version: 66.06
glider: 148
mission: 10
dive: 548
start: 9 26 111 13 33 0
data:
$ID,148
$MISSION,10
$DIVE,548
$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,-888711.25
$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,32
$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
$GPS1,132557,2324.858,-15710.613,9,3.6,29,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.1
$GPS2,133206,2324.814,-15710.656,12,1.6,28,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.163,-0.169
$KALMAN_X,-8128.6,-291.0,-268.4,109669.6,86.5
$KALMAN_Y,-154720.6,48.8,236.6,346318.8,-222.0
$MHEAD_RNG_PITCHd_Wd,213.9,56564,-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,-74.88,0.000,2,0.000,0.000,414,1952,3311,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.9,-7.2,10,125,11.68,2.40,-2.20,0.000,4,0.146,0.036,2683,3445,3434,0,0,0,0,0,0
$GC,175,-1.38,-116.8,21.6,-12.4,20,185,0.00,2.55,0.00,0.000,6,0.000,0.025,2683,1869,3435,0,0,0,0,0,0
$GC,457,-1.19,-116.8,60.8,-14.7,49,462,0.20,2.55,0.00,0.000,4,0.101,0.035,2726,286,3436,0,0,0,0,0,0
$GC,528,-1.28,-116.8,70.1,-11.2,54,532,0.00,2.45,0.00,0.000,6,0.000,0.017,2727,1879,3436,0,0,0,0,0,0
$GC,791,-1.28,-116.8,95.3,-8.5,78,795,0.00,2.62,0.00,0.000,4,0.000,0.038,2727,280,3437,0,0,0,0,0,0
$GC,856,-1.42,-116.8,100.2,-8.0,83,861,0.20,2.38,0.00,0.000,6,0.042,0.017,2643,1848,3437,0,0,0,0,0,0
$GC,1122,-1.27,-116.8,128.7,-11.7,107,1127,0.28,2.55,0.00,0.000,4,0.087,0.036,2709,277,3438,0,0,0,0,0,0
$GC,1161,-1.34,-116.8,132.6,-8.5,110,1165,0.00,2.38,0.00,0.000,6,0.000,0.017,2709,1836,3437,0,0,0,0,0,0
$GC,1424,-1.34,-116.8,152.6,-6.9,134,1428,0.00,2.50,0.00,0.000,4,0.000,0.038,2709,287,3438,0,0,0,0,0,0
$GC,1456,-1.41,-116.8,154.9,-7.1,136,1462,0.12,2.30,0.00,0.000,6,0.062,0.017,2641,1796,3438,0,0,0,0,0,0
$GC,1719,-1.29,-116.8,179.7,-10.0,161,1724,0.25,2.47,0.00,0.000,4,0.086,0.036,2703,283,3438,0,0,0,0,0,0
$GC,1762,-1.43,-116.8,183.8,-9.0,164,1768,0.10,2.30,0.00,0.000,6,0.076,0.017,2646,1798,3438,0,0,0,0,0,0
$GC,2052,-1.33,-116.8,213.7,-10.6,183,2057,0.22,2.47,0.00,0.000,4,0.087,0.036,2698,283,3438,0,0,0,0,0,0
$GC,2064,-1.33,-116.8,215.0,-10.0,183,2069,0.00,2.28,0.00,0.000,6,0.000,0.018,2698,1775,3438,0,0,0,0,0,0
$GC,2337,-1.40,-116.8,236.6,-7.8,190,2341,0.00,2.42,0.00,0.000,4,0.000,0.040,2698,280,3438,0,0,0,0,0,0
$GC,2375,-1.55,-116.8,239.6,-7.4,190,2381,0.20,2.25,0.00,0.000,6,0.043,0.018,2607,1754,3438,0,0,0,0,0,0
$GC,2627,-1.38,-116.8,262.8,-9.4,197,2634,0.32,2.62,0.00,0.000,4,0.086,0.025,2684,3423,3438,0,0,0,0,0,0
$GC,2657,-1.46,-116.8,265.3,-7.8,197,2661,0.00,2.62,0.00,0.000,6,0.000,0.023,2684,1757,3438,0,0,0,0,0,0
$GC,2916,-1.46,-116.8,287.1,-8.8,204,2920,0.00,2.38,0.00,0.000,4,0.000,0.044,2684,290,3437,0,0,0,0,0,0
$GC,2946,-1.52,-116.8,289.8,-9.3,204,2950,0.12,2.25,0.00,0.000,6,0.063,0.019,2623,1748,3437,0,0,0,0,0,0
$STATE,3076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3076,begin apogee
$GC,3082,-0.31,0.0,303.4,10.3,208,3179,1.33,0.00,93.12,0.660,6,0.076,0.000,2924,1584,2955,0,0,0,0,0,0
