version: 66.06
glider: 148
mission: 10
dive: 556
start: 9 27 111 5 38 0
data:
$ID,148
$MISSION,10
$DIVE,556
$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,-888896.5
$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,31
$R_STBD_OVSHOOT,51
$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
$GPS1,052916,2315.988,-15718.730,10,99.0,29,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.1
$GPS2,053706,2315.936,-15718.836,14,1.9,24,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.070,-0.224
$KALMAN_X,-16384.4,-286.3,106.0,103481.0,-1020.3
$KALMAN_Y,-161038.0,-301.8,-140.3,336920.2,-872.2
$MHEAD_RNG_PITCHd_Wd,187.3,35118,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-74.88,0.000,2,0.000,0.000,408,1863,3352,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.3,-9.0,10,127,12.30,2.42,-1.38,0.000,4,0.168,0.036,2679,3372,3435,0,0,0,0,0,0
$GC,195,-1.28,-116.8,25.7,-12.4,23,206,0.10,2.55,0.00,0.000,6,0.082,0.025,2706,1805,3435,0,0,0,0,0,0
$GC,479,-1.16,-116.8,61.7,-11.8,50,484,0.12,2.60,0.00,0.000,4,0.115,0.039,2734,211,3436,0,0,0,0,0,0
$GC,537,-1.16,-116.8,68.2,-10.3,54,542,0.00,2.45,0.00,0.000,6,0.000,0.017,2733,1814,3436,0,0,0,0,0,0
$GC,802,-1.24,-116.8,92.0,-9.0,78,806,0.00,2.40,0.00,0.000,4,0.000,0.024,2733,3358,3437,0,0,0,0,0,0
$GC,822,-1.33,-116.8,93.5,-8.2,79,827,0.15,2.53,0.00,0.000,6,0.053,0.021,2650,1764,3437,0,0,0,0,0,0
$GC,1091,-1.19,-116.8,121.5,-9.6,103,1096,0.35,2.50,0.00,0.000,4,0.084,0.037,2729,225,3438,0,0,0,0,0,0
$GC,1162,-1.34,-116.8,127.4,-7.3,109,1167,0.15,2.33,0.00,0.000,6,0.054,0.016,2657,1762,3438,0,0,0,0,0,0
$GC,1428,-1.25,-116.8,153.2,-10.5,133,1434,0.25,0.00,0.00,0.000,6,0.087,0.000,2717,1765,3438,0,0,0,0,0,0
$GC,1691,-1.32,-116.8,174.5,-7.8,158,1696,0.00,2.50,0.00,0.000,4,0.000,0.039,2717,222,3439,0,0,0,0,0,0
$GC,1737,-1.47,-116.8,178.2,-8.4,162,1742,0.20,2.30,0.00,0.000,6,0.042,0.017,2621,1740,3439,0,0,0,0,0,0
$GC,2028,-1.30,-116.8,209.7,-11.3,183,2033,0.35,2.47,0.00,0.000,4,0.082,0.038,2704,218,3439,0,0,0,0,0,0
$GC,2053,-1.30,-116.8,212.2,-9.0,183,2057,0.00,2.30,0.00,0.000,6,0.000,0.018,2704,1723,3439,0,0,0,0,0,0
$GC,2314,-1.40,-116.8,231.8,-7.3,190,2318,0.00,2.55,0.00,0.000,4,0.000,0.025,2704,3350,3439,0,0,0,0,0,0
$GC,2414,-1.54,-116.8,239.1,-6.6,192,2419,0.20,2.53,0.00,0.000,6,0.044,0.022,2606,1746,3438,0,0,0,0,0,0
$GC,2693,-1.38,-116.8,266.0,-9.8,199,2698,0.35,2.47,0.00,0.000,4,0.082,0.040,2686,218,3438,0,0,0,0,0,0
$GC,2746,-1.54,-116.8,270.8,-8.3,200,2751,0.10,2.35,0.00,0.000,6,0.028,0.018,2615,1730,3437,0,0,0,0,0,0
$GC,3032,-1.42,-116.8,298.4,-10.2,207,3037,0.25,2.47,0.00,0.000,4,0.088,0.042,2677,229,3437,0,0,0,0,0,0
$STATE,3044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3044,begin apogee
$GC,3052,-0.31,0.0,300.3,10.6,207,3149,1.02,0.00,92.97,0.656,6,0.071,0.000,2917,1609,2955,0,0,0,0,0,0
$STATE,3150,end apogee,CONTROL_FINISHED_OK
$STATE,3150,begin climb
$GC,3153,1.38,116.8,302.9,0.0,209,3258,1.50,2.50,94.05,0.650,4,0.027,0.053,3310,181,2478,0,0,0,0,0,0
