version: 66.06
glider: 148
mission: 10
dive: 595
start: 9 30 111 11 54 19
data:
$ID,148
$MISSION,10
$DIVE,595
$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,-889612.5
$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,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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,114710,2244.050,-15801.154,39,1.6,55,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.9
$GPS2,115320,2244.013,-15801.249,12,1.0,12,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.148
$KALMAN_X,-51417.1,-540.4,-71.7,-6826.7,-1449.3
$KALMAN_Y,-26674.7,-167.7,1011.8,-18530.2,-1191.5
$MHEAD_RNG_PITCHd_Wd,36.7,2809,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-67.70,0.000,2,0.000,0.000,412,1661,3108,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.6,-6.6,9,118,12.27,2.42,-6.22,0.000,4,0.167,0.049,2681,174,3433,0,0,0,0,0,0
$GC,150,-1.21,-116.8,16.1,-15.8,16,161,0.15,2.42,0.00,0.000,6,0.078,0.017,2719,1731,3434,0,0,0,0,0,0
$GC,441,-1.13,-116.8,51.2,-12.5,49,446,0.10,2.45,0.00,0.000,4,0.127,0.025,2742,3289,3434,0,0,0,0,0,0
$GC,475,-1.13,-116.8,55.7,-11.6,51,479,0.00,2.50,0.00,0.000,6,0.000,0.023,2741,1710,3435,0,0,0,0,0,0
$GC,744,-1.20,-116.8,80.9,-8.3,75,749,0.00,2.47,0.00,0.000,4,0.000,0.025,2741,3286,3435,0,0,0,0,0,0
$GC,775,-1.28,-116.8,83.4,-8.2,77,780,0.12,2.45,0.00,0.000,6,0.061,0.022,2658,1727,3435,0,0,0,0,0,0
$GC,1043,-1.15,-116.8,110.9,-9.8,101,1048,0.35,2.50,0.00,0.000,4,0.084,0.038,2736,180,3435,0,0,0,0,0,0
$GC,1084,-1.34,-116.8,114.7,-7.7,104,1094,0.12,2.38,0.00,0.000,6,0.023,0.016,2654,1732,3435,0,0,0,0,0,0
$GC,1350,-1.23,-116.8,136.4,-8.7,129,1355,0.25,2.53,0.00,0.000,4,0.085,0.038,2715,176,3436,0,0,0,0,0,0
$GC,1390,-1.37,-116.8,140.1,-7.8,132,1395,0.10,2.33,0.00,0.000,6,0.074,0.016,2653,1719,3437,0,0,0,0,0,0
$GC,1652,-1.28,-116.8,164.1,-9.5,156,1657,0.25,2.50,0.00,0.000,4,0.083,0.038,2714,179,3437,0,0,0,0,0,0
$GC,1683,-1.45,-116.8,166.9,-8.6,158,1690,0.17,2.28,0.00,0.000,6,0.048,0.016,2632,1703,3437,0,0,0,0,0,0
$GC,1946,-1.32,-116.8,194.1,-11.0,183,1952,0.28,2.47,0.00,0.000,4,0.085,0.038,2699,181,3437,0,0,0,0,0,0
$GC,1970,-1.32,-116.8,196.6,-10.1,184,1976,0.00,2.28,0.00,0.000,6,0.000,0.017,2699,1686,3437,0,0,0,0,0,0
$GC,2222,-1.39,-116.8,216.2,-7.6,194,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1689,3437,0,0,0,0,0,0
$GC,2466,-1.48,-116.8,234.1,-7.3,200,2468,0.12,0.00,0.00,0.000,6,0.062,0.000,2630,1689,3437,0,0,0,0,0,0
$GC,2712,-1.37,-116.8,255.9,-9.0,206,2717,0.25,2.47,0.00,0.000,4,0.083,0.024,2692,3268,3437,0,0,0,0,0,0
$GC,2743,-1.50,-116.8,258.4,-6.5,206,2748,0.12,2.50,0.00,0.000,6,0.063,0.023,2621,1684,3436,0,0,0,0,0,0
$GC,3000,-1.39,-116.8,282.2,-9.6,213,3005,0.25,2.53,0.00,0.000,4,0.085,0.025,2683,3276,3436,0,0,0,0,0,0
$GC,3045,-1.50,-116.8,285.9,-7.5,214,3049,0.00,2.50,0.00,0.000,6,0.000,0.025,2683,1693,3436,0,0,0,0,0,0
$STATE,3248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3248,begin apogee
