version: 66.06
glider: 148
mission: 10
dive: 573
start: 9 28 111 16 5 47
data:
$ID,148
$MISSION,10
$DIVE,573
$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,-889245.12
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,155500,2259.673,-15733.006,25,1.9,41,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.9
$GPS2,160448,2259.650,-15733.135,11,1.7,15,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,0.078
$KALMAN_X,-14639.9,-334.4,-343.8,4350.0,-1433.8
$KALMAN_Y,-7682.4,411.4,-633.1,-7508.9,-482.8
$MHEAD_RNG_PITCHd_Wd,38.5,5383,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-77.72,0.000,6,0.000,0.000,408,1665,3432,0,0,0,0,0,0
$GC,103,-1.38,-116.8,4.7,-9.5,10,120,11.93,2.60,0.00,0.000,4,0.153,0.020,2683,3312,3434,0,0,0,0,0,0
$GC,133,0.45,-116.8,17.1,-36.3,13,144,1.77,2.60,0.00,0.000,6,0.077,0.024,3084,1710,3436,0,0,0,0,0,0
$GC,436,-0.51,-116.8,38.7,-7.2,50,450,0.85,2.50,0.00,0.000,4,0.055,0.041,2877,177,3436,0,0,0,0,0,0
$GC,594,-1.35,-116.8,51.6,-8.2,62,609,0.75,2.25,0.00,0.000,6,0.038,0.016,2677,1689,3436,0,0,0,0,0,0
$GC,868,-1.27,-116.8,83.6,-10.7,87,873,0.15,2.47,0.00,0.000,4,0.104,0.024,2711,3265,3436,0,0,0,0,0,0
$GC,941,-1.38,-116.8,89.8,-7.6,93,945,0.00,2.53,0.00,0.000,6,0.000,0.021,2711,1663,3436,0,0,0,0,0,0
$GC,1210,-1.38,-116.8,109.7,-7.8,117,1214,0.00,2.53,0.00,0.000,4,0.000,0.023,2711,3259,3437,0,0,0,0,0,0
$GC,1245,-1.50,-116.8,113.3,-8.4,120,1251,0.20,2.53,0.00,0.000,6,0.042,0.022,2610,1668,3437,0,0,0,0,0,0
$GC,1509,-1.27,-116.8,144.4,-12.2,144,1520,0.47,0.00,0.00,0.000,6,0.085,0.000,2712,1668,3437,0,0,0,0,0,0
$GC,1778,-1.38,-116.8,162.1,-5.9,169,1782,0.00,2.50,0.00,0.000,4,0.000,0.024,2712,3262,3437,0,0,0,0,0,0
$GC,1806,-1.51,-116.8,164.0,-6.5,171,1811,0.20,2.50,0.00,0.000,6,0.041,0.022,2609,1673,3437,0,0,0,0,0,0
$GC,2068,-1.29,-116.8,193.4,-13.1,195,2073,0.43,2.42,0.00,0.000,4,0.085,0.038,2703,169,3437,0,0,0,0,0,0
$GC,2099,-1.40,-116.8,197.1,-10.7,197,2104,0.00,2.28,0.00,0.000,6,0.000,0.017,2703,1675,3438,0,0,0,0,0,0
$GC,2382,-1.49,-116.8,224.0,-9.6,207,2387,0.15,2.53,0.00,0.000,4,0.055,0.025,2629,3271,3438,0,0,0,0,0,0
$GC,2438,-1.49,-116.8,230.1,-10.2,208,2443,0.17,2.50,0.00,0.000,6,0.091,0.023,2668,1682,3437,0,0,0,0,0,0
$GC,2714,-1.49,-116.8,250.1,-6.8,215,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1682,3437,0,0,0,0,0,0
$GC,2957,-1.49,-116.8,264.2,-5.7,221,2961,0.00,2.45,0.00,0.000,4,0.000,0.043,2669,173,3436,0,0,0,0,0,0
$GC,2976,-1.49,-116.8,265.7,-7.2,221,2981,0.00,2.33,0.00,0.000,6,0.000,0.018,2668,1675,3436,0,0,0,0,0,0
$GC,3246,-1.49,-116.8,286.3,-8.2,228,3250,0.00,2.53,0.00,0.000,4,0.000,0.026,2668,3280,3435,0,0,0,0,0,0
$GC,3283,-1.56,-116.8,289.8,-9.3,228,3289,0.00,2.53,0.00,0.000,6,0.000,0.025,2668,1700,3435,0,0,0,0,0,0
$STATE,3410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3410,begin apogee
