version: 66.06
glider: 148
mission: 10
dive: 549
start: 9 26 111 15 31 58
data:
$ID,148
$MISSION,10
$DIVE,549
$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,-888746.06
$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,50
$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
$GPS1,152446,2323.679,-15711.518,7,3.4,27,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.6
$GPS2,153104,2323.622,-15711.581,12,3.6,31,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.183,-0.147
$KALMAN_X,-9064.5,-242.9,50.4,108652.2,-168.3
$KALMAN_Y,-155825.9,24.7,229.6,345255.1,-862.5
$MHEAD_RNG_PITCHd_Wd,221.0,53850,-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,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,-75.22,0.000,2,0.000,0.000,409,1858,3321,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.0,-7.4,10,125,12.30,2.58,-2.00,0.000,4,0.167,0.035,2682,3452,3435,0,0,0,0,0,0
$GC,157,-1.17,-116.8,19.5,-19.7,17,168,0.20,2.58,0.00,0.000,6,0.072,0.026,2733,1872,3436,0,0,0,0,0,0
$GC,447,-1.09,-116.8,52.3,-10.8,48,451,0.00,2.58,0.00,0.000,4,0.000,0.039,2733,281,3437,0,0,0,0,0,0
$GC,516,-1.09,-116.8,60.0,-10.3,53,521,0.00,2.47,0.00,0.000,6,0.000,0.017,2733,1886,3437,0,0,0,0,0,0
$GC,784,-1.09,-116.8,83.6,-9.5,77,788,0.00,2.62,0.00,0.000,4,0.000,0.038,2733,285,3437,0,0,0,0,0,0
$GC,802,-1.16,-116.8,85.6,-9.0,78,808,0.00,2.42,0.00,0.000,6,0.000,0.018,2733,1852,3437,0,0,0,0,0,0
$GC,1076,-1.24,-116.8,109.0,-7.2,103,1080,0.00,2.45,0.00,0.000,4,0.000,0.025,2733,3428,3438,0,0,0,0,0,0
$GC,1127,-1.40,-116.8,112.7,-7.4,107,1132,0.20,2.50,0.00,0.000,6,0.146,0.021,2637,1826,3438,0,0,0,0,0,0
$GC,1393,-1.24,-116.8,140.7,-11.2,131,1398,0.35,2.45,0.00,0.000,4,0.087,0.036,2716,297,3438,0,0,0,0,0,0
$GC,1428,-1.32,-116.8,144.2,-8.7,133,1433,0.00,2.35,0.00,0.000,6,0.000,0.017,2716,1852,3438,0,0,0,0,0,0
$GC,1691,-1.40,-116.8,164.3,-7.5,158,1696,0.12,2.55,0.00,0.000,4,0.062,0.038,2646,297,3438,0,0,0,0,0,0
$GC,1753,-1.32,-116.8,169.9,-10.0,163,1758,0.25,2.30,0.00,0.000,6,0.086,0.017,2702,1820,3439,0,0,0,0,0,0
$GC,2019,-1.32,-116.8,192.0,-9.0,187,2024,0.00,2.50,0.00,0.000,4,0.000,0.025,2703,3428,3439,0,0,0,0,0,0
$GC,2061,-1.46,-116.8,195.5,-9.2,190,2066,0.12,2.50,0.00,0.000,6,0.061,0.022,2625,1830,3439,0,0,0,0,0,0
$GC,2343,-1.28,-116.8,226.8,-10.4,199,2349,0.35,2.53,0.00,0.000,4,0.084,0.038,2705,293,3439,0,0,0,0,0,0
$GC,2407,-1.41,-116.8,232.1,-7.3,200,2411,0.00,2.35,0.00,0.000,6,0.000,0.018,2705,1832,3438,0,0,0,0,0,0
$GC,2680,-1.49,-116.8,249.5,-6.4,207,2685,0.17,2.53,0.00,0.000,4,0.048,0.041,2622,296,3438,0,0,0,0,0,0
$GC,2697,-1.49,-116.8,250.8,-6.6,207,2702,0.20,2.33,0.00,0.000,6,0.093,0.018,2667,1812,3438,0,0,0,0,0,0
$GC,2967,-1.49,-116.8,273.9,-8.8,214,2973,0.00,2.58,0.00,0.000,4,0.000,0.028,2667,3420,3437,0,0,0,0,0,0
$GC,3001,-1.49,-116.8,277.3,-9.7,214,3006,0.00,2.53,0.00,0.000,6,0.000,0.024,2667,1817,3437,0,0,0,0,0,0
$STATE,3253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3253,begin apogee
