version: 66.06
glider: 148
mission: 10
dive: 524
start: 9 24 111 13 53 2
data:
$ID,148
$MISSION,10
$DIVE,524
$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,-888179.06
$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,32
$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,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
$GPS1,134546,2347.252,-15654.528,8,99.0,28,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.7
$GPS2,135206,2347.232,-15654.535,10,1.6,26,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.209,-0.106
$KALMAN_X,-4633.5,186.4,-56.1,133221.1,458.9
$KALMAN_Y,-136605.5,-64.1,-230.3,370300.8,-506.0
$MHEAD_RNG_PITCHd_Wd,232.8,106334,-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,-116.8,0.0,0.0,0,95,0.00,0.00,-74.80,0.000,2,0.000,0.000,412,1968,3318,0,0,0,0,0,0
$GC,98,-1.38,-116.8,3.8,-7.0,10,123,12.30,2.80,-2.00,0.000,4,0.168,0.052,2682,281,3434,0,0,0,0,0,0
$GC,204,-1.26,-116.8,27.7,-14.5,25,215,0.12,2.50,0.00,0.000,6,0.085,0.017,2714,1892,3435,0,0,0,0,0,0
$GC,486,-1.15,-116.8,63.9,-13.5,51,496,0.12,0.00,0.00,0.000,6,0.113,0.000,2741,1896,3436,0,0,0,0,0,0
$GC,748,-1.15,-116.8,90.2,-9.3,76,752,0.00,2.62,0.00,0.000,4,0.000,0.037,2741,286,3437,0,0,0,0,0,0
$GC,768,-1.24,-116.8,91.6,-8.9,77,772,0.00,2.40,0.00,0.000,6,0.000,0.017,2741,1860,3437,0,0,0,0,0,0
$GC,1037,-1.37,-116.8,112.1,-7.9,101,1043,0.20,0.00,0.00,0.000,6,0.043,0.000,2651,1863,3437,0,0,0,0,0,0
$GC,1300,-1.25,-116.8,142.8,-11.1,126,1305,0.25,2.45,0.00,0.000,4,0.087,0.024,2712,3429,3438,0,0,0,0,0,0
$GC,1321,-1.25,-116.8,144.7,-10.7,127,1326,0.00,2.47,0.00,0.000,6,0.000,0.021,2712,1858,3438,0,0,0,0,0,0
$GC,1589,-1.32,-116.8,166.0,-7.4,151,1594,0.00,2.53,0.00,0.000,4,0.000,0.039,2712,298,3438,0,0,0,0,0,0
$GC,1630,-1.43,-116.8,169.4,-8.7,154,1635,0.15,2.38,0.00,0.000,6,0.054,0.017,2642,1870,3438,0,0,0,0,0,0
$GC,1897,-1.33,-116.8,196.7,-9.8,178,1902,0.25,2.42,0.00,0.000,4,0.085,0.024,2703,3427,3438,0,0,0,0,0,0
$GC,1956,-1.45,-116.8,202.2,-8.1,182,1961,0.12,2.42,0.00,0.000,6,0.064,0.021,2634,1883,3438,0,0,0,0,0,0
$GC,2230,-1.33,-116.8,226.9,-9.0,189,2235,0.25,2.55,0.00,0.000,4,0.086,0.038,2695,297,3438,0,0,0,0,0,0
$GC,2284,-1.45,-116.8,231.8,-9.3,190,2289,0.00,2.42,0.00,0.000,6,0.000,0.018,2695,1865,3438,0,0,0,0,0,0
$GC,2569,-1.52,-116.8,256.1,-8.4,197,2574,0.15,2.50,0.00,0.000,4,0.054,0.027,2625,3435,3438,0,0,0,0,0,0
$GC,2639,-1.52,-116.8,263.3,-10.2,198,2645,0.15,2.47,0.00,0.000,6,0.096,0.022,2660,1869,3438,0,0,0,0,0,0
$GC,2899,-1.52,-116.8,283.8,-7.7,205,2903,0.00,2.55,0.00,0.000,4,0.000,0.041,2660,290,3437,0,0,0,0,0,0
$GC,2927,-1.52,-116.8,286.3,-9.2,205,2931,0.00,2.45,0.00,0.000,6,0.000,0.019,2660,1873,3437,0,0,0,0,0,0
$STATE,3097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3098,begin apogee
$GC,3105,-0.31,0.0,300.5,8.2,210,3201,1.12,0.00,92.78,0.656,6,0.069,0.000,2920,1608,2954,0,0,0,0,0,0
$STATE,3202,end apogee,CONTROL_FINISHED_OK
