version: 66.06
glider: 148
mission: 10
dive: 522
start: 9 24 111 10 3 31
data:
$ID,148
$MISSION,10
$DIVE,522
$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,-888137.06
$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,33
$R_STBD_OVSHOOT,97
$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
$GPS1,095607,2349.008,-15653.683,5,1.4,11,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.7
$GPS2,100237,2348.946,-15653.722,37,0.8,37,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.190,-0.137
$KALMAN_X,-5357.7,34.7,-102.0,135548.0,131.1
$KALMAN_Y,-135504.0,80.1,133.3,371864.7,-642.5
$MHEAD_RNG_PITCHd_Wd,223.9,109737,-19.7,-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,-74.75,0.000,2,0.000,0.000,409,1918,3332,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.2,-8.2,10,125,12.38,2.40,-1.80,0.000,4,0.170,0.037,2687,3410,3433,0,0,0,0,0,0
$GC,214,-1.30,-116.8,28.6,-14.2,26,224,0.00,2.47,0.00,0.000,6,0.000,0.024,2687,1873,3435,0,0,0,0,0,0
$GC,483,-1.14,-116.8,67.8,-12.9,51,488,0.25,2.58,0.00,0.000,4,0.095,0.038,2746,286,3435,0,0,0,0,0,0
$GC,544,-1.31,-116.8,75.9,-10.8,55,554,0.15,2.40,0.00,0.000,6,0.023,0.018,2665,1839,3435,0,0,0,0,0,0
$GC,807,-1.22,-116.8,106.4,-10.6,80,812,0.25,2.47,0.00,0.000,4,0.087,0.024,2725,3425,3435,0,0,0,0,0,0
$GC,852,-1.35,-116.8,110.0,-8.7,83,857,0.12,2.47,0.00,0.000,6,0.061,0.021,2637,1846,3436,0,0,0,0,0,0
$GC,1118,-1.17,-116.8,142.6,-11.2,107,1127,0.45,2.50,0.00,0.000,4,0.083,0.037,2732,289,3436,0,0,0,0,0,0
$GC,1185,-1.36,-116.8,148.1,-7.3,113,1190,0.15,2.40,0.00,0.000,6,0.052,0.017,2653,1866,3437,0,0,0,0,0,0
$GC,1448,-1.28,-116.8,174.6,-10.1,137,1453,0.25,2.42,0.00,0.000,4,0.086,0.025,2712,3422,3437,0,0,0,0,0,0
$GC,1480,-1.42,-116.8,177.7,-8.6,139,1486,0.12,2.45,0.00,0.000,6,0.063,0.021,2610,1864,3437,0,0,0,0,0,0
$GC,1741,-1.23,-116.8,205.2,-10.7,161,1748,0.45,2.53,0.00,0.000,4,0.083,0.036,2716,293,3437,0,0,0,0,0,0
$GC,1830,-1.39,-116.8,212.0,-7.0,162,1836,0.12,2.35,0.00,0.000,6,0.061,0.018,2644,1853,3437,0,0,0,0,0,0
$GC,2081,-1.30,-116.8,235.7,-9.6,169,2086,0.25,2.47,0.00,0.000,4,0.085,0.026,2703,3425,3437,0,0,0,0,0,0
$GC,2170,-1.46,-116.8,242.9,-8.3,170,2176,0.12,2.45,0.00,0.000,6,0.063,0.022,2605,1864,3437,0,0,0,0,0,0
$GC,2420,-1.29,-116.8,270.2,-11.0,177,2429,0.43,2.55,0.00,0.000,4,0.084,0.039,2706,286,3437,0,0,0,0,0,0
$GC,2477,-1.46,-116.8,275.2,-8.0,178,2482,0.15,2.40,0.00,0.000,6,0.052,0.018,2631,1846,3437,0,0,0,0,0,0
$STATE,2753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2754,begin apogee
$GC,2760,-0.31,0.0,301.2,9.5,185,2856,1.27,0.00,92.65,0.660,6,0.080,0.000,2918,1606,2954,0,0,0,0,0,0
$STATE,2857,end apogee,CONTROL_FINISHED_OK
$STATE,2857,begin climb