$GC,3416,-0.31,0.0,301.3,9.1,232,3512,1.10,0.00,93.15,0.661,6,0.070,0.000,2923,1700,2955,0,0,0,0,0,0
$STATE,3513,end apogee,CONTROL_FINISHED_OK
$STATE,3513,begin climb
$GC,3517,1.38,116.8,304.7,0.0,234,3622,1.50,2.67,94.60,0.653,4,0.025,0.057,3325,183,2478,0,0,0,0,0,0
$GC,3886,0.93,116.8,282.2,11.6,242,3893,0.60,2.38,0.00,0.000,6,0.097,0.020,3196,1677,2471,0,0,0,0,0,0
$GC,4137,1.03,192.7,267.2,5.6,249,4202,0.00,0.00,63.20,0.637,6,0.000,0.000,3195,1677,2168,0,0,0,0,0,0
$GC,4420,1.09,247.3,248.3,6.9,256,4471,0.12,0.00,47.72,0.624,6,0.066,0.000,3248,1677,1946,0,0,0,0,0,0
$GC,4704,1.12,267.0,223.6,8.9,263,4730,0.00,2.75,17.77,0.583,4,0.000,0.044,3248,3269,1865,0,0,0,0,0,0
$GC,4789,1.12,272.3,215.7,9.7,264,4801,0.00,2.55,5.45,0.459,6,0.000,0.028,3248,1703,1845,0,0,0,0,0,0
$GC,5064,1.12,272.3,185.3,12.8,278,5068,0.00,2.58,0.00,0.000,4,0.000,0.035,3248,3273,1842,0,0,0,0,0,0
$GC,5102,1.12,272.3,180.2,12.5,281,5108,0.00,2.55,0.00,0.000,6,0.000,0.028,3248,1700,1840,0,0,0,0,0,0
$GC,5365,1.14,283.9,150.3,9.3,306,5378,0.00,0.00,11.07,0.518,6,0.000,0.000,3248,1700,1796,0,0,0,0,0,0
$GC,5637,1.19,325.6,129.2,7.6,331,5681,0.00,2.62,37.20,0.547,4,0.000,0.032,3248,3276,1626,0,0,0,0,0,0
$GC,5730,1.32,329.9,120.7,9.7,339,5741,0.12,2.55,4.72,0.390,6,0.064,0.028,3305,1702,1609,0,0,0,0,0,0
$GC,5995,1.32,329.9,84.8,13.0,364,5997,0.12,0.00,0.00,0.000,6,0.109,0.000,3278,1703,1607,0,0,0,0,0,0
$GC,6259,1.42,337.1,58.1,9.6,388,6273,0.00,2.58,7.75,0.423,4,0.000,0.031,3278,3280,1579,0,0,0,0,0,0
$GC,6344,1.57,354.6,50.0,9.0,395,6373,0.22,2.53,15.90,0.461,6,0.042,0.026,3360,1706,1508,0,0,0,0,0,0
$GC,6655,1.47,354.6,10.2,13.4,432,6665,0.22,2.58,0.00,0.000,4,0.097,0.030,3310,3273,1506,0,0,0,0,0,0
$GC,6698,1.47,354.6,5.0,10.5,437,6708,0.00,2.53,0.00,0.000,6,0.000,0.025,3310,1719,1504,0,0,0,0,0,0
$STATE,6717,end climb,SURFACE_DEPTH_REACHED
$STATE,6718,begin surface coast
$FINISH,0.5,1.010590
$STATE,6761,end surface coast,CONTROL_FINISHED_OK
$STATE,6761,begin surface
$SM_CCo,6782,36.83,0.443,0,0,1323,400.08
$SM_GC,1.45,0.00,0.00,36.83,0.000,0.000,0.443,406,1715,1323,-11.89,-0.14,400.08
$IRIDIUM_FIX,2251.04,-15732.35,221200,161605
$TT8_MAMPS,0.027612
$HUMID,65.55
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.7,51.554
$10V_AH,10.0,59.807
$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,32.700,75.400,398.550,36.825,0.000,57.831,69.849,245.329,0.250,0.000,16.693,934.593,3421.257,467.950,1572.389,1017.606,33.327,1110.370,0.000,1910.427,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,56.758,661.154,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,299.621,487.269,573.782,610.946,1135.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,35240,445
$CAP_FILE_SIZE,86904,0
$CFSIZE,260165632,105881600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.350,246.0,1
$GPS,280911,180054,2259.633,-15733.739,24,1.1,42,10.1