version: 66.06
glider: 148
mission: 10
dive: 742
start: 10 27 111 13 10 10
data:
$ID,148
$MISSION,10
$DIVE,742
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,500
$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,200
$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,1
$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,-893044.5
$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,2980
$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,33
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,380
$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
$GPS1,130207,2142.865,-15810.577,8,1.7,14,9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.5
$GPS2,130915,2142.882,-15810.633,11,3.0,30,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,7mile
$TGT_LATLONG,2143.000,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.122,0.123
$KALMAN_X,-135560.3,94.1,542.0,60065.3,-54.8
$KALMAN_Y,-133222.4,344.6,315.2,-25026.1,-356.0
$MHEAD_RNG_PITCHd_Wd,305.2,669,-27.2,-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,-1.78,-63.0,0.0,0.0,0,90,0.00,0.00,-69.75,0.000,2,0.000,0.000,410,1751,3144,0,0,0,0,0,0
$GC,95,-1.78,-66.8,4.0,-9.6,13,117,11.25,2.47,-1.60,0.000,4,0.149,0.035,2585,3301,3230,0,0,0,0,0,0
$GC,195,-1.69,-66.8,27.4,-17.3,33,202,0.08,2.55,0.00,0.000,6,0.102,0.023,2615,1721,3231,0,0,0,0,0,0
$GC,471,-1.62,-66.8,69.3,-13.8,59,475,0.00,2.55,0.00,0.000,4,0.000,0.041,2615,173,3232,0,0,0,0,0,0
$GC,578,-1.62,-66.8,86.2,-14.6,69,583,0.00,2.38,0.00,0.000,6,0.000,0.017,2616,1722,3232,0,0,0,0,0,0
$GC,842,-1.69,-66.8,117.8,-11.9,94,847,0.00,2.53,0.00,0.000,4,0.000,0.039,2615,170,3233,0,0,0,0,0,0
$GC,896,-1.69,-66.8,124.7,-12.9,99,901,0.00,2.38,0.00,0.000,6,0.000,0.016,2615,1724,3232,0,0,0,0,0,0
$GC,1167,-1.83,-90.5,148.7,-7.5,124,1179,0.15,2.40,-0.55,0.000,4,0.055,0.033,2554,3277,3328,0,0,0,0,0,0
$GC,1204,-1.83,-90.5,153.4,-12.1,127,1211,0.12,2.50,0.00,0.000,6,0.111,0.024,2580,1704,3328,0,0,0,0,0,0
$GC,1468,-1.83,-90.5,186.1,-13.0,152,1472,0.00,2.47,0.00,0.000,4,0.000,0.039,2581,177,3329,0,0,0,0,0,0
$GC,1551,-1.83,-90.5,197.1,-12.2,160,1556,0.00,2.33,0.00,0.000,6,0.000,0.017,2581,1707,3330,0,0,0,0,0,0
$GC,1822,-1.83,-96.1,224.3,-9.4,169,1826,0.00,2.53,0.00,0.000,4,0.000,0.040,2581,169,3329,0,0,0,0,0,0
$GC,2005,-1.83,-96.1,244.4,-12.3,173,2009,0.00,2.30,0.00,0.000,6,0.000,0.018,2581,1679,3330,0,0,0,0,0,0
$GC,2292,-1.90,-96.1,278.4,-11.8,180,2296,0.00,2.47,0.00,0.000,4,0.000,0.043,2580,179,3329,0,0,0,0,0,0
$GC,2338,-1.90,-96.1,284.5,-12.7,181,2343,0.00,2.30,0.00,0.000,6,0.000,0.019,2581,1665,3329,0,0,0,0,0,0
$STATE,2501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2501,begin apogee
$GC,2507,-0.31,0.0,301.9,10.3,185,2585,1.48,0.00,72.90,0.657,6,0.079,0.000,2913,1668,2954,0,0,0,0,0,0
$STATE,2586,end apogee,CONTROL_FINISHED_OK
$STATE,2586,begin climb
$GC,2590,1.82,96.1,303.5,0.0,187,2679,1.88,2.62,78.03,0.650,4,0.028,0.056,3386,184,2562,0,0,0,0,0,0
