version: 66.06
glider: 148
mission: 10
dive: 559
start: 9 27 111 11 38 34
data:
$ID,148
$MISSION,10
$DIVE,559
$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,-888940.81
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,83
$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
$GPS1,113121,2313.301,-15721.520,37,99.0,56,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-72.3
$GPS2,113738,2313.275,-15721.560,11,1.5,11,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.072,-0.223
$KALMAN_X,-19918.3,-516.9,-538.2,103193.2,-234.3
$KALMAN_Y,-162263.6,-1.2,10.6,332768.7,214.0
$MHEAD_RNG_PITCHd_Wd,187.6,28487,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-74.45,0.000,2,0.000,0.000,411,1790,3300,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.8,-6.4,10,124,11.85,2.70,-2.42,0.000,4,0.152,0.050,2683,176,3434,0,0,0,0,0,0
$GC,162,-1.29,-116.8,19.0,-14.3,18,173,0.08,2.42,0.00,0.000,6,0.087,0.018,2705,1729,3434,0,0,0,0,0,0
$GC,447,-1.16,-116.8,54.3,-12.1,49,452,0.15,2.53,0.00,0.000,4,0.109,0.025,2737,3319,3435,0,0,0,0,0,0
$GC,518,-1.22,-116.8,62.1,-9.5,54,522,0.00,2.50,0.00,0.000,6,0.000,0.022,2737,1748,3436,0,0,0,0,0,0
$GC,783,-1.22,-116.8,87.3,-9.3,78,787,0.00,2.47,0.00,0.000,4,0.000,0.025,2737,3323,3436,0,0,0,0,0,0
$GC,824,-1.36,-116.8,91.0,-9.0,81,829,0.17,2.42,0.00,0.000,6,0.046,0.022,2646,1781,3436,0,0,0,0,0,0
$GC,1094,-1.21,-116.8,121.3,-9.6,105,1103,0.32,2.60,0.00,0.000,4,0.085,0.038,2721,175,3437,0,0,0,0,0,0
$GC,1121,-1.21,-116.8,124.5,-8.5,107,1126,0.00,2.47,0.00,0.000,6,0.000,0.016,2720,1798,3437,0,0,0,0,0,0
$GC,1384,-1.30,-116.8,143.8,-7.6,132,1388,0.00,2.65,0.00,0.000,4,0.000,0.038,2720,180,3437,0,0,0,0,0,0
$GC,1418,-1.45,-116.8,146.6,-8.5,134,1429,0.15,2.45,0.00,0.000,6,0.023,0.016,2641,1781,3437,0,0,0,0,0,0
$GC,1682,-1.33,-116.8,176.2,-12.5,159,1687,0.25,2.60,0.00,0.000,4,0.087,0.038,2701,180,3437,0,0,0,0,0,0
$GC,1744,-1.46,-116.8,182.8,-9.7,164,1750,0.12,2.38,0.00,0.000,6,0.062,0.016,2635,1746,3438,0,0,0,0,0,0
$GC,2014,-1.33,-116.8,208.2,-9.0,184,2019,0.25,2.42,0.00,0.000,4,0.086,0.024,2697,3301,3438,0,0,0,0,0,0
$GC,2049,-1.41,-116.8,211.4,-8.1,184,2054,0.00,2.47,0.00,0.000,6,0.000,0.022,2697,1739,3437,0,0,0,0,0,0
$GC,2300,-1.41,-116.8,230.7,-7.9,190,2305,0.00,2.53,0.00,0.000,4,0.000,0.042,2697,183,3438,0,0,0,0,0,0
$GC,2348,-1.53,-116.8,234.5,-8.0,191,2353,0.17,2.35,0.00,0.000,6,0.048,0.017,2617,1734,3437,0,0,0,0,0,0
$GC,2633,-1.40,-116.8,259.6,-8.6,198,2638,0.25,2.45,0.00,0.000,4,0.086,0.025,2678,3298,3437,0,0,0,0,0,0
$GC,2697,-1.48,-116.8,264.7,-7.8,199,2702,0.00,2.45,0.00,0.000,6,0.000,0.023,2678,1739,3437,0,0,0,0,0,0
$GC,2967,-1.48,-116.8,288.6,-9.4,206,2971,0.00,2.55,0.00,0.000,4,0.000,0.045,2678,180,3437,0,0,0,0,0,0
$GC,2999,-1.54,-116.8,292.2,-10.2,206,3004,0.10,2.40,0.00,0.000,6,0.075,0.019,2621,1730,3436,0,0,0,0,0,0
$STATE,3084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3084,begin apogee
