version: 66.06
glider: 148
mission: 10
dive: 567
start: 9 28 111 3 53 12
data:
$ID,148
$MISSION,10
$DIVE,567
$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,-889118.44
$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,46
$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
$GPS1,034558,2303.559,-15729.580,11,4.2,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.1
$GPS2,035216,2303.497,-15729.702,12,99.0,31,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.051,-0.229
$KALMAN_X,-2391.0,-1084.8,-262.1,-1384.1,-454.0
$KALMAN_Y,-2337.0,-1042.2,-255.9,-4640.1,-468.6
$MHEAD_RNG_PITCHd_Wd,129.4,6496,-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,18,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-76.75,0.000,2,0.000,0.000,411,1684,3382,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.4,-8.2,10,121,11.70,2.53,-0.85,0.000,4,0.147,0.047,2680,173,3435,0,0,0,0,0,0
$GC,140,0.02,-116.8,18.6,-37.4,14,151,1.38,2.42,0.00,0.000,6,0.080,0.018,2988,1729,3436,0,0,0,0,0,0
$GC,440,-0.84,-116.8,44.9,-9.6,49,455,0.75,2.45,0.00,0.000,4,0.040,0.022,2798,3296,3437,0,0,0,0,0,0
$GC,511,-1.16,-116.8,51.6,-7.9,54,523,0.22,2.53,0.00,0.000,6,0.017,0.021,2666,1720,3436,0,0,0,0,0,0
$GC,783,-1.05,-116.8,84.1,-12.1,79,792,0.38,2.50,0.00,0.000,4,0.083,0.039,2754,180,3437,0,0,0,0,0,0
$GC,850,-1.25,-116.8,90.4,-8.6,85,855,0.15,2.35,0.00,0.000,6,0.053,0.016,2670,1739,3437,0,0,0,0,0,0
$GC,1119,-1.16,-116.8,115.1,-9.6,109,1124,0.30,2.38,0.00,0.000,4,0.085,0.022,2732,3266,3438,0,0,0,0,0,0
$GC,1152,-1.27,-116.8,117.9,-8.1,111,1156,0.00,2.45,0.00,0.000,6,0.000,0.022,2733,1706,3439,0,0,0,0,0,0
$GC,1422,-1.41,-116.8,139.4,-8.5,135,1427,0.20,2.47,0.00,0.000,4,0.043,0.040,2639,176,3439,0,0,0,0,0,0
$GC,1453,-1.32,-116.8,142.7,-11.4,137,1458,0.28,2.33,0.00,0.000,6,0.087,0.017,2701,1704,3439,0,0,0,0,0,0
$GC,1715,-1.32,-116.8,165.3,-7.3,161,1720,0.00,2.50,0.00,0.000,4,0.000,0.025,2701,3279,3439,0,0,0,0,0,0
$GC,1772,-1.43,-116.8,169.1,-6.8,166,1777,0.10,2.47,0.00,0.000,6,0.074,0.022,2627,1713,3439,0,0,0,0,0,0
$GC,2038,-1.29,-116.8,194.0,-9.3,190,2043,0.32,2.47,0.00,0.000,4,0.086,0.023,2703,3284,3439,0,0,0,0,0,0
$GC,2055,-1.29,-116.8,195.8,-9.0,191,2060,0.00,2.47,0.00,0.000,6,0.000,0.023,2703,1726,3439,0,0,0,0,0,0
$GC,2329,-1.37,-116.8,215.7,-7.7,202,2333,0.00,2.47,0.00,0.000,4,0.000,0.025,2702,3286,3439,0,0,0,0,0,0
$GC,2374,-1.51,-116.8,219.2,-8.1,203,2379,0.17,2.45,0.00,0.000,6,0.046,0.023,2605,1742,3439,0,0,0,0,0,0
$GC,2665,-1.26,-116.8,252.7,-11.7,210,2672,0.55,2.58,0.00,0.000,4,0.089,0.040,2713,170,3439,0,0,0,0,0,0
$GC,2706,-1.42,-116.8,256.8,-7.9,210,2714,0.15,2.40,0.00,0.000,6,0.053,0.018,2637,1741,3439,0,0,0,0,0,0
$GC,2957,-1.34,-116.8,278.6,-8.9,217,2963,0.25,2.45,0.00,0.000,4,0.085,0.025,2697,3273,3439,0,0,0,0,0,0
$GC,3050,-1.48,-116.8,285.6,-7.8,218,3058,0.10,2.42,0.00,0.000,6,0.028,0.025,2615,1768,3438,0,0,0,0,0,0
$STATE,3217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3217,begin apogee
