version: 66.06
glider: 148
mission: 10
dive: 534
start: 9 25 111 9 56 16
data:
$ID,148
$MISSION,10
$DIVE,534
$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,-888402.12
$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,43
$R_STBD_OVSHOOT,44
$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
$GPS1,094908,2337.902,-15700.021,9,2.0,10,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.4
$GPS2,095520,2337.828,-15700.047,12,1.9,12,10.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.160,-0.171
$KALMAN_X,-3472.2,-88.5,-86.3,122883.1,-153.0
$KALMAN_Y,-144440.2,-96.4,-168.8,360691.0,-487.5
$MHEAD_RNG_PITCHd_Wd,212.8,86693,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.5,0.0,0.0,0,96,0.00,0.00,-74.53,0.000,2,0.000,0.000,411,1845,3327,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.2,-8.1,10,124,12.27,2.60,-1.85,0.000,4,0.168,0.036,2678,3452,3435,0,0,0,0,0,0
$GC,199,-1.30,-116.8,25.6,-13.3,24,210,0.10,2.55,0.00,0.000,6,0.085,0.024,2705,1881,3435,0,0,0,0,0,0
$GC,482,-1.18,-116.8,62.6,-11.5,51,487,0.12,2.62,0.00,0.000,4,0.116,0.040,2732,280,3436,0,0,0,0,0,0
$GC,588,-1.27,-116.8,73.3,-8.8,59,593,0.00,2.47,0.00,0.000,6,0.000,0.017,2732,1886,3436,0,0,0,0,0,0
$GC,857,-1.34,-116.8,96.3,-9.4,83,863,0.15,2.60,0.00,0.000,4,0.055,0.038,2661,287,3437,0,0,0,0,0,0
$GC,928,-1.34,-116.8,104.9,-12.6,89,933,0.17,2.40,0.00,0.000,6,0.098,0.017,2699,1853,3437,0,0,0,0,0,0
$GC,1198,-1.34,-116.8,129.8,-8.9,113,1203,0.00,2.53,0.00,0.000,4,0.000,0.037,2699,284,3438,0,0,0,0,0,0
$GC,1238,-1.42,-116.8,134.2,-8.8,116,1249,0.00,2.38,0.00,0.000,6,0.000,0.017,2699,1825,3438,0,0,0,0,0,0
$GC,1503,-1.42,-116.8,157.0,-9.2,141,1508,0.00,2.47,0.00,0.000,4,0.000,0.038,2699,286,3438,0,0,0,0,0,0
$GC,1564,-1.52,-116.8,163.0,-8.8,146,1570,0.17,2.30,0.00,0.000,6,0.048,0.017,2614,1798,3438,0,0,0,0,0,0
$GC,1829,-1.34,-116.8,192.5,-11.2,171,1834,0.35,2.45,0.00,0.000,4,0.087,0.036,2696,277,3438,0,0,0,0,0,0
$GC,1924,-1.46,-116.8,201.3,-8.8,179,1931,0.10,2.28,0.00,0.000,6,0.075,0.017,2634,1772,3438,0,0,0,0,0,0
$GC,2175,-1.35,-116.8,226.9,-10.2,186,2180,0.25,2.58,0.00,0.000,4,0.086,0.025,2695,3424,3438,0,0,0,0,0,0
$GC,2205,-1.47,-116.8,229.5,-6.9,186,2210,0.12,2.65,0.00,0.000,6,0.063,0.022,2617,1740,3438,0,0,0,0,0,0
$GC,2462,-1.32,-116.8,253.6,-9.4,193,2467,0.35,2.33,0.00,0.000,4,0.084,0.039,2697,289,3438,0,0,0,0,0,0
$GC,2507,-1.45,-116.8,257.2,-7.9,194,2512,0.10,2.22,0.00,0.000,6,0.074,0.018,2634,1743,3438,0,0,0,0,0,0
$GC,2794,-1.37,-116.8,286.0,-10.6,201,2801,0.25,2.65,0.00,0.000,4,0.086,0.028,2693,3422,3438,0,0,0,0,0,0
$GC,2888,-1.51,-116.8,294.7,-8.8,203,2894,0.15,2.65,0.00,0.000,6,0.054,0.024,2608,1758,3438,0,0,0,0,0,0
$STATE,2970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2970,begin apogee
