version: 66.06
glider: 148
mission: 10
dive: 740
start: 10 27 111 9 5 56
data:
$ID,148
$MISSION,10
$DIVE,740
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,500
$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,200
$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,-892993.5
$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,21
$R_STBD_OVSHOOT,41
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,380
$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
$GPS1,090028,2143.657,-15810.719,8,2.1,27,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.0
$GPS2,090501,2143.694,-15810.689,12,1.6,29,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,7mile
$TGT_LATLONG,2143.000,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.116,-0.204
$KALMAN_X,-136915.6,-398.7,553.6,61802.3,398.0
$KALMAN_Y,-133827.5,242.8,489.8,-23011.1,491.7
$MHEAD_RNG_PITCHd_Wd,199.8,1392,-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,-116.8,0.0,0.0,0,120,0.00,0.00,-100.10,0.000,2,0.000,0.000,415,1816,3094,0,0,0,0,0,0
$GC,125,-1.38,-116.8,3.5,-6.8,19,153,11.52,2.40,-6.62,0.000,4,0.144,0.037,2674,3314,3434,0,0,0,0,0,0
$GC,254,-1.29,-116.8,26.4,-14.5,45,261,0.08,2.58,0.00,0.000,6,0.081,0.023,2697,1708,3434,0,0,0,0,0,0
$GC,522,-1.13,-116.8,64.0,-13.5,72,527,0.15,2.50,0.00,0.000,4,0.104,0.039,2730,176,3434,0,0,0,0,0,0
$GC,561,-1.13,-116.8,68.9,-11.3,75,566,0.00,2.38,0.00,0.000,6,0.000,0.016,2730,1741,3434,0,0,0,0,0,0
$GC,827,-1.13,-116.8,93.6,-8.7,99,832,0.00,2.58,0.00,0.000,4,0.000,0.040,2730,177,3434,0,0,0,0,0,0
$GC,843,-1.13,-116.8,95.5,-9.0,100,849,0.00,2.38,0.00,0.000,6,0.000,0.016,2731,1730,3434,0,0,0,0,0,0
$GC,1110,-1.13,-116.8,119.2,-10.3,125,1114,0.00,2.42,0.00,0.000,4,0.000,0.023,2731,3286,3434,0,0,0,0,0,0
$GC,1136,-1.23,-116.8,121.8,-8.8,127,1140,0.00,2.45,0.00,0.000,6,0.000,0.021,2730,1716,3434,0,0,0,0,0,0
$GC,1402,-1.31,-116.8,141.1,-6.3,151,1408,0.15,0.00,0.00,0.000,6,0.053,0.000,2649,1716,3434,0,0,0,0,0,0
$GC,1666,-1.19,-116.8,169.4,-9.9,176,1671,0.28,2.53,0.00,0.000,4,0.083,0.038,2716,180,3434,0,0,0,0,0,0
$GC,1729,-1.28,-116.8,174.4,-7.4,182,1734,0.00,2.35,0.00,0.000,6,0.000,0.016,2716,1740,3433,0,0,0,0,0,0
$GC,1992,-1.38,-116.8,189.6,-5.7,207,1997,0.15,2.40,0.00,0.000,4,0.053,0.024,2627,3282,3433,0,0,0,0,0,0
$GC,2057,-1.28,-116.8,195.1,-8.8,213,2062,0.32,2.42,0.00,0.000,6,0.077,0.022,2701,1729,3434,0,0,0,0,0,0
$GC,2330,-1.34,-116.8,214.9,-7.1,224,2335,0.00,2.42,0.00,0.000,4,0.000,0.024,2701,3272,3433,0,0,0,0,0,0
$GC,2359,-1.45,-116.8,217.1,-9.4,224,2364,0.15,2.38,0.00,0.000,6,0.053,0.022,2619,1750,3432,0,0,0,0,0,0
$GC,2619,-1.26,-116.8,245.8,-11.3,231,2625,0.38,2.58,0.00,0.000,4,0.081,0.039,2702,184,3432,0,0,0,0,0,0
$GC,2672,-1.40,-116.8,250.8,-8.5,232,2680,0.55,2.38,0.00,0.000,6,0.015,0.018,2638,1744,3432,1,0,0,0,0,0
$GC,2961,-1.31,-116.8,278.7,-9.7,239,2967,0.25,2.55,0.00,0.000,4,0.081,0.041,2700,177,3430,0,0,0,0,0,0
$GC,2986,-1.38,-116.8,281.1,-8.1,239,2990,0.00,2.38,0.00,0.000,6,0.000,0.018,2700,1726,3430,0,0,0,0,0,0
$GC,3247,-1.49,-116.8,297.4,-6.3,246,3252,0.17,2.47,0.00,0.000,4,0.048,0.027,2616,3285,3429,0,0,0,0,0,0
