version: 66.06
glider: 148
mission: 10
dive: 566
start: 9 28 111 1 51 28
data:
$ID,148
$MISSION,10
$DIVE,566
$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,-889084.38
$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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,014406,2305.199,-15728.427,40,1.8,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.1
$GPS2,015034,2305.143,-15728.523,11,4.5,30,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.029,-0.233
$KALMAN_X,-959.3,-717.9,-438.4,-1000.6,-287.8
$KALMAN_Y,-1002.1,-725.5,-422.3,-3067.3,-350.0
$MHEAD_RNG_PITCHd_Wd,145.3,9852,-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,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-70.55,0.000,2,0.000,0.000,404,1717,3166,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.2,-5.0,9,121,11.73,2.58,-5.15,0.000,4,0.146,0.055,2681,176,3433,0,0,0,0,0,0
$GC,179,-1.24,-116.8,21.1,-14.7,20,190,0.12,2.42,0.00,0.000,6,0.087,0.017,2713,1733,3434,0,0,0,0,0,0
$GC,462,-1.15,-116.8,55.4,-11.4,49,467,0.12,2.45,0.00,0.000,4,0.116,0.025,2740,3286,3434,0,0,0,0,0,0
$GC,497,-1.15,-116.8,59.5,-10.3,51,502,0.00,2.53,0.00,0.000,6,0.000,0.023,2740,1704,3435,0,0,0,0,0,0
$GC,766,-1.21,-116.8,83.8,-8.9,75,770,0.00,2.50,0.00,0.000,4,0.000,0.024,2740,3296,3435,0,0,0,0,0,0
$GC,788,-1.32,-116.8,86.1,-8.6,76,797,0.12,2.53,0.00,0.000,6,0.025,0.023,2636,1722,3435,0,0,0,0,0,0
$GC,1055,-1.16,-116.8,115.4,-11.0,101,1064,0.43,2.50,0.00,0.000,4,0.082,0.045,2735,174,3436,0,0,0,0,0,0
$GC,1083,-1.16,-116.8,118.0,-9.8,103,1088,0.00,2.38,0.00,0.000,6,0.000,0.016,2735,1739,3436,0,0,0,0,0,0
$GC,1351,-1.31,-116.8,136.3,-6.7,127,1356,0.12,2.40,0.00,0.000,4,0.061,0.025,2660,3276,3436,0,0,0,0,0,0
$GC,1435,-1.31,-116.8,144.5,-8.8,134,1447,0.15,2.47,0.00,0.000,6,0.067,0.022,2701,1728,3437,0,0,0,0,0,0
$GC,1700,-1.31,-116.8,166.0,-7.9,159,1704,0.00,2.42,0.00,0.000,4,0.000,0.024,2701,3280,3437,0,0,0,0,0,0
$GC,1723,-1.39,-116.8,167.4,-7.6,160,1728,0.00,2.45,0.00,0.000,6,0.000,0.023,2700,1722,3437,0,0,0,0,0,0
$GC,1992,-1.46,-116.8,187.4,-7.8,184,1997,0.12,2.45,0.00,0.000,4,0.063,0.025,2633,3275,3437,0,0,0,0,0,0
$GC,2019,-1.46,-116.8,190.4,-10.1,186,2024,0.17,2.42,0.00,0.000,6,0.091,0.023,2673,1746,3437,0,0,0,0,0,0
$GC,2284,-1.46,-116.8,215.7,-9.5,199,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1746,3437,0,0,0,0,0,0
$GC,2527,-1.46,-116.8,235.6,-8.0,205,2531,0.00,2.42,0.00,0.000,4,0.000,0.025,2673,3275,3436,0,0,0,0,0,0
$GC,2566,-1.52,-116.8,238.5,-7.2,205,2571,0.00,2.42,0.00,0.000,6,0.000,0.023,2673,1751,3436,0,0,0,0,0,0
$GC,2817,-1.52,-116.8,254.3,-6.0,212,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1751,3436,0,0,0,0,0,0
$GC,3059,-1.52,-116.8,271.2,-7.3,218,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1751,3436,0,0,0,0,0,0
$GC,3303,-1.52,-116.8,293.6,-9.4,224,3309,0.00,2.62,0.00,0.000,4,0.000,0.046,2673,177,3435,0,0,0,0,0,0
$GC,3324,-1.52,-116.8,295.8,-10.7,224,3328,0.00,2.40,0.00,0.000,6,0.000,0.019,2673,1741,3435,0,0,0,0,0,0
