version: 66.06
glider: 148
mission: 10
dive: 627
start: 10 3 111 6 10 15
data:
$ID,148
$MISSION,10
$DIVE,627
$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,-890480.62
$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,47
$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
$GPS1,060225,2231.285,-15821.773,65,1.0,66,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.6
$GPS2,060919,2231.276,-15821.864,15,1.1,25,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,0.186
$KALMAN_X,-118122.9,-636.2,-593.4,25380.9,-756.5
$KALMAN_Y,-70823.2,-796.9,394.2,3267.6,-1046.8
$MHEAD_RNG_PITCHd_Wd,45.8,45172,-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,-75.00,0.000,2,0.000,0.000,407,1690,3346,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.0,-7.4,10,124,11.85,2.53,-1.52,0.000,4,0.150,0.048,2683,170,3435,0,0,0,0,0,0
$GC,161,-1.29,-116.8,20.4,-15.0,18,172,0.08,2.42,0.00,0.000,6,0.087,0.017,2704,1730,3436,0,0,0,0,0,0
$GC,444,-1.16,-116.8,56.0,-11.8,48,449,0.15,2.45,0.00,0.000,4,0.110,0.023,2737,3296,3436,0,0,0,0,0,0
$GC,466,-1.09,-116.8,58.6,-11.1,49,471,0.00,2.53,0.00,0.000,6,0.000,0.023,2737,1700,3436,0,0,0,0,0,0
$GC,736,-1.09,-116.8,81.6,-8.1,73,741,0.00,2.47,0.00,0.000,4,0.000,0.039,2737,177,3437,0,0,0,0,0,0
$GC,789,-1.18,-116.8,86.3,-7.9,77,795,0.00,2.35,0.00,0.000,6,0.000,0.016,2737,1729,3437,0,0,0,0,0,0
$GC,1052,-1.26,-116.8,103.1,-8.7,102,1057,0.00,2.42,0.00,0.000,4,0.000,0.023,2737,3283,3437,0,0,0,0,0,0
$GC,1096,-1.44,-116.8,106.5,-8.9,105,1101,0.25,2.50,0.00,0.000,6,0.035,0.021,2622,1679,3438,0,0,0,0,0,0
$GC,1362,-1.25,-116.8,142.5,-12.5,129,1367,0.40,2.40,0.00,0.000,4,0.081,0.037,2712,180,3438,0,0,0,0,0,0
$GC,1403,-1.36,-116.8,147.2,-9.4,132,1413,0.00,2.28,0.00,0.000,6,0.000,0.015,2712,1698,3438,0,0,0,0,0,0
$GC,1671,-1.45,-116.8,166.0,-6.8,157,1676,0.15,2.47,0.00,0.000,4,0.054,0.040,2639,172,3438,0,0,0,0,0,0
$GC,1712,-1.35,-116.8,169.6,-9.8,160,1716,0.25,2.20,0.00,0.000,6,0.089,0.016,2694,1665,3439,0,0,0,0,0,0
$GC,1979,-1.35,-116.8,190.8,-7.4,184,1983,0.00,2.47,0.00,0.000,4,0.000,0.023,2694,3252,3438,0,0,0,0,0,0
$GC,1997,-1.42,-116.8,192.5,-7.6,185,2003,0.00,2.53,0.00,0.000,6,0.000,0.022,2694,1671,3438,0,0,0,0,0,0
$GC,2268,-1.42,-116.8,211.8,-7.1,199,2272,0.00,2.42,0.00,0.000,4,0.000,0.041,2694,178,3439,0,0,0,0,0,0
$GC,2306,-1.52,-116.8,214.8,-9.1,199,2312,0.15,2.22,0.00,0.000,6,0.054,0.017,2620,1685,3439,0,0,0,0,0,0
$GC,2556,-1.35,-116.8,241.6,-11.2,206,2562,0.30,2.50,0.00,0.000,4,0.082,0.039,2693,173,3438,0,0,0,0,0,0
$GC,2582,-1.44,-116.8,244.3,-9.9,206,2586,0.00,2.20,0.00,0.000,6,0.000,0.018,2693,1634,3439,0,0,0,0,0,0
$GC,2847,-1.53,-116.8,261.3,-5.6,213,2852,0.15,2.42,0.00,0.000,4,0.054,0.045,2619,171,3438,0,0,0,0,0,0
$GC,2899,-1.44,-116.8,265.3,-8.3,214,2904,0.25,2.28,0.00,0.000,6,0.087,0.018,2676,1670,3438,0,0,0,0,0,0
$GC,3179,-1.44,-116.8,282.3,-6.7,221,3183,0.00,2.53,0.00,0.000,4,0.000,0.027,2676,3277,3437,0,0,0,0,0,0
