version: 66.06
glider: 148
mission: 10
dive: 737
start: 10 26 111 23 21 16
data:
$ID,148
$MISSION,10
$DIVE,737
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,900
$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,240
$T_MISSION,600
$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,1
$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,-892549.5
$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,2980
$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,27
$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
$GPS1,230837,2145.733,-15810.424,30,0.9,30,9.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.6
$GPS2,232020,2145.729,-15810.522,10,2.0,10,9.9
$SPEED_LIMITS,0.168,0.232
$TGT_NAME,7mile
$TGT_LATLONG,2143.000,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,-0.231
$KALMAN_X,-137406.2,137.7,211.2,62388.5,-193.1
$KALMAN_Y,-135992.9,-170.3,361.4,-16526.4,-366.8
$MHEAD_RNG_PITCHd_Wd,177.0,5120,-19.3,-9.722
$D_GRID,700
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-116.8,0.0,0.0,0,85,0.00,0.00,-64.03,0.000,2,0.000,0.000,413,1802,2987,0,0,0,0,0,0
$GC,90,-1.35,-116.8,3.0,-3.8,12,119,12.38,2.42,-8.95,0.000,4,0.166,0.036,2679,3306,3433,0,0,0,0,0,0
$GC,220,-1.22,-116.8,26.5,-13.7,39,228,0.12,2.60,0.00,0.000,6,0.079,0.025,2712,1709,3434,0,0,0,0,0,0
$GC,489,-1.06,-116.8,62.4,-12.6,66,498,0.15,0.00,0.00,0.000,6,0.107,0.000,2745,1709,3435,0,0,0,0,0,0
$GC,755,-1.14,-116.8,86.4,-7.0,91,760,0.00,2.55,0.00,0.000,4,0.000,0.041,2745,174,3436,0,0,0,0,0,0
$GC,788,-1.26,-116.8,89.3,-8.0,94,795,0.12,2.42,0.00,0.000,6,0.025,0.017,2660,1749,3436,0,0,0,0,0,0
$GC,1057,-1.09,-116.8,120.2,-12.6,119,1062,0.32,2.40,0.00,0.000,4,0.084,0.023,2737,3285,3437,0,0,0,0,0,0
$GC,1093,-1.24,-116.8,124.4,-8.7,122,1098,0.12,2.50,0.00,0.000,6,0.061,0.022,2649,1712,3438,0,0,0,0,0,0
$GC,1356,-1.06,-116.8,156.6,-11.9,146,1365,0.47,2.47,0.00,0.000,4,0.081,0.021,2745,3286,3438,0,0,0,0,0,0
$GC,1374,-0.99,-116.8,158.5,-11.0,147,1380,0.00,2.50,0.00,0.000,6,0.000,0.022,2745,1731,3438,0,0,0,0,0,0
$GC,1639,-1.15,-116.8,175.1,-6.3,172,1644,0.00,2.58,0.00,0.000,4,0.000,0.042,2745,179,3438,0,0,0,0,0,0
$GC,1690,-1.34,-116.8,178.9,-7.2,177,1696,0.25,2.38,0.00,0.000,6,0.035,0.017,2635,1741,3439,0,0,0,0,0,0
$GC,1971,-1.19,-116.8,209.8,-10.9,197,1978,0.35,2.60,0.00,0.000,4,0.081,0.039,2715,170,3438,0,0,0,0,0,0
$GC,1994,-1.19,-116.8,212.1,-8.9,197,1998,0.00,2.38,0.00,0.000,6,0.000,0.018,2715,1722,3438,0,0,0,0,0,0
$GC,2259,-1.30,-116.8,229.3,-6.4,204,2264,0.00,2.53,0.00,0.000,4,0.000,0.042,2714,180,3438,0,0,0,0,0,0
$GC,2279,-1.41,-116.8,230.6,-6.0,204,2284,0.17,2.33,0.00,0.000,6,0.048,0.018,2632,1712,3438,0,0,0,0,0,0