$GC,3224,-0.31,0.0,303.1,10.4,223,3321,1.35,0.00,93.53,0.665,6,0.080,0.000,2918,1667,2955,0,0,0,0,0,0
$STATE,3322,end apogee,CONTROL_FINISHED_OK
$STATE,3322,begin climb
$GC,3324,1.38,116.8,306.8,0.0,225,3432,1.52,2.53,94.68,0.657,4,0.028,0.056,3322,201,2477,0,0,0,0,0,0
$GC,3439,1.14,228.5,310.2,3.6,228,3542,0.40,2.35,92.90,0.650,6,0.105,0.021,3239,1670,2023,0,0,0,0,0,0
$GC,3797,1.05,228.5,272.1,11.6,237,3801,0.00,2.50,0.00,0.000,4,0.000,0.051,3239,202,2015,0,0,0,0,0,0
$GC,3949,0.95,228.5,252.8,11.6,240,3954,0.20,2.38,0.00,0.000,6,0.101,0.021,3196,1691,2015,0,0,0,0,0,0
$GC,4218,1.08,278.2,232.1,7.1,247,4268,0.12,2.62,43.12,0.614,4,0.066,0.052,3250,201,1819,0,0,0,0,0,0
$GC,4307,1.00,278.2,222.6,12.9,249,4312,0.20,2.35,0.00,0.000,6,0.094,0.021,3207,1674,1819,0,0,0,0,0,0
$GC,4569,1.10,291.5,198.3,9.2,256,4589,0.10,2.70,11.88,0.549,4,0.077,0.041,3257,3277,1765,0,0,0,0,0,0
$GC,4608,1.10,291.5,194.6,10.9,259,4613,0.12,2.62,0.00,0.000,6,0.106,0.031,3230,1691,1763,0,0,0,0,0,0
$GC,4874,1.11,297.0,167.0,9.7,283,4882,0.00,0.00,5.55,0.447,6,0.000,0.000,3230,1691,1744,0,0,0,0,0,0
$GC,5138,1.22,322.6,142.0,8.5,308,5177,0.10,2.67,24.20,0.550,4,0.077,0.035,3278,3267,1636,0,0,0,0,0,0
$GC,5187,1.22,322.6,136.8,10.2,312,5192,0.10,2.60,0.00,0.000,6,0.118,0.029,3255,1673,1635,0,0,0,0,0,0
$GC,5448,1.22,322.6,109.9,10.2,336,5452,0.00,2.62,0.00,0.000,4,0.000,0.033,3255,3283,1634,0,0,0,0,0,0
$GC,5491,1.32,322.6,105.3,11.0,339,5497,0.00,2.60,0.00,0.000,6,0.000,0.032,3255,1685,1631,0,0,0,0,0,0
$GC,5760,1.42,322.6,78.6,10.6,364,5771,0.17,0.00,0.00,0.000,6,0.051,0.000,3326,1685,1631,0,0,0,0,0,0
$GC,6029,1.37,336.1,48.0,9.2,389,6048,0.17,0.00,12.02,0.449,6,0.100,0.000,3288,1685,1584,0,0,0,0,0,0
$GC,6321,1.47,352.8,23.6,9.0,420,6352,0.10,2.67,15.80,0.441,4,0.079,0.031,3337,3278,1513,0,0,0,0,0,0
$GC,6389,1.47,352.8,16.2,11.7,428,6400,0.10,2.62,0.00,0.000,6,0.082,0.027,3310,1677,1511,0,0,0,0,0,0
$STATE,6493,end climb,SURFACE_DEPTH_REACHED
$STATE,6493,begin surface coast
$FINISH,0.5,1.013339
$STATE,6538,end surface coast,CONTROL_FINISHED_OK
$STATE,6538,begin surface
$SM_CCo,6559,37.45,0.442,0,0,1323,400.08
$SM_GC,1.49,0.00,0.00,37.45,0.000,0.000,0.442,410,1673,1323,-11.87,-1.33,400.08
$IRIDIUM_FIX,2255.72,-15726.23,221200,010107
$TT8_MAMPS,0.026845
$HUMID,65.35
$INTERNAL_PRESSURE,9.42806
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,23.7,51.037
$10V_AH,10.1,59.128
$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,33.375,85.050,393.675,37.450,0.000,27.698,33.076,152.519,0.250,0.000,33.406,950.985,3119.307,434.262,1598.210,874.625,32.359,1121.050,0.000,1935.438,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,86.671,664.989,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,302.328,522.572,607.063,629.263,1172.081,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,35166,449
$CAP_FILE_SIZE,89579,0
$CFSIZE,260165632,106151936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.325,246.1,1
$GPS,280911,054442,2302.501,-15730.554,38,2.0,50,10.1