version: 66.06
glider: 148
mission: 10
dive: 577
start: 9 29 111 0 13 37
data:
$ID,148
$MISSION,10
$DIVE,577
$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,-889301.94
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,000624,2258.661,-15735.157,35,1.5,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.3
$GPS2,001238,2258.596,-15735.247,10,1.5,10,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,0.029
$KALMAN_X,-21588.7,-313.0,214.5,7098.5,-677.5
$KALMAN_Y,-10158.7,-146.1,493.7,-7549.1,-1412.9
$MHEAD_RNG_PITCHd_Wd,250.6,49207,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-74.85,0.000,2,0.000,0.000,410,1694,3296,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-5.9,9,126,12.30,2.60,-2.42,0.000,4,0.167,0.035,2681,3307,3434,0,0,0,0,0,0
$GC,189,-1.30,-116.8,23.6,-12.6,21,200,0.05,2.55,0.00,0.000,6,0.094,0.024,2697,1735,3435,0,0,0,0,0,0
$GC,476,-1.18,-116.8,59.7,-11.6,49,481,0.15,2.55,0.00,0.000,4,0.105,0.041,2730,173,3435,0,0,0,0,0,0
$GC,535,-1.18,-116.8,65.8,-8.8,53,539,0.00,2.40,0.00,0.000,6,0.000,0.016,2730,1738,3436,0,0,0,0,0,0
$GC,805,-1.25,-116.8,89.2,-10.0,77,809,0.00,2.40,0.00,0.000,4,0.000,0.024,2731,3284,3436,0,0,0,0,0,0
$GC,878,-1.42,-116.8,95.8,-7.6,83,883,0.20,2.53,0.00,0.000,6,0.042,0.022,2629,1696,3437,0,0,0,0,0,0
$GC,1146,-1.25,-116.8,122.1,-9.4,107,1151,0.38,2.45,0.00,0.000,4,0.084,0.038,2710,179,3437,0,0,0,0,0,0
$GC,1199,-1.38,-116.8,127.4,-9.1,111,1205,0.00,2.33,0.00,0.000,6,0.000,0.016,2710,1712,3437,0,0,0,0,0,0
$GC,1463,-1.46,-116.8,150.3,-8.9,136,1468,0.15,2.45,0.00,0.000,4,0.054,0.024,2636,3277,3438,0,0,0,0,0,0
$GC,1535,-1.46,-116.8,158.2,-9.6,142,1543,0.12,2.50,0.00,0.000,6,0.072,0.023,2670,1714,3437,0,0,0,0,0,0
$GC,1800,-1.46,-116.8,179.4,-8.1,167,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1714,3437,0,0,0,0,0,0
$GC,2070,-1.46,-116.8,204.6,-9.3,190,2074,0.00,2.45,0.00,0.000,4,0.000,0.024,2670,3278,3437,0,0,0,0,0,0
$GC,2084,-1.46,-116.8,205.9,-9.2,190,2089,0.00,2.50,0.00,0.000,6,0.000,0.023,2670,1704,3437,0,0,0,0,0,0
$GC,2355,-1.46,-116.8,228.4,-8.1,197,2359,0.00,2.47,0.00,0.000,4,0.000,0.043,2670,176,3438,0,0,0,0,0,0
$GC,2392,-1.46,-116.8,232.3,-9.3,197,2398,0.00,2.35,0.00,0.000,6,0.000,0.018,2670,1715,3437,0,0,0,0,0,0
$GC,2642,-1.46,-116.8,252.3,-8.2,204,2648,0.00,2.47,0.00,0.000,4,0.000,0.025,2670,3272,3437,0,0,0,0,0,0
$GC,2696,-1.52,-116.8,256.3,-8.2,205,2700,0.00,2.47,0.00,0.000,6,0.000,0.024,2670,1718,3437,0,0,0,0,0,0
$GC,2982,-1.52,-116.8,278.5,-7.4,212,2986,0.00,2.50,0.00,0.000,4,0.000,0.027,2670,3283,3436,0,0,0,0,0,0
$GC,3011,-1.52,-116.8,280.7,-7.6,212,3015,0.00,2.47,0.00,0.000,6,0.000,0.025,2670,1736,3436,0,0,0,0,0,0
$GC,3266,-1.52,-116.8,299.7,-7.7,219,3271,0.00,2.47,0.00,0.000,4,0.000,0.028,2670,3270,3434,0,0,0,0,0,0
$STATE,3274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3274,begin apogee
$GC,3283,-0.31,0.0,300.8,7.8,219,3379,1.05,0.00,92.93,0.663,6,0.071,0.000,2917,1699,2955,0,0,0,0,0,0
$STATE,3380,end apogee,CONTROL_FINISHED_OK
$STATE,3380,begin climb
$GC,3384,1.38,116.8,303.6,0.0,221,3490,1.50,2.67,94.70,0.656,4,0.026,0.058,3311,180,2477,0,0,0,0,0,0
