version: 66.06
glider: 148
mission: 10
dive: 555
start: 9 27 111 3 33 37
data:
$ID,148
$MISSION,10
$DIVE,555
$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,-888870.31
$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,1800
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,49
$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
$GPS1,032430,2317.219,-15717.291,35,1.5,41,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.4
$GPS2,033243,2317.150,-15717.363,15,1.7,32,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.155,-0.176
$KALMAN_X,-14892.3,-232.9,89.6,104483.0,-441.1
$KALMAN_Y,-160300.5,-324.1,329.3,337991.0,-949.3
$MHEAD_RNG_PITCHd_Wd,211.2,38379,-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,-74.68,0.000,2,0.000,0.000,409,1964,3328,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.9,-7.2,10,126,11.85,2.90,-1.83,0.000,4,0.152,0.044,2681,217,3434,0,0,0,0,0,0
$GC,206,-1.27,-116.8,27.0,-13.9,25,217,0.10,2.47,0.00,0.000,6,0.084,0.018,2708,1806,3435,0,0,0,0,0,0
$GC,485,-1.14,-116.8,60.2,-12.4,51,490,0.15,2.47,0.00,0.000,4,0.107,0.025,2740,3365,3435,0,0,0,0,0,0
$GC,507,-1.14,-116.8,63.4,-12.0,52,512,0.00,2.50,0.00,0.000,6,0.000,0.022,2740,1783,3436,0,0,0,0,0,0
$GC,771,-1.23,-116.8,87.9,-8.2,76,776,0.00,2.55,0.00,0.000,4,0.000,0.039,2740,219,3436,0,0,0,0,0,0
$GC,795,-1.32,-116.8,90.2,-8.8,77,801,0.17,2.45,0.00,0.000,6,0.048,0.017,2657,1825,3436,0,0,0,0,0,0
$GC,1060,-1.24,-116.8,116.4,-11.2,102,1065,0.25,2.42,0.00,0.000,4,0.087,0.023,2719,3366,3437,0,0,0,0,0,0
$GC,1088,-1.33,-116.8,119.6,-9.9,104,1092,0.00,2.47,0.00,0.000,6,0.000,0.021,2719,1799,3437,0,0,0,0,0,0
$GC,1353,-1.42,-116.8,142.1,-7.1,128,1358,0.15,2.58,0.00,0.000,4,0.054,0.040,2642,228,3437,0,0,0,0,0,0
$GC,1406,-1.32,-116.8,147.5,-10.1,132,1416,0.22,2.42,0.00,0.000,6,0.073,0.017,2698,1802,3437,0,0,0,0,0,0
$GC,1676,-1.32,-116.8,165.8,-7.1,157,1680,0.00,2.42,0.00,0.000,4,0.000,0.025,2699,3362,3437,0,0,0,0,0,0
$GC,1717,-1.45,-116.8,169.7,-8.5,160,1723,0.10,2.42,0.00,0.000,6,0.072,0.021,2626,1807,3437,0,0,0,0,0,0
$GC,1982,-1.27,-116.8,199.4,-11.4,185,1991,0.35,2.55,0.00,0.000,4,0.082,0.038,2710,230,3437,0,0,0,0,0,0
$GC,2030,-1.38,-116.8,204.6,-8.6,187,2034,0.00,2.40,0.00,0.000,6,0.000,0.018,2710,1799,3437,0,0,0,0,0,0
$GC,2317,-1.49,-116.8,225.3,-6.8,194,2323,0.17,2.50,0.00,0.000,4,0.048,0.026,2631,3361,3437,0,0,0,0,0,0
$GC,2353,-1.41,-116.8,228.4,-9.7,194,2359,0.22,2.45,0.00,0.000,6,0.086,0.022,2683,1800,3437,0,0,0,0,0,0
$GC,2609,-1.41,-116.8,246.9,-7.0,201,2613,0.00,2.62,0.00,0.000,4,0.000,0.044,2682,219,3437,0,0,0,0,0,0
$GC,2647,-1.41,-116.8,250.0,-8.9,201,2653,0.00,2.40,0.00,0.000,6,0.000,0.018,2683,1797,3437,0,0,0,0,0,0
$GC,2897,-1.41,-116.8,268.7,-7.8,208,2903,0.00,2.50,0.00,0.000,4,0.000,0.028,2683,3362,3436,0,0,0,0,0,0
$GC,2927,-1.49,-116.8,271.4,-8.8,208,2931,0.00,2.50,0.00,0.000,6,0.000,0.024,2683,1793,3436,0,0,0,0,0,0
$GC,3187,-1.49,-116.8,292.0,-7.8,215,3191,0.00,2.55,0.00,0.000,4,0.000,0.045,2683,227,3435,0,0,0,0,0,0
