version: 66.06
glider: 148
mission: 10
dive: 546
start: 9 26 111 9 38 4
data:
$ID,148
$MISSION,10
$DIVE,546
$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,-888665.19
$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,35
$R_STBD_OVSHOOT,51
$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
$GPS1,093113,2326.352,-15709.242,6,1.5,12,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.1
$GPS2,093708,2326.317,-15709.309,12,1.5,12,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.091,-0.216
$KALMAN_X,-6910.0,-368.7,-346.7,110928.6,-438.1
$KALMAN_Y,-153793.0,-73.1,-328.7,348856.5,-53.2
$MHEAD_RNG_PITCHd_Wd,192.7,60165,-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,-74.47,0.000,2,0.000,0.000,413,1943,3288,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.7,-6.7,10,124,11.68,2.75,-2.65,0.000,4,0.146,0.051,2683,287,3435,0,0,0,0,0,0
$GC,213,-1.30,-116.8,25.8,-12.5,26,224,0.08,2.50,0.00,0.000,6,0.091,0.018,2705,1882,3436,0,0,0,0,0,0
$GC,491,-1.20,-116.8,61.4,-12.6,52,496,0.10,2.62,0.00,0.000,4,0.124,0.038,2727,289,3436,0,0,0,0,0,0
$GC,513,-1.20,-116.8,65.0,-13.1,53,518,0.00,2.40,0.00,0.000,6,0.000,0.017,2727,1863,3436,0,0,0,0,0,0
$GC,782,-1.26,-116.8,93.0,-9.2,77,786,0.00,2.55,0.00,0.000,4,0.000,0.038,2727,289,3437,0,0,0,0,0,0
$GC,815,-1.34,-116.8,96.0,-10.4,79,820,0.12,2.38,0.00,0.000,6,0.061,0.017,2657,1841,3437,0,0,0,0,0,0
$GC,1083,-1.23,-116.8,121.5,-9.3,103,1088,0.25,2.53,0.00,0.000,4,0.087,0.037,2718,286,3438,0,0,0,0,0,0
$GC,1134,-1.38,-116.8,125.8,-8.0,107,1139,0.12,2.33,0.00,0.000,6,0.062,0.017,2651,1827,3438,0,0,0,0,0,0
$GC,1395,-1.28,-116.8,152.8,-10.5,131,1400,0.25,2.50,0.00,0.000,4,0.087,0.037,2712,285,3438,0,0,0,0,0,0
$GC,1445,-1.43,-116.8,157.2,-8.5,135,1455,0.10,2.30,0.00,0.000,6,0.031,0.017,2648,1782,3438,0,0,0,0,0,0
$GC,1712,-1.33,-116.8,183.9,-11.3,160,1717,0.22,2.58,0.00,0.000,4,0.088,0.024,2699,3425,3438,0,0,0,0,0,0
$GC,1753,-1.46,-116.8,188.1,-9.5,163,1758,0.12,2.60,0.00,0.000,6,0.062,0.021,2629,1778,3438,0,0,0,0,0,0
$GC,2017,-1.33,-116.8,219.4,-11.7,176,2023,0.28,2.45,0.00,0.000,4,0.084,0.037,2697,286,3439,0,0,0,0,0,0
$GC,2062,-1.45,-116.8,223.7,-8.7,176,2069,0.08,2.30,0.00,0.000,6,0.035,0.018,2638,1778,3439,0,0,0,0,0,0
$GC,2313,-1.36,-116.8,247.3,-9.2,183,2318,0.25,2.45,0.00,0.000,4,0.084,0.038,2695,285,3439,0,0,0,0,0,0
$GC,2357,-1.49,-116.8,250.6,-6.8,184,2362,0.12,2.25,0.00,0.000,6,0.064,0.018,2632,1766,3438,0,0,0,0,0,0
$GC,2647,-1.40,-116.8,275.5,-8.8,191,2653,0.22,2.65,0.00,0.000,4,0.087,0.027,2684,3411,3438,0,0,0,0,0,0
$GC,2687,-1.51,-116.8,279.3,-7.9,191,2692,0.08,2.65,0.00,0.000,6,0.035,0.024,2623,1766,3438,0,0,0,0,0,0
$STATE,2899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2899,begin apogee
$GC,2907,-0.31,0.0,300.9,10.1,197,3004,1.30,0.00,93.18,0.654,6,0.076,0.000,2920,1594,2954,0,0,0,0,0,0
$STATE,3004,end apogee,CONTROL_FINISHED_OK
$STATE,3004,begin climb
