version: 66.06
glider: 148
mission: 10
dive: 527
start: 9 24 111 19 50 16
data:
$ID,148
$MISSION,10
$DIVE,527
$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,-888245.44
$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,120
$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
$GPS1,194306,2344.701,-15655.982,33,1.5,39,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.7
$GPS2,194920,2344.651,-15656.031,14,1.0,14,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.145,-0.184
$KALMAN_X,-4137.5,198.4,134.5,129952.5,-189.6
$KALMAN_Y,-138712.4,-341.2,5.1,367673.7,-395.2
$MHEAD_RNG_PITCHd_Wd,207.9,100954,-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,-74.43,0.000,2,0.000,0.000,411,1918,3306,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.0,-7.2,10,124,12.30,2.72,-2.22,0.000,4,0.169,0.048,2681,283,3434,0,0,0,0,0,0
$GC,219,-1.24,-116.8,30.4,-15.1,27,230,0.12,2.38,0.00,0.000,6,0.089,0.018,2713,1806,3435,0,0,0,0,0,0
$GC,490,-1.17,-116.8,65.3,-11.1,52,494,0.00,2.47,0.00,0.000,4,0.000,0.038,2713,287,3435,0,0,0,0,0,0
$GC,535,-1.17,-116.8,71.0,-11.0,55,539,0.00,2.35,0.00,0.000,6,0.000,0.018,2713,1813,3435,0,0,0,0,0,0
$GC,803,-1.17,-116.8,98.0,-9.5,79,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1816,3436,0,0,0,0,0,0
$GC,1065,-1.24,-116.8,124.7,-9.3,104,1070,0.00,2.47,0.00,0.000,4,0.000,0.038,2713,287,3437,0,0,0,0,0,0
$GC,1107,-1.33,-116.8,128.4,-10.5,107,1111,0.00,2.33,0.00,0.000,6,0.000,0.017,2713,1813,3437,0,0,0,0,0,0
$GC,1376,-1.41,-116.8,150.2,-6.9,131,1381,0.12,2.45,0.00,0.000,4,0.061,0.025,2643,3377,3437,0,0,0,0,0,0
$GC,1407,-1.41,-116.8,152.8,-9.4,133,1413,0.17,2.40,0.00,0.000,6,0.092,0.022,2683,1843,3438,0,0,0,0,0,0
$GC,1674,-1.41,-116.8,176.1,-8.5,157,1678,0.00,2.53,0.00,0.000,4,0.000,0.039,2683,287,3438,0,0,0,0,0,0
$GC,1781,-1.41,-116.8,186.8,-10.2,167,1785,0.00,2.28,0.00,0.000,6,0.000,0.017,2683,1788,3438,0,0,0,0,0,0
$GC,2059,-1.41,-116.8,210.2,-7.9,184,2063,0.00,2.50,0.00,0.000,4,0.000,0.025,2683,3377,3438,0,0,0,0,0,0
$GC,2073,-1.41,-116.8,211.6,-7.7,184,2077,0.00,2.45,0.00,0.000,6,0.000,0.021,2683,1823,3438,0,0,0,0,0,0
$GC,2343,-1.41,-116.8,231.1,-7.2,191,2347,0.00,2.45,0.00,0.000,4,0.000,0.041,2683,296,3438,0,0,0,0,0,0
$GC,2427,-1.41,-116.8,238.2,-8.3,192,2432,0.00,2.25,0.00,0.000,6,0.000,0.018,2683,1776,3438,0,0,0,0,0,0
$GC,2677,-1.41,-116.8,259.7,-8.8,199,2682,0.00,2.55,0.00,0.000,4,0.000,0.027,2683,3375,3438,0,0,0,0,0,0
$GC,2716,-1.53,-116.8,263.2,-9.3,199,2721,0.12,2.45,0.00,0.000,6,0.063,0.023,2614,1816,3438,0,0,0,0,0,0
$GC,2968,-1.39,-116.8,289.3,-10.4,205,2973,0.30,2.50,0.00,0.000,4,0.085,0.041,2686,287,3437,0,0,0,0,0,0
$GC,3043,-1.48,-116.8,295.7,-7.8,206,3049,0.00,2.28,0.00,0.000,6,0.000,0.019,2687,1747,3437,0,0,0,0,0,0
$STATE,3138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3138,begin apogee
$GC,3146,-0.31,0.0,301.5,6.0,209,3242,1.02,0.00,92.93,0.662,6,0.069,0.000,2924,1599,2955,0,0,0,0,0,0
$STATE,3243,end apogee,CONTROL_FINISHED_OK
