version: 66.06
glider: 148
mission: 10
dive: 540
start: 9 25 111 21 41 28
data:
$ID,148
$MISSION,10
$DIVE,540
$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,-888547.62
$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,31
$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
$GPS1,213426,2332.066,-15704.173,27,2.3,47,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.3
$GPS2,214032,2332.032,-15704.242,9,1.5,9,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.114,-0.205
$KALMAN_X,-4157.2,12.8,-151.3,116314.9,-519.1
$KALMAN_Y,-149468.7,-310.0,-309.5,355336.3,-376.2
$MHEAD_RNG_PITCHd_Wd,198.8,73807,-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,-116.6,0.0,0.0,0,96,0.00,0.00,-74.47,0.000,2,0.000,0.000,407,1914,3316,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.1,-7.5,10,124,12.35,2.38,-2.08,0.000,4,0.169,0.037,2679,3391,3435,0,0,0,0,0,0
$GC,199,-1.29,-116.8,26.0,-13.0,24,210,0.10,2.45,0.00,0.000,6,0.083,0.024,2705,1870,3435,0,0,0,0,0,0
$GC,477,-1.15,-116.8,63.7,-14.3,50,482,0.15,2.58,0.00,0.000,4,0.107,0.038,2738,287,3436,0,0,0,0,0,0
$GC,572,-1.24,-116.8,74.3,-9.5,57,576,0.00,2.35,0.00,0.000,6,0.000,0.017,2739,1820,3436,0,0,0,0,0,0
$GC,841,-1.33,-116.8,96.6,-7.9,81,846,0.17,2.53,0.00,0.000,4,0.049,0.025,2661,3428,3437,0,0,0,0,0,0
$GC,891,-1.33,-116.8,102.0,-10.8,85,896,0.17,2.47,0.00,0.000,6,0.093,0.021,2700,1849,3437,0,0,0,0,0,0
$GC,1157,-1.33,-116.8,129.5,-10.8,109,1162,0.00,2.53,0.00,0.000,4,0.000,0.038,2701,292,3438,0,0,0,0,0,0
$GC,1257,-1.40,-116.8,140.7,-10.6,118,1261,0.00,2.40,0.00,0.000,6,0.000,0.017,2700,1865,3438,0,0,0,0,0,0
$GC,1525,-1.40,-116.8,164.8,-8.4,142,1530,0.00,2.45,0.00,0.000,4,0.000,0.025,2700,3428,3438,0,0,0,0,0,0
$GC,1541,-1.48,-116.8,166.5,-7.7,143,1547,0.10,2.50,0.00,0.000,6,0.030,0.021,2619,1858,3438,0,0,0,0,0,0
$GC,1810,-1.31,-116.8,192.8,-10.1,168,1824,0.35,2.55,0.00,0.000,4,0.086,0.038,2701,290,3438,0,0,0,0,0,0
$GC,1889,-1.41,-116.8,198.9,-7.6,175,1894,0.00,2.38,0.00,0.000,6,0.000,0.017,2701,1846,3438,0,0,0,0,0,0
$GC,2151,-1.49,-116.8,220.7,-8.4,182,2156,0.15,2.55,0.00,0.000,4,0.054,0.040,2630,287,3438,0,0,0,0,0,0
$GC,2185,-1.36,-116.8,224.5,-11.6,182,2190,0.28,2.35,0.00,0.000,6,0.087,0.018,2692,1837,3438,0,0,0,0,0,0
$GC,2436,-1.42,-116.8,246.0,-8.3,188,2441,0.00,2.53,0.00,0.000,4,0.000,0.026,2692,3424,3438,0,0,0,0,0,0
$GC,2465,-1.54,-116.8,248.5,-8.0,188,2470,0.17,2.50,0.00,0.000,6,0.046,0.021,2604,1832,3438,0,0,0,0,0,0
$GC,2726,-1.36,-116.8,275.4,-10.7,195,2733,0.38,2.50,0.00,0.000,4,0.085,0.040,2690,290,3438,0,0,0,0,0,0
$GC,2823,-1.44,-116.8,283.5,-7.8,197,2827,0.00,2.35,0.00,0.000,6,0.000,0.019,2690,1816,3438,0,0,0,0,0,0
$STATE,3062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3062,begin apogee
$GC,3069,-0.31,0.0,301.2,7.6,203,3166,1.00,0.00,93.15,0.656,6,0.068,0.000,2923,1610,2955,0,0,0,0,0,0
$STATE,3167,end apogee,CONTROL_FINISHED_OK