$GC,3522,0.98,139.3,283.8,8.7,217,3547,0.50,2.25,19.00,0.608,6,0.099,0.020,3203,1614,2387,0,0,0,0,0,0
$GC,3805,1.05,197.6,264.9,6.6,224,3861,0.00,2.45,48.92,0.634,4,0.000,0.054,3202,184,2149,0,0,0,0,0,0
$GC,3966,1.05,199.4,251.5,9.9,227,3970,0.00,2.28,0.00,0.000,6,0.000,0.021,3203,1634,2147,0,0,0,0,0,0
$GC,4225,1.06,211.6,227.5,9.3,234,4245,0.00,2.50,12.65,0.566,4,0.000,0.049,3202,180,2091,0,0,0,0,0,0
$GC,4286,1.06,211.6,221.1,10.4,235,4290,0.00,2.28,0.00,0.000,6,0.000,0.021,3202,1631,2090,0,0,0,0,0,0
$GC,4556,1.22,275.7,202.4,6.3,242,4620,0.22,2.55,56.17,0.604,4,0.043,0.048,3286,184,1830,0,0,0,0,0,0
$GC,4629,1.09,275.7,195.7,10.5,246,4640,0.22,2.30,0.00,0.000,6,0.081,0.022,3232,1605,1829,0,0,0,0,0,0
$GC,4899,1.09,279.2,171.7,9.8,271,4903,0.00,2.62,0.00,0.000,4,0.000,0.038,3232,3192,1824,0,0,0,0,0,0
$GC,4948,1.17,279.2,165.7,10.4,275,4954,0.00,2.55,0.00,0.000,6,0.000,0.030,3232,1624,1820,0,0,0,0,0,0
$GC,5212,1.17,281.6,140.3,9.9,300,5223,0.00,0.00,4.90,0.413,6,0.000,0.000,3232,1624,1805,0,0,0,0,0,0
$GC,5481,1.33,327.4,120.6,7.4,325,5529,0.20,2.67,40.65,0.540,4,0.045,0.034,3321,3198,1619,0,0,0,0,0,0
$GC,5554,1.24,327.4,112.0,12.2,331,5560,0.28,2.60,0.00,0.000,6,0.086,0.030,3261,1620,1616,0,0,0,0,0,0
$GC,5817,1.30,327.4,82.3,11.6,356,5821,0.00,2.42,0.00,0.000,4,0.000,0.048,3260,176,1615,0,0,0,0,0,0
$GC,5850,1.37,327.4,78.1,12.6,358,5861,0.08,2.30,0.00,0.000,6,0.037,0.021,3311,1627,1615,0,0,0,0,0,0
$GC,6119,1.37,327.4,47.3,10.2,383,6124,0.12,2.53,0.00,0.000,4,0.111,0.032,3283,3190,1613,0,0,0,0,0,0
$GC,6154,1.45,327.4,43.6,10.0,385,6159,0.10,2.55,0.00,0.000,6,0.076,0.028,3335,1617,1611,0,0,0,0,0,0
$GC,6443,1.45,327.4,12.7,12.3,421,6454,0.12,2.55,0.00,0.000,4,0.109,0.029,3307,3185,1611,0,0,0,0,0,0
$GC,6475,1.45,327.4,9.4,10.6,424,6485,0.00,2.53,0.00,0.000,6,0.000,0.027,3307,1633,1611,0,0,0,0,0,0
$STATE,6528,end climb,SURFACE_DEPTH_REACHED
$STATE,6528,begin surface coast
$FINISH,0.5,1.016342
$STATE,6575,end surface coast,CONTROL_FINISHED_OK
$STATE,6575,begin surface
$SM_CCo,6597,41.42,0.425,1,0,1323,400.08
$SM_GC,1.34,0.00,0.00,41.42,0.000,0.000,0.425,412,1888,1323,-11.86,2.49,400.08
$IRIDIUM_FIX,2307.44,-15709.64,211200,030344
$TT8_MAMPS,0.027612
$HUMID,65.75
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,19.90
$XPDR_PINGS,2
$24V_AH,23.7,50.090
$10V_AH,10.1,57.917
$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,30.825,88.550,369.325,41.425,0.000,22.254,34.867,256.754,0.500,0.000,25.566,886.140,3246.845,415.984,1609.983,955.800,33.351,1105.629,0.000,1937.918,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,54.457,655.785,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,295.366,493.083,575.751,589.095,1104.939,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356084
$DATA_FILE_SIZE,35149,438
$CAP_FILE_SIZE,90305,0
$CFSIZE,260165632,106643456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270911,073007,2314.891,-15720.036,38,0.9,39,10.2