version: 66.06
glider: 148
mission: 10
dive: 526
start: 9 24 111 17 51 37
data:
$ID,148
$MISSION,10
$DIVE,526
$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,-888228.94
$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,31
$R_STBD_OVSHOOT,48
$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
$GPS1,174349,2345.789,-15655.449,13,2.0,31,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.0
$GPS2,175043,2345.746,-15655.480,13,1.5,30,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.181
$KALMAN_X,-4248.6,249.1,243.0,130850.6,4.4
$KALMAN_Y,-137725.0,-253.2,-164.0,368788.8,-186.2
$MHEAD_RNG_PITCHd_Wd,209.2,103155,-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,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,-74.97,0.000,2,0.000,0.000,412,1935,3343,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.4,-8.7,10,125,12.35,2.75,-1.52,0.000,4,0.170,0.046,2681,279,3434,0,0,0,0,0,0
$GC,194,-1.24,-116.8,27.0,-13.8,23,205,0.12,2.50,0.00,0.000,6,0.083,0.018,2713,1870,3436,0,0,0,0,0,0
$GC,475,-1.16,-116.8,61.4,-10.8,49,480,0.10,2.60,0.00,0.000,4,0.124,0.037,2735,284,3436,0,0,0,0,0,0
$GC,500,-1.16,-116.8,65.2,-10.7,50,508,0.00,2.45,0.00,0.000,6,0.000,0.018,2735,1859,3436,0,0,0,0,0,0
$GC,768,-1.25,-116.8,90.2,-7.8,75,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1863,3436,0,0,0,0,0,0
$GC,1030,-1.36,-116.8,108.8,-7.0,100,1032,0.17,0.00,0.00,0.000,6,0.046,0.000,2648,1863,3436,0,0,0,0,0,0
$GC,1285,-1.25,-116.8,135.1,-10.6,124,1290,0.28,2.55,0.00,0.000,4,0.084,0.036,2715,286,3437,0,0,0,0,0,0
$GC,1350,-1.38,-116.8,141.2,-8.4,129,1357,0.12,2.40,0.00,0.000,6,0.061,0.017,2647,1859,3438,0,0,0,0,0,0
$GC,1618,-1.26,-116.8,168.7,-10.8,154,1623,0.25,2.45,0.00,0.000,4,0.086,0.025,2708,3424,3438,0,0,0,0,0,0
$GC,1640,-1.26,-116.8,171.4,-9.9,155,1647,0.00,2.53,0.00,0.000,6,0.000,0.021,2708,1837,3438,0,0,0,0,0,0
$GC,1903,-1.35,-116.8,190.6,-7.4,180,1908,0.00,2.50,0.00,0.000,4,0.000,0.039,2708,296,3438,0,0,0,0,0,0
$GC,1943,-1.47,-116.8,194.0,-8.4,183,1954,0.12,2.38,0.00,0.000,6,0.026,0.018,2637,1844,3438,0,0,0,0,0,0
$GC,2218,-1.36,-116.8,221.7,-10.4,195,2223,0.25,2.53,0.00,0.000,4,0.085,0.038,2698,289,3438,0,0,0,0,0,0
$GC,2311,-1.46,-116.8,229.2,-8.1,197,2316,0.12,2.33,0.00,0.000,6,0.061,0.018,2632,1810,3438,0,0,0,0,0,0
$GC,2598,-1.35,-116.8,256.3,-9.3,204,2604,0.25,2.47,0.00,0.000,4,0.086,0.038,2694,294,3438,0,0,0,0,0,0
$GC,2616,-1.35,-116.8,257.8,-8.8,204,2620,0.00,2.30,0.00,0.000,6,0.000,0.018,2694,1798,3438,0,0,0,0,0,0
$GC,2886,-1.43,-116.8,276.7,-7.1,211,2891,0.00,2.55,0.00,0.000,4,0.000,0.028,2694,3418,3437,0,0,0,0,0,0
$GC,2937,-1.57,-116.8,281.0,-7.9,212,2943,0.20,2.53,0.00,0.000,6,0.043,0.023,2606,1814,3437,0,0,0,0,0,0
$STATE,3132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3132,begin apogee
$GC,3140,-0.31,0.0,303.5,12.0,217,3237,1.38,0.00,92.90,0.665,6,0.074,0.000,2921,1600,2954,0,0,0,0,0,0
