version: 66.06
glider: 148
mission: 10
dive: 545
start: 9 26 111 7 42 16
data:
$ID,148
$MISSION,10
$DIVE,545
$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,-888650.12
$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,39
$R_STBD_OVSHOOT,56
$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
$GPS1,073133,2327.268,-15708.239,8,2.6,28,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.2
$GPS2,074120,2327.208,-15708.355,11,1.2,11,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.101,-0.212
$KALMAN_X,-6255.3,-328.4,-24.6,111553.1,-672.5
$KALMAN_Y,-153383.9,-119.0,-309.2,350124.2,-454.0
$MHEAD_RNG_PITCHd_Wd,195.2,62455,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,95,0.00,0.00,-73.43,0.000,2,0.000,0.000,407,1852,3282,0,0,0,0,0,0
$GC,98,-1.38,-116.8,3.7,-6.5,10,123,12.30,2.58,-2.72,0.000,4,0.166,0.046,2681,287,3435,0,0,0,0,0,0
$GC,204,-1.30,-116.8,26.3,-13.3,25,215,0.08,2.47,0.00,0.000,6,0.088,0.018,2702,1872,3436,0,0,0,0,0,0
$GC,482,-1.17,-116.8,63.6,-12.0,51,492,0.15,0.00,0.00,0.000,6,0.109,0.000,2735,1876,3437,0,0,0,0,0,0
$GC,747,-1.25,-116.8,88.1,-8.3,76,751,0.00,2.60,0.00,0.000,4,0.000,0.041,2735,284,3437,0,0,0,0,0,0
$GC,817,-1.40,-116.8,94.2,-8.7,82,822,0.20,2.42,0.00,0.000,6,0.041,0.017,2640,1869,3437,0,0,0,0,0,0
$GC,1081,-1.24,-116.8,123.7,-10.9,106,1094,0.32,2.55,0.00,0.000,4,0.084,0.036,2715,293,3438,0,0,0,0,0,0
$GC,1131,-1.37,-116.8,128.6,-8.5,110,1142,0.08,2.35,0.00,0.000,6,0.035,0.016,2655,1829,3438,0,0,0,0,0,0
$GC,1396,-1.27,-116.8,154.3,-9.6,135,1401,0.25,2.47,0.00,0.000,4,0.086,0.037,2715,293,3438,0,0,0,0,0,0
$GC,1490,-1.41,-116.8,161.4,-7.6,143,1495,0.15,2.28,0.00,0.000,6,0.054,0.017,2637,1799,3438,0,0,0,0,0,0
$GC,1751,-1.29,-116.8,188.9,-11.6,167,1753,0.32,0.00,0.00,0.000,6,0.080,0.000,2709,1802,3438,0,0,0,0,0,0
$GC,2032,-1.38,-116.8,215.0,-9.0,182,2037,0.00,2.47,0.00,0.000,4,0.000,0.039,2709,296,3438,0,0,0,0,0,0
$GC,2089,-1.55,-116.8,219.7,-7.9,183,2094,0.22,2.28,0.00,0.000,6,0.039,0.017,2610,1794,3438,0,0,0,0,0,0
$GC,2369,-1.39,-116.8,247.5,-10.1,190,2374,0.30,2.55,0.00,0.000,4,0.085,0.026,2682,3420,3438,0,0,0,0,0,0
$GC,2443,-1.49,-116.8,253.7,-8.4,191,2447,0.00,2.58,0.00,0.000,6,0.000,0.022,2682,1793,3438,0,0,0,0,0,0
$GC,2703,-1.56,-116.8,274.8,-8.1,198,2708,0.12,2.45,0.00,0.000,4,0.064,0.043,2614,296,3437,0,0,0,0,0,0
$GC,2737,-1.44,-116.8,278.2,-11.1,198,2742,0.28,2.30,0.00,0.000,6,0.085,0.018,2676,1789,3437,0,0,0,0,0,0
$GC,2988,-1.44,-116.8,297.1,-7.4,204,2992,0.00,2.45,0.00,0.000,4,0.000,0.044,2676,297,3436,0,0,0,0,0,0
$STATE,3021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3021,begin apogee
$GC,3031,-0.31,0.0,300.2,8.6,204,3128,1.02,0.00,92.90,0.663,6,0.068,0.000,2918,1613,2955,0,0,0,0,0,0
$STATE,3128,end apogee,CONTROL_FINISHED_OK
$STATE,3128,begin climb
$GC,3131,1.38,116.8,304.2,0.0,207,3231,1.48,0.00,94.15,0.654,6,0.024,0.000,3333,1613,2478,0,0,0,0,0,0