$STATE,3243,begin climb
$GC,3245,1.38,116.8,303.4,0.0,211,3349,1.48,2.42,94.03,0.654,4,0.027,0.055,3313,202,2478,0,0,0,0,0,0
$GC,3612,0.98,126.4,281.2,9.4,219,3630,0.50,2.12,8.60,0.548,6,0.097,0.020,3205,1558,2438,0,0,0,0,0,0
$GC,3897,1.05,184.3,262.6,6.7,226,3953,0.00,2.35,48.83,0.636,4,0.000,0.048,3206,193,2202,0,0,0,0,0,0
$GC,3978,1.05,184.3,256.1,10.3,227,3984,0.00,2.17,0.00,0.000,6,0.000,0.021,3205,1564,2200,0,0,0,0,0,0
$GC,4229,1.09,218.1,235.2,8.1,234,4265,0.00,2.60,29.10,0.610,4,0.000,0.039,3206,3109,2063,0,0,0,0,0,0
$GC,4313,1.19,218.1,227.2,10.2,235,4320,0.12,2.40,0.00,0.000,6,0.028,0.030,3273,1661,2060,0,0,0,0,0,0
$GC,4564,1.09,218.1,200.2,10.7,242,4570,0.22,2.53,0.00,0.000,4,0.095,0.054,3224,174,2059,0,0,0,0,0,0
$GC,4579,1.09,218.1,198.5,10.4,242,4583,0.00,2.15,0.00,0.000,6,0.000,0.020,3224,1566,2059,0,0,0,0,0,0
$GC,4850,1.13,250.1,176.1,8.2,266,4884,0.00,2.60,27.58,0.578,4,0.000,0.033,3224,3114,1933,0,0,0,0,0,0
$GC,4957,1.23,258.8,166.3,9.5,276,4971,0.10,2.45,8.57,0.502,6,0.032,0.036,3288,1633,1900,0,0,0,0,0,0
$GC,5232,1.16,258.8,135.8,10.1,302,5237,0.20,2.45,0.00,0.000,4,0.099,0.039,3244,3121,1896,0,0,0,0,0,0
$GC,5277,1.25,267.6,132.3,9.5,305,5299,0.00,2.40,8.68,0.486,6,0.000,0.034,3244,1647,1863,0,0,0,0,0,0
$GC,5555,1.35,293.5,105.8,8.5,331,5587,0.15,2.45,23.23,0.521,4,0.057,0.033,3310,3106,1757,0,0,0,0,0,0
$GC,5654,1.28,293.5,94.7,10.7,340,5659,0.20,2.33,0.00,0.000,6,0.098,0.028,3267,1664,1754,0,0,0,0,0,0
$GC,5923,1.32,326.0,71.9,8.1,364,5960,0.00,2.42,28.98,0.497,4,0.000,0.030,3267,3117,1624,0,0,0,0,0,0
$GC,5989,1.44,326.0,65.2,10.2,369,6000,0.10,2.40,0.00,0.000,6,0.031,0.028,3333,1664,1622,0,0,0,0,0,0
$GC,6258,1.38,326.0,35.0,11.9,394,6263,0.20,2.35,0.00,0.000,4,0.097,0.028,3290,3127,1621,0,0,0,0,0,0
$GC,6292,1.38,326.0,31.0,10.4,396,6296,0.00,2.35,0.00,0.000,6,0.000,0.027,3290,1672,1619,0,0,0,0,0,0
$STATE,6545,end climb,SURFACE_DEPTH_REACHED
$STATE,6545,begin surface coast
$FINISH,0.4,1.020560
$STATE,6592,end surface coast,CONTROL_FINISHED_OK
$STATE,6593,begin surface
$SM_CCo,6617,43.88,0.442,0,0,1323,400.08
$SM_GC,1.34,0.00,0.00,43.88,0.000,0.000,0.442,410,1864,1323,-11.87,-0.17,400.08
$IRIDIUM_FIX,2340.34,-15650.56,181200,171753
$TT8_MAMPS,0.027612
$HUMID,64.80
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.40
$XPDR_PINGS,3
$24V_AH,23.7,47.621
$10V_AH,10.1,54.761
$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,29.075,87.125,370.500,43.875,0.000,24.960,34.941,168.215,0.750,0.000,15.899,887.351,3239.133,400.645,1619.244,890.847,33.358,1095.254,0.000,1959.633,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,55.224,661.921,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.830,497.621,581.587,602.618,1125.005,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,35376,442
$CAP_FILE_SIZE,87359,0
$CFSIZE,260165632,107958272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240911,214213,2343.602,-15656.642,7,1.5,13,10.3