version: 66.06
glider: 148
mission: 10
dive: 614
start: 10 2 111 3 31 52
data:
$ID,148
$MISSION,10
$DIVE,614
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,-890078.19
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,032440,2235.813,-15813.415,10,3.1,30,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.1
$GPS2,033058,2235.772,-15813.469,14,2.9,33,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,0.184
$KALMAN_X,-90322.1,-671.2,-852.8,12168.9,-725.5
$KALMAN_Y,-52740.1,-701.3,-113.4,-6077.3,-990.2
$MHEAD_RNG_PITCHd_Wd,43.4,28656,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-75.12,0.000,2,0.000,0.000,407,1746,3349,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.4,-8.8,10,125,11.73,2.53,-1.42,0.000,4,0.146,0.038,2680,3302,3434,0,0,0,0,0,0
$GC,145,-0.48,-116.8,17.9,-29.3,15,156,0.85,2.58,0.00,0.000,6,0.071,0.025,2877,1720,3434,0,0,0,0,0,0
$GC,440,-1.27,-116.8,40.2,-8.4,52,454,0.65,2.53,0.00,0.000,4,0.035,0.025,2712,3314,3435,0,0,0,0,0,0
$GC,497,-1.27,-116.8,47.1,-11.2,56,507,0.00,2.50,0.00,0.000,6,0.000,0.022,2712,1753,3435,0,0,0,0,0,0
$GC,766,-1.27,-116.8,73.8,-8.2,81,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1752,3436,0,0,0,0,0,0
$GC,1027,-1.27,-116.8,88.8,-5.7,106,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1753,3437,0,0,0,0,0,0
$GC,1281,-1.27,-116.8,109.8,-10.0,130,1285,0.00,2.55,0.00,0.000,4,0.000,0.041,2712,174,3437,0,0,0,0,0,0
$GC,1325,-1.38,-116.8,114.6,-12.1,133,1331,0.10,2.47,0.00,0.000,6,0.074,0.016,2603,1801,3437,0,0,0,0,0,0
$GC,1588,-1.16,-116.8,151.6,-13.5,158,1597,0.55,2.65,0.00,0.000,4,0.086,0.038,2730,177,3438,0,0,0,0,0,0
$GC,1643,-1.33,-116.8,156.8,-9.1,163,1648,0.12,2.42,0.00,0.000,6,0.061,0.016,2659,1788,3438,0,0,0,0,0,0
$GC,1911,-1.27,-116.8,178.5,-8.0,187,1916,0.25,2.62,0.00,0.000,4,0.085,0.038,2717,176,3438,0,0,0,0,0,0
$GC,1941,-1.42,-116.8,181.1,-6.8,189,1952,0.12,2.45,0.00,0.000,6,0.026,0.017,2633,1778,3438,0,0,0,0,0,0
$GC,2203,-1.30,-116.8,204.6,-9.4,211,2212,0.30,2.60,0.00,0.000,4,0.085,0.038,2705,179,3438,0,0,0,0,0,0
$GC,2247,-1.41,-116.8,208.4,-8.5,211,2254,0.08,2.42,0.00,0.000,6,0.035,0.017,2640,1757,3438,0,0,0,0,0,0
$GC,2497,-1.32,-116.8,231.8,-9.5,218,2502,0.25,2.38,0.00,0.000,4,0.086,0.021,2701,3284,3438,0,0,0,0,0,0
$GC,2542,-1.46,-116.8,235.2,-7.3,219,2547,0.12,2.47,0.00,0.000,6,0.061,0.021,2622,1718,3438,0,0,0,0,0,0
$GC,2830,-1.29,-116.8,256.2,-6.5,226,2832,0.45,0.00,0.00,0.000,6,0.083,0.000,2710,1719,3438,0,0,0,0,0,0
$GC,3075,-1.43,-116.8,268.1,-5.3,232,3080,0.12,2.50,0.00,0.000,4,0.061,0.025,2629,3283,3437,0,0,0,0,0,0
$GC,3145,-1.37,-116.8,274.5,-8.8,233,3150,0.28,2.47,0.00,0.000,6,0.083,0.024,2693,1731,3437,0,0,0,0,0,0
$GC,3406,-1.44,-116.8,290.6,-5.8,240,3410,0.00,2.47,0.00,0.000,4,0.000,0.026,2692,3284,3436,0,0,0,0,0,0
