version: 66.06
glider: 148
mission: 10
dive: 602
start: 10 1 111 2 54 58
data:
$ID,148
$MISSION,10
$DIVE,602
$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,-889798.38
$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,47
$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
$GPS1,024658,2240.899,-15806.710,8,99.0,27,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.5
$GPS2,025400,2240.860,-15806.848,32,1.7,36,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,0.220
$KALMAN_X,-66404.2,-1106.0,-807.2,-69.3,-755.8
$KALMAN_Y,-35623.3,-820.5,128.3,-13897.0,-1488.1
$MHEAD_RNG_PITCHd_Wd,42.3,13984,-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,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-69.15,0.000,2,0.000,0.000,410,1751,3147,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.3,-5.5,9,120,11.82,2.62,-5.30,0.000,4,0.150,0.047,2683,176,3432,0,0,0,0,0,0
$GC,152,-1.18,-116.8,17.7,-17.3,16,163,0.17,2.42,0.00,0.000,6,0.078,0.018,2727,1736,3433,0,0,0,0,0,0
$GC,438,-1.18,-116.8,50.4,-11.8,48,443,0.00,2.45,0.00,0.000,4,0.000,0.024,2727,3293,3433,0,0,0,0,0,0
$GC,473,-1.18,-116.8,54.8,-11.9,50,477,0.00,2.50,0.00,0.000,6,0.000,0.022,2727,1711,3433,0,0,0,0,0,0
$GC,735,-1.18,-116.8,85.9,-10.6,74,740,0.00,2.47,0.00,0.000,4,0.000,0.040,2727,179,3434,0,0,0,0,0,0
$GC,780,-1.27,-116.8,90.7,-10.8,77,788,0.00,2.33,0.00,0.000,6,0.000,0.016,2727,1725,3434,0,0,0,0,0,0
$GC,1043,-1.36,-116.8,109.3,-5.3,102,1048,0.15,2.42,0.00,0.000,4,0.052,0.025,2653,3276,3435,0,0,0,0,0,0
$GC,1129,-1.36,-116.8,116.0,-8.7,109,1135,0.17,2.42,0.00,0.000,6,0.091,0.022,2693,1727,3435,0,0,0,0,0,0
$GC,1395,-1.36,-116.8,137.3,-8.2,133,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1726,3435,0,0,0,0,0,0
$GC,1657,-1.36,-116.8,159.6,-8.3,158,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1726,3436,0,0,0,0,0,0
$GC,1911,-1.36,-116.8,178.9,-7.5,182,1915,0.00,2.45,0.00,0.000,4,0.000,0.023,2693,3280,3436,0,0,0,0,0,0
$GC,1929,-1.36,-116.8,180.0,-7.6,183,1935,0.00,2.45,0.00,0.000,6,0.000,0.023,2693,1746,3436,0,0,0,0,0,0
$GC,2203,-1.36,-116.8,200.8,-8.0,208,2207,0.00,2.55,0.00,0.000,4,0.000,0.041,2693,172,3436,0,0,0,0,0,0
$GC,2247,-1.43,-116.8,205.1,-9.2,209,2251,0.00,2.40,0.00,0.000,6,0.000,0.017,2693,1747,3436,0,0,0,0,0,0
$GC,2534,-1.43,-116.8,227.4,-7.3,216,2538,0.00,2.38,0.00,0.000,4,0.000,0.024,2693,3279,3436,0,0,0,0,0,0
$GC,2585,-1.54,-116.8,230.6,-5.6,217,2591,0.12,2.45,0.00,0.000,6,0.027,0.022,2622,1743,3436,0,0,0,0,0,0
$GC,2871,-1.39,-116.8,251.6,-7.2,224,2877,0.25,2.58,0.00,0.000,4,0.085,0.041,2684,186,3436,0,0,0,0,0,0
$GC,2910,-1.39,-116.8,254.3,-5.6,224,2915,0.00,2.38,0.00,0.000,6,0.000,0.018,2684,1726,3436,0,0,0,0,0,0
$GC,3167,-1.39,-116.8,269.4,-6.4,231,3172,0.00,2.55,0.00,0.000,4,0.000,0.044,2683,173,3435,0,0,0,0,0,0
$GC,3200,-1.39,-116.8,272.3,-8.9,231,3204,0.00,2.38,0.00,0.000,6,0.000,0.018,2684,1729,3435,0,0,0,0,0,0
$GC,3450,-1.39,-116.8,292.2,-8.2,237,3455,0.00,2.47,0.00,0.000,4,0.000,0.027,2684,3280,3434,0,0,0,0,0,0
$GC,3490,-1.48,-116.8,295.8,-9.1,237,3495,0.00,2.47,0.00,0.000,6,0.000,0.025,2684,1741,3434,0,0,0,0,0,0
$STATE,3540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3540,begin apogee
