version: 66.06
glider: 148
mission: 10
dive: 569
start: 9 28 111 7 54 35
data:
$ID,148
$MISSION,10
$DIVE,569
$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,-889144.88
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,074349,2301.801,-15731.274,9,1.4,28,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.0
$GPS2,075338,2301.780,-15731.375,10,1.4,10,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.126
$KALMAN_X,-6328.4,-704.6,-518.1,-421.4,-673.1
$KALMAN_Y,-3790.4,-716.1,50.2,-7020.9,25.6
$MHEAD_RNG_PITCHd_Wd,89.5,4045,-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,-116.8,0.0,0.0,0,93,0.00,0.00,-70.57,0.000,2,0.000,0.000,408,1693,3171,0,0,0,0,0,0
$GC,97,-1.38,-116.8,3.2,-4.2,9,123,12.32,2.53,-4.95,0.000,4,0.167,0.048,2678,174,3433,0,0,0,0,0,0
$GC,154,-1.11,-116.8,17.4,-18.8,16,165,0.28,2.42,0.00,0.000,6,0.078,0.018,2744,1734,3435,0,0,0,0,0,0
$GC,451,-1.11,-116.8,49.5,-10.0,49,455,0.00,2.45,0.00,0.000,4,0.000,0.024,2744,3296,3435,0,0,0,0,0,0
$GC,534,-1.20,-116.8,57.7,-9.1,55,538,0.00,2.50,0.00,0.000,6,0.000,0.022,2744,1724,3435,0,0,0,0,0,0
$GC,804,-1.30,-116.8,81.1,-8.1,79,809,0.15,2.47,0.00,0.000,4,0.052,0.024,2656,3293,3436,0,0,0,0,0,0
$GC,837,-1.18,-116.8,85.4,-11.4,81,844,0.32,2.45,0.00,0.000,6,0.080,0.022,2730,1746,3436,0,0,0,0,0,0
$GC,1103,-1.26,-116.8,106.1,-6.9,106,1108,0.00,2.53,0.00,0.000,4,0.000,0.040,2730,177,3436,0,0,0,0,0,0
$GC,1166,-1.40,-116.8,110.9,-7.3,111,1173,0.17,2.38,0.00,0.000,6,0.048,0.016,2645,1760,3436,0,0,0,0,0,0
$GC,1432,-1.26,-116.8,137.8,-11.6,136,1442,0.28,0.00,0.00,0.000,6,0.084,0.000,2712,1762,3436,0,0,0,0,0,0
$GC,1694,-1.34,-116.8,163.8,-10.2,161,1698,0.00,2.58,0.00,0.000,4,0.000,0.040,2712,174,3437,0,0,0,0,0,0
$GC,1764,-1.46,-116.8,171.0,-9.4,167,1770,0.17,2.38,0.00,0.000,6,0.048,0.017,2628,1735,3437,0,0,0,0,0,0
$GC,2028,-1.33,-116.8,196.5,-9.1,192,2033,0.28,2.40,0.00,0.000,4,0.086,0.022,2695,3280,3437,0,0,0,0,0,0
$GC,2051,-1.27,-116.8,198.1,-8.3,193,2055,0.00,2.47,0.00,0.000,6,0.000,0.023,2695,1718,3437,0,0,0,0,0,0
$GC,2323,-1.27,-116.8,217.4,-7.1,201,2328,0.00,2.53,0.00,0.000,4,0.000,0.042,2695,182,3437,0,0,0,0,0,0
$GC,2375,-1.38,-116.8,221.2,-8.3,202,2379,0.00,2.35,0.00,0.000,6,0.000,0.017,2695,1726,3437,0,0,0,0,0,0
$GC,2662,-1.46,-116.8,241.4,-6.8,209,2667,0.00,2.45,0.00,0.000,4,0.000,0.025,2695,3284,3437,0,0,0,0,0,0
$GC,2751,-1.58,-116.8,247.2,-6.3,211,2756,0.20,2.45,0.00,0.000,6,0.043,0.022,2602,1739,3437,0,0,0,0,0,0
$GC,3040,-1.42,-116.8,276.8,-10.8,218,3042,0.35,0.00,0.00,0.000,6,0.085,0.000,2679,1739,3435,0,0,0,0,0,0
$GC,3283,-1.48,-116.8,296.1,-7.7,224,3288,0.00,2.45,0.00,0.000,4,0.000,0.027,2679,3284,3434,0,0,0,0,0,0
$STATE,3332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3332,begin apogee
