version: 66.06
glider: 148
mission: 10
dive: 621
start: 10 2 111 17 54 9
data:
$ID,148
$MISSION,10
$DIVE,621
$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,-890276
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,174620,2233.673,-15817.847,29,2.0,30,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.6
$GPS2,175313,2233.593,-15817.947,27,1.6,33,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,0.210
$KALMAN_X,-105711.4,-479.3,-323.7,19212.4,-430.8
$KALMAN_Y,-62908.4,113.6,103.2,-980.7,-1130.2
$MHEAD_RNG_PITCHd_Wd,45.4,37227,-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,-116.8,0.0,0.0,0,95,0.00,0.00,-74.90,0.000,2,0.000,0.000,411,1757,3328,0,0,0,0,0,0
$GC,98,-1.38,-116.8,4.1,-7.2,10,123,11.77,2.50,-1.85,0.000,4,0.150,0.034,2680,3317,3434,0,0,0,0,0,0
$GC,136,-0.01,-116.8,16.2,-33.1,14,147,1.33,2.60,0.00,0.000,6,0.073,0.024,2982,1717,3435,0,0,0,0,0,0
$GC,432,-0.85,-116.8,42.9,-11.6,52,446,0.70,2.53,0.00,0.000,4,0.037,0.041,2799,169,3436,0,0,0,0,0,0
$GC,463,-1.47,-116.8,47.3,-13.1,54,477,0.52,2.42,0.00,0.000,6,0.033,0.017,2660,1766,3436,0,0,0,0,0,0
$GC,737,-1.34,-116.8,85.2,-11.3,79,742,0.17,0.00,0.00,0.000,6,0.100,0.000,2698,1766,3437,0,0,0,0,0,0
$GC,998,-1.34,-116.8,104.1,-5.4,104,1002,0.00,2.60,0.00,0.000,4,0.000,0.039,2699,165,3437,0,0,0,0,0,0
$GC,1020,-1.34,-116.8,105.6,-6.1,105,1026,0.00,2.35,0.00,0.000,6,0.000,0.016,2698,1707,3437,0,0,0,0,0,0
$GC,1284,-1.34,-116.8,124.8,-8.6,130,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1710,3438,0,0,0,0,0,0
$GC,1549,-1.34,-116.8,148.5,-9.3,155,1553,0.00,2.42,0.00,0.000,4,0.000,0.023,2698,3271,3437,0,0,0,0,0,0
$GC,1596,-1.44,-116.8,153.0,-9.0,159,1600,0.00,2.47,0.00,0.000,6,0.000,0.021,2698,1695,3438,0,0,0,0,0,0
$GC,1859,-1.50,-116.8,172.5,-5.9,183,1864,0.15,2.45,0.00,0.000,4,0.054,0.041,2610,180,3438,0,0,0,0,0,0
$GC,1888,-1.34,-116.8,174.8,-8.6,185,1893,0.40,2.30,0.00,0.000,6,0.098,0.016,2697,1708,3438,0,0,0,0,0,0
$GC,2149,-1.42,-116.8,188.1,-5.3,209,2153,0.00,2.45,0.00,0.000,4,0.000,0.024,2697,3275,3438,0,0,0,0,0,0
$GC,2209,-1.55,-116.8,191.9,-7.6,214,2214,0.17,2.45,0.00,0.000,6,0.047,0.021,2622,1710,3438,0,0,0,0,0,0
$GC,2492,-1.40,-116.8,225.1,-11.8,226,2498,0.25,2.47,0.00,0.000,4,0.093,0.040,2682,183,3438,0,0,0,0,0,0
$GC,2537,-1.40,-116.8,229.5,-10.1,227,2542,0.00,2.33,0.00,0.000,6,0.000,0.017,2682,1716,3438,0,0,0,0,0,0
$GC,2824,-1.40,-116.8,252.1,-7.1,234,2830,0.00,2.47,0.00,0.000,4,0.000,0.025,2682,3274,3437,0,0,0,0,0,0
$GC,2863,-1.50,-116.8,254.5,-5.9,234,2867,0.00,2.47,0.00,0.000,6,0.000,0.022,2682,1714,3437,0,0,0,0,0,0
$GC,3115,-1.50,-116.8,268.0,-5.3,240,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1714,3437,0,0,0,0,0,0
$GC,3357,-1.50,-116.8,280.8,-5.3,246,3361,0.00,2.45,0.00,0.000,4,0.000,0.025,2682,3273,3436,0,0,0,0,0,0
$GC,3385,-1.60,-116.8,282.6,-7.1,246,3390,0.17,2.47,0.00,0.000,6,0.048,0.024,2594,1717,3436,0,0,0,0,0,0
$STATE,3597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3597,begin apogee
