version: 66.06
glider: 148
mission: 10
dive: 618
start: 10 2 111 11 42 4
data:
$ID,148
$MISSION,10
$DIVE,618
$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,-890192.12
$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,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
$GPS1,113413,2234.115,-15816.608,10,1.7,11,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.9
$GPS2,114107,2234.119,-15816.693,10,1.4,15,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.029
$KALMAN_X,-99647.0,-946.7,-288.6,15720.2,-1521.2
$KALMAN_Y,-59451.1,-426.0,-218.6,-2604.7,-263.6
$MHEAD_RNG_PITCHd_Wd,44.7,34914,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-67.22,0.000,2,0.000,0.000,409,1706,3063,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.0,-4.7,9,117,11.62,2.55,-7.32,0.000,4,0.144,0.032,2679,3316,3434,0,0,0,0,0,0
$GC,142,-0.90,-116.8,14.3,-18.6,15,152,0.45,2.60,0.00,0.000,6,0.071,0.025,2786,1719,3435,0,0,0,0,0,0
$GC,438,-1.03,-116.8,40.4,-8.8,53,442,0.00,2.50,0.00,0.000,4,0.000,0.041,2787,174,3435,0,0,0,0,0,0
$GC,484,-1.24,-116.8,44.7,-8.8,56,489,0.28,2.40,0.00,0.000,6,0.033,0.017,2669,1749,3435,0,0,0,0,0,0
$GC,754,-1.06,-116.8,78.2,-11.5,80,759,0.40,2.40,0.00,0.000,4,0.084,0.024,2756,3284,3435,0,0,0,0,0,0
$GC,806,-1.25,-116.8,83.7,-8.0,84,812,0.17,2.47,0.00,0.000,6,0.044,0.021,2658,1708,3436,0,0,0,0,0,0
$GC,1070,-1.09,-116.8,117.6,-11.9,108,1084,0.45,2.47,0.00,0.000,4,0.081,0.038,2749,175,3437,0,0,0,0,0,0
$GC,1116,-1.27,-116.8,121.6,-7.3,112,1121,0.15,2.35,0.00,0.000,6,0.054,0.016,2668,1736,3437,0,0,0,0,0,0
$GC,1377,-1.27,-116.8,140.5,-7.9,136,1382,0.20,2.38,0.00,0.000,4,0.091,0.021,2712,3270,3437,0,0,0,0,0,0
$GC,1398,-1.27,-116.8,141.7,-7.2,137,1402,0.00,2.42,0.00,0.000,6,0.000,0.021,2712,1718,3438,0,0,0,0,0,0
$GC,1663,-1.35,-116.8,167.3,-11.5,161,1667,0.00,2.50,0.00,0.000,4,0.000,0.040,2712,178,3438,0,0,0,0,0,0
$GC,1722,-1.49,-116.8,174.9,-13.0,166,1727,0.20,2.28,0.00,0.000,6,0.044,0.016,2622,1714,3438,0,0,0,0,0,0
$GC,1986,-1.32,-116.8,203.2,-7.8,187,1992,0.32,2.53,0.00,0.000,4,0.083,0.038,2699,187,3439,0,0,0,0,0,0
$GC,2011,-1.32,-116.8,205.2,-5.4,187,2016,0.00,2.25,0.00,0.000,6,0.000,0.017,2698,1696,3439,0,0,0,0,0,0
$GC,2275,-1.32,-116.8,218.3,-5.5,194,2280,0.00,2.47,0.00,0.000,4,0.000,0.041,2698,183,3439,0,0,0,0,0,0
$GC,2328,-1.43,-116.8,222.0,-7.8,195,2332,0.00,2.28,0.00,0.000,6,0.000,0.017,2698,1698,3439,0,0,0,0,0,0
$GC,2605,-1.52,-116.8,245.4,-8.5,202,2610,0.15,2.53,0.00,0.000,4,0.054,0.043,2617,176,3438,0,0,0,0,0,0
$GC,2677,-1.37,-116.8,252.4,-10.1,203,2682,0.32,2.30,0.00,0.000,6,0.082,0.017,2691,1707,3438,0,0,0,0,0,0
$GC,2938,-1.44,-116.8,268.1,-5.5,210,2943,0.00,2.47,0.00,0.000,4,0.000,0.025,2691,3279,3438,0,0,0,0,0,0
$GC,3031,-1.57,-116.8,274.1,-6.9,212,3036,0.17,2.40,0.00,0.000,6,0.046,0.023,2597,1751,3438,0,0,0,0,0,0
$STATE,3311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3312,begin apogee
$GC,3319,-0.31,0.0,304.4,10.8,219,3416,1.48,0.00,93.57,0.657,6,0.080,0.000,2920,1671,2955,0,0,0,0,0,0