$GC,3093,-0.31,0.0,302.0,11.4,208,3189,1.33,0.00,92.97,0.657,6,0.074,0.000,2924,1602,2955,0,0,0,0,0,0
$STATE,3190,end apogee,CONTROL_FINISHED_OK
$STATE,3190,begin climb
$GC,3193,1.38,116.8,306.1,0.0,210,3298,1.48,2.67,93.90,0.651,4,0.025,0.043,3317,3177,2477,0,0,0,0,0,0
$GC,3560,1.09,140.5,285.9,8.6,218,3590,0.43,2.50,20.20,0.609,6,0.104,0.028,3229,1638,2381,0,0,0,0,0,0
$GC,3838,1.05,195.8,266.5,6.8,225,3890,0.00,2.60,46.42,0.629,4,0.000,0.031,3229,3173,2155,0,0,0,0,0,0
$GC,4118,1.08,215.9,243.4,8.8,231,4142,0.00,2.55,17.80,0.590,6,0.000,0.029,3229,1619,2072,0,0,0,0,0,0
$GC,4398,1.10,230.7,218.5,9.2,238,4418,0.00,2.58,13.25,0.566,4,0.000,0.031,3229,3179,2013,0,0,0,0,0,0
$GC,4451,1.10,230.7,213.3,10.1,239,4455,0.00,2.53,0.00,0.000,6,0.000,0.038,3229,1633,2010,0,0,0,0,0,0
$GC,4719,1.10,233.1,188.5,9.9,253,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1632,2009,0,0,0,0,0,0
$GC,4980,1.13,259.4,164.4,8.5,278,5012,0.00,2.60,25.52,0.565,4,0.000,0.030,3229,3181,1896,0,0,0,0,0,0
$GC,5034,1.25,287.5,159.6,8.4,283,5069,0.15,2.53,25.42,0.555,6,0.056,0.028,3289,1630,1781,0,0,0,0,0,0
$GC,5328,1.19,287.5,125.7,12.1,311,5334,0.17,2.55,0.00,0.000,4,0.102,0.033,3250,3187,1777,0,0,0,0,0,0
$GC,5361,1.19,287.5,121.2,11.3,313,5367,0.00,2.55,0.00,0.000,6,0.000,0.028,3250,1640,1774,0,0,0,0,0,0
$GC,5624,1.27,287.5,92.0,10.6,338,5628,0.00,2.53,0.00,0.000,4,0.000,0.031,3250,3196,1773,0,0,0,0,0,0
$GC,5710,1.42,300.1,84.2,9.3,345,5733,0.20,2.50,10.57,0.466,6,0.044,0.028,3329,1656,1730,0,0,0,0,0,0
$GC,5990,1.35,308.4,55.8,9.5,371,6006,0.20,2.47,8.82,0.432,4,0.097,0.044,3283,168,1696,0,0,0,0,0,0
$GC,6034,1.35,313.4,51.7,9.7,374,6049,0.00,2.30,6.20,0.394,6,0.000,0.019,3284,1656,1675,0,0,0,0,0,0
$GC,6313,1.37,329.5,26.1,9.1,402,6333,0.00,2.50,15.27,0.439,4,0.000,0.029,3284,3193,1610,0,0,0,0,0,0
$GC,6371,1.45,329.5,20.7,10.2,409,6382,0.00,2.53,0.00,0.000,6,0.000,0.026,3284,1652,1607,0,0,0,0,0,0
$STATE,6537,end climb,SURFACE_DEPTH_REACHED
$STATE,6539,begin surface coast
$FINISH,0.4,1.015870
$STATE,6594,end surface coast,CONTROL_FINISHED_OK
$STATE,6594,begin surface
$SM_CCo,6618,47.60,0.440,0,0,1322,400.08
$SM_GC,1.35,0.00,0.00,47.60,0.000,0.000,0.440,405,1799,1322,-11.89,1.39,400.08
$IRIDIUM_FIX,2302.75,-15720.10,211200,090953
$TT8_MAMPS,0.027612
$HUMID,64.68
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.40
$XPDR_PINGS,1
$24V_AH,23.7,50.355
$10V_AH,10.1,58.243
$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,29.300,90.600,376.375,47.600,0.000,29.357,44.859,160.844,0.250,0.000,13.243,896.084,3171.542,416.385,1655.041,907.127,33.354,1134.235,0.000,2001.030,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,62.894,656.552,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.445,520.145,600.918,620.203,1161.644,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,35249,442
$CAP_FILE_SIZE,91387,0
$CFSIZE,260165632,106508288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270911,133032,2312.113,-15722.459,8,1.7,9,10.2