$GC,3604,-0.31,0.0,301.7,9.2,252,3701,1.48,0.00,93.40,0.661,6,0.084,0.000,2918,1717,2955,0,0,0,0,0,0
$STATE,3702,end apogee,CONTROL_FINISHED_OK
$STATE,3702,begin climb
$GC,3704,1.38,116.8,303.8,0.0,254,3810,1.50,2.60,94.35,0.652,4,0.031,0.046,3309,3238,2477,0,0,0,0,0,0
$GC,3853,1.11,145.1,302.1,8.4,257,3885,0.35,2.47,24.48,0.624,6,0.100,0.028,3234,1708,2362,0,0,0,0,0,0
$GC,4166,1.08,195.3,279.1,7.1,265,4214,0.00,2.60,41.95,0.634,4,0.000,0.034,3234,3235,2157,0,0,0,0,0,0
$GC,4274,1.11,220.4,270.1,8.6,267,4304,0.00,2.53,22.17,0.608,6,0.000,0.028,3234,1697,2055,0,0,0,0,0,0
$GC,4589,1.11,220.4,240.2,10.1,275,4594,0.00,2.53,0.00,0.000,4,0.000,0.033,3234,3241,2050,0,0,0,0,0,0
$GC,4654,1.11,220.4,232.8,10.6,276,4658,0.00,2.53,0.00,0.000,6,0.000,0.028,3234,1702,2048,0,0,0,0,0,0
$GC,4917,1.14,241.4,208.8,8.8,283,4942,0.00,2.60,18.40,0.579,4,0.000,0.035,3234,3232,1969,0,0,0,0,0,0
$GC,4966,1.16,255.0,204.8,9.2,284,4986,0.00,2.50,13.23,0.557,6,0.000,0.028,3234,1708,1915,0,0,0,0,0,0
$GC,5250,1.16,255.0,178.3,10.2,305,5254,0.00,2.50,0.00,0.000,4,0.000,0.035,3234,3240,1911,0,0,0,0,0,0
$GC,5326,1.25,255.0,169.7,11.5,312,5331,0.12,2.45,0.00,0.000,6,0.064,0.028,3288,1723,1908,0,0,0,0,0,0
$GC,5592,1.20,263.1,141.5,9.5,336,5607,0.17,2.47,7.90,0.485,4,0.099,0.031,3249,3241,1882,0,0,0,0,0,0
$GC,5698,1.24,294.0,132.8,8.2,345,5731,0.00,2.42,27.62,0.545,6,0.000,0.027,3249,1734,1756,0,0,0,0,0,0
$GC,5986,1.36,329.5,110.0,8.0,372,6025,0.15,2.55,32.25,0.527,4,0.058,0.035,3308,3239,1609,0,0,0,0,0,0
$GC,6098,1.37,335.0,98.9,9.7,382,6112,0.00,2.42,5.62,0.405,6,0.000,0.028,3308,1752,1588,0,0,0,0,0,0
$GC,6372,1.38,339.4,71.9,9.7,407,6387,0.00,2.47,5.15,0.382,4,0.000,0.031,3308,3242,1569,0,0,0,0,0,0
$GC,6435,1.44,339.4,64.7,10.4,412,6445,0.00,2.42,0.00,0.000,6,0.000,0.028,3308,1766,1567,0,0,0,0,0,0
$GC,6705,1.46,356.8,40.8,9.0,437,6733,0.00,2.45,16.10,0.451,4,0.000,0.030,3308,3242,1498,0,0,0,0,0,0
$GC,6782,1.52,359.9,32.8,9.8,443,6786,0.00,2.38,0.00,0.000,6,0.000,0.026,3308,1773,1495,0,0,0,0,0,0
$STATE,7045,end climb,SURFACE_DEPTH_REACHED
$STATE,7045,begin surface coast
$FINISH,0.5,1.023321
$STATE,7092,end surface coast,CONTROL_FINISHED_OK
$STATE,7092,begin surface
$SM_CCo,7114,35.53,0.437,0,0,1323,400.08
$SM_GC,1.61,0.00,0.00,35.53,0.000,0.000,0.437,410,1679,1323,-11.87,-1.16,400.08
$IRIDIUM_FIX,2227.67,-15816.68,261200,151544
$TT8_MAMPS,0.027612
$HUMID,66.02
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.7,55.764
$10V_AH,10.1,65.180
$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,31.025,89.200,402.625,35.525,0.000,27.739,34.867,184.179,0.000,0.000,34.545,943.830,3511.452,418.903,1748.096,944.242,33.330,1161.905,0.000,2089.238,0.000,0.538,0.000
$DEVICE_MAMPS,149.565,108.914,661.154,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.856,542.299,639.891,666.219,1238.254,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,38361,489
$CAP_FILE_SIZE,91000,0
$CFSIZE,260165632,103702528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021011,195434,2233.299,-15818.146,8,99.0,27,10.0