version: 66.06
glider: 148
mission: 10
dive: 518
start: 9 24 111 2 7 11
data:
$ID,148
$MISSION,10
$DIVE,518
$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,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,-888053
$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,1870
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,98
$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
$GPS1,020002,2352.108,-15652.145,11,1.3,12,10.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.5
$GPS2,020614,2352.118,-15652.148,13,1.5,13,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.153,-0.178
$KALMAN_X,-6588.9,-33.1,182.6,139263.4,-46.4
$KALMAN_Y,-133091.8,-269.2,-290.3,376094.2,-358.8
$MHEAD_RNG_PITCHd_Wd,210.3,116106,-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,-116.4,0.0,0.0,0,95,0.00,0.00,-74.68,0.000,2,0.000,0.000,408,1918,3323,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.2,-7.6,10,124,11.80,2.70,-1.92,0.000,4,0.150,0.046,2682,289,3435,0,0,0,0,0,0
$GC,192,-1.24,-116.8,26.2,-14.9,23,203,0.12,2.40,0.00,0.000,6,0.087,0.018,2714,1830,3435,0,0,0,0,0,0
$GC,470,-1.12,-116.8,61.7,-11.9,49,480,0.15,0.00,0.00,0.000,6,0.107,0.000,2747,1833,3436,0,0,0,0,0,0
$GC,734,-1.21,-116.8,86.8,-9.3,74,739,0.00,2.53,0.00,0.000,4,0.000,0.038,2747,287,3437,0,0,0,0,0,0
$GC,767,-1.34,-116.8,90.3,-10.5,76,778,0.17,2.45,0.00,0.000,6,0.021,0.018,2658,1866,3437,0,0,0,0,0,0
$GC,1036,-1.22,-116.8,123.6,-11.9,101,1041,0.25,2.55,0.00,0.000,4,0.088,0.035,2720,290,3438,0,0,0,0,0,0
$GC,1086,-1.34,-116.8,128.7,-9.0,105,1091,0.00,2.35,0.00,0.000,6,0.000,0.016,2720,1840,3438,0,0,0,0,0,0
$GC,1355,-1.43,-116.8,148.5,-7.5,129,1361,0.17,2.53,0.00,0.000,4,0.049,0.038,2643,287,3438,0,0,0,0,0,0
$GC,1382,-1.31,-116.8,151.6,-10.5,131,1387,0.28,2.33,0.00,0.000,6,0.085,0.018,2706,1805,3438,0,0,0,0,0,0
$GC,1643,-1.31,-116.8,174.0,-7.6,155,1647,0.00,2.55,0.00,0.000,4,0.000,0.025,2706,3429,3438,0,0,0,0,0,0
$GC,1662,-1.39,-116.8,175.2,-7.5,156,1666,0.00,2.55,0.00,0.000,6,0.000,0.021,2706,1797,3438,0,0,0,0,0,0
$GC,1926,-1.46,-116.8,195.8,-7.8,180,1931,0.15,2.45,0.00,0.000,4,0.054,0.040,2632,283,3439,0,0,0,0,0,0
$GC,2006,-1.36,-116.8,205.2,-11.9,184,2011,0.28,2.30,0.00,0.000,6,0.087,0.018,2694,1788,3439,0,0,0,0,0,0
$GC,2263,-1.36,-116.8,227.0,-8.1,191,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1792,3439,0,0,0,0,0,0
$GC,2505,-1.36,-116.8,246.3,-8.3,197,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1792,3439,0,0,0,0,0,0
$GC,2750,-1.36,-116.8,268.0,-8.9,203,2754,0.00,2.58,0.00,0.000,4,0.000,0.028,2694,3415,3438,0,0,0,0,0,0
$GC,2776,-1.45,-116.8,270.1,-8.9,203,2781,0.00,2.60,0.00,0.000,6,0.000,0.023,2694,1794,3438,0,0,0,0,0,0
$GC,3041,-1.52,-116.8,289.3,-6.9,210,3046,0.15,2.60,0.00,0.000,4,0.054,0.033,2621,3416,3437,0,0,0,0,0,0
$GC,3053,-1.52,-116.8,290.3,-7.2,210,3059,0.17,2.55,0.00,0.000,6,0.091,0.023,2661,1793,3437,0,0,0,0,0,0
