version: 66.06
glider: 148
mission: 10
dive: 560
start: 9 27 111 13 44 28
data:
$ID,148
$MISSION,10
$DIVE,560
$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,-888955.62
$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,36
$R_STBD_OVSHOOT,98
$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
$GPS1,133032,2312.113,-15722.459,8,1.7,9,10.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.3
$GPS2,134332,2312.030,-15722.605,12,1.5,12,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.121,-0.201
$KALMAN_X,-21497.2,-549.6,-219.5,102695.7,-314.8
$KALMAN_Y,-163499.9,47.7,309.5,331359.0,-613.1
$MHEAD_RNG_PITCHd_Wd,200.8,25598,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,95,0.00,0.00,-73.35,0.000,2,0.000,0.000,405,1799,3275,0,0,0,0,0,0
$GC,98,-1.38,-116.8,3.6,-6.7,10,123,12.35,2.70,-2.88,0.000,4,0.166,0.045,2683,177,3432,0,0,0,0,0,0
$GC,172,-1.28,-116.8,21.4,-15.2,20,183,0.10,2.40,0.00,0.000,6,0.081,0.017,2710,1713,3432,0,0,0,0,0,0
$GC,459,-1.18,-116.8,57.4,-12.3,50,464,0.10,2.55,0.00,0.000,4,0.121,0.026,2732,3325,3432,0,0,0,0,0,0
$GC,542,-1.25,-116.8,66.2,-9.5,56,546,0.00,2.50,0.00,0.000,6,0.000,0.022,2732,1751,3432,0,0,0,0,0,0
$GC,805,-1.33,-116.8,89.8,-7.9,80,807,0.15,0.00,0.00,0.000,6,0.054,0.000,2655,1751,3433,0,0,0,0,0,0
$GC,1061,-1.23,-116.8,114.4,-9.8,104,1066,0.25,2.53,0.00,0.000,4,0.084,0.038,2716,182,3433,0,0,0,0,0,0
$GC,1080,-1.23,-116.8,116.2,-9.5,105,1086,0.00,2.47,0.00,0.000,6,0.000,0.017,2717,1791,3434,0,0,0,0,0,0
$GC,1349,-1.32,-116.8,137.4,-7.9,130,1353,0.00,2.38,0.00,0.000,4,0.000,0.024,2717,3311,3434,0,0,0,0,0,0
$GC,1370,-1.41,-116.8,138.9,-8.3,131,1375,0.15,2.40,0.00,0.000,6,0.052,0.022,2623,1776,3434,0,0,0,0,0,0
$GC,1633,-1.19,-116.8,170.6,-11.1,155,1642,0.50,2.60,0.00,0.000,4,0.083,0.039,2727,172,3434,0,0,0,0,0,0
$GC,1708,-1.40,-116.8,176.3,-6.5,162,1718,0.15,2.42,0.00,0.000,6,0.022,0.017,2640,1759,3434,0,0,0,0,0,0
$GC,1976,-1.29,-116.8,200.6,-9.8,187,1981,0.28,2.40,0.00,0.000,4,0.083,0.021,2706,3302,3434,0,0,0,0,0,0
$GC,1989,-1.22,-116.8,202.6,-10.1,187,1994,0.00,2.45,0.00,0.000,6,0.000,0.022,2706,1741,3434,0,0,0,0,0,0
$GC,2263,-1.32,-116.8,223.8,-7.5,194,2267,0.00,2.53,0.00,0.000,4,0.000,0.041,2706,182,3434,0,0,0,0,0,0
$GC,2315,-1.45,-116.8,228.1,-7.6,195,2321,0.10,2.40,0.00,0.000,6,0.029,0.018,2638,1736,3434,0,0,0,0,0,0
$GC,2601,-1.35,-116.8,254.3,-9.3,202,2606,0.25,2.50,0.00,0.000,4,0.084,0.025,2699,3310,3434,0,0,0,0,0,0
$GC,2628,-1.43,-116.8,256.5,-7.7,202,2634,0.00,2.50,0.00,0.000,6,0.000,0.024,2699,1752,3433,0,0,0,0,0,0
$GC,2894,-1.54,-116.8,273.6,-6.3,209,2900,0.17,2.53,0.00,0.000,4,0.048,0.027,2613,3311,3433,0,0,0,0,0,0
$GC,2924,-1.44,-116.8,276.0,-8.1,209,2929,0.28,2.45,0.00,0.000,6,0.084,0.025,2675,1770,3433,0,0,0,0,0,0
$GC,3185,-1.44,-116.8,295.2,-7.6,216,3189,0.00,2.45,0.00,0.000,4,0.000,0.027,2676,3307,3431,0,0,0,0,0,0
$GC,3207,-1.44,-116.8,297.1,-8.9,216,3211,0.00,2.40,0.00,0.000,6,0.000,0.024,2675,1787,3431,0,0,0,0,0,0