$STATE,3417,end apogee,CONTROL_FINISHED_OK
$STATE,3417,begin climb
$GC,3420,1.38,116.8,308.1,0.0,221,3528,1.50,2.67,94.97,0.651,4,0.028,0.045,3326,3237,2475,0,0,0,0,0,0
$GC,3714,1.11,176.3,300.3,6.6,227,3774,0.45,2.42,49.60,0.640,6,0.101,0.028,3232,1740,2235,0,0,0,0,0,0
$GC,4018,1.13,189.3,273.5,9.3,235,4031,0.00,0.00,11.57,0.571,6,0.000,0.000,3232,1740,2183,0,0,0,0,0,0
$GC,4263,1.14,202.0,250.7,9.3,241,4277,0.00,0.00,12.45,0.574,6,0.000,0.000,3232,1740,2130,0,0,0,0,0,0
$GC,4505,1.15,210.9,227.1,9.5,247,4515,0.00,0.00,8.57,0.533,6,0.000,0.000,3232,1740,2094,0,0,0,0,0,0
$GC,4749,1.18,233.4,205.5,8.7,253,4775,0.00,2.75,20.40,0.582,4,0.000,0.059,3231,177,2002,0,0,0,0,0,0
$GC,4800,1.20,244.2,201.3,9.4,254,4818,0.00,2.35,10.90,0.538,6,0.000,0.020,3231,1680,1959,0,0,0,0,0,0
$GC,5081,1.23,269.0,181.0,8.6,277,5112,0.10,0.00,22.80,0.568,6,0.076,0.000,3279,1683,1857,0,0,0,0,0,0
$GC,5363,1.23,269.0,146.0,12.0,304,5368,0.00,2.58,0.00,0.000,4,0.000,0.035,3279,3263,1853,0,0,0,0,0,0
$GC,5433,1.23,269.0,138.0,11.6,310,5438,0.10,2.53,0.00,0.000,6,0.120,0.034,3257,1707,1850,0,0,0,0,0,0
$GC,5693,1.31,336.4,118.7,6.1,334,5760,0.00,2.62,58.42,0.540,4,0.000,0.047,3258,180,1582,0,0,0,0,0,0
$GC,5797,1.33,353.4,111.5,9.0,343,5821,0.10,2.40,15.65,0.495,6,0.077,0.021,3306,1702,1513,0,0,0,0,0,0
$GC,6077,1.33,353.4,78.6,11.8,369,6082,0.12,2.58,0.00,0.000,4,0.113,0.035,3280,3284,1508,0,0,0,0,0,0
$GC,6110,1.41,353.4,75.0,10.3,371,6115,0.00,2.55,0.00,0.000,6,0.000,0.028,3279,1716,1505,0,0,0,0,0,0
$GC,6381,1.53,386.0,52.5,8.1,395,6423,0.17,2.62,28.20,0.470,4,0.050,0.032,3358,3278,1378,0,0,0,0,0,0
$GC,6462,1.45,386.0,42.6,13.0,401,6468,0.25,2.53,0.00,0.000,6,0.097,0.025,3307,1721,1375,0,0,0,0,0,0
$GC,6755,1.45,386.0,7.9,11.5,439,6765,0.00,2.55,0.00,0.000,4,0.000,0.030,3307,3280,1374,0,0,0,0,0,0
$GC,6793,1.54,386.0,4.2,10.3,443,6803,0.00,2.53,0.00,0.000,6,0.000,0.028,3307,1734,1372,0,0,0,0,0,0
$STATE,6812,end climb,SURFACE_DEPTH_REACHED
$STATE,6812,begin surface coast
$FINISH,0.5,0.999395
$STATE,6867,end surface coast,CONTROL_FINISHED_OK
$STATE,6867,begin surface
$SM_CCo,6888,10.65,0.397,0,0,1324,400.08
$SM_GC,1.12,0.00,0.00,10.65,0.000,0.000,0.397,410,1731,1324,-11.87,0.31,400.08
$IRIDIUM_FIX,2216.01,-15816.24,261200,090900
$TT8_MAMPS,0.027612
$HUMID,66.77
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,23.7,55.503
$10V_AH,10.1,64.834
$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,30.750,84.275,427.125,10.650,0.000,32.819,58.389,173.831,0.250,0.000,16.953,900.298,3451.150,420.060,1614.065,930.322,33.333,1116.174,0.000,1968.250,0.000,0.537,0.000
$DEVICE_MAMPS,144.196,154.934,656.552,397.306,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.380,517.243,599.869,624.885,1171.827,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,35182,453
$CAP_FILE_SIZE,89503,0
$CFSIZE,260165632,103841792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021011,133844,2234.015,-15817.264,38,1.5,58,10.0