$STATE,3180,end apogee,CONTROL_FINISHED_OK
$STATE,3180,begin climb
$GC,3184,1.38,116.8,306.1,0.0,210,3287,1.45,2.38,94.20,0.651,4,0.023,0.053,3305,199,2477,0,0,0,0,0,0
$GC,3398,0.99,131.2,297.8,9.2,214,3421,0.45,2.20,12.77,0.582,6,0.097,0.020,3209,1597,2419,0,0,0,0,0,0
$GC,3696,1.09,207.6,278.6,5.6,222,3762,0.00,0.00,64.55,0.640,6,0.000,0.000,3209,1598,2107,0,0,0,0,0,0
$GC,3980,1.11,221.4,255.3,9.2,229,4000,0.10,2.70,12.20,0.574,4,0.079,0.043,3254,3185,2050,0,0,0,0,0,0
$GC,4033,1.03,221.4,249.4,11.4,230,4038,0.17,2.53,0.00,0.000,6,0.100,0.029,3214,1656,2048,0,0,0,0,0,0
$GC,4311,1.04,228.9,221.9,9.6,237,4321,0.00,0.00,7.32,0.516,6,0.000,0.000,3214,1656,2021,0,0,0,0,0,0
$GC,4557,1.13,251.4,200.7,8.7,243,4583,0.00,2.55,20.67,0.583,4,0.000,0.057,3214,170,1929,0,0,0,0,0,0
$GC,4616,1.13,251.4,195.0,10.6,245,4621,0.00,2.30,0.00,0.000,6,0.000,0.019,3214,1640,1928,0,0,0,0,0,0
$GC,4880,1.25,280.9,171.3,8.3,270,4914,0.20,2.50,26.48,0.568,4,0.048,0.033,3291,3182,1808,0,0,0,0,0,0
$GC,4944,1.17,280.9,164.4,11.0,276,4950,0.20,2.58,0.00,0.000,6,0.097,0.030,3246,1615,1805,0,0,0,0,0,0
$GC,5206,1.17,281.7,138.4,10.0,300,5210,0.00,2.40,0.00,0.000,4,0.000,0.047,3246,176,1803,0,0,0,0,0,0
$GC,5225,1.17,281.7,136.6,11.4,301,5229,0.00,2.25,0.00,0.000,6,0.000,0.021,3246,1628,1803,0,0,0,0,0,0
$GC,5493,1.19,294.3,110.5,9.3,325,5515,0.00,2.58,11.62,0.492,4,0.000,0.033,3246,3184,1754,0,0,0,0,0,0
$GC,5583,1.30,294.3,101.6,10.2,333,5588,0.12,2.50,0.00,0.000,6,0.066,0.028,3299,1646,1751,0,0,0,0,0,0
$GC,5850,1.30,294.3,70.0,11.7,357,5860,0.12,0.00,0.00,0.000,6,0.109,0.000,3272,1646,1750,0,0,0,0,0,0
$GC,6119,1.43,325.7,46.3,8.2,382,6162,0.12,2.58,28.05,0.474,4,0.066,0.030,3337,3189,1625,0,0,0,0,0,0
$GC,6211,1.43,325.7,36.3,10.9,389,6221,0.12,2.53,0.00,0.000,6,0.078,0.028,3304,1656,1622,0,0,0,0,0,0
$GC,6513,1.45,338.2,7.3,9.3,433,6530,0.00,2.50,11.93,0.413,4,0.000,0.028,3303,3196,1575,0,0,0,0,0,0
$STATE,6547,end climb,SURFACE_DEPTH_REACHED
$STATE,6547,begin surface coast
$FINISH,1.7,1.023252
$STATE,6563,end surface coast,CONTROL_FINISHED_OK
$STATE,6564,begin surface
$SM_CCo,6587,46.50,0.443,0,0,1323,400.08
$SM_GC,1.41,0.00,0.00,46.50,0.000,0.000,0.443,409,1858,1323,-11.87,-0.37,400.08
$IRIDIUM_FIX,2316.83,-15733.10,201200,111136
$TT8_MAMPS,0.027612
$HUMID,65.04
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.30
$XPDR_PINGS,2
$24V_AH,23.7,49.400
$10V_AH,10.1,57.040
$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,29.725,88.200,382.925,46.500,0.000,24.255,40.739,144.436,0.500,0.000,29.768,869.484,3330.961,449.407,1513.064,841.305,33.353,1082.917,0.000,1834.854,0.000,0.538,0.000
$DEVICE_MAMPS,146.497,56.758,659.620,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,295.830,485.939,573.195,598.144,1115.373,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,35389,439
$CAP_FILE_SIZE,86244,0
$CFSIZE,260165632,107008000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260911,152446,2323.679,-15711.518,7,3.4,27,10.2