$STATE,3387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3387,begin apogee
$GC,3392,-0.31,0.0,301.9,9.3,226,3488,1.08,0.00,92.72,0.665,6,0.071,0.000,2921,1744,2955,0,0,0,0,0,0
$STATE,3489,end apogee,CONTROL_FINISHED_OK
$STATE,3489,begin climb
$GC,3492,1.38,116.8,305.6,0.0,228,3597,1.48,2.75,94.03,0.657,4,0.028,0.055,3308,176,2477,0,0,0,0,0,0
$GC,3862,0.97,116.8,282.2,10.2,236,3869,0.50,2.40,0.00,0.000,6,0.097,0.020,3201,1685,2472,0,0,0,0,0,0
$GC,4138,1.08,206.3,267.1,4.8,243,4224,0.10,2.60,73.90,0.642,4,0.078,0.050,3245,180,2112,0,0,0,0,0,0
$GC,4340,0.96,206.3,247.6,11.3,247,4345,0.22,2.42,0.00,0.000,6,0.097,0.022,3198,1695,2108,0,0,0,0,0,0
$GC,4607,1.06,222.3,223.3,9.1,254,4629,0.00,2.70,13.60,0.571,4,0.000,0.042,3198,3271,2046,0,0,0,0,0,0
$GC,4655,1.18,237.0,219.0,9.2,255,4676,0.20,2.55,13.77,0.567,6,0.045,0.028,3297,1707,1989,0,0,0,0,0,0
$GC,4929,1.04,237.0,186.4,11.4,269,4935,0.35,2.62,0.00,0.000,4,0.090,0.035,3216,3273,1985,0,0,0,0,0,0
$GC,4966,1.17,256.9,183.1,8.9,272,4992,0.12,2.58,18.52,0.567,6,0.064,0.029,3283,1699,1906,0,0,0,0,0,0
$GC,5254,1.09,256.9,152.2,10.8,299,5256,0.25,0.00,0.00,0.000,6,0.095,0.000,3229,1700,1903,0,0,0,0,0,0
$GC,5516,1.19,271.5,127.5,9.2,323,5535,0.00,2.60,13.50,0.518,4,0.000,0.032,3229,3277,1847,0,0,0,0,0,0
$GC,5561,1.29,271.5,123.2,10.3,327,5567,0.17,2.58,0.00,0.000,6,0.049,0.029,3316,1688,1844,0,0,0,0,0,0
$GC,5827,1.17,271.5,89.1,13.8,351,5832,0.30,2.50,0.00,0.000,4,0.093,0.047,3247,176,1843,0,0,0,0,0,0
$GC,5860,1.17,271.5,85.4,11.0,353,5864,0.00,2.40,0.00,0.000,6,0.000,0.021,3248,1701,1842,0,0,0,0,0,0
$GC,6129,1.34,324.7,62.3,6.9,377,6181,0.12,0.00,46.05,0.500,6,0.065,0.000,3306,1701,1631,0,0,0,0,0,0
$GC,6437,1.34,324.7,30.9,11.0,406,6443,0.12,2.58,0.00,0.000,4,0.111,0.032,3279,3273,1627,0,0,0,0,0,0
$GC,6497,1.46,324.7,24.9,10.3,413,6508,0.08,2.60,0.00,0.000,6,0.036,0.028,3339,1689,1624,0,0,0,0,0,0
$STATE,6681,end climb,SURFACE_DEPTH_REACHED
$STATE,6682,begin surface coast
$FINISH,0.5,1.010049
$STATE,6724,end surface coast,CONTROL_FINISHED_OK
$STATE,6724,begin surface
$SM_CCo,6745,43.22,0.430,1,0,1323,400.08
$SM_GC,1.31,0.00,0.00,43.22,0.000,0.000,0.430,411,1686,1323,-11.86,-0.96,400.08
$IRIDIUM_FIX,2258.07,-15726.23,211200,232348
$TT8_MAMPS,0.027612
$HUMID,66.73
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,19.60
$XPDR_PINGS,4
$24V_AH,23.7,50.951
$10V_AH,10.0,59.016
$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,29.975,80.250,366.100,43.225,0.000,24.565,36.587,163.372,1.000,0.000,32.646,948.387,3373.343,398.553,1563.861,900.057,31.410,1072.779,0.000,1918.038,0.000,0.539,0.000
$DEVICE_MAMPS,146.497,55.224,664.989,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.124,532.896,615.545,616.466,1146.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,35374,446
$CAP_FILE_SIZE,86108,0
$CFSIZE,260165632,106196992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.419,230.4,1
$GPS,280911,034558,2303.559,-15729.580,11,4.2,31,10.1