$GC,3462,-1.57,-116.8,293.7,-5.1,241,3467,0.17,2.42,0.00,0.000,6,0.048,0.024,2599,1747,3436,0,0,0,0,0,0
$STATE,3570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3571,begin apogee
$GC,3577,-0.31,0.0,302.0,7.8,244,3674,1.48,0.00,93.10,0.659,6,0.081,0.000,2918,1673,2955,0,0,0,0,0,0
$STATE,3675,end apogee,CONTROL_FINISHED_OK
$STATE,3675,begin climb
$GC,3677,1.38,116.8,303.4,0.0,246,3782,1.48,2.55,94.43,0.650,4,0.024,0.057,3313,203,2477,0,0,0,0,0,0
$GC,4045,1.03,197.8,285.8,5.3,254,4121,0.45,2.30,67.32,0.642,6,0.095,0.020,3216,1667,2147,0,0,0,0,0,0
$GC,4409,1.10,250.2,261.0,7.0,263,4462,0.00,2.50,45.08,0.626,4,0.000,0.048,3215,205,1933,0,0,0,0,0,0
$GC,4611,1.14,286.8,246.8,7.9,267,4652,0.05,2.40,32.42,0.611,6,0.051,0.022,3255,1692,1784,0,0,0,0,0,0
$GC,4919,1.14,286.8,213.9,11.9,275,4924,0.00,2.62,0.00,0.000,4,0.000,0.042,3255,3280,1777,0,0,0,0,0,0
$GC,4983,1.21,286.8,206.4,12.2,276,4987,0.00,2.53,0.00,0.000,6,0.000,0.028,3255,1733,1774,0,0,0,0,0,0
$GC,5252,1.21,286.8,175.0,11.6,297,5256,0.00,2.60,0.00,0.000,4,0.000,0.053,3255,177,1773,0,0,0,0,0,0
$GC,5332,1.13,286.8,166.0,11.2,304,5336,0.00,2.38,0.00,0.000,6,0.000,0.021,3255,1702,1773,0,0,0,0,0,0
$GC,5595,1.20,344.5,145.6,6.7,328,5652,0.00,2.65,49.60,0.559,4,0.000,0.047,3255,172,1549,0,0,0,0,0,0
$GC,5732,1.20,344.5,129.4,14.9,340,5742,0.00,2.40,0.00,0.000,6,0.000,0.021,3255,1672,1548,0,0,0,0,0,0
$GC,6000,1.31,344.5,91.9,13.0,365,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1675,1545,0,0,0,0,0,0
$GC,6268,1.49,359.5,64.1,9.1,390,6293,0.22,0.00,13.18,0.461,6,0.041,0.000,3341,1676,1488,0,0,0,0,0,0
$GC,6549,1.49,359.5,31.2,12.1,416,6560,0.12,0.00,0.00,0.000,6,0.107,0.000,3314,1676,1486,0,0,0,0,0,0
$STATE,6795,end climb,SURFACE_DEPTH_REACHED
$STATE,6795,begin surface coast
$FINISH,0.5,1.015352
$STATE,6843,end surface coast,CONTROL_FINISHED_OK
$STATE,6843,begin surface
$SM_CCo,6864,26.12,0.433,0,0,1323,400.08
$SM_GC,1.29,0.00,0.00,26.12,0.000,0.000,0.433,411,1675,1323,-11.86,-1.24,400.08
$IRIDIUM_FIX,2218.34,-15813.21,261200,010130
$TT8_MAMPS,0.027612
$HUMID,67.12
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.7,55.153
$10V_AH,10.0,64.381
$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,31.550,70.025,395.125,26.125,0.000,25.330,32.063,153.511,0.000,0.000,35.411,903.928,3345.239,405.045,1744.199,870.552,33.334,1146.960,0.000,2076.133,0.000,0.538,0.000
$DEVICE_MAMPS,146.497,156.468,658.853,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.561,536.162,620.707,642.763,1204.119,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,35150,461
$CAP_FILE_SIZE,86511,0
$CFSIZE,260165632,104026112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021011,052757,2235.197,-15813.988,9,3.5,29,10.0