$GC,2545,-1.27,-116.8,255.3,-9.9,211,2550,0.30,2.47,0.00,0.000,4,0.083,0.025,2702,3283,3438,0,0,0,0,0,0
$GC,2569,-1.27,-116.8,257.5,-8.3,211,2574,0.00,2.50,0.00,0.000,6,0.000,0.024,2702,1709,3438,0,0,0,0,0,0
$GC,2832,-1.35,-116.8,275.4,-7.0,218,2836,0.00,2.55,0.00,0.000,4,0.000,0.046,2701,173,3437,0,0,0,0,0,0
$GC,2856,-1.44,-116.8,277.4,-8.1,218,2862,0.12,2.38,0.00,0.000,6,0.026,0.019,2629,1696,3437,0,0,0,0,0,0
$GC,3122,-1.33,-116.8,303.1,-10.0,225,3127,0.25,2.55,0.00,0.000,4,0.084,0.027,2690,3286,3435,0,0,0,0,0,0
$GC,3148,-1.33,-116.8,305.2,-7.4,225,3152,0.00,2.55,0.00,0.000,6,0.000,0.026,2690,1705,3435,0,0,0,0,0,0
$GC,3409,-1.39,-116.8,324.5,-7.7,232,3413,0.00,2.55,0.00,0.000,4,0.000,0.050,2691,179,3434,0,0,0,0,0,0
$GC,3454,-1.49,-116.8,328.3,-8.3,233,3459,0.15,2.38,0.00,0.000,6,0.054,0.021,2618,1700,3434,0,0,0,0,0,0
$GC,3741,-1.34,-116.8,358.2,-10.7,240,3746,0.28,2.55,0.00,0.000,4,0.084,0.031,2684,3290,3432,0,0,0,0,0,0
$GC,3770,-1.42,-116.8,361.1,-9.1,240,3775,0.00,2.55,0.00,0.000,6,0.000,0.028,2685,1706,3432,0,0,0,0,0,0
$GC,4028,-1.42,-116.8,381.5,-8.0,247,4032,0.00,2.60,0.00,0.000,4,0.000,0.056,2684,173,3430,0,0,0,0,0,0
$GC,4079,-1.54,-116.8,386.0,-8.3,248,4084,0.20,2.38,0.00,0.000,6,0.035,0.021,2645,1696,3430,0,0,0,0,0,0
$GC,4359,-1.54,-116.8,410.7,-9.0,255,4364,0.00,2.60,0.00,0.000,4,0.000,0.035,2645,3290,3428,0,0,0,0,0,0
$GC,4438,-1.54,-116.8,417.2,-7.2,256,4442,0.00,2.58,0.00,0.000,6,0.000,0.030,2645,1702,3427,0,0,0,0,0,0
$GC,4688,-1.54,-116.8,435.8,-7.5,262,4693,0.00,2.65,0.00,0.000,4,0.000,0.038,2645,3289,3425,0,0,0,0,0,0
$GC,4728,-1.54,-116.8,438.9,-8.0,262,4733,0.00,2.60,0.00,0.000,6,0.000,0.031,2645,1719,3425,0,0,0,0,0,0
$GC,4984,-1.54,-116.8,459.0,-8.1,269,4988,0.00,2.65,0.00,0.000,4,0.000,0.064,2644,166,3424,0,0,0,0,0,0
$GC,5058,-1.54,-116.8,465.8,-9.2,270,5063,0.00,2.47,0.00,0.000,6,0.000,0.028,2644,1708,3423,0,0,0,0,0,0
$GC,5316,-1.54,-116.8,486.4,-8.4,277,5320,0.00,2.62,0.00,0.000,4,0.000,0.064,2643,176,3421,0,0,0,0,0,0
$GC,5335,-1.47,-116.8,488.4,-8.7,277,5341,0.00,2.50,0.00,0.000,6,0.000,0.030,2643,1704,3421,0,0,0,0,0,0
$GC,5605,-1.47,-116.8,508.6,-7.2,284,5610,0.00,2.67,0.00,0.000,4,0.000,0.064,2643,178,3418,0,0,0,0,0,0
$GC,5662,-1.47,-116.8,512.9,-8.0,285,5666,0.00,2.47,0.00,0.000,6,0.000,0.031,2643,1702,3418,0,0,0,0,0,0
$GC,5939,-1.47,-116.8,530.9,-6.5,292,5943,0.00,2.67,0.00,0.000,4,0.000,0.048,2643,3304,3416,0,0,0,0,0,0
$GC,5987,-1.47,-116.8,533.9,-6.9,293,5991,0.00,2.62,0.00,0.000,6,0.000,0.033,2643,1700,3416,0,0,0,0,0,0
$GC,6270,-1.47,-116.8,555.8,-8.4,300,6275,0.00,2.72,0.00,0.000,4,0.000,0.046,2644,3308,3414,0,0,0,0,0,0
$GC,6331,-1.47,-116.8,561.2,-8.7,301,6336,0.00,2.65,0.00,0.000,6,0.000,0.039,2644,1710,3414,0,0,0,0,0,0
