version: 66.06
glider: 148
mission: 10
dive: 600
start: 9 30 111 22 47 14
data:
$ID,148
$MISSION,10
$DIVE,600
$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,-889746.38
$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,46
$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
$GPS1,223806,2242.081,-15804.613,8,1.5,24,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.5
$GPS2,224614,2241.994,-15804.778,14,1.5,14,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,0.061
$KALMAN_X,-61692.0,-594.3,-604.0,-1969.1,-1303.3
$KALMAN_Y,-32817.4,-327.6,314.8,-15275.1,-331.2
$MHEAD_RNG_PITCHd_Wd,52.8,9878,-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,-116.8,0.0,0.0,0,121,0.00,0.00,-101.22,0.000,2,0.000,0.000,408,1753,3193,0,0,0,0,0,0
$GC,124,-1.38,-116.8,3.4,-5.2,13,151,12.25,2.62,-4.55,0.000,4,0.166,0.046,2681,179,3434,0,0,0,0,0,0
$GC,177,-0.92,-116.8,16.0,-21.2,19,188,0.45,2.42,0.00,0.000,6,0.077,0.017,2785,1739,3434,0,0,0,0,0,0
$GC,478,-1.05,-116.8,43.3,-8.1,55,483,0.10,2.42,0.00,0.000,4,0.074,0.025,2705,3285,3434,0,0,0,0,0,0
$GC,527,-1.05,-116.8,49.2,-11.4,58,535,0.20,2.53,0.00,0.000,6,0.067,0.023,2765,1720,3435,0,0,0,0,0,0
$GC,797,-1.20,-116.8,71.2,-8.4,83,807,0.15,0.00,0.00,0.000,6,0.054,0.000,2683,1720,3434,0,0,0,0,0,0
$GC,1058,-1.20,-116.8,101.0,-10.6,108,1063,0.20,2.47,0.00,0.000,4,0.087,0.021,2729,3287,3435,0,0,0,0,0,0
$GC,1092,-1.36,-116.8,104.2,-8.8,110,1104,0.10,2.50,0.00,0.000,6,0.028,0.021,2651,1721,3436,0,0,0,0,0,0
$GC,1361,-1.26,-116.8,129.8,-8.0,135,1366,0.25,0.00,0.00,0.000,6,0.084,0.000,2712,1721,3436,0,0,0,0,0,0
$GC,1624,-1.34,-116.8,146.6,-7.8,160,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1720,3436,0,0,0,0,0,0
$GC,1883,-1.45,-116.8,170.1,-9.9,184,1888,0.15,2.47,0.00,0.000,4,0.054,0.025,2637,3291,3436,0,0,0,0,0,0
$GC,1939,-1.45,-116.8,177.1,-11.5,189,1944,0.15,2.45,0.00,0.000,6,0.096,0.022,2673,1728,3436,0,0,0,0,0,0
$GC,2203,-1.45,-116.8,198.8,-6.6,213,2207,0.00,2.45,0.00,0.000,4,0.000,0.024,2673,3294,3436,0,0,0,0,0,0
$GC,2237,-1.53,-116.8,201.2,-6.1,215,2241,0.00,2.45,0.00,0.000,6,0.000,0.022,2673,1745,3436,0,0,0,0,0,0
$GC,2487,-1.53,-116.8,218.1,-7.1,221,2492,0.00,2.58,0.00,0.000,4,0.000,0.043,2673,185,3436,0,0,0,0,0,0
$GC,2508,-1.53,-116.8,219.9,-8.9,221,2512,0.00,2.40,0.00,0.000,6,0.000,0.018,2673,1752,3436,0,0,0,0,0,0
$GC,2776,-1.53,-116.8,242.2,-8.3,228,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1755,3435,0,0,0,0,0,0
$GC,3023,-1.53,-116.8,261.0,-7.5,234,3028,0.00,2.60,0.00,0.000,4,0.000,0.044,2673,176,3434,0,0,0,0,0,0
$GC,3049,-1.53,-116.8,263.2,-8.0,234,3055,0.00,2.42,0.00,0.000,6,0.000,0.019,2673,1728,3434,0,0,0,0,0,0
$GC,3314,-1.53,-116.8,281.0,-6.3,241,3319,0.00,2.47,0.00,0.000,4,0.000,0.027,2673,3290,3433,0,0,0,0,0,0
$GC,3337,-1.53,-116.8,282.5,-7.1,241,3342,0.00,2.50,0.00,0.000,6,0.000,0.025,2673,1725,3433,0,0,0,0,0,0
$GC,3599,-1.53,-116.8,297.6,-6.1,248,3603,0.00,2.58,0.00,0.000,4,0.000,0.048,2672,173,3431,0,0,0,0,0,0
$GC,3613,-1.53,-116.8,298.8,-6.1,248,3618,0.00,2.42,0.00,0.000,6,0.000,0.020,2673,1730,3431,0,0,0,0,0,0
