version: 66.06
glider: 148
mission: 10
dive: 525
start: 9 24 111 15 51 33
data:
$ID,148
$MISSION,10
$DIVE,525
$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,-888196.25
$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,42
$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
$GPS1,154431,2346.484,-15655.045,34,1.5,35,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.7
$GPS2,155037,2346.455,-15655.067,10,1.2,15,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.186,-0.143
$KALMAN_X,-4520.1,226.0,141.1,131960.6,261.9
$KALMAN_Y,-137252.4,-158.8,-280.3,369651.9,-362.3
$MHEAD_RNG_PITCHd_Wd,222.1,104634,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-74.62,0.000,2,0.000,0.000,414,1951,3324,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.1,-7.4,10,124,12.30,2.42,-1.90,0.000,4,0.168,0.038,2682,3452,3434,0,0,0,0,0,0
$GC,162,-1.23,-116.8,21.8,-17.2,18,173,0.15,2.58,0.00,0.000,6,0.074,0.025,2721,1869,3435,0,0,0,0,0,0
$GC,441,-1.15,-116.8,57.3,-10.0,46,446,0.00,2.58,0.00,0.000,4,0.000,0.039,2721,282,3435,0,0,0,0,0,0
$GC,500,-1.15,-116.8,63.4,-10.0,50,504,0.00,2.47,0.00,0.000,6,0.000,0.017,2721,1888,3435,0,0,0,0,0,0
$GC,763,-1.15,-116.8,89.3,-10.0,74,767,0.00,2.40,0.00,0.000,4,0.000,0.025,2721,3430,3436,0,0,0,0,0,0
$GC,796,-1.27,-116.8,92.7,-9.7,76,806,0.00,2.53,0.00,0.000,6,0.000,0.021,2721,1846,3436,0,0,0,0,0,0
$GC,1064,-1.33,-116.8,117.5,-8.6,101,1068,0.00,2.53,0.00,0.000,4,0.000,0.039,2721,289,3436,0,0,0,0,0,0
$GC,1126,-1.45,-116.8,123.5,-8.8,106,1136,0.17,2.38,0.00,0.000,6,0.022,0.016,2641,1845,3437,0,0,0,0,0,0
$GC,1394,-1.29,-116.8,149.9,-9.4,131,1399,0.25,0.00,0.00,0.000,6,0.087,0.000,2702,1845,3437,0,0,0,0,0,0
$GC,1658,-1.29,-116.8,168.6,-6.9,156,1662,0.00,2.53,0.00,0.000,4,0.000,0.038,2703,291,3437,0,0,0,0,0,0
$GC,1697,-1.38,-116.8,172.1,-7.9,159,1707,0.00,2.33,0.00,0.000,6,0.000,0.018,2703,1800,3437,0,0,0,0,0,0
$GC,1966,-1.38,-116.8,192.4,-7.9,184,1970,0.00,2.55,0.00,0.000,4,0.000,0.025,2703,3419,3437,0,0,0,0,0,0
$GC,1994,-1.49,-116.8,195.3,-8.1,186,2005,0.12,2.55,0.00,0.000,6,0.026,0.022,2626,1818,3437,0,0,0,0,0,0
$GC,2257,-1.34,-116.8,221.7,-10.2,197,2262,0.28,2.47,0.00,0.000,4,0.086,0.038,2693,282,3437,0,0,0,0,0,0
$GC,2311,-1.42,-116.8,226.2,-7.7,198,2315,0.00,2.33,0.00,0.000,6,0.000,0.018,2694,1803,3437,0,0,0,0,0,0
$GC,2588,-1.42,-116.8,246.4,-7.3,205,2593,0.00,2.53,0.00,0.000,4,0.000,0.027,2693,3416,3437,0,0,0,0,0,0
$GC,2632,-1.55,-116.8,249.6,-7.7,206,2638,0.17,2.53,0.00,0.000,6,0.048,0.023,2612,1809,3437,0,0,0,0,0,0
$GC,2920,-1.39,-116.8,279.7,-10.7,213,2926,0.30,2.50,0.00,0.000,4,0.090,0.041,2682,294,3436,0,0,0,0,0,0
$GC,2978,-1.46,-116.8,285.2,-9.4,214,2982,0.00,2.33,0.00,0.000,6,0.000,0.019,2682,1803,3436,0,0,0,0,0,0
$STATE,3174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3174,begin apogee
$GC,3180,-0.31,0.0,300.9,8.1,219,3276,1.02,0.00,92.70,0.660,6,0.070,0.000,2920,1598,2955,0,0,0,0,0,0
