version: 66.06
glider: 148
mission: 10
dive: 564
start: 9 27 111 21 49 54
data:
$ID,148
$MISSION,10
$DIVE,564
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,-889035.31
$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,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,50
$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
$GPS1,214237,2307.996,-15726.624,8,1.9,20,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.6
$GPS2,214904,2307.976,-15726.681,15,2.3,34,10.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.084,-0.219
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,190.8,15819,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-70.47,0.000,2,0.000,0.000,409,1680,3164,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.3,-5.2,9,121,11.80,2.45,-5.15,0.000,4,0.150,0.048,2682,210,3432,0,0,0,0,0,0
$GC,173,-1.26,-116.8,19.7,-14.5,19,184,0.10,2.38,0.00,0.000,6,0.084,0.017,2709,1731,3433,0,0,0,0,0,0
$GC,457,-1.12,-116.8,56.4,-13.1,49,468,0.17,0.00,0.00,0.000,6,0.102,0.000,2747,1735,3434,0,0,0,0,0,0
$GC,721,-1.20,-116.8,84.0,-9.8,74,725,0.00,2.42,0.00,0.000,4,0.000,0.024,2747,3288,3434,0,0,0,0,0,0
$GC,786,-1.40,-116.8,89.6,-9.2,79,791,0.25,2.47,0.00,0.000,6,0.035,0.022,2635,1731,3434,0,0,0,0,0,0
$GC,1055,-1.23,-116.8,122.8,-11.9,103,1060,0.38,0.00,0.00,0.000,6,0.084,0.000,2720,1731,3435,0,0,0,0,0,0
$GC,1319,-1.33,-116.8,143.1,-7.0,128,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1731,3435,0,0,0,0,0,0
$GC,1583,-1.44,-116.8,162.7,-8.4,153,1588,0.17,2.47,0.00,0.000,4,0.049,0.025,2641,3289,3436,0,0,0,0,0,0
$GC,1640,-1.44,-116.8,169.1,-10.4,158,1646,0.15,2.47,0.00,0.000,6,0.098,0.023,2674,1716,3435,0,0,0,0,0,0
$GC,1902,-1.44,-116.8,194.8,-10.0,182,1906,0.00,2.50,0.00,0.000,4,0.000,0.041,2674,172,3436,0,0,0,0,0,0
$GC,1921,-1.44,-116.8,196.9,-11.3,183,1932,0.00,2.40,0.00,0.000,6,0.000,0.018,2675,1730,3436,0,0,0,0,0,0
$GC,2204,-1.44,-116.8,222.4,-8.5,193,2209,0.00,2.42,0.00,0.000,4,0.000,0.025,2675,3286,3435,0,0,0,0,0,0
$GC,2251,-1.53,-116.8,226.0,-7.3,194,2255,0.00,2.47,0.00,0.000,6,0.000,0.023,2675,1727,3436,0,0,0,0,0,0
$GC,2534,-1.53,-116.8,246.9,-7.7,201,2538,0.00,2.45,0.00,0.000,4,0.000,0.025,2674,3277,3435,0,0,0,0,0,0
$GC,2562,-1.59,-116.8,249.8,-9.3,201,2567,0.12,2.42,0.00,0.000,6,0.064,0.023,2606,1739,3436,0,0,0,0,0,0
$GC,2819,-1.42,-116.8,280.6,-12.4,208,2824,0.30,2.55,0.00,0.000,4,0.087,0.041,2676,174,3435,0,0,0,0,0,0
$GC,2876,-1.42,-116.8,286.6,-9.4,209,2881,0.00,2.40,0.00,0.000,6,0.000,0.018,2676,1733,3435,0,0,0,0,0,0
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3112,-0.31,0.0,301.6,5.8,215,3209,1.05,0.00,92.80,0.656,6,0.070,0.000,2921,1736,2955,0,0,0,0,0,0
$STATE,3209,end apogee,CONTROL_FINISHED_OK
$STATE,3210,begin climb
$GC,3213,1.38,116.8,302.5,0.0,217,3319,1.48,2.70,94.03,0.647,4,0.026,0.054,3311,178,2477,0,0,0,0,0,0