$STATE,3265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3265,begin apogee
$GC,3271,-0.31,0.0,302.2,8.5,218,3367,1.08,0.00,92.00,0.663,6,0.070,0.000,2924,1606,2955,0,0,0,0,0,0
$STATE,3368,end apogee,CONTROL_FINISHED_OK
$STATE,3368,begin climb
$GC,3371,1.38,116.8,304.9,0.0,220,3475,1.45,2.67,94.12,0.655,4,0.023,0.042,3314,3173,2477,0,0,0,0,0,0
$GC,3738,1.11,155.7,285.5,7.8,228,3779,0.38,2.50,32.45,0.632,6,0.109,0.029,3236,1645,2319,0,0,0,0,0,0
$GC,4060,1.07,193.5,259.9,7.8,236,4097,0.00,2.53,31.80,0.624,4,0.000,0.032,3236,3162,2165,0,0,0,0,0,0
$GC,4113,1.04,221.9,255.1,8.4,236,4146,0.00,2.55,25.60,0.611,6,0.000,0.030,3236,1619,2049,0,0,0,0,0,0
$GC,4434,1.05,232.1,224.4,9.4,244,4450,0.00,2.62,9.52,0.543,4,0.000,0.033,3236,3167,2007,0,0,0,0,0,0
$GC,4520,1.11,282.0,217.2,7.1,245,4570,0.00,2.55,44.20,0.610,6,0.000,0.030,3236,1617,1804,0,0,0,0,0,0
$GC,4831,1.11,282.0,189.1,10.4,260,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1617,1798,0,0,0,0,0,0
$GC,5087,1.13,295.3,162.7,9.2,284,5108,0.00,2.60,11.25,0.525,4,0.000,0.031,3235,3173,1750,0,0,0,0,0,0
$GC,5145,1.24,312.5,157.2,9.0,289,5171,0.10,2.53,16.67,0.545,6,0.077,0.028,3285,1628,1679,0,0,0,0,0,0
$GC,5422,1.24,312.5,126.9,11.5,316,5427,0.12,2.55,0.00,0.000,4,0.111,0.032,3258,3181,1675,0,0,0,0,0,0
$GC,5483,1.34,312.5,120.9,10.3,321,5489,0.10,2.53,0.00,0.000,6,0.077,0.029,3305,1635,1673,0,0,0,0,0,0
$GC,5752,1.34,312.5,87.7,12.1,345,5757,0.12,2.45,0.00,0.000,4,0.111,0.047,3277,169,1672,0,0,0,0,0,0
$GC,5774,1.34,312.5,84.5,11.1,346,5785,0.00,2.33,0.00,0.000,6,0.000,0.021,3277,1635,1672,0,0,0,0,0,0
$GC,6045,1.38,347.5,60.8,8.0,371,6086,0.00,2.58,30.60,0.491,4,0.000,0.030,3277,3190,1535,0,0,0,0,0,0
$GC,6115,1.51,361.4,54.6,9.2,376,6133,0.17,2.47,12.90,0.453,6,0.050,0.028,3346,1657,1481,0,0,0,0,0,0
$GC,6410,1.41,361.4,16.8,14.1,408,6420,0.22,0.00,0.00,0.000,6,0.096,0.000,3297,1657,1477,0,0,0,0,0,0
$STATE,6524,end climb,SURFACE_DEPTH_REACHED
$STATE,6524,begin surface coast
$FINISH,0.5,1.022343
$STATE,6580,end surface coast,CONTROL_FINISHED_OK
$STATE,6580,begin surface
$SM_CCo,6604,29.15,0.437,0,0,1323,400.08
$SM_GC,1.47,0.00,0.00,29.15,0.000,0.000,0.437,414,1795,1323,-11.85,1.27,400.08
$IRIDIUM_FIX,2302.75,-15723.17,211200,111135
$TT8_MAMPS,0.026845
$HUMID,65.90
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,23.7,50.449
$10V_AH,10.0,58.353
$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,30.100,85.375,401.125,29.150,0.000,129.918,174.437,150.032,0.250,0.000,14.210,885.287,3425.083,406.339,1587.744,1111.693,33.354,1114.916,0.000,1931.054,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,61.360,663.455,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,292.017,492.586,576.685,590.757,1100.707,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,35159,433
$CAP_FILE_SIZE,91811,0
$CFSIZE,260165632,106463232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270911,153644,2310.684,-15723.896,38,3.5,58,10.2