$STATE,3273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3273,begin apogee
$GC,3282,-0.31,0.0,300.3,10.5,246,3377,1.27,0.00,91.35,0.647,6,0.075,0.000,2909,1696,2954,0,0,0,0,0,0
$STATE,3378,end apogee,CONTROL_FINISHED_OK
$STATE,3378,begin climb
$GC,3381,1.38,116.8,304.6,0.0,249,3490,1.50,2.62,95.90,0.641,4,0.028,0.056,3294,173,2476,0,0,0,0,0,0
$GC,3625,1.05,141.5,293.1,8.6,254,3663,10.02,2.38,21.27,0.603,6,0.007,0.019,3210,1692,2378,32,0,0,0,0,0
$GC,3932,1.10,181.0,268.9,7.7,262,3974,0.00,2.62,33.45,0.614,4,0.000,0.043,3210,3259,2215,0,0,0,0,0,0
$GC,4029,1.19,198.2,261.8,9.0,264,4051,0.12,2.53,15.80,0.580,6,0.065,0.028,3264,1718,2146,0,0,0,0,0,0
$GC,4316,1.10,198.2,233.0,10.2,271,4322,0.20,2.58,0.00,0.000,4,0.097,0.036,3221,3265,2140,0,0,0,0,0,0
$GC,4393,1.20,211.0,226.3,9.3,272,4411,0.00,2.50,11.48,0.548,6,0.000,0.028,3220,1736,2093,0,0,0,0,0,0
$GC,4703,1.24,240.0,200.4,8.3,280,4736,0.12,2.72,25.38,0.574,4,0.067,0.053,3272,172,1975,0,0,0,0,0,0
$GC,4749,1.15,240.0,195.4,10.9,281,4761,0.80,2.47,0.00,0.000,6,0.032,0.020,3231,1742,1975,2,0,0,0,0,0
$GC,5016,1.17,253.3,168.6,9.2,306,5036,0.00,2.55,12.35,0.523,4,0.000,0.035,3231,3268,1922,0,0,0,0,0,0
$GC,5132,1.25,253.4,157.8,10.0,318,5140,0.00,2.50,0.00,0.000,6,0.000,0.027,3231,1744,1917,0,0,0,0,0,0
$GC,5399,1.37,275.3,132.9,8.7,343,5427,0.20,2.67,19.48,0.521,4,0.047,0.046,3306,182,1831,0,0,0,0,0,0
$GC,5482,1.25,275.3,123.1,12.4,351,5491,1.90,2.45,0.00,0.000,6,0.022,0.021,3252,1731,1830,6,0,0,0,0,0
$GC,5756,1.37,303.8,96.9,8.4,377,5787,0.10,2.60,24.80,0.502,4,0.079,0.037,3309,3279,1715,0,0,0,0,0,0
$GC,5882,1.37,303.8,82.6,12.4,390,5888,0.15,2.50,0.00,0.000,6,0.105,0.028,3277,1738,1709,0,0,0,0,0,0
$GC,6149,1.46,306.4,55.8,9.9,414,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1738,1707,0,0,0,0,0,0
$GC,6412,1.53,306.4,31.6,10.7,439,6417,0.15,2.47,0.00,0.000,4,0.058,0.029,3361,3280,1707,0,0,0,0,0,0
$GC,6493,1.44,306.4,21.1,12.3,455,6500,0.25,2.47,0.00,0.000,6,0.079,0.026,3292,1756,1705,0,0,0,0,0,0
$STATE,6663,end climb,SURFACE_DEPTH_REACHED
$STATE,6663,begin surface coast
$FINISH,0.7,1.012776
$STATE,6702,end surface coast,CONTROL_FINISHED_OK
$STATE,6702,begin surface
$SM_CCo,6724,47.33,0.430,0,0,1323,400.08
$SM_GC,1.48,0.00,0.00,47.33,0.000,0.000,0.430,412,1751,1323,-11.81,0.90,400.08
$IRIDIUM_FIX,2136.49,-15807.61,200101,090907
$TT8_MAMPS,0.027612
$HUMID,65.51
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,21.80
$XPDR_PINGS,8
$24V_AH,23.7,71.728
$10V_AH,9.8,78.581
$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,42.475,89.750,351.250,47.325,0.000,0.000,0.000,0.000,2.000,0.000,31.882,935.851,3724.439,439.046,1273.606,493.975,33.356,1142.164,0.000,1469.152,0.000,1.004,0.000
$DEVICE_MAMPS,144.196,55.991,647.348,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.173,480.307,599.555,713.611,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,38265,492
$CAP_FILE_SIZE,126796,0
$CFSIZE,260165632,94720000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,41,0,0,0
$GPS,271011,110007,2143.429,-15810.233,34,1.0,34,9.9