$GC,3640,0.96,116.8,291.7,10.1,226,3647,0.52,2.38,0.00,0.000,6,0.096,0.021,3198,1673,2472,0,0,0,0,0,0
$GC,3900,1.05,191.2,275.8,5.7,233,3969,0.00,2.78,61.55,0.643,4,0.000,0.048,3199,3263,2174,0,0,0,0,0,0
$GC,4004,1.09,228.0,268.8,7.9,235,4043,0.12,2.58,32.50,0.622,6,0.064,0.033,3254,1701,2024,0,0,0,0,0,0
$GC,4323,1.02,228.0,236.9,10.2,243,4328,0.20,2.65,0.00,0.000,4,0.097,0.036,3210,3270,2017,0,0,0,0,0,0
$GC,4362,1.10,228.0,232.7,10.0,243,4367,0.00,2.60,0.00,0.000,6,0.000,0.028,3210,1700,2015,0,0,0,0,0,0
$GC,4617,1.11,241.8,208.9,9.2,250,4635,0.10,2.65,11.57,0.555,4,0.078,0.037,3260,3276,1968,0,0,0,0,0,0
$GC,4650,1.11,241.8,205.5,10.5,250,4655,0.12,2.58,0.00,0.000,6,0.110,0.028,3234,1703,1967,0,0,0,0,0,0
$GC,4914,1.13,250.8,181.4,9.5,268,4935,0.00,2.62,9.48,0.527,4,0.000,0.034,3234,3280,1930,0,0,0,0,0,0
$GC,4954,1.13,250.8,177.7,10.0,271,4958,0.00,2.55,0.00,0.000,6,0.000,0.028,3234,1706,1929,0,0,0,0,0,0
$GC,5222,1.13,250.8,149.5,10.2,295,5226,0.00,2.58,0.00,0.000,4,0.000,0.035,3234,3285,1927,0,0,0,0,0,0
$GC,5280,1.23,267.7,143.3,9.0,300,5304,0.10,2.55,15.73,0.538,6,0.077,0.028,3283,1717,1863,0,0,0,0,0,0
$GC,5557,1.25,279.9,118.3,9.3,326,5576,0.00,2.65,11.80,0.504,4,0.000,0.035,3283,3283,1812,0,0,0,0,0,0
$GC,5583,1.25,279.9,115.8,10.2,328,5588,0.10,2.53,0.00,0.000,6,0.120,0.031,3261,1732,1811,0,0,0,0,0,0
$GC,5846,1.25,283.1,89.7,9.8,352,5861,0.00,2.58,3.88,0.347,4,0.000,0.034,3261,3279,1799,0,0,0,0,0,0
$GC,5908,1.37,317.0,84.5,8.0,357,5945,0.12,2.50,30.88,0.512,6,0.065,0.026,3315,1733,1662,0,0,0,0,0,0
$GC,6206,1.38,319.6,54.7,9.9,384,6211,0.12,2.55,0.00,0.000,4,0.110,0.032,3288,3282,1658,0,0,0,0,0,0
$GC,6266,1.47,319.6,48.8,10.1,388,6271,0.10,2.50,0.00,0.000,6,0.077,0.026,3337,1737,1655,0,0,0,0,0,0
$GC,6552,1.40,319.6,17.1,11.7,420,6563,0.20,2.55,0.00,0.000,4,0.095,0.031,3293,3286,1655,0,0,0,0,0,0
$GC,6596,1.40,319.6,12.0,10.8,425,6607,0.00,2.47,0.00,0.000,6,0.000,0.026,3293,1761,1654,0,0,0,0,0,0
$STATE,6676,end climb,SURFACE_DEPTH_REACHED
$STATE,6677,begin surface coast
$FINISH,0.5,1.007832
$STATE,6734,end surface coast,CONTROL_FINISHED_OK
$STATE,6734,begin surface
$SM_CCo,6755,47.42,0.442,0,0,1324,400.08
$SM_GC,1.40,0.00,0.00,47.42,0.000,0.000,0.442,412,1756,1324,-11.86,1.02,400.08
$IRIDIUM_FIX,2248.70,-15735.41,221200,222251
$TT8_MAMPS,0.027612
$HUMID,66.26
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,19.80
$XPDR_PINGS,2
$24V_AH,23.7,51.901
$10V_AH,10.1,60.254
$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,29.175,100.975,365.000,47.425,0.000,30.836,32.438,163.734,0.500,0.000,12.363,957.538,3340.961,414.404,1576.531,892.293,33.358,1104.253,0.000,1924.100,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,57.525,663.455,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,299.739,507.606,592.192,602.362,1127.094,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,35225,444
$CAP_FILE_SIZE,90348,0
$CFSIZE,260165632,105697280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.367,219.4,1
$GPS,290911,020806,2257.370,-15736.771,11,1.8,22,10.1