$STATE,3203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3203,begin apogee
$GC,3210,-0.31,0.0,303.2,8.4,214,3306,1.12,0.00,92.30,0.663,6,0.071,0.000,2921,1594,2955,0,0,0,0,0,0
$STATE,3307,end apogee,CONTROL_FINISHED_OK
$STATE,3307,begin climb
$GC,3309,1.38,116.8,305.3,0.0,216,3414,1.48,2.45,93.72,0.653,4,0.026,0.058,3316,177,2478,0,0,0,0,0,0
$GC,3677,0.94,129.6,282.6,9.3,224,3694,0.55,2.20,10.98,0.572,6,0.094,0.020,3197,1593,2426,0,0,0,0,0,0
$GC,3960,1.05,218.8,267.9,4.8,231,4046,0.00,2.72,74.43,0.642,4,0.000,0.043,3197,3175,2059,0,0,0,0,0,0
$GC,4310,1.19,247.5,241.5,8.3,238,4342,0.20,2.53,24.45,0.606,6,0.044,0.029,3281,1633,1945,0,0,0,0,0,0
$GC,4611,1.07,247.5,206.8,11.4,246,4617,0.25,2.60,0.00,0.000,4,0.093,0.035,3222,3182,1941,0,0,0,0,0,0
$GC,4663,1.16,248.8,201.4,9.9,247,4668,0.00,2.60,0.00,0.000,6,0.000,0.030,3222,1594,1939,0,0,0,0,0,0
$GC,4936,1.25,267.0,175.3,9.0,270,4962,0.15,2.67,17.60,0.560,4,0.058,0.038,3296,3187,1865,0,0,0,0,0,0
$GC,4974,1.13,267.0,171.0,11.9,273,4988,0.28,2.60,0.00,0.000,6,0.090,0.029,3236,1601,1862,0,0,0,0,0,0
$GC,5239,1.20,267.0,142.4,10.9,298,5244,0.00,2.60,0.00,0.000,4,0.000,0.032,3236,3195,1861,0,0,0,0,0,0
$GC,5312,1.29,267.0,134.3,10.7,304,5323,0.10,2.58,0.00,0.000,6,0.032,0.029,3290,1625,1859,0,0,0,0,0,0
$GC,5580,1.29,267.0,104.6,10.5,329,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1625,1859,0,0,0,0,0,0
$GC,5847,1.29,267.0,78.3,10.3,354,5851,0.00,2.53,0.00,0.000,4,0.000,0.029,3290,3193,1858,0,0,0,0,0,0
$GC,5928,1.29,267.3,70.6,10.0,360,5933,0.00,2.55,0.00,0.000,6,0.000,0.028,3291,1613,1857,0,0,0,0,0,0
$GC,6198,1.32,291.1,48.5,8.6,384,6226,0.00,2.60,20.27,0.472,4,0.000,0.028,3291,3191,1766,0,0,0,0,0,0
$GC,6328,1.41,307.4,36.5,9.1,395,6356,0.00,2.53,15.07,0.448,6,0.000,0.028,3291,1627,1700,0,0,0,0,0,0
$GC,6650,1.47,307.4,4.7,10.2,441,6660,0.00,2.55,0.00,0.000,4,0.000,0.029,3291,3195,1698,0,0,0,0,0,0
$STATE,6668,end climb,SURFACE_DEPTH_REACHED
$STATE,6669,begin surface coast
$FINISH,0.4,1.014437
$STATE,6718,end surface coast,CONTROL_FINISHED_OK
$STATE,6718,begin surface
$SM_CCo,6743,58.85,0.443,0,0,1323,400.08
$SM_GC,1.40,0.00,0.00,58.85,0.000,0.000,0.443,407,1862,1323,-11.88,-0.23,400.08
$IRIDIUM_FIX,2345.05,-15651.80,181200,000010
$TT8_MAMPS,0.027612
$HUMID,64.25
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,21.20
$XPDR_PINGS,1
$24V_AH,23.7,46.873
$10V_AH,10.1,53.789
$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,29.400,80.725,348.825,58.850,0.000,30.167,35.407,162.646,0.250,0.000,14.614,903.970,3297.513,408.676,1692.589,876.629,33.366,1123.600,0.000,2023.788,0.000,0.538,0.000
$DEVICE_MAMPS,150.332,57.525,663.455,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.709,495.272,582.272,624.183,1161.451,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,35265,450
$CAP_FILE_SIZE,87434,0
$CFSIZE,260165632,108363776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240911,040154,2351.399,-15652.383,36,1.4,37,10.3