$GC,3460,1.06,170.0,292.0,6.9,215,3511,0.50,2.65,44.20,0.640,4,0.103,0.044,3224,3169,2260,0,0,0,0,0,0
$GC,3523,1.05,216.8,287.6,7.3,216,3569,0.00,2.55,40.33,0.633,6,0.000,0.029,3223,1628,2070,0,0,0,0,0,0
$GC,3838,1.05,220.1,257.2,9.8,224,3842,0.00,2.50,0.00,0.000,4,0.000,0.062,3223,176,2063,0,0,0,0,0,0
$GC,3900,1.05,220.1,250.6,10.7,225,3904,0.00,2.25,0.00,0.000,6,0.000,0.020,3223,1617,2063,0,0,0,0,0,0
$GC,4173,1.06,228.0,224.8,9.5,232,4190,0.00,2.50,9.57,0.548,4,0.000,0.051,3223,177,2023,0,0,0,0,0,0
$GC,4208,1.06,228.0,220.9,10.4,232,4212,0.00,2.28,0.00,0.000,6,0.000,0.021,3223,1626,2023,0,0,0,0,0,0
$GC,4458,1.10,254.9,199.4,8.5,238,4490,0.00,2.53,24.42,0.591,4,0.000,0.051,3223,176,1914,0,0,0,0,0,0
$GC,4525,1.10,254.9,193.5,11.4,244,4529,0.00,2.28,0.00,0.000,6,0.000,0.021,3223,1622,1914,0,0,0,0,0,0
$GC,4793,1.17,258.6,166.8,9.8,268,4806,0.00,2.55,4.30,0.400,4,0.000,0.035,3223,3186,1899,0,0,0,0,0,0
$GC,4912,1.31,283.8,155.5,8.6,279,4943,0.20,2.55,23.15,0.558,6,0.045,0.030,3300,1625,1796,0,0,0,0,0,0
$GC,5197,1.21,283.8,123.3,11.2,306,5202,0.22,2.42,0.00,0.000,4,0.097,0.046,3251,175,1792,0,0,0,0,0,0
$GC,5219,1.21,283.8,120.7,10.7,307,5225,0.00,2.33,0.00,0.000,6,0.000,0.021,3251,1639,1792,0,0,0,0,0,0
$GC,5482,1.23,301.7,95.9,9.0,332,5506,0.00,2.58,15.52,0.500,4,0.000,0.033,3251,3189,1724,0,0,0,0,0,0
$GC,5544,1.37,301.7,89.7,10.4,337,5550,0.15,2.55,0.00,0.000,6,0.055,0.030,3319,1633,1720,0,0,0,0,0,0
$GC,5814,1.37,301.7,59.5,10.3,362,5819,0.15,2.53,0.00,0.000,4,0.105,0.031,3286,3188,1719,0,0,0,0,0,0
$GC,5835,1.38,305.3,57.1,9.8,363,5848,0.00,2.50,3.62,0.315,6,0.000,0.028,3287,1631,1710,0,0,0,0,0,0
$GC,6105,1.42,337.5,36.4,8.1,388,6147,0.00,2.58,30.30,0.469,4,0.000,0.030,3286,3182,1576,0,0,0,0,0,0
$GC,6176,1.52,348.8,30.1,9.4,393,6200,0.15,2.50,10.90,0.425,6,0.056,0.027,3349,1643,1530,0,0,0,0,0,0
$STATE,6378,end climb,SURFACE_DEPTH_REACHED
$STATE,6379,begin surface coast
$FINISH,0.5,1.016259
$STATE,6420,end surface coast,CONTROL_FINISHED_OK
$STATE,6420,begin surface
$SM_CCo,6443,38.65,0.443,0,0,1323,400.08
$SM_GC,1.49,0.00,0.00,38.65,0.000,0.000,0.443,412,1942,1323,-11.85,2.04,400.08
$IRIDIUM_FIX,2319.18,-15712.15,201200,070735
$TT8_MAMPS,0.027612
$HUMID,65.16
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,23.7,49.147
$10V_AH,10.1,56.719
$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,30.475,83.800,393.375,38.650,0.000,57.917,76.593,240.519,0.250,0.000,13.359,849.152,3296.196,417.941,1488.927,1018.716,33.352,1085.758,0.000,1831.008,0.000,0.538,0.000
$DEVICE_MAMPS,166.439,62.127,662.688,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.581,500.575,579.329,590.744,1107.076,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,35130,429
$CAP_FILE_SIZE,88829,0
$CFSIZE,260165632,107143168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260911,093113,2326.352,-15709.242,6,1.5,12,10.2