$GC,6606,-1.47,-116.8,584.1,-8.2,308,6610,0.00,2.70,0.00,0.000,4,0.000,0.074,2645,170,3411,0,0,0,0,0,0
$GC,6639,-1.47,-116.8,587.3,-9.7,308,6643,0.00,2.50,0.00,0.000,6,0.000,0.033,2644,1715,3411,0,0,0,0,0,0
$GC,6892,-1.47,-116.8,608.0,-8.2,314,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1715,3410,0,0,0,0,0,0
$GC,7133,-1.47,-116.8,626.2,-7.3,320,7137,0.00,2.72,0.00,0.000,4,0.000,0.070,2645,166,3408,0,0,0,0,0,0
$GC,7170,-1.47,-116.8,629.1,-7.6,320,7176,0.00,2.53,0.00,0.000,6,0.000,0.035,2644,1703,3408,0,0,0,0,0,0
$GC,7421,-1.47,-116.8,646.7,-7.2,327,7426,0.00,2.72,0.00,0.000,4,0.000,0.059,2644,3305,3407,0,0,0,0,0,0
$GC,7454,-1.47,-116.8,648.9,-7.8,327,7459,0.00,2.67,0.00,0.000,6,0.000,0.039,2644,1704,3407,0,0,0,0,0,0
$GC,7709,-1.47,-116.8,668.9,-8.0,334,7715,0.00,2.72,0.00,0.000,4,0.000,0.077,2644,173,3406,0,0,0,0,0,0
$GC,7734,-1.47,-116.8,671.4,-10.7,334,7738,0.00,2.50,0.00,0.000,6,0.000,0.035,2645,1704,3405,0,0,0,0,0,0
$GC,7999,-1.47,-116.8,694.2,-8.5,341,8004,0.00,2.67,0.00,0.000,4,0.000,0.071,2644,169,3404,0,0,0,0,0,0
$GC,8018,-1.47,-116.8,696.2,-9.0,341,8022,0.00,2.53,0.00,0.000,6,0.000,0.035,2644,1707,3404,0,0,0,0,0,0
$STATE,8077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8077,begin apogee
$GC,8083,-0.31,0.0,701.1,8.3,343,8181,1.17,0.00,94.35,1.019,6,0.074,0.000,2910,1707,2955,0,0,0,0,0,0
$STATE,8182,end apogee,CONTROL_FINISHED_OK
$STATE,8182,begin climb
$GC,8186,1.35,116.8,703.0,0.0,345,8299,1.48,2.75,103.97,0.997,4,0.028,0.071,3284,176,2476,0,0,0,0,0,0
$GC,8467,0.94,116.8,683.2,11.3,351,8492,15.70,2.55,0.00,0.000,6,0.002,0.036,3285,1702,2467,52,1,0,0,0,0
$STATE,8495,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8510,524.03,0.834,39,1,541,591.91
$SM_CCo,9236,10.82,0.765,1,0,509,600.00
$SM_GC,1.75,12.00,0.00,0.00,0.040,0.000,0.000,413,1705,495,-11.74,0.14,603.44
$IRIDIUM_FIX,2136.49,-15812.78,190101,232319
$TT8_MAMPS,0.026845
$HUMID,76.42
$INTERNAL_PRESSURE,9.22297
$TCM_TEMP,18.80
$XPDR_PINGS,1
$24V_AH,23.1,71.291
$10V_AH,9.8,78.336
$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,46.125,132.725,198.325,534.850,0.000,54.841,82.106,318.221,0.250,0.000,12.298,927.381,8782.015,1042.260,1028.372,977.011,33.375,1729.719,0.000,1153.749,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,76.700,1018.576,834.496,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,238.480,237.668,300.152,321.122,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,25784,352
$CAP_FILE_SIZE,119339,16
$CFSIZE,260165632,94883840
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,52,0,40,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,271011,024337,2144.361,-15811.181,35,1.3,35,9.9