$GC,2848,1.53,96.1,285.6,11.0,192,2863,6.40,2.35,0.00,0.000,6,0.014,0.021,3312,1670,2557,20,0,0,0,0,0
$GC,3108,1.56,120.5,265.8,7.4,199,3134,0.00,2.60,20.52,0.610,4,0.000,0.051,3312,184,2462,0,0,0,0,0,0
$GC,3149,1.56,123.2,262.1,9.7,199,3158,0.00,2.38,3.70,0.383,6,0.000,0.021,3312,1685,2451,0,0,0,0,0,0
$GC,3445,1.57,127.0,233.5,9.6,207,3454,0.00,2.60,3.92,0.401,4,0.000,0.060,3312,179,2437,0,0,0,0,0,0
$GC,3511,1.48,127.0,226.9,10.3,208,3516,0.00,2.40,0.00,0.000,6,0.000,0.021,3312,1689,2436,0,0,0,0,0,0
$GC,3779,1.51,146.3,204.7,7.9,215,3799,0.00,0.00,18.08,0.584,6,0.000,0.000,3312,1689,2358,0,0,0,0,0,0
$GC,4027,1.60,160.7,186.1,8.5,233,4046,0.00,2.58,13.10,0.558,4,0.000,0.049,3312,180,2298,0,0,0,0,0,0
$GC,4058,1.61,171.3,183.2,8.9,236,4078,0.00,2.42,10.48,0.532,6,0.000,0.022,3312,1697,2254,0,0,0,0,0,0
$GC,4335,1.74,185.9,160.2,8.4,262,4355,0.20,2.62,13.05,0.538,4,0.052,0.038,3374,3279,2195,0,0,0,0,0,0
$GC,4370,1.75,193.1,156.7,9.2,265,4384,0.00,2.60,7.72,0.489,6,0.000,0.029,3375,1699,2167,0,0,0,0,0,0
$GC,4640,1.75,193.1,127.8,10.6,291,4645,0.00,2.58,0.00,0.000,4,0.000,0.033,3374,3280,2163,0,0,0,0,0,0
$GC,4760,1.75,198.9,115.8,9.4,303,4772,0.00,2.58,5.62,0.430,6,0.000,0.028,3375,1712,2143,0,0,0,0,0,0
$GC,5036,1.77,211.3,91.0,8.7,329,5056,0.00,2.62,11.88,0.487,4,0.000,0.032,3374,3280,2093,0,0,0,0,0,0
$GC,5229,1.85,225.4,75.9,8.5,349,5248,0.00,2.53,12.77,0.471,6,0.000,0.028,3374,1741,2035,0,0,0,0,0,0
$GC,5504,1.95,246.7,50.0,7.7,375,5529,0.12,2.65,19.42,0.470,4,0.066,0.045,3432,176,1948,0,0,0,0,0,0
$GC,5607,1.80,246.7,39.8,11.6,385,5618,2.15,2.50,0.00,0.000,6,0.021,0.020,3375,1760,1946,6,0,0,0,0,0
$GC,5882,1.91,246.7,11.2,10.9,426,5888,0.00,2.45,0.00,0.000,4,0.000,0.029,3375,3279,1944,0,0,0,0,0,0
$GC,5932,2.01,246.7,5.9,11.3,436,5940,0.15,2.47,0.00,0.000,6,0.031,0.025,3432,1750,1943,0,0,0,0,0,0
$STATE,5950,end climb,SURFACE_DEPTH_REACHED
$STATE,5951,begin surface coast
$FINISH,0.6,1.010784
$STATE,5985,end surface coast,CONTROL_FINISHED_OK
$STATE,5985,begin surface
$SM_CCo,6007,84.00,0.443,0,0,1324,400.08
$SM_GC,1.65,0.00,0.00,84.00,0.000,0.000,0.443,414,1744,1324,-11.80,0.68,400.08
$IRIDIUM_FIX,2134.17,-15810.62,200101,111116
$TT8_MAMPS,0.027612
$HUMID,66.81
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,21.00
$XPDR_PINGS,1
$24V_AH,23.7,71.884
$10V_AH,10.0,78.723
$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,36.075,79.700,291.200,84.000,0.000,29.851,39.932,181.708,0.250,0.000,34.892,854.972,3270.455,413.306,1217.759,763.638,33.341,1049.853,0.000,1383.216,0.000,1.001,0.000
$DEVICE_MAMPS,148.798,59.826,656.552,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,298.316,422.435,530.175,645.930,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,35219,445
$CAP_FILE_SIZE,82684,0
$CFSIZE,260165632,94666752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,26,0,0,0
$GPS,271011,145306,2142.882,-15811.453,38,1.1,39,9.9