$GC,2976,-0.31,0.0,304.4,11.9,205,3073,1.38,0.00,92.90,0.659,6,0.077,0.000,2919,1587,2955,0,0,0,0,0,0
$STATE,3074,end apogee,CONTROL_FINISHED_OK
$STATE,3074,begin climb
$GC,3077,1.38,116.8,307.7,0.0,207,3181,1.50,2.42,93.78,0.652,4,0.028,0.057,3306,192,2477,0,0,0,0,0,0
$GC,3443,0.97,116.8,283.1,10.4,215,3448,0.47,2.22,0.00,0.000,6,0.097,0.020,3204,1602,2472,0,0,0,0,0,0
$GC,3722,1.06,192.9,265.9,5.6,222,3791,0.00,2.45,62.38,0.634,4,0.000,0.051,3203,203,2167,0,0,0,0,0,0
$GC,3877,1.08,207.8,253.6,9.1,225,3900,0.10,2.22,13.62,0.574,6,0.078,0.021,3249,1614,2107,0,0,0,0,0,0
$GC,4147,1.02,207.8,225.9,10.6,232,4152,0.17,2.65,0.00,0.000,4,0.098,0.043,3211,3190,2103,0,0,0,0,0,0
$GC,4162,1.03,213.6,224.0,9.7,232,4175,0.00,2.55,5.82,0.471,6,0.000,0.028,3211,1643,2083,0,0,0,0,0,0
$GC,4434,1.09,265.3,203.5,7.0,239,4486,0.00,2.58,45.40,0.597,4,0.000,0.032,3211,3188,1872,0,0,0,0,0,0
$GC,4553,1.25,296.2,194.9,8.2,244,4588,0.20,2.58,27.38,0.574,6,0.044,0.029,3290,1622,1746,0,0,0,0,0,0
$GC,4849,1.15,296.2,157.9,12.6,272,4855,0.22,2.60,0.00,0.000,4,0.094,0.035,3240,3187,1741,0,0,0,0,0,0
$GC,4910,1.24,296.2,151.2,10.5,277,4916,0.00,2.55,0.00,0.000,6,0.000,0.031,3240,1632,1738,0,0,0,0,0,0
$GC,5174,1.30,296.2,125.0,10.1,302,5179,0.12,2.53,0.00,0.000,4,0.065,0.032,3297,3189,1737,0,0,0,0,0,0
$GC,5270,1.30,296.2,112.9,12.0,310,5281,0.08,2.53,0.00,0.000,6,0.085,0.036,3274,1656,1735,0,0,0,0,0,0
$GC,5539,1.31,311.6,86.5,9.1,335,5560,0.00,2.55,12.95,0.478,4,0.000,0.031,3274,3192,1683,0,0,0,0,0,0
$GC,5634,1.43,346.4,77.5,8.0,343,5671,0.08,2.53,31.50,0.499,6,0.037,0.028,3340,1653,1542,0,0,0,0,0,0
$GC,5929,1.36,346.4,43.7,12.2,370,5934,0.25,2.50,0.00,0.000,4,0.093,0.029,3281,3189,1538,0,0,0,0,0,0
$GC,6013,1.50,349.8,35.1,9.8,376,6018,0.15,2.45,0.00,0.000,6,0.055,0.028,3345,1676,1535,0,0,0,0,0,0
$STATE,6262,end climb,SURFACE_DEPTH_REACHED
$STATE,6262,begin surface coast
$FINISH,0.5,1.022764
$STATE,6304,end surface coast,CONTROL_FINISHED_OK
$STATE,6304,begin surface
$SM_CCo,6327,39.72,0.442,0,0,1323,400.08
$SM_GC,1.47,0.00,0.00,39.72,0.000,0.000,0.442,409,1966,1323,-11.87,2.71,400.08
$IRIDIUM_FIX,2328.57,-15657.66,191200,080822
$TT8_MAMPS,0.027612
$HUMID,64.92
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,23.7,48.219
$10V_AH,10.1,55.525
$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,31.150,85.150,385.725,39.725,0.000,29.897,39.033,158.127,0.250,0.000,13.668,858.541,3027.217,405.822,1599.221,849.533,33.357,1099.726,0.000,1911.817,0.000,0.538,0.000
$DEVICE_MAMPS,167.973,56.758,658.853,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,281.722,457.274,539.464,561.983,1053.846,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,32142,418
$CAP_FILE_SIZE,87870,0
$CFSIZE,260165632,107642880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250911,114357,2336.979,-15700.531,30,99.0,50,10.3