$STATE,3167,begin climb
$GC,3169,1.38,116.8,304.6,0.0,205,3271,1.48,2.65,94.38,0.650,4,0.027,0.043,3311,3171,2477,0,0,0,0,0,0
$GC,3299,1.14,179.6,307.1,6.4,208,3360,0.35,2.53,52.20,0.640,6,0.105,0.028,3239,1637,2221,0,0,0,0,0,0
$GC,3632,1.06,182.9,276.7,9.8,216,3636,0.00,2.50,0.00,0.000,4,0.000,0.031,3239,3167,2215,0,0,0,0,0,0
$GC,3660,1.02,204.3,274.0,8.8,216,3689,0.12,2.53,21.17,0.606,6,0.136,0.028,3215,1614,2122,0,0,0,0,0,0
$GC,3965,1.06,241.9,250.1,7.8,224,4007,0.00,2.58,32.97,0.614,4,0.000,0.031,3215,3166,1966,0,0,0,0,0,0
$GC,4104,1.14,241.9,237.6,10.3,227,4110,0.05,2.55,0.00,0.000,6,0.047,0.029,3258,1630,1962,0,0,0,0,0,0
$GC,4395,1.14,241.9,207.1,10.5,234,4399,0.00,2.50,0.00,0.000,4,0.000,0.033,3258,3165,1961,0,0,0,0,0,0
$GC,4432,1.14,243.9,203.2,9.9,234,4438,0.00,2.50,0.00,0.000,6,0.000,0.029,3258,1637,1959,0,0,0,0,0,0
$GC,4697,1.14,243.9,177.6,10.5,256,4701,0.00,2.50,0.00,0.000,4,0.000,0.034,3258,3165,1958,0,0,0,0,0,0
$GC,4796,1.14,243.9,166.9,10.6,265,4800,0.00,2.45,0.00,0.000,6,0.000,0.028,3258,1657,1958,0,0,0,0,0,0
$GC,5064,1.15,254.4,140.9,9.4,289,5086,0.00,2.53,10.45,0.503,4,0.000,0.031,3258,3170,1917,0,0,0,0,0,0
$GC,5179,1.18,279.2,130.3,8.6,299,5207,0.00,2.42,23.08,0.532,6,0.000,0.028,3258,1683,1816,0,0,0,0,0,0
$GC,5461,1.19,286.6,105.4,9.6,326,5475,0.00,2.42,7.50,0.447,4,0.000,0.029,3258,3175,1784,0,0,0,0,0,0
$GC,5521,1.21,296.2,99.9,9.4,331,5543,0.00,2.42,9.20,0.460,6,0.000,0.028,3258,1684,1746,0,0,0,0,0,0
$GC,5801,1.28,299.7,71.2,9.8,357,5816,0.00,2.45,4.20,0.346,4,0.000,0.029,3258,3175,1733,0,0,0,0,0,0
$GC,5854,1.43,302.9,66.2,9.8,361,5869,0.17,2.38,4.25,0.344,6,0.051,0.027,3327,1708,1720,0,0,0,0,0,0
$GC,6126,1.43,302.9,38.7,10.1,386,6131,0.12,2.35,0.00,0.000,4,0.112,0.030,3300,3170,1719,0,0,0,0,0,0
$GC,6183,1.43,302.9,32.8,10.2,390,6188,0.00,2.35,0.00,0.000,6,0.000,0.027,3300,1712,1717,0,0,0,0,0,0
$STATE,6477,end climb,SURFACE_DEPTH_REACHED
$STATE,6477,begin surface coast
$FINISH,0.5,1.010967
$STATE,6524,end surface coast,CONTROL_FINISHED_OK
$STATE,6525,begin surface
$SM_CCo,6546,58.17,0.441,0,0,1323,400.08
$SM_GC,1.41,0.00,0.00,58.17,0.000,0.000,0.441,409,1938,1323,-11.87,1.92,400.08
$IRIDIUM_FIX,2326.22,-15705.99,191200,191915
$TT8_MAMPS,0.026845
$HUMID,64.80
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.7,48.716
$10V_AH,10.2,56.179
$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,29.225,89.425,352.550,58.175,0.000,29.099,34.340,158.806,0.000,0.000,11.043,881.912,3210.316,430.611,1584.096,866.615,33.353,1093.517,0.000,1930.831,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,45.253,655.785,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.554,504.801,587.362,608.245,1142.748,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,35210,441
$CAP_FILE_SIZE,86249,0
$CFSIZE,260165632,107368448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250911,233246,2331.177,-15704.762,8,99.0,27,10.2