version: 66.06
glider: 148
mission: 10
dive: 561
start: 9 27 111 15 48 28
data:
$ID,148
$MISSION,10
$DIVE,561
$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,-888969.5
$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,1750
$C_ROLL_CLIMB,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,89
$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
$GPS1,153644,2310.684,-15723.896,38,3.5,58,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.6
$GPS2,154732,2310.597,-15724.046,11,1.2,11,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.073,-0.223
$KALMAN_X,-23387.1,-556.7,18.2,101878.9,-869.0
$KALMAN_Y,-164642.6,4.3,98.8,330098.7,-1160.9
$MHEAD_RNG_PITCHd_Wd,187.9,22095,-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,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,-74.90,0.000,2,0.000,0.000,414,1796,3331,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.0,-6.9,10,125,11.68,2.70,-1.77,0.000,4,0.146,0.046,2682,173,3434,0,0,0,0,0,0
$GC,187,-1.25,-116.8,24.2,-14.4,22,198,0.12,2.40,0.00,0.000,6,0.082,0.017,2715,1718,3435,0,0,0,0,0,0
$GC,470,-1.16,-116.8,59.8,-11.4,50,475,0.10,2.55,0.00,0.000,4,0.124,0.025,2735,3322,3435,0,0,0,0,0,0
$GC,507,-1.16,-116.8,64.3,-9.9,52,515,0.00,2.53,0.00,0.000,6,0.000,0.023,2736,1751,3436,0,0,0,0,0,0
$GC,776,-1.23,-116.8,88.2,-9.2,77,780,0.00,2.50,0.00,0.000,4,0.000,0.025,2736,3315,3436,0,0,0,0,0,0
$GC,807,-1.38,-116.8,91.6,-8.7,79,814,0.20,2.42,0.00,0.000,6,0.041,0.021,2629,1760,3436,0,0,0,0,0,0
$GC,1072,-1.19,-116.8,124.0,-12.4,104,1085,0.40,2.55,0.00,0.000,4,0.082,0.038,2724,182,3437,0,0,0,0,0,0
$GC,1110,-1.30,-116.8,127.8,-9.8,107,1115,0.00,2.42,0.00,0.000,6,0.000,0.016,2724,1787,3437,0,0,0,0,0,0
$GC,1380,-1.40,-116.8,147.6,-7.1,131,1385,0.17,2.40,0.00,0.000,4,0.048,0.024,2644,3313,3437,0,0,0,0,0,0
$GC,1419,-1.40,-116.8,151.9,-9.3,134,1425,0.17,2.42,0.00,0.000,6,0.093,0.022,2683,1767,3437,0,0,0,0,0,0
$GC,1683,-1.40,-116.8,174.1,-8.5,159,1687,0.00,2.60,0.00,0.000,4,0.000,0.041,2683,175,3437,0,0,0,0,0,0
$GC,1793,-1.40,-116.8,183.6,-9.0,169,1798,0.00,2.40,0.00,0.000,6,0.000,0.017,2683,1751,3437,0,0,0,0,0,0
$GC,2085,-1.40,-116.8,207.2,-8.2,190,2091,0.00,2.47,0.00,0.000,4,0.000,0.025,2683,3313,3437,0,0,0,0,0,0
$GC,2101,-1.40,-116.8,208.9,-8.6,190,2105,0.00,2.45,0.00,0.000,6,0.000,0.022,2683,1755,3437,0,0,0,0,0,0
$GC,2374,-1.40,-116.8,233.7,-9.2,197,2378,0.00,2.58,0.00,0.000,4,0.000,0.042,2683,183,3437,0,0,0,0,0,0
$GC,2418,-1.40,-116.8,238.0,-9.9,198,2422,0.00,2.40,0.00,0.000,6,0.000,0.018,2683,1754,3437,0,0,0,0,0,0
$GC,2704,-1.40,-116.8,259.9,-6.9,205,2709,0.00,2.47,0.00,0.000,4,0.000,0.025,2683,3311,3436,0,0,0,0,0,0
$GC,2744,-1.53,-116.8,262.2,-5.2,205,2750,0.08,2.50,0.00,0.000,6,0.037,0.024,2624,1755,3436,0,0,0,0,0,0
$GC,3001,-1.41,-116.8,285.3,-9.6,212,3006,0.25,2.58,0.00,0.000,4,0.087,0.042,2684,177,3435,0,0,0,0,0,0
$GC,3058,-1.48,-116.8,290.5,-8.1,213,3064,0.00,2.42,0.00,0.000,6,0.000,0.019,2684,1733,3435,0,0,0,0,0,0
