version: 66.06
glider: 148
mission: 10
dive: 551
start: 9 26 111 19 31 46
data:
$ID,148
$MISSION,10
$DIVE,551
$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,-888774
$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,48
$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
$GPS1,192407,2321.235,-15713.981,26,1.0,27,10.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.5
$GPS2,193050,2321.175,-15714.070,10,1.5,10,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.066,-0.225
$KALMAN_X,-11337.2,-152.9,-37.0,106637.5,-953.2
$KALMAN_Y,-157374.9,-173.5,-516.4,343205.8,-582.7
$MHEAD_RNG_PITCHd_Wd,186.2,47700,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,95,0.00,0.00,-74.90,0.000,2,0.000,0.000,407,1934,3343,0,0,0,0,0,0
$GC,98,-1.38,-116.8,4.3,-8.2,10,123,11.75,2.45,-1.52,0.000,4,0.149,0.036,2680,3453,3434,0,0,0,0,0,0
$GC,191,-1.30,-116.8,25.9,-13.6,23,202,0.10,2.58,0.00,0.000,6,0.083,0.024,2706,1865,3435,0,0,0,0,0,0
$GC,473,-1.17,-116.8,61.1,-11.7,50,478,0.12,2.58,0.00,0.000,4,0.117,0.039,2733,287,3435,0,0,0,0,0,0
$GC,569,-1.26,-116.8,70.8,-9.6,57,578,0.00,2.47,0.00,0.000,6,0.000,0.017,2733,1881,3435,0,0,0,0,0,0
$GC,833,-1.36,-116.8,95.0,-9.1,82,839,0.17,2.62,0.00,0.000,4,0.048,0.045,2655,290,3436,0,0,0,0,0,0
$GC,907,-1.29,-116.8,105.0,-13.2,88,918,0.20,2.40,0.00,0.000,6,0.072,0.017,2706,1845,3436,0,0,0,0,0,0
$GC,1177,-1.29,-116.8,128.5,-7.8,113,1181,0.00,2.47,0.00,0.000,4,0.000,0.025,2705,3434,3438,0,0,0,0,0,0
$GC,1227,-1.42,-116.8,132.5,-7.8,117,1232,0.10,2.53,0.00,0.000,6,0.074,0.021,2634,1831,3437,0,0,0,0,0,0
$GC,1488,-1.27,-116.8,160.6,-11.5,141,1493,0.32,2.47,0.00,0.000,4,0.085,0.037,2709,293,3437,0,0,0,0,0,0
$GC,1568,-1.37,-116.8,168.0,-9.7,148,1572,0.00,2.30,0.00,0.000,6,0.000,0.017,2709,1827,3438,0,0,0,0,0,0
$GC,1837,-1.45,-116.8,190.6,-7.8,172,1842,0.15,2.53,0.00,0.000,4,0.054,0.026,2635,3421,3437,0,0,0,0,0,0
$GC,1860,-1.45,-116.8,193.1,-8.6,173,1866,0.17,2.50,0.00,0.000,6,0.090,0.022,2675,1827,3437,0,0,0,0,0,0
$GC,2116,-1.45,-116.8,211.4,-7.0,186,2120,0.00,2.47,0.00,0.000,4,0.000,0.040,2675,292,3438,0,0,0,0,0,0
$GC,2176,-1.45,-116.8,216.5,-7.5,187,2180,0.00,2.35,0.00,0.000,6,0.000,0.018,2675,1829,3437,0,0,0,0,0,0
$GC,2444,-1.45,-116.8,238.1,-8.5,194,2448,0.00,2.50,0.00,0.000,4,0.000,0.040,2675,294,3437,0,0,0,0,0,0
$GC,2496,-1.45,-116.8,242.9,-9.5,195,2502,0.00,2.35,0.00,0.000,6,0.000,0.018,2675,1811,3437,0,0,0,0,0,0
$GC,2781,-1.45,-116.8,267.6,-9.1,202,2785,0.00,2.47,0.00,0.000,4,0.000,0.041,2675,293,3437,0,0,0,0,0,0
$GC,2799,-1.45,-116.8,269.7,-10.2,202,2803,0.00,2.30,0.00,0.000,6,0.000,0.018,2675,1791,3437,0,0,0,0,0,0
$GC,3064,-1.45,-116.8,291.8,-8.1,209,3068,0.00,2.45,0.00,0.000,4,0.000,0.043,2675,293,3436,0,0,0,0,0,0
$GC,3100,-1.45,-116.8,295.0,-8.3,209,3106,0.00,2.28,0.00,0.000,6,0.000,0.020,2675,1774,3435,0,0,0,0,0,0
$STATE,3185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3185,begin apogee