$GC,3007,1.38,116.8,303.7,0.0,199,3112,1.52,2.47,94.35,0.648,4,0.026,0.055,3314,194,2477,0,0,0,0,0,0
$GC,3376,0.99,140.7,281.8,8.6,207,3403,0.50,2.20,20.40,0.606,6,0.100,0.019,3208,1597,2380,0,0,0,0,0,0
$GC,3674,1.08,210.2,263.7,6.0,215,3739,0.00,2.38,58.30,0.630,4,0.000,0.050,3208,204,2096,0,0,0,0,0,0
$GC,3790,1.10,223.2,254.6,9.2,217,3809,0.00,2.20,11.88,0.564,6,0.000,0.020,3208,1617,2045,0,0,0,0,0,0
$GC,4053,1.12,240.7,231.2,9.0,224,4075,0.10,2.65,15.77,0.578,4,0.077,0.044,3256,3188,1973,0,0,0,0,0,0
$GC,4083,1.06,240.7,228.3,10.3,224,4089,0.17,2.55,0.00,0.000,6,0.097,0.029,3218,1643,1971,0,0,0,0,0,0
$GC,4339,1.06,248.2,203.3,9.6,231,4352,0.00,2.53,7.53,0.504,4,0.000,0.058,3218,176,1942,0,0,0,0,0,0
$GC,4412,1.06,248.2,196.0,11.0,235,4416,0.00,2.25,0.00,0.000,6,0.000,0.020,3218,1621,1942,0,0,0,0,0,0
$GC,4681,1.16,263.8,172.0,9.1,259,4703,0.10,2.65,15.10,0.548,4,0.077,0.036,3267,3184,1878,0,0,0,0,0,0
$GC,4763,1.16,267.9,163.0,9.8,267,4777,0.12,2.55,4.43,0.399,6,0.109,0.030,3241,1625,1863,0,0,0,0,0,0
$GC,5028,1.19,288.5,138.7,8.8,292,5054,0.00,2.50,19.42,0.538,4,0.000,0.051,3241,173,1777,0,0,0,0,0,0
$GC,5076,1.19,293.7,134.3,9.7,296,5087,0.00,2.30,6.10,0.437,6,0.000,0.021,3241,1610,1757,0,0,0,0,0,0
$GC,5343,1.28,307.6,110.0,9.2,321,5366,0.12,2.62,12.90,0.495,4,0.065,0.040,3297,3185,1700,0,0,0,0,0,0
$GC,5458,1.28,307.6,96.3,11.7,331,5463,0.12,2.55,0.00,0.000,6,0.110,0.035,3269,1623,1696,0,0,0,0,0,0
$GC,5726,1.31,337.0,70.7,8.3,355,5766,0.00,2.45,26.75,0.492,4,0.000,0.045,3269,173,1580,0,0,0,0,0,0
$GC,5785,1.42,354.9,65.6,9.0,359,5814,0.12,2.28,16.90,0.470,6,0.064,0.020,3339,1634,1505,0,0,0,0,0,0
$GC,6072,1.34,354.9,30.7,12.4,385,6078,0.25,2.50,0.00,0.000,4,0.097,0.031,3282,3189,1502,0,0,0,0,0,0
$GC,6106,1.34,354.9,26.4,12.1,388,6116,0.00,2.58,0.00,0.000,6,0.000,0.028,3282,1618,1498,0,0,0,0,0,0
$STATE,6320,end climb,SURFACE_DEPTH_REACHED
$STATE,6320,begin surface coast
$FINISH,0.4,1.016610
$STATE,6368,end surface coast,CONTROL_FINISHED_OK
$STATE,6368,begin surface
$SM_CCo,6391,36.50,0.440,0,0,1323,400.08
$SM_GC,1.62,0.00,0.00,36.50,0.000,0.000,0.440,413,1943,1323,-11.86,2.06,400.08
$IRIDIUM_FIX,2316.83,-15745.75,201200,070740
$TT8_MAMPS,0.027612
$HUMID,65.12
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.10
$XPDR_PINGS,5
$24V_AH,23.7,49.232
$10V_AH,10.1,56.824
$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,30.050,89.575,403.000,36.500,0.000,23.321,35.151,153.153,1.250,0.000,14.411,867.785,3104.916,433.027,1522.723,857.341,33.357,1109.644,0.000,1865.715,0.000,0.538,0.000
$DEVICE_MAMPS,145.730,57.525,654.251,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.175,497.171,582.679,587.566,1094.830,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,35100,428
$CAP_FILE_SIZE,88187,0
$CFSIZE,260165632,107098112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260911,112636,2325.637,-15710.030,36,0.8,42,10.2