$GC,3405,0.97,126.4,295.6,9.4,221,3422,0.50,2.38,8.88,0.545,6,0.099,0.020,3204,1686,2438,0,0,0,0,0,0
$GC,3683,1.07,212.9,280.0,5.0,228,3768,0.00,2.60,72.35,0.639,4,0.000,0.048,3204,183,2085,0,0,0,0,0,0
$GC,3786,1.08,214.9,272.1,9.9,230,3791,0.00,2.40,0.00,0.000,6,0.000,0.022,3204,1695,2085,0,0,0,0,0,0
$GC,4055,1.10,235.3,247.8,8.8,237,4077,0.10,0.00,19.73,0.594,6,0.077,0.000,3252,1695,1994,0,0,0,0,0,0
$GC,4300,1.10,235.3,221.4,10.9,243,4305,0.10,2.65,0.00,0.000,4,0.120,0.046,3231,3271,1989,0,0,0,0,0,0
$GC,4345,1.10,235.3,216.7,10.8,244,4349,0.00,2.55,0.00,0.000,6,0.000,0.028,3231,1697,1988,0,0,0,0,0,0
$GC,4603,1.12,252.5,195.0,9.0,254,4625,0.00,0.00,15.57,0.560,6,0.000,0.000,3231,1697,1924,0,0,0,0,0,0
$GC,4886,1.18,252.5,166.8,10.6,280,4890,0.00,2.58,0.00,0.000,4,0.000,0.032,3231,3275,1921,0,0,0,0,0,0
$GC,4912,1.25,252.5,163.3,10.6,282,4917,0.12,2.58,0.00,0.000,6,0.064,0.028,3291,1684,1919,0,0,0,0,0,0
$GC,5173,1.16,252.5,134.9,11.2,306,5187,0.22,2.65,0.00,0.000,4,0.097,0.035,3242,3283,1918,0,0,0,0,0,0
$GC,5235,1.27,278.8,129.7,8.5,311,5267,0.10,2.55,23.42,0.537,6,0.077,0.028,3306,1709,1817,0,0,0,0,0,0
$GC,5521,1.18,278.8,98.3,10.7,338,5526,0.25,2.60,0.00,0.000,4,0.093,0.041,3247,3281,1813,0,0,0,0,0,0
$GC,5565,1.35,294.4,94.7,9.1,341,5590,0.15,2.53,14.23,0.490,6,0.056,0.028,3320,1727,1752,0,0,0,0,0,0
$GC,5848,1.35,294.4,63.5,11.3,367,5853,0.17,2.53,0.00,0.000,4,0.100,0.033,3281,3280,1750,0,0,0,0,0,0
$GC,5881,1.35,294.4,59.9,10.5,369,5885,0.00,2.50,0.00,0.000,6,0.000,0.026,3281,1732,1748,0,0,0,0,0,0
$GC,6152,1.43,317.8,36.2,8.7,393,6180,0.00,2.60,21.17,0.459,4,0.000,0.044,3281,174,1657,0,0,0,0,0,0
$GC,6187,1.46,342.1,32.4,8.6,395,6216,0.08,2.53,22.62,0.454,6,0.039,0.020,3330,1751,1559,0,0,0,0,0,0
$STATE,6430,end climb,SURFACE_DEPTH_REACHED
$STATE,6430,begin surface coast
$FINISH,0.5,1.006467
$STATE,6473,end surface coast,CONTROL_FINISHED_OK
$STATE,6473,begin surface
$SM_CCo,6494,41.90,0.439,0,0,1324,400.08
$SM_GC,1.38,0.00,0.00,41.90,0.000,0.000,0.439,406,1755,1324,-11.89,0.99,400.08
$IRIDIUM_FIX,2300.41,-15738.85,211200,191934
$TT8_MAMPS,0.027612
$HUMID,66.10
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.10
$XPDR_PINGS,2
$24V_AH,23.7,50.786
$10V_AH,10.1,58.792
$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,29.475,75.200,384.800,41.900,0.000,28.746,35.317,155.238,0.500,0.000,36.812,907.262,3216.972,425.878,1510.866,864.522,29.233,1073.380,0.000,1841.699,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,53.690,655.785,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.882,513.699,594.522,602.081,1115.433,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,35315,436
$CAP_FILE_SIZE,82090,0
$CFSIZE,260165632,106291200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211,226.7,1
$GPS,270911,233944,2306.917,-15727.480,9,1.5,10,10.2