$GC,3546,-0.31,0.0,300.5,9.1,239,3642,1.02,0.00,92.68,0.655,6,0.068,0.000,2922,1741,2955,0,0,0,0,0,0
$STATE,3643,end apogee,CONTROL_FINISHED_OK
$STATE,3643,begin climb
$GC,3645,1.38,116.8,305.0,0.0,241,3750,1.48,2.58,95.28,0.649,4,0.025,0.042,3313,3257,2476,0,0,0,0,0,0
$GC,3824,1.14,180.6,307.5,6.3,245,3886,0.35,2.55,53.35,0.640,6,0.100,0.028,3240,1705,2217,0,0,0,0,0,0
$GC,4157,1.08,196.0,279.0,9.1,253,4177,0.00,2.62,13.65,0.583,4,0.000,0.033,3240,3252,2154,0,0,0,0,0,0
$GC,4250,1.10,212.0,270.6,9.1,255,4270,0.00,2.53,14.88,0.585,6,0.000,0.028,3240,1697,2090,0,0,0,0,0,0
$GC,4540,1.13,232.6,245.3,8.8,262,4564,0.00,2.67,18.45,0.590,4,0.000,0.061,3239,180,2005,0,0,0,0,0,0
$GC,4620,1.05,232.6,237.1,11.2,263,4625,0.00,2.40,0.00,0.000,6,0.000,0.020,3239,1696,2005,0,0,0,0,0,0
$GC,4876,1.07,252.3,213.4,8.9,270,4896,0.00,0.00,18.38,0.577,6,0.000,0.000,3239,1699,1926,0,0,0,0,0,0
$GC,5122,1.08,257.1,190.5,9.7,282,5137,0.00,2.62,5.35,0.446,4,0.000,0.038,3239,3258,1904,0,0,0,0,0,0
$GC,5171,1.08,262.2,186.0,9.7,286,5183,0.00,2.55,5.72,0.456,6,0.000,0.028,3239,1698,1886,0,0,0,0,0,0
$GC,5437,1.10,276.4,161.0,9.2,311,5460,0.00,2.65,13.68,0.532,4,0.000,0.032,3239,3275,1826,0,0,0,0,0,0
$GC,5502,1.23,296.9,155.2,8.8,317,5529,0.00,2.55,18.77,0.540,6,0.000,0.028,3239,1708,1743,0,0,0,0,0,0
$GC,5791,1.35,316.3,129.3,8.9,344,5816,0.17,2.58,17.88,0.521,4,0.051,0.033,3306,3270,1664,0,0,0,0,0,0
$GC,5853,1.35,316.3,122.9,12.2,349,5858,0.10,2.53,0.00,0.000,6,0.120,0.028,3285,1717,1660,0,0,0,0,0,0
$GC,6121,1.36,326.9,97.6,9.4,373,6144,0.00,2.58,10.00,0.466,4,0.000,0.030,3285,3269,1619,0,0,0,0,0,0
$GC,6155,1.38,344.7,94.0,9.0,376,6178,0.00,2.50,16.90,0.490,6,0.000,0.028,3285,1721,1548,0,0,0,0,0,0
$GC,6440,1.47,344.7,66.2,10.3,402,6445,0.10,2.53,0.00,0.000,4,0.077,0.031,3335,3277,1544,0,0,0,0,0,0
$GC,6512,1.47,344.7,57.5,12.0,407,6517,0.12,2.45,0.00,0.000,6,0.110,0.027,3308,1743,1541,0,0,0,0,0,0
$GC,6782,1.47,344.7,29.8,10.4,431,6792,0.00,2.50,0.00,0.000,4,0.000,0.029,3308,3273,1541,0,0,0,0,0,0
$GC,6826,1.47,344.7,24.9,10.5,436,6837,0.00,2.47,0.00,0.000,6,0.000,0.026,3308,1751,1540,0,0,0,0,0,0
$STATE,7030,end climb,SURFACE_DEPTH_REACHED
$STATE,7030,begin surface coast
$FINISH,0.5,1.010365
$STATE,7079,end surface coast,CONTROL_FINISHED_OK
$STATE,7079,begin surface
$SM_CCo,7100,38.62,0.436,0,0,1323,400.08
$SM_GC,1.50,0.00,0.00,38.62,0.000,0.000,0.436,405,1747,1323,-11.89,0.76,400.08
$IRIDIUM_FIX,2227.67,-15806.28,251200,000041
$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,20.60
$XPDR_PINGS,1
$24V_AH,23.7,54.103
$10V_AH,10.1,63.026
$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,27.650,95.000,394.950,38.625,0.000,31.453,38.292,181.165,0.250,0.000,38.444,991.862,3527.957,443.301,1672.938,927.864,33.328,1140.212,0.000,1996.568,0.000,0.538,0.000
$DEVICE_MAMPS,149.565,61.360,655.018,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.201,513.570,608.267,631.235,1170.967,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,38299,473
$CAP_FILE_SIZE,89888,0
$CFSIZE,260165632,104566784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.300,255.0,1
$GPS,011011,045510,2241.044,-15807.515,11,2.2,31,10.0