version: 66.06
glider: 148
mission: 10
dive: 543
start: 9 26 111 3 34 45
data:
$ID,148
$MISSION,10
$DIVE,543
$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,-888619.12
$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,34
$R_STBD_OVSHOOT,96
$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
$GPS1,032728,2329.316,-15706.087,7,4.6,27,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.2
$GPS2,033351,2329.280,-15706.140,13,1.5,20,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.191,-0.136
$KALMAN_X,-4702.3,-268.2,54.5,113674.9,30.0
$KALMAN_Y,-151842.5,-215.0,169.3,352046.6,-657.0
$MHEAD_RNG_PITCHd_Wd,224.3,67788,-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,-74.85,0.000,2,0.000,0.000,409,1900,3317,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.9,-6.8,10,125,11.90,2.67,-2.05,0.000,4,0.154,0.049,2680,291,3434,0,0,0,0,0,0
$GC,170,-1.16,-116.8,22.3,-17.3,19,180,0.20,2.40,0.00,0.000,6,0.077,0.018,2730,1831,3434,0,0,0,0,0,0
$GC,456,-1.09,-116.8,56.7,-10.8,48,461,0.10,2.53,0.00,0.000,4,0.122,0.038,2752,286,3435,0,0,0,0,0,0
$GC,490,-1.09,-116.8,60.7,-10.8,50,495,0.00,2.42,0.00,0.000,6,0.000,0.017,2752,1860,3435,0,0,0,0,0,0
$GC,754,-1.18,-116.8,84.9,-9.2,74,758,0.00,2.58,0.00,0.000,4,0.000,0.044,2752,286,3436,0,0,0,0,0,0
$GC,788,-1.34,-116.8,88.0,-9.2,76,799,0.20,2.38,0.00,0.000,6,0.019,0.017,2654,1839,3436,0,0,0,0,0,0
$GC,1056,-1.23,-116.8,115.9,-10.1,101,1061,0.28,2.50,0.00,0.000,4,0.084,0.037,2720,288,3437,0,0,0,0,0,0
$GC,1108,-1.37,-116.8,121.0,-8.9,105,1113,0.12,2.30,0.00,0.000,6,0.063,0.016,2652,1818,3437,0,0,0,0,0,0
$GC,1374,-1.25,-116.8,149.7,-10.7,129,1379,0.25,2.47,0.00,0.000,4,0.087,0.035,2713,282,3438,0,0,0,0,0,0
$GC,1409,-1.36,-116.8,153.3,-8.9,131,1414,0.00,2.28,0.00,0.000,6,0.000,0.017,2713,1794,3437,0,0,0,0,0,0
$GC,1672,-1.44,-116.8,170.0,-6.0,156,1677,0.15,2.55,0.00,0.000,4,0.055,0.026,2640,3420,3437,0,0,0,0,0,0
$GC,1724,-1.44,-116.8,173.9,-8.5,160,1729,0.15,2.58,0.00,0.000,6,0.096,0.023,2675,1780,3438,0,0,0,0,0,0
$GC,1990,-1.44,-116.8,197.0,-8.9,184,1994,0.00,2.42,0.00,0.000,4,0.000,0.039,2675,282,3438,0,0,0,0,0,0
$GC,2042,-1.44,-116.8,202.1,-7.5,188,2047,0.00,2.30,0.00,0.000,6,0.000,0.018,2675,1792,3438,0,0,0,0,0,0
$GC,2320,-1.44,-116.8,221.7,-6.6,195,2324,0.00,2.42,0.00,0.000,4,0.000,0.039,2675,287,3437,0,0,0,0,0,0
$GC,2347,-1.44,-116.8,224.0,-8.0,195,2351,0.00,2.25,0.00,0.000,6,0.000,0.018,2675,1757,3438,0,0,0,0,0,0
$GC,2602,-1.44,-116.8,244.5,-8.3,202,2608,0.00,2.65,0.00,0.000,4,0.000,0.026,2675,3421,3437,0,0,0,0,0,0
$GC,2641,-1.52,-116.8,248.5,-10.6,202,2645,0.00,2.60,0.00,0.000,6,0.000,0.023,2675,1770,3438,0,0,0,0,0,0
$GC,2892,-1.52,-116.8,269.9,-8.3,208,2896,0.00,2.42,0.00,0.000,4,0.000,0.043,2675,284,3437,0,0,0,0,0,0
$GC,2936,-1.52,-116.8,273.5,-7.8,209,2940,0.00,2.25,0.00,0.000,6,0.000,0.018,2675,1753,3436,0,0,0,0,0,0
$GC,3223,-1.52,-116.8,293.9,-7.1,216,3227,0.00,2.40,0.00,0.000,4,0.000,0.051,2675,292,3435,0,0,0,0,0,0
$GC,3274,-1.52,-116.8,297.9,-8.2,217,3280,0.00,2.25,0.00,0.000,6,0.000,0.020,2675,1729,3435,0,0,0,0,0,0
$STATE,3301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3301,begin apogee
