version: 66.06
glider: 148
mission: 10
dive: 528
start: 9 24 111 21 49 30
data:
$ID,148
$MISSION,10
$DIVE,528
$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,-888274.62
$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,114
$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
$GPS1,214213,2343.602,-15656.642,7,1.5,13,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.2
$GPS2,214836,2343.554,-15656.682,11,1.3,27,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.166,-0.166
$KALMAN_X,-4064.8,98.8,-82.9,129078.3,-167.8
$KALMAN_Y,-139611.8,-388.0,47.8,366543.3,-646.7
$MHEAD_RNG_PITCHd_Wd,214.8,98654,-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,-75.00,0.000,2,0.000,0.000,410,1864,3328,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.0,-7.4,10,125,12.32,2.45,-1.90,0.000,4,0.168,0.036,2681,3387,3434,0,0,0,0,0,0
$GC,176,-1.29,-116.8,22.7,-14.0,20,187,0.10,2.45,0.00,0.000,6,0.081,0.025,2708,1872,3435,0,0,0,0,0,0
$GC,458,-1.14,-116.8,61.3,-13.8,48,463,0.15,2.58,0.00,0.000,4,0.108,0.038,2740,287,3435,0,0,0,0,0,0
$GC,516,-1.25,-116.8,68.8,-10.8,52,521,0.10,2.35,0.00,0.000,6,0.075,0.017,2682,1821,3435,0,0,0,0,0,0
$GC,779,-1.17,-116.8,100.8,-11.2,76,784,0.22,2.50,0.00,0.000,4,0.091,0.044,2733,286,3436,0,0,0,0,0,0
$GC,865,-1.28,-116.8,108.4,-8.5,83,870,0.10,2.38,0.00,0.000,6,0.074,0.017,2671,1845,3436,0,0,0,0,0,0
$GC,1132,-1.28,-116.8,134.3,-9.2,107,1137,0.17,0.00,0.00,0.000,6,0.097,0.000,2709,1849,3437,0,0,0,0,0,0
$GC,1395,-1.35,-116.8,155.4,-7.8,132,1399,0.00,2.53,0.00,0.000,4,0.000,0.038,2709,289,3438,0,0,0,0,0,0
$GC,1435,-1.45,-116.8,158.9,-9.2,135,1446,0.12,2.35,0.00,0.000,6,0.026,0.017,2635,1813,3438,0,0,0,0,0,0
$GC,1703,-1.33,-116.8,187.5,-11.4,160,1708,0.25,2.53,0.00,0.000,4,0.087,0.023,2695,3430,3438,0,0,0,0,0,0
$GC,1742,-1.47,-116.8,191.8,-9.8,163,1748,0.10,2.55,0.00,0.000,6,0.076,0.021,2634,1802,3438,0,0,0,0,0,0
$GC,2018,-1.36,-116.8,221.9,-10.5,174,2023,0.25,2.45,0.00,0.000,4,0.087,0.038,2694,283,3438,0,0,0,0,0,0
$GC,2084,-1.45,-116.8,227.8,-7.9,175,2088,0.00,2.30,0.00,0.000,6,0.000,0.018,2694,1793,3438,0,0,0,0,0,0
$GC,2349,-1.51,-116.8,248.8,-8.1,182,2354,0.15,2.47,0.00,0.000,4,0.055,0.041,2623,283,3438,0,0,0,0,0,0
$GC,2382,-1.39,-116.8,252.5,-11.1,182,2387,0.28,2.30,0.00,0.000,6,0.091,0.018,2685,1781,3438,0,0,0,0,0,0
$GC,2634,-1.39,-116.8,270.7,-6.9,188,2639,0.00,2.58,0.00,0.000,4,0.000,0.027,2685,3418,3438,0,0,0,0,0,0
$GC,2672,-1.53,-116.8,273.4,-6.5,188,2679,0.12,2.55,0.00,0.000,6,0.061,0.023,2598,1769,3437,0,0,0,0,0,0
$GC,2923,-1.33,-116.8,299.4,-10.9,195,2927,0.43,1.60,0.00,0.000,3,0.086,0.036,2697,753,3437,0,0,0,0,0,0
$STATE,2928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2928,begin apogee
$GC,2938,-0.31,0.0,300.0,11.0,195,3034,0.95,0.00,92.43,0.660,6,0.074,0.000,2918,1652,2955,0,0,0,0,0,0
$STATE,3035,end apogee,CONTROL_FINISHED_OK
$STATE,3035,begin climb