$GC,2861,1.38,116.8,304.3,0.0,187,2964,1.50,2.45,93.88,0.653,4,0.028,0.061,3321,199,2478,0,0,0,0,0,0
$GC,3228,0.95,145.4,285.7,8.4,195,3262,0.57,2.22,24.08,0.620,6,0.097,0.020,3197,1613,2361,0,0,0,0,0,0
$GC,3509,1.02,201.6,267.6,6.8,202,3562,0.00,2.45,47.17,0.634,4,0.000,0.057,3197,197,2133,0,0,0,0,0,0
$GC,3782,1.05,226.1,243.8,8.6,208,3810,0.00,2.22,21.42,0.603,6,0.000,0.021,3197,1610,2032,0,0,0,0,0,0
$GC,4072,1.14,238.4,217.1,9.3,215,4089,0.17,2.45,11.50,0.556,4,0.050,0.051,3270,188,1982,0,0,0,0,0,0
$GC,4157,0.97,238.4,206.8,12.1,216,4163,0.30,2.22,0.00,0.000,6,0.092,0.021,3203,1594,1981,0,0,0,0,0,0
$GC,4421,1.09,271.8,185.8,8.1,235,4460,0.10,2.38,30.23,0.585,4,0.077,0.049,3256,198,1844,0,0,0,0,0,0
$GC,4515,1.09,271.8,175.3,12.2,244,4520,0.12,2.20,0.00,0.000,6,0.110,0.021,3228,1587,1844,0,0,0,0,0,0
$GC,4782,1.17,279.6,149.1,9.6,268,4796,0.00,2.62,7.43,0.480,4,0.000,0.033,3228,3192,1812,0,0,0,0,0,0
$GC,4864,1.32,289.7,141.3,9.4,275,4887,0.20,2.58,9.35,0.498,6,0.044,0.030,3305,1615,1773,0,0,0,0,0,0
$GC,5143,1.22,289.7,111.3,11.0,301,5148,0.22,2.58,0.00,0.000,4,0.093,0.032,3255,3196,1771,0,0,0,0,0,0
$GC,5196,1.35,305.9,106.2,9.1,305,5219,0.12,2.60,15.12,0.505,6,0.064,0.038,3313,1607,1707,0,0,0,0,0,0
$GC,5476,1.29,308.9,74.7,9.8,331,5492,0.20,2.62,3.90,0.336,4,0.094,0.030,3269,3195,1694,0,0,0,0,0,0
$GC,5540,1.43,338.8,68.9,8.3,336,5584,0.12,2.53,27.95,0.496,6,0.064,0.028,3328,1639,1570,0,0,0,0,0,0
$GC,5841,1.43,338.8,35.4,12.2,363,5846,0.12,2.55,0.00,0.000,4,0.110,0.031,3300,3199,1568,0,0,0,0,0,0
$GC,5861,1.43,338.8,32.8,11.7,364,5866,0.00,2.50,0.00,0.000,6,0.000,0.027,3300,1653,1566,0,0,0,0,0,0
$STATE,6117,end climb,SURFACE_DEPTH_REACHED
$STATE,6117,begin surface coast
$FINISH,0.4,1.021926
$STATE,6165,end surface coast,CONTROL_FINISHED_OK
$STATE,6165,begin surface
$SM_CCo,6186,35.20,0.439,0,0,1323,400.08
$SM_GC,1.40,0.00,0.00,35.20,0.000,0.000,0.439,413,1950,1323,-11.85,2.26,400.08
$IRIDIUM_FIX,2340.34,-15650.56,181200,080812
$TT8_MAMPS,0.027612
$HUMID,65.94
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,20.20
$XPDR_PINGS,3
$24V_AH,23.7,47.206
$10V_AH,10.2,54.219
$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,32.300,79.175,384.675,35.200,0.000,24.049,36.782,157.942,0.750,0.000,39.312,839.653,2917.383,407.372,1595.706,854.641,33.359,1102.123,0.000,1881.841,0.000,0.538,0.000
$DEVICE_MAMPS,170.274,60.593,660.387,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.210,457.798,536.210,559.755,1044.712,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,32192,409
$CAP_FILE_SIZE,86925,0
$CFSIZE,260165632,108187648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240911,114808,2348.193,-15654.186,9,1.6,10,10.3