$STATE,3212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3213,begin apogee
$GC,3220,-0.31,0.0,302.6,7.7,217,3316,1.02,0.00,92.68,0.660,6,0.067,0.000,2921,1602,2955,0,0,0,0,0,0
$STATE,3317,end apogee,CONTROL_FINISHED_OK
$STATE,3317,begin climb
$GC,3319,1.38,116.8,305.3,0.0,219,3425,1.48,2.45,94.18,0.652,4,0.025,0.054,3318,201,2478,0,0,0,0,0,0
$GC,3685,0.97,137.3,284.4,8.8,227,3710,0.52,2.20,17.52,0.605,6,0.098,0.020,3205,1612,2395,0,0,0,0,0,0
$GC,3971,1.07,216.4,268.4,5.4,234,4040,0.00,0.00,66.68,0.638,6,0.000,0.000,3205,1612,2072,0,0,0,0,0,0
$GC,4259,1.10,242.2,244.7,8.5,241,4288,0.10,2.70,22.30,0.604,4,0.077,0.043,3251,3180,1966,0,0,0,0,0,0
$GC,4336,1.10,242.2,237.1,10.6,242,4342,0.00,2.55,0.00,0.000,6,0.000,0.031,3251,1648,1963,0,0,0,0,0,0
$GC,4597,1.12,253.3,212.0,9.4,249,4610,0.00,0.00,10.45,0.547,6,0.000,0.000,3251,1648,1922,0,0,0,0,0,0
$GC,4845,1.12,253.3,186.7,10.6,264,4850,0.00,2.53,0.00,0.000,4,0.000,0.032,3251,3188,1919,0,0,0,0,0,0
$GC,4924,1.12,253.3,179.1,10.1,271,4928,0.00,2.58,0.00,0.000,6,0.000,0.029,3251,1613,1916,0,0,0,0,0,0
$GC,5192,1.12,253.3,150.5,10.5,295,5197,0.00,2.58,0.00,0.000,4,0.000,0.033,3251,3189,1916,0,0,0,0,0,0
$GC,5263,1.12,253.3,142.4,10.5,301,5267,0.00,2.53,0.00,0.000,6,0.000,0.028,3251,1631,1914,0,0,0,0,0,0
$GC,5531,1.14,274.3,116.0,8.8,325,5557,0.00,2.62,18.77,0.524,4,0.000,0.032,3251,3195,1835,0,0,0,0,0,0
$GC,5634,1.25,299.3,106.5,8.6,334,5667,0.00,2.55,22.45,0.518,6,0.000,0.028,3251,1647,1732,0,0,0,0,0,0
$GC,5923,1.37,314.1,82.7,9.1,361,5944,0.15,2.58,13.45,0.477,4,0.055,0.031,3316,3192,1674,0,0,0,0,0,0
$GC,6044,1.37,314.1,68.9,11.6,371,6049,0.12,2.50,0.00,0.000,6,0.107,0.028,3289,1655,1670,0,0,0,0,0,0
$GC,6312,1.37,314.1,42.0,10.3,395,6316,0.00,2.50,0.00,0.000,4,0.000,0.029,3289,3199,1669,0,0,0,0,0,0
$GC,6373,1.44,314.1,35.0,10.1,399,6383,0.00,2.50,0.00,0.000,6,0.000,0.027,3289,1670,1668,0,0,0,0,0,0
$GC,6676,1.44,314.1,7.2,10.3,444,6686,0.00,2.47,0.00,0.000,4,0.000,0.028,3289,3192,1668,0,0,0,0,0,0
$STATE,6710,end climb,SURFACE_DEPTH_REACHED
$STATE,6710,begin surface coast
$FINISH,0.5,1.023462
$STATE,6770,end surface coast,CONTROL_FINISHED_OK
$STATE,6771,begin surface
$SM_CCo,6795,52.28,0.430,1,0,1323,400.08
$SM_GC,1.51,0.00,0.00,52.28,0.000,0.000,0.430,404,1744,1323,-11.90,-0.17,400.08
$IRIDIUM_FIX,2302.75,-15717.94,211200,151549
$TT8_MAMPS,0.026845
$HUMID,64.49
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.7,50.536
$10V_AH,10.0,58.470
$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,28.000,90.125,358.475,52.275,0.000,47.259,78.209,205.105,0.000,0.000,13.275,908.480,3392.522,428.565,1647.234,1127.363,33.352,1120.566,0.000,2020.086,0.000,0.538,0.000
$DEVICE_MAMPS,146.497,60.593,659.620,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.607,527.328,615.514,631.225,1176.239,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,38571,457
$CAP_FILE_SIZE,89235,0
$CFSIZE,260165632,106418176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270911,174352,2309.482,-15725.392,7,2.2,27,10.2