$STATE,3237,end apogee,CONTROL_FINISHED_OK
$STATE,3237,begin climb
$GC,3240,1.38,116.8,307.2,0.0,219,3346,1.48,2.67,94.15,0.657,4,0.027,0.043,3311,3148,2477,0,0,0,0,0,0
$GC,3560,1.11,136.2,290.8,8.9,226,3585,0.38,2.45,16.85,0.607,6,0.108,0.028,3234,1641,2398,0,0,0,0,0,0
$GC,3847,1.08,187.2,269.3,7.1,233,3895,0.00,2.58,42.55,0.634,4,0.000,0.032,3234,3155,2190,0,0,0,0,0,0
$GC,3960,1.09,202.1,259.3,9.1,235,3980,0.00,2.53,13.73,0.584,6,0.000,0.028,3233,1621,2131,0,0,0,0,0,0
$GC,4223,1.09,202.6,233.3,10.0,242,4227,0.00,2.53,0.00,0.000,4,0.000,0.033,3234,3154,2126,0,0,0,0,0,0
$GC,4289,1.10,205.2,226.8,9.9,243,4294,0.00,2.50,0.00,0.000,6,0.000,0.030,3234,1627,2124,0,0,0,0,0,0
$GC,4552,1.13,231.5,203.8,8.5,250,4580,0.00,0.00,25.40,0.595,6,0.000,0.000,3234,1627,2011,0,0,0,0,0,0
$GC,4810,1.15,246.6,180.2,9.1,268,4832,0.00,2.58,14.27,0.554,4,0.000,0.032,3234,3158,1948,0,0,0,0,0,0
$GC,4885,1.24,267.8,172.6,8.8,275,4912,0.10,2.50,19.88,0.563,6,0.077,0.028,3278,1627,1862,0,0,0,0,0,0
$GC,5167,1.17,267.8,140.3,12.0,302,5172,0.15,2.55,0.00,0.000,4,0.105,0.040,3246,3164,1858,0,0,0,0,0,0
$GC,5238,1.25,267.8,132.3,10.7,308,5242,0.00,2.50,0.00,0.000,6,0.000,0.029,3246,1632,1855,0,0,0,0,0,0
$GC,5501,1.25,267.8,104.2,10.2,332,5505,0.00,2.50,0.00,0.000,4,0.000,0.033,3246,3165,1855,0,0,0,0,0,0
$GC,5562,1.36,281.0,98.6,9.2,337,5585,0.17,2.45,11.62,0.491,6,0.052,0.028,3311,1650,1808,0,0,0,0,0,0
$GC,5843,1.28,281.0,67.7,11.3,363,5848,0.20,2.45,0.00,0.000,4,0.097,0.029,3267,3163,1805,0,0,0,0,0,0
$GC,5889,1.40,302.1,63.3,8.8,366,5917,0.12,2.45,19.05,0.486,6,0.065,0.028,3320,1650,1721,0,0,0,0,0,0
$GC,6174,1.40,302.1,33.1,10.8,392,6179,0.12,2.45,0.00,0.000,4,0.113,0.031,3294,3165,1718,0,0,0,0,0,0
$GC,6241,1.46,302.7,26.5,10.0,399,6252,0.00,2.47,0.00,0.000,6,0.000,0.028,3294,1650,1716,0,0,0,0,0,0
$STATE,6475,end climb,SURFACE_DEPTH_REACHED
$STATE,6475,begin surface coast
$FINISH,0.6,1.021669
$STATE,6529,end surface coast,CONTROL_FINISHED_OK
$STATE,6529,begin surface
$SM_CCo,6551,55.25,0.448,0,0,1323,400.08
$SM_GC,1.46,0.00,0.00,55.25,0.000,0.000,0.448,411,1917,1323,-11.87,1.33,400.08
$IRIDIUM_FIX,2337.99,-15640.04,181200,151547
$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,19.90
$XPDR_PINGS,1
$24V_AH,23.7,47.538
$10V_AH,10.2,54.651
$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,30.025,80.525,350.400,55.250,0.000,22.000,48.814,174.268,0.250,0.000,32.086,880.692,3220.141,418.367,1600.442,900.903,33.356,1079.317,0.000,1929.370,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,46.020,664.989,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,298.978,514.504,596.033,609.538,1136.437,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,35389,443
$CAP_FILE_SIZE,85938,0
$CFSIZE,260165632,108007424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240911,194306,2344.701,-15655.982,33,1.5,39,10.3