$GC,3194,-0.31,0.0,301.5,7.6,212,3290,1.08,0.00,92.68,0.660,6,0.069,0.000,2924,1599,2954,0,0,0,0,0,0
$STATE,3291,end apogee,CONTROL_FINISHED_OK
$STATE,3291,begin climb
$GC,3293,1.38,116.8,303.7,0.0,214,3398,1.48,2.45,93.72,0.652,4,0.025,0.051,3312,197,2477,0,0,0,0,0,0
$GC,3662,0.98,135.5,284.4,8.9,222,3685,0.50,2.20,16.12,0.598,6,0.097,0.020,3205,1596,2401,0,0,0,0,0,0
$GC,3947,1.04,186.0,264.4,7.1,229,3996,0.00,2.40,42.35,0.628,4,0.000,0.049,3205,200,2195,0,0,0,0,0,0
$GC,4081,1.04,186.0,252.3,10.1,232,4085,0.00,2.25,0.00,0.000,6,0.000,0.020,3205,1627,2192,0,0,0,0,0,0
$GC,4369,1.09,228.6,229.3,7.5,239,4408,0.10,0.00,36.58,0.610,6,0.077,0.000,3253,1630,2021,0,0,0,0,0,0
$GC,4652,1.09,228.6,198.9,11.0,246,4657,0.12,2.60,0.00,0.000,4,0.112,0.041,3227,3181,2016,0,0,0,0,0,0
$GC,4704,1.17,228.6,194.0,10.6,250,4709,0.00,2.50,0.00,0.000,6,0.000,0.030,3227,1638,2014,0,0,0,0,0,0
$GC,4972,1.18,242.5,169.8,9.2,274,4990,0.00,2.58,12.02,0.532,4,0.000,0.038,3227,3185,1966,0,0,0,0,0,0
$GC,5055,1.29,254.5,161.5,9.3,282,5073,0.17,2.55,11.88,0.525,6,0.050,0.030,3294,1626,1917,0,0,0,0,0,0
$GC,5335,1.20,254.5,128.0,11.2,308,5340,0.20,2.58,0.00,0.000,4,0.097,0.032,3252,3188,1914,0,0,0,0,0,0
$GC,5380,1.20,254.5,123.4,10.0,311,5385,0.00,2.50,0.00,0.000,6,0.000,0.028,3252,1636,1911,0,0,0,0,0,0
$GC,5642,1.23,281.8,100.7,8.4,336,5679,0.00,2.60,24.27,0.518,4,0.000,0.031,3251,3190,1803,0,0,0,0,0,0
$GC,5740,1.35,304.8,92.2,8.7,344,5774,0.10,2.55,20.58,0.501,6,0.031,0.029,3310,1646,1710,0,0,0,0,0,0
$GC,6032,1.35,304.8,59.7,11.1,371,6037,0.12,2.50,0.00,0.000,4,0.109,0.030,3283,3189,1707,0,0,0,0,0,0
$GC,6067,1.44,304.8,55.1,10.6,373,6077,0.00,2.53,0.00,0.000,6,0.000,0.028,3283,1653,1705,0,0,0,0,0,0
$GC,6336,1.46,328.1,30.7,8.7,398,6370,0.10,2.55,21.02,0.453,4,0.078,0.030,3335,3187,1615,0,0,0,0,0,0
$GC,6414,1.46,328.1,22.2,11.5,407,6424,0.10,2.50,0.00,0.000,6,0.080,0.028,3308,1665,1612,0,0,0,0,0,0
$STATE,6580,end climb,SURFACE_DEPTH_REACHED
$STATE,6580,begin surface coast
$FINISH,0.5,1.021147
$STATE,6621,end surface coast,CONTROL_FINISHED_OK
$STATE,6621,begin surface
$SM_CCo,6644,48.30,0.442,0,0,1323,400.08
$SM_GC,1.40,0.00,0.00,48.30,0.000,0.000,0.442,409,1936,1323,-11.87,1.87,400.08
$IRIDIUM_FIX,2314.48,-15715.22,201200,171752
$TT8_MAMPS,0.027612
$HUMID,65.04
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.40
$XPDR_PINGS,3
$24V_AH,23.7,49.648
$10V_AH,10.1,57.369
$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,28.800,89.450,371.225,48.300,0.000,31.571,35.300,194.307,0.750,0.000,12.279,879.711,3292.224,427.004,1593.469,905.405,33.354,1123.000,0.000,1935.284,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,51.389,660.387,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,294.771,493.976,577.596,594.527,1115.860,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,35235,438
$CAP_FILE_SIZE,88236,0
$CFSIZE,260165632,106876928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260911,212428,2320.228,-15714.960,5,2.1,25,10.2