$GC,3201,-1.49,-116.8,293.2,-7.7,215,3207,0.00,2.45,0.00,0.000,6,0.000,0.020,2683,1789,3434,0,0,0,0,0,0
$STATE,3311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3311,begin apogee
$GC,3318,-0.31,0.0,301.2,7.0,218,3414,1.02,0.00,92.68,0.663,6,0.068,0.000,2920,1602,2955,0,0,0,0,0,0
$STATE,3414,end apogee,CONTROL_FINISHED_OK
$STATE,3415,begin climb
$GC,3418,1.38,116.8,303.2,0.0,220,3522,1.48,2.45,94.18,0.656,4,0.024,0.054,3311,190,2477,0,0,0,0,0,0
$GC,3785,1.00,159.1,285.7,7.6,228,3827,0.47,2.25,35.17,0.634,6,0.100,0.020,3210,1615,2306,0,0,0,0,0,0
$GC,4103,1.06,212.7,264.6,6.9,236,4156,0.00,2.45,45.60,0.632,4,0.000,0.049,3209,190,2085,0,0,0,0,0,0
$GC,4301,1.06,212.7,244.7,11.1,240,4306,0.00,2.30,0.00,0.000,6,0.000,0.021,3210,1628,2082,0,0,0,0,0,0
$GC,4575,1.15,233.2,219.7,8.8,247,4600,0.12,2.67,17.45,0.581,4,0.065,0.044,3266,3184,2003,0,0,0,0,0,0
$GC,4638,1.15,233.2,213.0,11.6,248,4643,0.12,2.53,0.00,0.000,6,0.108,0.030,3239,1653,2000,0,0,0,0,0,0
$GC,4905,1.20,269.6,190.1,7.9,263,4942,0.00,0.00,32.72,0.590,6,0.000,0.000,3239,1653,1853,0,0,0,0,0,0
$GC,5199,1.21,277.6,163.4,9.5,291,5211,0.00,0.00,7.40,0.485,6,0.000,0.000,3239,1653,1822,0,0,0,0,0,0
$GC,5464,1.23,294.0,137.5,9.1,316,5481,0.00,0.00,15.12,0.528,6,0.000,0.000,3239,1653,1755,0,0,0,0,0,0
$GC,5745,1.33,324.0,115.3,8.3,341,5775,0.17,0.00,27.35,0.529,6,0.051,0.000,3308,1653,1634,0,0,0,0,0,0
$GC,6031,1.33,324.0,77.2,13.5,368,6036,0.12,2.53,0.00,0.000,4,0.113,0.030,3281,3197,1630,0,0,0,0,0,0
$GC,6065,1.33,324.0,73.3,11.4,370,6069,0.00,2.55,0.00,0.000,6,0.000,0.027,3281,1626,1628,0,0,0,0,0,0
$GC,6334,1.44,348.9,49.1,8.6,394,6363,0.10,2.45,22.33,0.472,4,0.078,0.044,3330,173,1531,0,0,0,0,0,0
$GC,6371,1.44,348.9,44.7,10.8,396,6382,0.10,2.35,0.00,0.000,6,0.087,0.021,3304,1648,1530,0,0,0,0,0,0
$GC,6661,1.44,348.9,13.5,11.2,433,6671,0.00,2.50,0.00,0.000,4,0.000,0.030,3304,3186,1526,0,0,0,0,0,0
$GC,6735,1.54,348.9,5.3,11.6,443,6746,0.00,2.50,0.00,0.000,6,0.000,0.027,3304,1660,1524,0,0,0,0,0,0
$STATE,6754,end climb,SURFACE_DEPTH_REACHED
$STATE,6754,begin surface coast
$FINISH,0.5,1.007919
$STATE,6804,end surface coast,CONTROL_FINISHED_OK
$STATE,6804,begin surface
$SM_CCo,6825,38.65,0.442,0,0,1323,400.08
$SM_GC,1.44,0.00,0.00,38.65,0.000,0.000,0.442,408,1863,1323,-11.88,1.78,400.08
$IRIDIUM_FIX,2309.79,-15711.80,211200,010120
$TT8_MAMPS,0.027612
$HUMID,65.94
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.7,50.001
$10V_AH,10.1,57.808
$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,29.050,85.025,390.000,38.650,0.000,31.180,45.947,252.258,0.000,0.000,33.741,898.313,3412.094,410.204,1649.309,987.916,33.351,1119.863,0.000,1968.175,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,53.690,662.688,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,304.328,505.203,591.030,607.226,1134.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356100
$DATA_FILE_SIZE,35333,452
$CAP_FILE_SIZE,90376,0
$CFSIZE,260165632,106688512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270911,052916,2315.988,-15718.730,10,99.0,29,10.2