version: 66.06
glider: 148
mission: 10
dive: 576
start: 9 28 111 22 11 6
data:
$ID,148
$MISSION,10
$DIVE,576
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-889288.94
$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,33
$R_STBD_OVSHOOT,42
$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
$GPS1,215948,2259.875,-15734.014,29,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.4
$GPS2,221008,2259.772,-15734.104,11,1.0,11,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.211,-0.103
$KALMAN_X,-20376.4,-383.4,-240.8,8366.2,-616.7
$KALMAN_Y,-9038.2,93.6,646.0,-6891.7,-549.9
$MHEAD_RNG_PITCHd_Wd,221.5,52006,-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,19,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-75.57,0.000,2,0.000,0.000,409,1730,3353,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.0,-7.1,10,119,12.35,2.62,-1.38,0.000,4,0.168,0.056,2679,174,3433,0,0,0,0,0,0
$GC,235,-1.27,-116.8,30.4,-13.5,29,246,0.12,2.42,0.00,0.000,6,0.085,0.017,2710,1736,3435,0,0,0,0,0,0
$GC,505,-1.20,-116.8,65.4,-13.3,54,509,0.00,2.45,0.00,0.000,4,0.000,0.023,2711,3296,3435,0,0,0,0,0,0
$GC,516,-1.20,-116.8,68.2,-13.1,54,526,0.00,2.55,0.00,0.000,6,0.000,0.022,2710,1708,3435,0,0,0,0,0,0
$GC,784,-1.20,-116.8,95.4,-7.9,79,788,0.00,2.47,0.00,0.000,4,0.000,0.023,2711,3287,3435,0,0,0,0,0,0
$GC,842,-1.31,-116.8,99.8,-6.5,84,846,0.00,2.47,0.00,0.000,6,0.000,0.022,2711,1715,3436,0,0,0,0,0,0
$GC,1107,-1.38,-116.8,119.5,-9.1,108,1111,0.00,2.50,0.00,0.000,4,0.000,0.040,2710,179,3437,0,0,0,0,0,0
$GC,1147,-1.48,-116.8,123.5,-11.1,111,1152,0.17,2.38,0.00,0.000,6,0.048,0.016,2633,1742,3437,0,0,0,0,0,0
$GC,1408,-1.34,-116.8,153.4,-9.5,135,1413,0.25,2.55,0.00,0.000,4,0.087,0.038,2694,176,3437,0,0,0,0,0,0
$GC,1435,-1.34,-116.8,155.5,-7.4,137,1439,0.00,2.35,0.00,0.000,6,0.000,0.017,2694,1721,3437,0,0,0,0,0,0
$GC,1699,-1.34,-116.8,171.2,-6.6,161,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1723,3437,0,0,0,0,0,0
$GC,1960,-1.34,-116.8,195.2,-9.8,186,1964,0.00,2.45,0.00,0.000,4,0.000,0.024,2694,3280,3437,0,0,0,0,0,0
$GC,1979,-1.34,-116.8,196.9,-10.3,187,1985,0.00,2.50,0.00,0.000,6,0.000,0.023,2694,1721,3437,0,0,0,0,0,0
$GC,2257,-1.34,-116.8,221.3,-8.2,196,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1721,3437,0,0,0,0,0,0
$GC,2501,-1.41,-116.8,240.4,-7.8,202,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1721,3437,0,0,0,0,0,0
$GC,2747,-1.48,-116.8,259.3,-7.7,208,2752,0.12,2.50,0.00,0.000,4,0.063,0.026,2628,3279,3435,0,0,0,0,0,0
$GC,2767,-1.48,-116.8,261.2,-8.1,208,2772,0.17,2.50,0.00,0.000,6,0.091,0.024,2668,1712,3436,0,0,0,0,0,0
$GC,3031,-1.48,-116.8,281.0,-7.5,215,3035,0.00,2.50,0.00,0.000,4,0.000,0.027,2668,3279,3434,0,0,0,0,0,0
$GC,3052,-1.48,-116.8,282.7,-8.2,215,3057,0.00,2.45,0.00,0.000,6,0.000,0.024,2668,1728,3434,0,0,0,0,0,0
$STATE,3273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3273,begin apogee
$GC,3278,-0.31,0.0,302.1,8.8,221,3375,1.10,0.00,92.88,0.661,6,0.071,0.000,2922,1728,2955,0,0,0,0,0,0
$STATE,3376,end apogee,CONTROL_FINISHED_OK
$STATE,3376,begin climb