$GC,3253,-0.31,0.0,300.1,7.0,219,3350,1.02,0.00,93.30,0.660,6,0.066,0.000,2922,1693,2955,0,0,0,0,0,0
$STATE,3351,end apogee,CONTROL_FINISHED_OK
$STATE,3351,begin climb
$GC,3354,1.38,116.8,302.3,0.0,221,3461,1.48,2.62,94.70,0.652,4,0.027,0.064,3307,176,2477,0,0,0,0,0,0
$GC,3723,1.00,158.9,281.1,7.6,229,3766,0.45,2.35,35.20,0.630,6,0.097,0.020,3210,1670,2306,0,0,0,0,0,0
$GC,4047,1.08,216.8,259.9,6.7,237,4104,0.00,2.55,49.22,0.631,4,0.000,0.051,3210,183,2069,0,0,0,0,0,0
$GC,4210,1.08,219.7,244.7,9.8,240,4214,0.00,2.40,0.00,0.000,6,0.000,0.021,3210,1702,2067,0,0,0,0,0,0
$GC,4464,1.11,245.3,222.7,8.5,247,4498,0.00,2.62,24.73,0.598,4,0.000,0.041,3210,3268,1953,0,0,0,0,0,0
$GC,4576,1.25,274.8,213.5,8.3,249,4610,0.22,2.55,26.95,0.596,6,0.043,0.029,3298,1713,1834,0,0,0,0,0,0
$GC,4874,1.12,274.8,178.9,11.7,267,4879,0.28,2.60,0.00,0.000,4,0.095,0.053,3235,174,1828,0,0,0,0,0,0
$GC,4957,1.12,274.8,170.3,10.9,274,4962,0.00,2.40,0.00,0.000,6,0.000,0.020,3235,1707,1828,0,0,0,0,0,0
$GC,5220,1.19,274.8,143.4,10.6,298,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1711,1826,0,0,0,0,0,0
$GC,5474,1.27,277.9,118.0,9.8,322,5479,0.12,2.53,0.00,0.000,4,0.065,0.030,3291,3278,1825,0,0,0,0,0,0
$GC,5521,1.27,277.9,112.3,12.2,326,5526,0.10,2.55,0.00,0.000,6,0.120,0.028,3268,1692,1822,0,0,0,0,0,0
$GC,5782,1.30,300.8,85.7,8.7,350,5809,0.00,2.60,21.58,0.505,4,0.000,0.047,3268,174,1727,0,0,0,0,0,0
$GC,5855,1.30,300.8,77.5,11.9,356,5865,0.00,2.45,0.00,0.000,6,0.000,0.021,3267,1706,1726,0,0,0,0,0,0
$GC,6125,1.42,314.4,51.7,9.2,381,6144,0.12,2.55,13.15,0.456,4,0.065,0.031,3324,3283,1671,0,0,0,0,0,0
$GC,6183,1.42,314.4,45.5,11.1,385,6188,0.12,2.58,0.00,0.000,6,0.112,0.028,3296,1699,1668,0,0,0,0,0,0
$GC,6468,1.44,331.0,20.7,9.0,417,6487,0.00,0.00,15.60,0.437,6,0.000,0.000,3296,1699,1604,0,0,0,0,0,0
$STATE,6642,end climb,SURFACE_DEPTH_REACHED
$STATE,6644,begin surface coast
$FINISH,0.5,1.023251
$STATE,6707,end surface coast,CONTROL_FINISHED_OK
$STATE,6707,begin surface
$SM_CCo,6729,46.03,0.440,0,0,1323,400.08
$SM_GC,1.33,0.00,0.00,46.03,0.000,0.000,0.440,406,1696,1323,-11.89,-0.71,400.08
$IRIDIUM_FIX,2234.68,-15805.41,241200,090934
$TT8_MAMPS,0.027612
$HUMID,65.51
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,23.7,53.432
$10V_AH,10.1,62.201
$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,30.325,79.325,374.425,46.025,0.000,29.933,36.154,157.853,0.250,0.000,13.656,973.077,3241.104,401.263,1641.980,893.060,33.328,1085.081,0.000,1995.559,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,63.661,660.387,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.796,537.257,617.173,630.971,1186.008,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,35190,452
$CAP_FILE_SIZE,88403,0
$CFSIZE,260165632,104894464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.387,223.3,1
$GPS,300911,134808,2243.368,-15801.733,9,1.9,10,10.0