$GC,3262,-0.31,0.0,300.6,9.1,221,3359,1.10,0.00,92.93,0.661,6,0.071,0.000,2919,1605,2954,0,0,0,0,0,0
$STATE,3359,end apogee,CONTROL_FINISHED_OK
$STATE,3359,begin climb
$GC,3362,1.38,116.8,303.4,0.0,223,3465,1.50,2.42,94.00,0.653,4,0.028,0.056,3318,198,2477,0,0,0,0,0,0
$GC,3728,0.97,132.3,282.0,9.1,231,3749,0.52,2.20,13.55,0.588,6,0.095,0.020,3204,1599,2414,0,0,0,0,0,0
$GC,4012,1.06,205.7,265.4,5.8,238,4080,0.00,2.40,61.62,0.636,4,0.000,0.050,3203,195,2115,0,0,0,0,0,0
$GC,4141,1.06,205.7,253.9,10.5,240,4146,0.00,2.28,0.00,0.000,6,0.000,0.020,3203,1636,2112,0,0,0,0,0,0
$GC,4391,1.10,234.0,232.1,8.4,247,4421,0.10,2.60,24.00,0.601,4,0.077,0.041,3251,3182,2000,0,0,0,0,0,0
$GC,4439,1.10,234.0,227.0,10.9,248,4444,0.10,2.50,0.00,0.000,6,0.119,0.028,3230,1661,1998,0,0,0,0,0,0
$GC,4718,1.10,234.0,196.8,11.0,255,4723,0.00,2.50,0.00,0.000,4,0.000,0.031,3230,3188,1995,0,0,0,0,0,0
$GC,4747,1.10,234.0,193.4,10.6,257,4753,0.00,2.53,0.00,0.000,6,0.000,0.029,3230,1644,1993,0,0,0,0,0,0
$GC,5011,1.12,257.5,169.8,8.6,282,5037,0.00,2.60,20.73,0.563,4,0.000,0.033,3230,3199,1904,0,0,0,0,0,0
$GC,5069,1.23,272.0,164.6,9.2,287,5091,0.12,2.53,14.30,0.538,6,0.065,0.028,3282,1660,1844,0,0,0,0,0,0
$GC,5352,1.23,272.0,134.8,10.3,314,5357,0.12,2.47,0.00,0.000,4,0.111,0.048,3255,174,1841,0,0,0,0,0,0
$GC,5383,1.23,272.0,131.5,11.3,316,5387,0.00,2.35,0.00,0.000,6,0.000,0.021,3255,1664,1841,0,0,0,0,0,0
$GC,5647,1.23,273.0,104.5,9.9,340,5651,0.00,2.47,0.00,0.000,4,0.000,0.032,3255,3195,1840,0,0,0,0,0,0
$GC,5733,1.31,273.0,96.0,10.1,347,5738,0.00,2.47,0.00,0.000,6,0.000,0.028,3255,1671,1836,0,0,0,0,0,0
$GC,6003,1.44,307.8,73.2,8.0,372,6041,0.20,2.53,30.23,0.500,4,0.046,0.029,3336,3201,1699,0,0,0,0,0,0
$GC,6059,1.34,314.3,67.7,9.6,376,6075,0.25,2.50,7.35,0.420,6,0.090,0.028,3282,1670,1672,0,0,0,0,0,0
$GC,6332,1.43,327.3,42.6,9.3,401,6349,0.00,2.47,12.55,0.443,4,0.000,0.029,3282,3193,1619,0,0,0,0,0,0
$GC,6393,1.54,327.3,36.7,10.0,406,6398,0.17,2.45,0.00,0.000,6,0.051,0.027,3353,1681,1617,0,0,0,0,0,0
$STATE,6656,end climb,SURFACE_DEPTH_REACHED
$STATE,6656,begin surface coast
$FINISH,0.6,1.000496
$STATE,6697,end surface coast,CONTROL_FINISHED_OK
$STATE,6698,begin surface
$SM_CCo,6719,47.42,0.443,0,0,1324,400.08
$SM_GC,1.43,0.00,0.00,47.42,0.000,0.000,0.443,412,1941,1324,-11.86,2.01,400.08
$IRIDIUM_FIX,2316.83,-15722.63,201200,131303
$TT8_MAMPS,0.027612
$HUMID,64.96
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.20
$XPDR_PINGS,1
$24V_AH,23.7,49.482
$10V_AH,10.1,57.152
$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,30.175,94.525,371.250,47.425,0.000,24.957,32.734,156.771,0.250,0.000,34.216,909.019,3319.123,398.212,1634.604,885.358,33.356,1088.125,0.000,1968.531,0.000,0.537,0.000
$DEVICE_MAMPS,167.206,55.991,661.154,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.170,518.992,602.321,623.415,1164.485,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,35401,449
$CAP_FILE_SIZE,89988,0
$CFSIZE,260165632,106962944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260911,172551,2322.482,-15712.744,9,2.0,23,10.2