$GC,3378,1.38,116.8,306.1,0.0,223,3485,1.48,2.67,94.78,0.654,4,0.026,0.054,3310,184,2476,0,0,0,0,0,0
$GC,3540,1.02,169.2,307.3,7.0,226,3590,0.45,2.38,43.60,0.640,6,0.100,0.021,3214,1670,2265,0,0,0,0,0,0
$GC,3841,1.04,183.9,282.0,9.2,234,3861,0.00,2.75,13.20,0.584,4,0.000,0.046,3214,3274,2204,0,0,0,0,0,0
$GC,3949,1.05,189.1,271.1,9.7,236,3961,0.00,2.55,5.38,0.473,6,0.000,0.028,3214,1716,2184,0,0,0,0,0,0
$GC,4222,1.09,218.9,247.7,8.3,243,4254,0.00,2.65,26.65,0.611,4,0.000,0.035,3214,3269,2061,0,0,0,0,0,0
$GC,4273,1.12,248.6,243.4,8.3,244,4307,0.00,2.55,27.12,0.604,6,0.000,0.028,3214,1715,1940,0,0,0,0,0,0
$GC,4555,1.20,260.4,216.9,9.3,251,4574,0.15,2.65,11.23,0.549,4,0.058,0.037,3275,3271,1892,0,0,0,0,0,0
$GC,4607,1.20,260.4,210.9,11.7,252,4612,0.12,2.55,0.00,0.000,6,0.112,0.028,3248,1713,1889,0,0,0,0,0,0
$GC,4879,1.21,267.3,185.3,9.6,269,4891,0.00,2.62,6.75,0.486,4,0.000,0.035,3248,3270,1865,0,0,0,0,0,0
$GC,4933,1.21,267.7,180.2,10.0,274,4937,0.00,2.53,0.00,0.000,6,0.000,0.028,3249,1724,1862,0,0,0,0,0,0
$GC,5201,1.21,267.7,153.6,10.6,298,5205,0.00,2.55,0.00,0.000,4,0.000,0.035,3249,3278,1861,0,0,0,0,0,0
$GC,5239,1.21,267.7,149.2,11.2,301,5244,0.00,2.50,0.00,0.000,6,0.000,0.028,3248,1734,1860,0,0,0,0,0,0
$GC,5508,1.21,267.7,121.2,10.1,325,5512,0.00,2.53,0.00,0.000,4,0.000,0.035,3249,3280,1860,0,0,0,0,0,0
$GC,5526,1.21,267.7,118.4,10.1,326,5535,0.00,2.53,0.00,0.000,6,0.000,0.027,3249,1732,1859,0,0,0,0,0,0
$GC,5794,1.24,295.0,93.9,8.4,351,5824,0.00,2.55,24.23,0.514,4,0.000,0.033,3248,3281,1751,0,0,0,0,0,0
$GC,5847,1.37,306.0,88.5,9.4,356,5865,0.17,2.50,10.85,0.469,6,0.051,0.027,3316,1746,1705,0,0,0,0,0,0
$GC,6134,1.37,306.0,57.7,10.2,382,6139,0.12,2.53,0.00,0.000,4,0.110,0.033,3290,3281,1703,0,0,0,0,0,0
$GC,6180,1.44,307.3,53.1,9.9,385,6185,0.00,2.47,0.00,0.000,6,0.000,0.026,3290,1748,1701,0,0,0,0,0,0
$GC,6451,1.44,307.3,28.5,10.0,410,6462,0.00,2.50,0.00,0.000,4,0.000,0.031,3290,3278,1701,0,0,0,0,0,0
$GC,6482,1.45,310.7,25.3,9.8,413,6493,0.00,2.45,4.72,0.343,6,0.000,0.025,3290,1769,1688,0,0,0,0,0,0
$STATE,6700,end climb,SURFACE_DEPTH_REACHED
$STATE,6700,begin surface coast
$FINISH,0.4,1.010365
$STATE,6755,end surface coast,CONTROL_FINISHED_OK
$STATE,6755,begin surface
$SM_CCo,6778,55.08,0.431,1,0,1323,400.08
$SM_GC,1.43,0.00,0.00,55.08,0.000,0.000,0.431,410,1696,1323,-11.87,-0.68,400.08
$IRIDIUM_FIX,2253.38,-15732.35,221200,202016
$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.10
$XPDR_PINGS,2
$24V_AH,23.7,51.818
$10V_AH,10.0,60.145
$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,28.300,90.725,361.375,55.075,0.000,28.628,36.152,409.880,0.500,0.000,12.816,953.380,3435.897,419.197,1528.266,1125.383,33.333,1066.542,0.000,1883.693,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,159.536,661.154,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,306.973,528.873,610.787,612.517,1148.339,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356084
$DATA_FILE_SIZE,35165,454
$CAP_FILE_SIZE,88162,0
$CFSIZE,260165632,105746432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.218,216.1,1
$GPS,290911,000624,2258.661,-15735.157,35,1.5,36,10.1