$STATE,3277,end apogee,CONTROL_FINISHED_OK
$STATE,3277,begin climb
$GC,3280,1.38,116.8,304.0,0.0,221,3384,1.48,2.40,93.85,0.653,4,0.025,0.055,3320,200,2478,0,0,0,0,0,0
$GC,3648,0.94,116.8,279.7,10.2,229,3654,0.57,2.17,0.00,0.000,6,0.096,0.020,3196,1586,2472,0,0,0,0,0,0
$GC,3927,1.04,203.4,263.8,5.0,236,4005,0.00,2.42,71.38,0.638,4,0.000,0.049,3196,196,2125,0,0,0,0,0,0
$GC,4151,1.05,213.2,246.1,9.4,241,4168,0.08,2.28,9.25,0.544,6,0.039,0.021,3242,1622,2084,0,0,0,0,0,0
$GC,4444,1.06,216.4,217.7,9.8,248,4450,0.10,2.65,0.00,0.000,4,0.121,0.043,3220,3184,2079,0,0,0,0,0,0
$GC,4459,1.06,216.4,215.5,10.2,248,4464,0.00,2.53,0.00,0.000,6,0.000,0.028,3220,1638,2078,0,0,0,0,0,0
$GC,4721,1.08,232.1,190.8,9.1,259,4739,0.00,0.00,16.50,0.565,6,0.000,0.000,3220,1637,2008,0,0,0,0,0,0
$GC,4994,1.19,276.8,167.2,7.4,285,5042,0.12,2.65,39.65,0.576,4,0.067,0.036,3273,3189,1825,0,0,0,0,0,0
$GC,5092,1.19,276.8,156.5,11.6,294,5099,0.08,2.60,0.00,0.000,6,0.084,0.031,3251,1623,1820,0,0,0,0,0,0
$GC,5357,1.19,276.8,129.5,10.6,319,5362,0.00,2.55,0.00,0.000,4,0.000,0.033,3252,3195,1818,0,0,0,0,0,0
$GC,5428,1.26,276.8,121.9,11.1,325,5433,0.00,2.55,0.00,0.000,6,0.000,0.029,3251,1627,1816,0,0,0,0,0,0
$GC,5695,1.28,298.1,95.9,8.8,349,5718,0.00,2.65,17.98,0.503,4,0.000,0.031,3251,3201,1738,0,0,0,0,0,0
$GC,5788,1.41,309.9,87.4,9.3,357,5811,0.20,2.53,11.45,0.472,6,0.046,0.029,3325,1653,1690,0,0,0,0,0,0
$GC,6068,1.41,309.9,53.1,12.4,383,6073,0.12,2.50,0.00,0.000,4,0.112,0.031,3298,3193,1687,0,0,0,0,0,0
$GC,6127,1.48,309.9,46.6,10.9,387,6131,0.00,2.47,0.00,0.000,6,0.000,0.027,3298,1666,1685,0,0,0,0,0,0
$GC,6413,1.48,309.9,16.0,10.3,421,6423,0.00,2.47,0.00,0.000,4,0.000,0.029,3298,3187,1685,0,0,0,0,0,0
$GC,6463,1.48,309.9,10.6,10.1,427,6473,0.00,2.45,0.00,0.000,6,0.000,0.029,3299,1680,1684,0,0,0,0,0,0
$STATE,6533,end climb,SURFACE_DEPTH_REACHED
$STATE,6533,begin surface coast
$FINISH,0.5,1.022548
$STATE,6587,end surface coast,CONTROL_FINISHED_OK
$STATE,6589,begin surface
$SM_CCo,6610,50.58,0.443,0,0,1323,400.08
$SM_GC,1.50,0.00,0.00,50.58,0.000,0.000,0.443,412,1935,1323,-11.86,1.81,400.08
$IRIDIUM_FIX,2337.99,-15727.33,181200,131352
$TT8_MAMPS,0.027612
$HUMID,64.49
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,20.30
$XPDR_PINGS,3
$24V_AH,23.7,47.455
$10V_AH,10.1,54.542
$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,29.100,84.950,352.750,50.575,0.000,41.033,36.384,143.651,0.750,0.000,16.582,890.845,3234.152,405.749,1636.075,863.791,33.364,1109.417,0.000,1975.697,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,55.224,660.387,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,299.905,495.546,582.734,597.495,1119.181,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,35117,445
$CAP_FILE_SIZE,86601,0
$CFSIZE,260165632,108048384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240911,174349,2345.789,-15655.449,13,2.0,31,10.3