$GC,3342,-0.31,0.0,300.2,7.5,225,3439,1.02,0.00,92.40,0.660,6,0.069,0.000,2920,1699,2955,0,0,0,0,0,0
$STATE,3439,end apogee,CONTROL_FINISHED_OK
$STATE,3440,begin climb
$GC,3442,1.38,116.8,302.8,0.0,227,3546,1.48,2.65,94.25,0.649,4,0.023,0.058,3309,182,2477,0,0,0,0,0,0
$GC,3809,0.95,120.4,280.9,9.8,235,3816,0.50,2.35,0.00,0.000,6,0.099,0.021,3200,1675,2471,0,0,0,0,0,0
$GC,4087,1.07,212.5,266.9,4.7,242,4174,0.10,2.75,79.15,0.637,4,0.079,0.046,3246,3277,2087,0,0,0,0,0,0
$GC,4420,1.07,214.6,236.9,9.9,249,4426,0.08,2.62,0.00,0.000,6,0.085,0.029,3225,1697,2079,0,0,0,0,0,0
$GC,4696,1.08,224.3,211.5,9.4,256,4707,0.00,0.00,9.73,0.535,6,0.000,0.000,3224,1697,2040,0,0,0,0,0,0
$GC,4947,1.14,269.9,190.6,7.4,268,4995,0.00,2.67,40.90,0.591,4,0.000,0.056,3224,171,1853,0,0,0,0,0,0
$GC,5042,1.14,274.9,182.5,9.7,277,5053,0.00,2.40,5.85,0.458,6,0.000,0.020,3224,1703,1834,0,0,0,0,0,0
$GC,5308,1.25,285.5,158.0,9.4,302,5321,0.15,0.00,9.90,0.509,6,0.057,0.000,3287,1706,1790,0,0,0,0,0,0
$GC,5576,1.19,285.5,126.9,11.4,327,5582,0.17,2.58,0.00,0.000,4,0.100,0.047,3249,172,1787,0,0,0,0,0,0
$GC,5610,1.19,285.5,122.9,11.4,329,5616,0.00,2.40,0.00,0.000,6,0.000,0.021,3249,1694,1787,0,0,0,0,0,0
$GC,5874,1.27,301.1,98.2,9.1,354,5894,0.00,2.58,13.88,0.494,4,0.000,0.044,3249,165,1727,0,0,0,0,0,0
$GC,5917,1.34,301.1,93.6,10.8,358,5922,0.12,2.40,0.00,0.000,6,0.064,0.021,3306,1684,1727,0,0,0,0,0,0
$GC,6184,1.36,316.7,70.3,9.1,382,6212,0.00,2.60,14.65,0.473,4,0.000,0.031,3306,3282,1663,0,0,0,0,0,0
$GC,6273,1.36,319.3,61.3,9.9,389,6285,0.00,2.62,3.85,0.324,6,0.000,0.026,3306,1677,1652,0,0,0,0,0,0
$GC,6545,1.36,319.3,35.7,10.0,414,6549,0.00,2.45,0.00,0.000,4,0.000,0.044,3306,176,1651,0,0,0,0,0,0
$GC,6565,1.36,319.3,33.1,10.6,415,6569,0.00,2.35,0.00,0.000,6,0.000,0.019,3306,1684,1650,0,0,0,0,0,0
$STATE,6875,end climb,SURFACE_DEPTH_REACHED
$STATE,6875,begin surface coast
$FINISH,0.5,1.012803
$STATE,6926,end surface coast,CONTROL_FINISHED_OK
$STATE,6926,begin surface
$SM_CCo,6948,42.10,0.435,0,0,1323,400.08
$SM_GC,1.36,0.00,0.00,42.10,0.000,0.000,0.435,406,1688,1323,-11.89,-0.90,400.08
$IRIDIUM_FIX,2253.38,-15729.29,221200,070752
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,23.7,51.210
$10V_AH,10.0,59.360
$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,29.725,79.775,364.550,42.100,0.000,58.733,75.808,242.813,0.000,0.000,12.286,995.975,3387.509,396.547,1735.263,1066.318,33.334,1109.207,0.000,2087.301,0.000,0.537,0.000
$DEVICE_MAMPS,167.206,58.292,659.620,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.723,543.331,629.981,649.138,1217.316,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,38414,468
$CAP_FILE_SIZE,93075,0
$CFSIZE,260165632,106053632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.213,244.1,1
$GPS,280911,095230,2301.333,-15731.587,34,1.0,41,10.1