GC,2282,-1.47,-116.8,230.4,-6.5,192,2287,0.12,2.45,0.00,0.000,6,0.061,0.023,2619,1720,3439,0,0,0,0,0,0
$GC,2538,-1.32,-116.8,256.0,-10.6,199,2545,0.35,2.50,0.00,0.000,4,0.082,0.041,2699,182,3438,0,0,0,0,0,0
$GC,2564,-1.42,-116.8,258.6,-9.0,199,2569,0.00,2.33,0.00,0.000,6,0.000,0.018,2699,1708,3438,0,0,0,0,0,0
$GC,2825,-1.52,-116.8,279.8,-8.1,206,2831,0.17,2.53,0.00,0.000,4,0.048,0.028,2616,3276,3438,0,0,0,0,0,0
$GC,2878,-1.46,-116.8,284.7,-9.7,207,2883,0.25,2.45,0.00,0.000,6,0.081,0.024,2673,1726,3438,0,0,0,0,0,0
$STATE,3123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3123,begin apogee
$GC,3130,-0.31,0.0,302.5,6.7,213,3227,1.08,0.00,93.40,0.657,6,0.074,0.000,2918,1726,2955,0,0,0,0,0,0
$STATE,3228,end apogee,CONTROL_FINISHED_OK
$STATE,3228,begin climb
$GC,3230,1.38,116.8,305.0,0.0,215,3336,1.48,2.60,94.40,0.650,4,0.025,0.054,3309,3241,2476,0,0,0,0,0,0
$GC,3512,1.14,159.0,294.5,7.6,221,3554,0.32,2.50,35.30,0.633,6,0.096,0.028,3241,1702,2305,0,0,0,0,0,0
$GC,3823,1.11,213.7,273.8,6.8,229,3872,0.00,0.00,46.62,0.633,6,0.000,0.000,3241,1702,2083,0,0,0,0,0,0
$GC,4106,1.12,220.9,247.4,9.6,236,4118,0.00,2.60,6.53,0.502,4,0.000,0.035,3241,3239,2053,0,0,0,0,0,0
$GC,4134,1.13,232.0,244.9,9.4,236,4152,0.00,2.55,11.20,0.561,6,0.000,0.029,3240,1690,2009,0,0,0,0,0,0
$GC,4397,1.15,242.1,219.4,9.4,243,4413,0.00,2.62,9.80,0.541,4,0.000,0.036,3241,3239,1967,0,0,0,0,0,0
$GC,4524,1.19,278.0,208.8,7.9,245,4564,0.00,2.47,32.72,0.595,6,0.000,0.028,3241,1713,1820,0,0,0,0,0,0
$GC,4830,1.22,302.6,183.9,8.6,265,4860,0.00,2.58,21.65,0.570,4,0.000,0.033,3241,3236,1719,0,0,0,0,0,0
$GC,4903,1.33,302.6,176.6,10.3,272,4909,0.15,2.50,0.00,0.000,6,0.055,0.028,3302,1710,1715,0,0,0,0,0,0
$GC,5165,1.25,302.6,146.0,11.2,296,5170,0.17,2.50,0.00,0.000,4,0.098,0.035,3264,3246,1714,0,0,0,0,0,0
$GC,5209,1.33,302.6,142.0,10.0,299,5214,0.00,2.47,0.00,0.000,6,0.000,0.028,3264,1725,1711,0,0,0,0,0,0
$GC,5477,1.36,323.1,117.0,8.8,323,5502,0.00,2.58,18.33,0.517,4,0.000,0.033,3264,3252,1636,0,0,0,0,0,0
$GC,5568,1.48,338.7,108.5,9.1,331,5591,0.20,2.45,14.77,0.498,6,0.045,0.026,3341,1740,1573,0,0,0,0,0,0
$GC,5849,1.40,338.7,75.0,12.1,357,5859,0.20,0.00,0.00,0.000,6,0.093,0.000,3296,1740,1571,0,0,0,0,0,0
$GC,6116,1.40,338.7,46.6,10.3,382,6120,0.00,2.42,0.00,0.000,4,0.000,0.029,3295,3252,1570,0,0,0,0,0,0
$GC,6187,1.50,338.7,38.4,10.6,387,6198,0.00,2.47,0.00,0.000,6,0.000,0.026,3295,1736,1567,0,0,0,0,0,0
$GC,6484,1.50,338.7,9.9,10.3,428,6494,0.00,2.45,0.00,0.000,4,0.000,0.030,3295,3241,1567,0,0,0,0,0,0
$GC,6539,1.50,338.7,4.3,10.5,435,6549,0.00,2.42,0.00,0.000,6,0.000,0.025,3295,1743,1566,0,0,0,0,0,0
$STATE,6558,end climb,SURFACE_DEPTH_REACHED
$STATE,6558,begin surface coast
$FINISH,0.5,1.000915
$STATE,6607,end surface coast,CONTROL_FINISHED_OK
$STATE,6607,begin surface
$SM_CCo,6629,40.58,0.437,0,0,1323,400.08
$SM_GC,1.37,0.00,0.00,40.58,0.000,0.000,0.437,407,1738,1323,-11.88,0.51,400.08
$IRIDIUM_FIX,2239.35,-15812.78,251200,212100
$TT8_MAMPS,0.027612
$HUMID,65.71
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,23.7,54.984
$10V_AH,9.9,64.154
$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,31.125,89.400,384.725,40.575,0.000,29.085,33.863,145.491,0.250,0.000,39.075,889.412,3236.486,438.113,1619.189,865.656,33.332,1117.754,0.000,1943.910,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,53.690,657.319,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,299.115,514.743,598.239,629.229,1169.140,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,35145,444
$CAP_FILE_SIZE,88983,0
$CFSIZE,260165632,104116224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021011,012322,2236.339,-15812.859,28,2.6,48,10.0