$GC,3307,-0.31,0.0,300.0,6.7,217,3403,1.05,0.00,92.45,0.660,6,0.074,0.000,2918,1601,2955,0,0,0,0,0,0
$STATE,3404,end apogee,CONTROL_FINISHED_OK
$STATE,3404,begin climb
$GC,3406,1.38,116.8,302.7,0.0,220,3511,1.50,2.40,93.88,0.652,4,0.025,0.053,3318,198,2477,0,0,0,0,0,0
$GC,3775,0.95,133.5,279.2,9.0,228,3798,0.57,2.20,14.38,0.592,6,0.097,0.021,3195,1594,2409,0,0,0,0,0,0
$GC,4059,1.04,209.0,261.6,5.7,235,4129,0.00,2.42,63.08,0.634,4,0.000,0.051,3195,202,2102,0,0,0,0,0,0
$GC,4220,1.05,220.8,249.2,9.3,238,4239,0.10,2.25,10.90,0.558,6,0.077,0.021,3243,1632,2054,0,0,0,0,0,0
$GC,4484,1.05,221.0,223.6,10.0,245,4489,0.12,2.58,0.00,0.000,4,0.111,0.042,3216,3180,2049,0,0,0,0,0,0
$GC,4536,1.06,224.0,218.0,9.8,246,4540,0.00,2.47,0.00,0.000,6,0.000,0.029,3216,1664,2047,0,0,0,0,0,0
$GC,4796,1.17,261.2,194.9,7.9,257,4838,0.12,2.58,35.20,0.592,4,0.065,0.055,3271,173,1889,0,0,0,0,0,0
$GC,4881,1.10,261.2,187.1,11.4,265,4886,0.20,2.33,0.00,0.000,6,0.097,0.021,3229,1639,1889,0,0,0,0,0,0
$GC,5147,1.18,271.4,162.5,9.4,289,5166,0.00,2.58,9.77,0.512,4,0.000,0.035,3229,3180,1847,0,0,0,0,0,0
$GC,5211,1.29,271.4,156.3,10.1,295,5216,0.17,2.53,0.00,0.000,6,0.050,0.029,3296,1635,1844,0,0,0,0,0,0
$GC,5477,1.22,271.4,125.3,11.6,319,5482,0.17,2.55,0.00,0.000,4,0.098,0.033,3256,3194,1842,0,0,0,0,0,0
$GC,5527,1.30,276.5,120.0,9.7,323,5537,0.00,2.53,5.07,0.409,6,0.000,0.028,3256,1643,1827,0,0,0,0,0,0
$GC,5792,1.33,295.8,93.9,8.9,348,5816,0.10,2.58,17.70,0.503,4,0.078,0.031,3303,3200,1747,0,0,0,0,0,0
$GC,5838,1.33,295.8,89.2,10.6,352,5843,0.12,2.55,0.00,0.000,6,0.107,0.033,3275,1643,1745,0,0,0,0,0,0
$GC,6108,1.35,316.5,63.8,8.8,376,6135,0.00,2.58,18.90,0.480,4,0.000,0.030,3275,3191,1664,0,0,0,0,0,0
$GC,6218,1.51,345.7,53.4,8.3,385,6256,0.12,2.50,26.88,0.479,6,0.029,0.028,3339,1666,1543,0,0,0,0,0,0
$GC,6527,1.44,345.7,17.7,12.3,420,6538,0.17,2.50,0.00,0.000,4,0.098,0.030,3301,3186,1539,0,0,0,0,0,0
$GC,6549,1.44,345.7,14.8,12.0,422,6559,0.00,2.47,0.00,0.000,6,0.000,0.027,3300,1673,1537,0,0,0,0,0,0
$STATE,6650,end climb,SURFACE_DEPTH_REACHED
$STATE,6650,begin surface coast
$FINISH,0.4,1.004352
$STATE,6701,end surface coast,CONTROL_FINISHED_OK
$STATE,6701,begin surface
$SM_CCo,6722,39.97,0.443,0,0,1323,400.08
$SM_GC,1.27,0.00,0.00,39.97,0.000,0.000,0.443,410,1961,1323,-11.87,2.54,400.08
$IRIDIUM_FIX,2323.87,-15706.90,201200,010131
$TT8_MAMPS,0.027612
$HUMID,64.92
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.20
$XPDR_PINGS,3
$24V_AH,23.7,48.966
$10V_AH,10.1,56.501
$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,29.525,98.675,388.200,39.975,0.000,25.308,47.115,160.548,0.750,0.000,22.456,901.208,3279.518,409.376,1644.444,913.179,33.354,1140.840,0.000,1980.455,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,60.593,660.387,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,298.947,506.358,590.856,605.273,1115.376,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,35159,444
$CAP_FILE_SIZE,93644,0
$CFSIZE,260165632,107229184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260911,052837,2328.292,-15707.188,25,1.7,26,10.2