version: 66.06
glider: 148
mission: 10
dive: 547
start: 9 26 111 11 33 39
data:
$ID,148
$MISSION,10
$DIVE,547
$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,-888680.88
$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,54
$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
$GPS1,112636,2325.637,-15710.030,36,0.8,42,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.2
$GPS2,113243,2325.616,-15710.080,13,0.9,13,10.2
$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,-7578.8,-350.5,-459.2,110363.3,-148.9
$KALMAN_Y,-154137.4,-3.3,-60.6,347564.2,74.3
$MHEAD_RNG_PITCHd_Wd,199.0,58342,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-74.57,0.000,2,0.000,0.000,412,1944,3304,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.9,-6.9,10,124,11.80,2.78,-2.30,0.000,4,0.150,0.049,2683,282,3434,0,0,0,0,0,0
$GC,181,-1.28,-116.8,23.2,-15.3,21,192,0.08,2.50,0.00,0.000,6,0.086,0.018,2705,1879,3435,0,0,0,0,0,0
$GC,465,-1.16,-116.8,61.0,-12.3,49,471,0.15,2.60,0.00,0.000,4,0.105,0.037,2739,286,3435,0,0,0,0,0,0
$GC,478,-1.08,-116.8,63.4,-11.7,49,488,0.00,2.47,0.00,0.000,6,0.000,0.018,2739,1873,3436,0,0,0,0,0,0
$GC,741,-1.08,-116.8,90.3,-9.0,74,745,0.00,2.58,0.00,0.000,4,0.000,0.044,2738,287,3436,0,0,0,0,0,0
$GC,806,-1.24,-116.8,96.0,-8.3,79,811,0.00,2.35,0.00,0.000,6,0.000,0.017,2739,1832,3437,0,0,0,0,0,0
$GC,1069,-1.35,-116.8,114.0,-6.8,104,1074,0.17,2.53,0.00,0.000,4,0.049,0.038,2660,282,3437,0,0,0,0,0,0
$GC,1091,-1.35,-116.8,115.6,-7.5,105,1096,0.15,2.33,0.00,0.000,6,0.097,0.017,2694,1802,3437,0,0,0,0,0,0
$GC,1357,-1.35,-116.8,140.5,-9.4,129,1361,0.00,2.47,0.00,0.000,4,0.000,0.038,2694,282,3438,0,0,0,0,0,0
$GC,1387,-1.35,-116.8,143.2,-9.6,131,1391,0.00,2.30,0.00,0.000,6,0.000,0.017,2694,1792,3438,0,0,0,0,0,0
$GC,1650,-1.35,-116.8,165.3,-8.5,155,1654,0.00,2.42,0.00,0.000,4,0.000,0.038,2694,287,3438,0,0,0,0,0,0
$GC,1717,-1.45,-116.8,171.9,-9.6,161,1721,0.00,2.22,0.00,0.000,6,0.000,0.018,2694,1752,3438,0,0,0,0,0,0
$GC,1980,-1.45,-116.8,195.9,-9.1,185,1985,0.00,2.62,0.00,0.000,4,0.000,0.025,2695,3417,3438,0,0,0,0,0,0
$GC,2001,-1.45,-116.8,197.8,-9.1,186,2011,0.00,2.70,0.00,0.000,6,0.000,0.023,2694,1736,3438,0,0,0,0,0,0
$GC,2273,-1.45,-116.8,218.9,-7.3,195,2277,0.00,2.33,0.00,0.000,4,0.000,0.040,2694,287,3438,0,0,0,0,0,0
$GC,2288,-1.52,-116.8,220.0,-6.8,195,2292,0.15,2.20,0.00,0.000,6,0.054,0.018,2626,1740,3438,0,0,0,0,0,0
$GC,2558,-1.39,-116.8,247.3,-10.4,202,2563,0.25,2.35,0.00,0.000,4,0.084,0.038,2686,287,3438,0,0,0,0,0,0
$GC,2580,-1.39,-116.8,249.4,-9.4,202,2585,0.00,2.22,0.00,0.000,6,0.000,0.018,2686,1727,3438,0,0,0,0,0,0
$GC,2850,-1.45,-116.8,272.0,-8.4,209,2855,0.00,2.70,0.00,0.000,4,0.000,0.027,2686,3414,3438,0,0,0,0,0,0
$GC,2935,-1.54,-116.8,279.6,-9.1,210,2940,0.15,2.62,0.00,0.000,6,0.054,0.023,2619,1749,3438,0,0,0,0,0,0
$STATE,3145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3145,begin apogee