$STATE,3635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3635,begin apogee
$GC,3640,-0.31,0.0,300.3,7.3,249,3736,1.08,0.00,92.35,0.668,6,0.069,0.000,2921,1732,2955,0,0,0,0,0,0
$STATE,3737,end apogee,CONTROL_FINISHED_OK
$STATE,3737,begin climb
$GC,3741,1.38,116.8,302.3,0.0,251,3848,1.48,2.70,95.97,0.658,4,0.023,0.058,3315,182,2476,0,0,0,0,0,0
$GC,3959,0.98,134.4,296.0,9.0,255,3982,0.52,2.38,15.65,0.606,6,0.097,0.021,3203,1686,2406,0,0,0,0,0,0
$GC,4258,1.09,224.7,280.8,4.8,263,4341,0.10,2.75,76.78,0.650,4,0.077,0.051,3251,3270,2038,0,0,0,0,0,0
$GC,4357,1.02,243.6,273.0,8.9,265,4381,0.17,2.58,17.30,0.601,6,0.096,0.028,3212,1711,1962,0,0,0,0,0,0
$GC,4625,1.02,248.8,247.7,9.7,272,4637,0.00,2.60,5.20,0.469,4,0.000,0.035,3212,3275,1939,0,0,0,0,0,0
$GC,4673,1.10,248.8,242.5,10.6,273,4677,0.00,2.58,0.00,0.000,6,0.000,0.029,3212,1705,1935,0,0,0,0,0,0
$GC,4963,1.16,248.8,212.9,10.1,280,4968,0.12,2.62,0.00,0.000,4,0.065,0.061,3266,167,1934,0,0,0,0,0,0
$GC,4977,1.16,248.8,210.7,10.4,280,4983,0.10,2.42,0.00,0.000,6,0.123,0.021,3244,1711,1934,0,0,0,0,0,0
$GC,5251,1.21,289.1,185.7,7.7,298,5292,0.00,2.62,34.40,0.598,4,0.000,0.041,3244,3278,1775,0,0,0,0,0,0
$GC,5382,1.32,309.8,174.7,8.8,310,5407,0.12,2.58,18.52,0.564,6,0.064,0.029,3301,1706,1692,0,0,0,0,0,0
$GC,5662,1.25,309.8,141.1,12.2,336,5664,0.17,0.00,0.00,0.000,6,0.098,0.000,3262,1706,1687,0,0,0,0,0,0
$GC,5918,1.25,309.8,110.3,11.9,360,5922,0.00,2.58,0.00,0.000,4,0.000,0.032,3262,3283,1686,0,0,0,0,0,0
$GC,6012,1.35,309.8,98.3,12.5,368,6023,0.00,2.58,0.00,0.000,6,0.000,0.031,3262,1713,1682,0,0,0,0,0,0
$GC,6283,1.48,344.3,72.9,8.0,393,6326,0.20,2.62,29.48,0.507,4,0.045,0.033,3342,3270,1548,0,0,0,0,0,0
$GC,6353,1.48,344.3,65.3,11.0,398,6358,0.15,2.53,0.00,0.000,6,0.099,0.028,3309,1721,1545,0,0,0,0,0,0
$GC,6623,1.48,344.3,37.6,10.9,422,6627,0.00,2.55,0.00,0.000,4,0.000,0.032,3309,3285,1544,0,0,0,0,0,0
$GC,6670,1.48,344.3,31.4,11.3,425,6680,0.00,2.55,0.00,0.000,6,0.000,0.028,3309,1727,1542,0,0,0,0,0,0
$STATE,6929,end climb,SURFACE_DEPTH_REACHED
$STATE,6929,begin surface coast
$FINISH,0.5,1.023042
$STATE,6978,end surface coast,CONTROL_FINISHED_OK
$STATE,6978,begin surface
$SM_CCo,6999,37.65,0.445,0,0,1324,400.08
$SM_GC,1.62,0.00,0.00,37.65,0.000,0.000,0.445,414,1724,1324,-11.85,0.11,400.08
$IRIDIUM_FIX,2237.01,-15805.41,241200,202031
$TT8_MAMPS,0.027612
$HUMID,68.27
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,19.30
$XPDR_PINGS,3
$24V_AH,23.7,53.930
$10V_AH,10.0,62.802
$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,29.800,86.000,385.650,37.650,0.000,26.169,36.960,275.649,0.750,0.000,15.484,975.515,3470.329,457.713,1616.418,1010.273,33.327,1134.784,0.000,1979.757,0.000,0.538,0.000
$DEVICE_MAMPS,165.672,60.593,668.057,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.706,536.286,624.029,651.847,1216.239,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,38263,471
$CAP_FILE_SIZE,89628,0
$CFSIZE,260165632,104656896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.441,229.8,1
$GPS,011011,004536,2241.294,-15805.557,11,1.4,22,10.0