$GC,3263,-1.51,-116.8,289.9,-9.0,222,3269,0.00,2.47,0.00,0.000,6,0.000,0.023,2676,1718,3436,0,0,0,0,0,0
$STATE,3388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3388,begin apogee
$GC,3394,-0.31,0.0,301.0,8.7,226,3491,1.05,0.00,93.47,0.658,6,0.066,0.000,2921,1718,2955,0,0,0,0,0,0
$STATE,3492,end apogee,CONTROL_FINISHED_OK
$STATE,3492,begin climb
$GC,3495,1.38,116.8,304.9,0.0,228,3600,1.48,2.67,94.40,0.650,4,0.027,0.058,3308,183,2477,0,0,0,0,0,0
$GC,3862,1.02,164.6,288.1,7.2,236,3908,0.45,2.33,39.75,0.632,6,0.095,0.020,3211,1671,2284,0,0,0,0,0,0
$GC,4177,1.07,206.6,264.6,7.6,244,4219,0.00,2.58,35.95,0.624,4,0.000,0.050,3211,183,2112,0,0,0,0,0,0
$GC,4429,1.07,212.1,242.1,9.7,249,4441,0.00,2.40,5.78,0.479,6,0.000,0.021,3211,1698,2089,0,0,0,0,0,0
$GC,4696,1.08,219.5,216.9,9.6,256,4708,0.00,2.60,7.05,0.504,4,0.000,0.051,3211,182,2060,0,0,0,0,0,0
$GC,4723,1.11,240.8,214.2,8.8,256,4748,0.00,2.35,20.02,0.585,6,0.000,0.021,3211,1680,1973,0,0,0,0,0,0
$GC,5016,1.27,303.9,192.2,6.4,271,5076,0.22,0.00,55.30,0.594,6,0.042,0.000,3295,1680,1715,0,0,0,0,0,0
$GC,5332,1.21,303.9,155.9,13.0,301,5337,0.20,2.65,0.00,0.000,4,0.096,0.037,3250,3273,1709,0,0,0,0,0,0
$GC,5446,1.33,303.9,142.1,11.7,311,5451,0.12,2.60,0.00,0.000,6,0.064,0.029,3306,1685,1705,0,0,0,0,0,0
$GC,5712,1.35,372.8,118.5,6.0,335,5779,0.10,2.65,59.42,0.537,4,0.122,0.033,3284,3280,1433,0,0,0,0,0,0
$GC,5815,1.48,386.1,110.7,9.2,344,5836,0.08,2.65,12.25,0.482,6,0.037,0.029,3333,1683,1380,0,0,0,0,0,0
$GC,6097,1.48,386.1,75.4,13.6,370,6101,0.00,2.58,0.00,0.000,4,0.000,0.031,3333,3274,1376,0,0,0,0,0,0
$GC,6182,1.48,386.1,62.4,14.7,376,6192,0.00,2.58,0.00,0.000,6,0.000,0.027,3333,1700,1372,0,0,0,0,0,0
$GC,6455,1.48,386.1,24.6,12.9,404,6465,0.00,2.58,0.00,0.000,4,0.000,0.031,3333,3274,1372,0,0,0,0,0,0
$GC,6499,1.48,386.1,18.8,13.0,409,6509,0.00,2.55,0.00,0.000,6,0.000,0.027,3332,1707,1372,0,0,0,0,0,0
$STATE,6608,end climb,SURFACE_DEPTH_REACHED
$STATE,6608,begin surface coast
$FINISH,0.7,1.023428
$STATE,6651,end surface coast,CONTROL_FINISHED_OK
$STATE,6651,begin surface
$SM_CCo,6672,10.38,0.400,0,0,1323,400.08
$SM_GC,1.18,0.00,0.00,10.38,0.000,0.000,0.400,405,1704,1323,-11.89,-0.45,400.08
$IRIDIUM_FIX,2220.67,-15822.75,271200,040406
$TT8_MAMPS,0.027612
$HUMID,66.73
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.7,56.283
$10V_AH,10.0,65.848
$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,29.375,88.825,423.400,10.375,0.000,30.649,35.043,189.477,0.000,0.000,28.558,874.720,3308.336,407.317,1619.376,889.999,33.334,1129.430,0.000,1921.758,0.000,0.538,0.000
$DEVICE_MAMPS,150.332,57.525,658.086,400.374,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,289.641,466.318,550.798,562.195,1048.960,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,35321,431
$CAP_FILE_SIZE,90167,0
$CFSIZE,260165632,103432192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031011,080232,2230.752,-15822.677,9,1.5,10,10.0