$GC,3037,1.38,116.8,303.4,0.0,197,3142,1.48,2.53,93.72,0.652,4,0.024,0.044,3324,3135,2478,0,0,0,0,0,0
$GC,3406,1.10,154.3,286.0,7.8,205,3444,0.43,2.45,31.50,0.630,6,0.104,0.028,3234,1628,2324,0,0,0,0,0,0
$GC,3727,1.06,186.0,260.6,8.2,213,3761,0.00,2.55,26.52,0.619,4,0.000,0.031,3234,3133,2195,0,0,0,0,0,0
$GC,3835,1.09,208.1,251.0,8.7,215,3862,0.00,2.50,19.92,0.601,6,0.000,0.029,3234,1614,2106,0,0,0,0,0,0
$GC,4107,1.11,226.2,226.5,9.0,222,4128,0.00,2.50,16.25,0.583,4,0.000,0.058,3234,174,2031,0,0,0,0,0,0
$GC,4139,1.14,251.5,223.5,8.5,222,4167,0.00,2.20,23.35,0.594,6,0.000,0.020,3233,1569,1929,0,0,0,0,0,0
$GC,4421,1.14,251.5,195.2,10.3,231,4425,0.00,2.58,0.00,0.000,4,0.000,0.037,3234,3135,1924,0,0,0,0,0,0
$GC,4524,1.20,251.5,184.2,10.1,240,4533,0.00,2.47,0.00,0.000,6,0.000,0.030,3233,1633,1921,0,0,0,0,0,0
$GC,4791,1.23,275.4,160.7,8.6,265,4826,0.10,2.53,21.00,0.559,4,0.078,0.034,3280,3145,1828,0,0,0,0,0,0
$GC,4893,1.23,275.4,150.5,10.7,274,4899,0.08,2.47,0.00,0.000,6,0.088,0.030,3258,1647,1825,0,0,0,0,0,0
$GC,5167,1.23,275.4,124.9,10.3,299,5171,0.00,2.45,0.00,0.000,4,0.000,0.032,3258,3151,1824,0,0,0,0,0,0
$GC,5226,1.30,275.4,118.3,10.3,304,5230,0.00,2.42,0.00,0.000,6,0.000,0.028,3258,1656,1822,0,0,0,0,0,0
$GC,5489,1.32,288.1,93.1,9.3,328,5505,0.00,2.45,10.90,0.479,4,0.000,0.030,3258,3138,1779,0,0,0,0,0,0
$GC,5559,1.46,300.6,86.6,9.3,334,5580,0.15,2.40,11.98,0.477,6,0.027,0.028,3326,1676,1728,0,0,0,0,0,0
$GC,5839,1.46,300.6,57.8,10.2,360,5843,0.00,2.35,0.00,0.000,4,0.000,0.029,3326,3145,1726,0,0,0,0,0,0
$GC,5960,1.46,300.6,45.5,10.8,369,5964,0.00,2.35,0.00,0.000,6,0.000,0.027,3326,1685,1724,0,0,0,0,0,0
$GC,6247,1.39,300.6,14.5,10.8,404,6258,0.15,2.38,0.00,0.000,4,0.109,0.030,3294,3138,1723,0,0,0,0,0,0
$GC,6309,1.39,300.6,7.8,10.7,412,6319,0.00,2.33,0.00,0.000,6,0.000,0.027,3293,1703,1723,0,0,0,0,0,0
$STATE,6350,end climb,SURFACE_DEPTH_REACHED
$STATE,6350,begin surface coast
$FINISH,0.5,1.007489
$STATE,6398,end surface coast,CONTROL_FINISHED_OK
$STATE,6398,begin surface
$SM_CCo,6422,62.35,0.446,0,0,1324,400.08
$SM_GC,1.34,0.00,0.00,62.35,0.000,0.000,0.446,408,1895,1324,-11.88,0.71,400.08
$IRIDIUM_FIX,2335.63,-15658.90,181200,191905
$TT8_MAMPS,0.027612
$HUMID,64.01
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,23.7,47.702
$10V_AH,10.1,54.866
$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,29.825,86.275,347.575,62.350,0.000,30.227,37.863,156.101,0.250,0.000,28.566,862.910,3144.142,399.708,1593.681,867.210,33.350,1089.975,0.000,1915.017,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,58.292,659.620,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,285.938,469.401,554.837,581.705,1079.355,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,35188,424
$CAP_FILE_SIZE,87358,0
$CFSIZE,260165632,107913216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240911,233914,2342.569,-15657.270,36,1.6,56,10.3