$GC,3151,-0.31,0.0,302.0,11.0,215,3248,1.33,0.00,93.07,0.655,6,0.073,0.000,2922,1589,2955,0,0,0,0,0,0
$STATE,3249,end apogee,CONTROL_FINISHED_OK
$STATE,3249,begin climb
$GC,3251,1.38,116.8,305.2,0.0,217,3356,1.48,2.40,93.90,0.650,4,0.028,0.056,3302,206,2477,0,0,0,0,0,0
$GC,3514,1.01,130.2,292.3,9.2,222,3532,0.43,2.15,11.82,0.574,6,0.100,0.019,3212,1596,2424,0,0,0,0,0,0
$GC,3807,1.09,196.9,273.2,6.2,230,3870,0.00,2.42,55.67,0.632,4,0.000,0.051,3212,209,2151,0,0,0,0,0,0
$GC,3923,1.11,216.1,264.7,8.9,232,3947,0.00,2.20,17.52,0.591,6,0.000,0.020,3212,1609,2073,0,0,0,0,0,0
$GC,4239,1.16,252.2,240.5,7.9,240,4275,0.12,0.00,31.98,0.607,6,0.065,0.000,3267,1611,1925,0,0,0,0,0,0
$GC,4520,1.08,252.2,207.5,12.3,247,4525,0.20,2.35,0.00,0.000,4,0.097,0.048,3224,204,1921,0,0,0,0,0,0
$GC,4567,1.08,252.2,201.7,11.9,248,4571,0.00,2.20,0.00,0.000,6,0.000,0.021,3224,1614,1921,0,0,0,0,0,0
$GC,4845,1.15,259.7,174.4,9.6,271,4857,0.00,2.62,6.72,0.474,4,0.000,0.035,3224,3187,1896,0,0,0,0,0,0
$GC,4885,1.26,266.5,169.8,9.6,275,4899,0.17,2.53,7.57,0.488,6,0.050,0.029,3296,1640,1867,0,0,0,0,0,0
$GC,5155,1.17,266.5,141.5,10.2,300,5160,0.22,2.45,0.00,0.000,4,0.094,0.045,3246,171,1865,0,0,0,0,0,0
$GC,5198,1.19,281.5,138.0,9.1,303,5221,0.00,2.22,14.50,0.522,6,0.000,0.021,3246,1612,1805,0,0,0,0,0,0
$GC,5476,1.19,285.8,113.3,9.8,329,5487,0.00,2.58,4.65,0.387,4,0.000,0.031,3246,3192,1788,0,0,0,0,0,0
$GC,5578,1.29,285.8,102.1,11.0,338,5588,0.08,2.58,0.00,0.000,6,0.037,0.031,3298,1623,1785,0,0,0,0,0,0
$GC,5848,1.25,301.6,74.8,9.1,363,5876,0.17,2.45,14.57,0.476,4,0.099,0.046,3259,181,1724,0,0,0,0,0,0
$GC,5915,1.32,302.5,68.0,9.9,368,5919,0.00,2.22,0.00,0.000,6,0.000,0.019,3259,1620,1724,0,0,0,0,0,0
$GC,6185,1.50,349.8,46.3,7.3,392,6240,0.22,2.60,42.85,0.477,4,0.042,0.033,3357,3178,1527,0,0,0,0,0,0
$GC,6331,1.42,349.8,29.3,12.8,404,6342,0.25,2.55,0.00,0.000,6,0.080,0.028,3298,1624,1523,0,0,0,0,0,0
$STATE,6552,end climb,SURFACE_DEPTH_REACHED
$STATE,6553,begin surface coast
$FINISH,0.5,1.012481
$STATE,6606,end surface coast,CONTROL_FINISHED_OK
$STATE,6606,begin surface
$SM_CCo,6629,35.58,0.436,0,0,1323,400.08
$SM_GC,1.45,0.00,0.00,35.58,0.000,0.000,0.436,413,1952,1323,-11.85,2.32,400.08
$IRIDIUM_FIX,2316.83,-15709.98,201200,090908
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.60
$XPDR_PINGS,3
$24V_AH,23.7,49.316
$10V_AH,10.1,56.934
$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,29.150,88.400,394.850,35.575,0.000,23.941,38.128,160.974,0.750,0.000,15.063,892.537,3233.371,420.669,1611.970,876.384,33.357,1116.460,0.000,1936.035,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,55.991,655.018,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,300.299,493.323,582.440,611.159,1136.055,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,35187,446
$CAP_FILE_SIZE,88183,0
$CFSIZE,260165632,107053056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260911,132557,2324.858,-15710.613,9,3.6,29,10.2