$STATE,3202,begin climb
$GC,3205,1.38,116.8,303.1,0.0,212,3309,1.48,2.70,93.65,0.650,4,0.021,0.044,3340,3179,2478,0,0,0,0,0,0
$GC,3370,1.02,136.7,300.7,8.9,215,3396,0.60,2.53,17.70,0.603,6,0.111,0.028,3215,1636,2396,0,0,0,0,0,0
$GC,3672,1.03,195.0,280.6,6.6,223,3727,0.00,2.55,48.33,0.636,4,0.000,0.031,3215,3173,2158,0,0,0,0,0,0
$GC,3764,1.04,208.2,273.0,9.2,225,3783,0.00,2.55,12.25,0.572,6,0.000,0.029,3216,1622,2105,0,0,0,0,0,0
$GC,4044,1.05,215.3,246.2,9.6,232,4058,0.00,2.53,6.82,0.506,4,0.000,0.060,3215,181,2077,0,0,0,0,0,0
$GC,4071,1.05,215.3,243.2,10.0,232,4076,0.00,2.28,0.00,0.000,6,0.000,0.020,3215,1627,2077,0,0,0,0,0,0
$GC,4331,1.09,249.9,221.7,8.0,239,4366,0.00,0.00,30.88,0.603,6,0.000,0.000,3215,1630,1935,0,0,0,0,0,0
$GC,4621,1.16,249.9,195.4,10.7,249,4626,0.10,2.47,0.00,0.000,4,0.076,0.051,3269,176,1930,0,0,0,0,0,0
$GC,4692,1.05,249.9,185.5,13.4,255,4702,0.20,2.30,0.00,0.000,6,0.075,0.022,3220,1612,1930,0,0,0,0,0,0
$GC,4961,1.16,282.5,161.4,8.1,280,4997,0.10,2.67,28.27,0.564,4,0.077,0.035,3269,3190,1802,0,0,0,0,0,0
$GC,5027,1.16,282.5,154.6,10.6,286,5032,0.12,2.58,0.00,0.000,6,0.109,0.029,3243,1619,1799,0,0,0,0,0,0
$GC,5288,1.16,282.5,127.9,10.1,310,5292,0.00,2.58,0.00,0.000,4,0.000,0.030,3243,3205,1797,0,0,0,0,0,0
$GC,5308,1.24,282.5,126.3,10.3,311,5312,0.00,2.58,0.00,0.000,6,0.000,0.029,3243,1621,1795,0,0,0,0,0,0
$GC,5576,1.25,292.0,100.5,9.5,335,5598,0.00,2.58,8.55,0.460,4,0.000,0.030,3242,3205,1762,0,0,0,0,0,0
$GC,5644,1.35,303.9,93.8,9.3,341,5669,0.17,2.53,11.62,0.477,6,0.050,0.028,3314,1648,1714,0,0,0,0,0,0
$GC,5926,1.24,303.9,61.1,11.4,367,5931,0.25,2.50,0.00,0.000,4,0.091,0.029,3254,3203,1712,0,0,0,0,0,0
$GC,5947,1.24,303.9,58.9,10.3,368,5951,0.00,2.50,0.00,0.000,6,0.000,0.028,3254,1643,1710,0,0,0,0,0,0
$GC,6217,1.43,346.5,38.1,7.5,392,6258,0.20,0.00,38.08,0.472,6,0.047,0.000,3340,1643,1542,0,0,0,0,0,0
$STATE,6506,end climb,SURFACE_DEPTH_REACHED
$STATE,6506,begin surface coast
$FINISH,0.5,1.008061
$STATE,6547,end surface coast,CONTROL_FINISHED_OK
$STATE,6547,begin surface
$SM_CCo,6569,41.12,0.443,0,0,1323,400.08
$SM_GC,1.36,0.00,0.00,41.12,0.000,0.000,0.443,414,1950,1323,-11.85,2.26,400.08
$IRIDIUM_FIX,2337.99,-15653.65,181200,121204
$TT8_MAMPS,0.027612
$HUMID,63.97
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,23.7,47.375
$10V_AH,10.2,54.433
$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,30.200,81.100,388.925,41.125,0.000,25.603,39.989,157.761,0.250,0.000,28.010,860.127,3333.292,405.338,1534.746,859.032,33.360,1074.529,0.000,1868.187,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,59.826,655.785,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,296.024,501.187,583.368,599.478,1117.302,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,35214,439
$CAP_FILE_SIZE,85472,0
$CFSIZE,260165632,108097536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240911,154431,2346.484,-15655.045,34,1.5,35,10.3