version: 66.06
glider: 148
mission: 10
dive: 574
start: 9 28 111 18 7 54
data:
$ID,148
$MISSION,10
$DIVE,574
$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,-889258.81
$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,39
$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
$GPS1,180054,2259.633,-15733.739,24,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.2
$GPS2,180655,2259.646,-15733.777,11,1.1,11,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.021
$KALMAN_X,-16799.2,-342.2,-540.4,5607.5,-1312.7
$KALMAN_Y,-8330.0,390.6,-450.0,-7039.2,-117.0
$MHEAD_RNG_PITCHd_Wd,46.3,6473,-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,-77.30,0.000,2,0.000,0.000,406,1714,3409,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.4,-8.1,10,121,12.35,2.60,-0.43,0.000,4,0.170,0.035,2683,3319,3435,0,0,0,0,0,0
$GC,140,-0.01,-116.8,19.1,-38.0,14,151,1.30,2.60,0.00,0.000,6,0.073,0.025,2980,1718,3436,0,0,0,0,0,0
$GC,438,-0.87,-116.8,46.4,-9.1,48,449,0.73,0.00,0.00,0.000,6,0.037,0.000,2795,1718,3437,0,0,0,0,0,0
$GC,709,-1.22,-116.8,65.5,-6.7,73,714,0.28,2.50,0.00,0.000,4,0.040,0.040,2701,175,3437,0,0,0,0,0,0
$GC,779,-1.22,-116.8,73.8,-12.1,78,790,0.05,2.42,0.00,0.000,6,0.098,0.016,2717,1750,3437,0,0,0,0,0,0
$GC,1049,-1.22,-116.8,102.7,-9.5,103,1053,0.00,2.40,0.00,0.000,4,0.000,0.023,2717,3285,3438,0,0,0,0,0,0
$GC,1121,-1.35,-116.8,109.0,-7.3,109,1125,0.00,2.45,0.00,0.000,6,0.000,0.021,2717,1720,3437,0,0,0,0,0,0
$GC,1390,-1.44,-116.8,128.7,-8.4,133,1395,0.17,2.50,0.00,0.000,4,0.046,0.041,2637,180,3439,0,0,0,0,0,0
$GC,1427,-1.30,-116.8,133.4,-12.1,136,1432,0.30,2.35,0.00,0.000,6,0.092,0.016,2705,1730,3439,0,0,0,0,0,0
$GC,1694,-1.37,-116.8,157.8,-7.9,160,1698,0.00,2.40,0.00,0.000,4,0.000,0.023,2705,3279,3439,0,0,0,0,0,0
$GC,1739,-1.52,-116.8,161.4,-6.7,164,1744,0.20,2.45,0.00,0.000,6,0.041,0.021,2624,1726,3439,0,0,0,0,0,0
$GC,2000,-1.36,-116.8,185.2,-10.3,188,2005,0.28,2.50,0.00,0.000,4,0.094,0.038,2689,176,3439,0,0,0,0,0,0
$GC,2030,-1.36,-116.8,187.7,-9.7,190,2034,0.00,2.35,0.00,0.000,6,0.000,0.017,2689,1734,3440,0,0,0,0,0,0
$GC,2286,-1.36,-116.8,213.2,-10.2,205,2290,0.00,2.40,0.00,0.000,4,0.000,0.024,2689,3280,3439,0,0,0,0,0,0
$GC,2309,-1.44,-116.8,215.9,-11.6,205,2314,0.00,2.42,0.00,0.000,6,0.000,0.022,2689,1735,3439,0,0,0,0,0,0
$GC,2570,-1.44,-116.8,240.1,-9.0,212,2575,0.00,2.45,0.00,0.000,4,0.000,0.024,2689,3282,3439,0,0,0,0,0,0
$GC,2590,-1.52,-116.8,242.0,-9.0,212,2595,0.12,2.45,0.00,0.000,6,0.060,0.023,2610,1738,3439,0,0,0,0,0,0
$GC,2854,-1.36,-116.8,270.9,-11.1,219,2861,0.32,2.53,0.00,0.000,4,0.088,0.041,2688,183,3439,0,0,0,0,0,0
$GC,2882,-1.36,-116.8,273.6,-9.1,219,2886,0.00,2.40,0.00,0.000,6,0.000,0.018,2688,1747,3439,0,0,0,0,0,0
$GC,3142,-1.43,-116.8,294.4,-8.0,226,3146,0.00,2.40,0.00,0.000,4,0.000,0.027,2688,3280,3438,0,0,0,0,0,0
$GC,3179,-1.56,-116.8,297.7,-8.3,226,3187,0.15,2.42,0.00,0.000,6,0.052,0.024,2604,1744,3438,0,0,0,0,0,0
$STATE,3223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3224,begin apogee
$GC,3232,-0.31,0.0,302.4,9.9,228,3330,1.40,0.00,93.62,0.656,6,0.077,0.000,2920,1674,2955,0,0,0,0,0,0
$STATE,3330,end apogee,CONTROL_FINISHED_OK
$STATE,3331,begin climb
$GC,3333,1.38,116.8,306.2,0.0,230,3436,1.50,2.72,94.80,0.651,4,0.025,0.044,3312,3238,2477,0,0,0,0,0,0
$GC,3446,1.29,284.8,309.9,0.3,233,3596,0.20,2.45,140.62,0.647,6,0.113,0.028,3271,1736,1793,0,0,0,0,0,0
$GC,3849,1.19,284.8,259.9,14.4,243,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1735,1787,0,0,0,0,0,0
$GC,4090,1.12,284.8,223.7,14.8,249,4095,0.17,2.47,0.00,0.000,4,0.106,0.034,3234,3247,1784,0,0,0,0,0,0
$GC,4137,1.12,284.8,217.2,13.3,250,4141,0.00,2.55,0.00,0.000,6,0.000,0.028,3234,1686,1782,0,0,0,0,0,0
$GC,4405,1.12,290.8,186.9,9.7,264,4419,0.00,2.62,4.45,0.404,4,0.000,0.035,3234,3249,1768,0,0,0,0,0,0
$GC,4461,1.23,294.3,181.4,9.8,269,4475,0.10,2.50,4.72,0.419,6,0.077,0.028,3282,1701,1754,0,0,0,0,0,0
$GC,4725,1.23,294.3,150.6,12.1,294,4731,0.12,2.55,0.00,0.000,4,0.113,0.036,3255,3251,1753,0,0,0,0,0,0
$GC,4756,1.23,294.3,146.9,10.9,296,4766,0.00,2.53,0.00,0.000,6,0.000,0.028,3254,1709,1751,0,0,0,0,0,0
$GC,5023,1.23,294.3,117.2,11.2,321,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1709,1751,0,0,0,0,0,0
$GC,5284,1.34,324.8,90.6,8.2,346,5322,0.12,0.00,28.23,0.509,6,0.067,0.000,3313,1709,1628,0,0,0,0,0,0
$GC,5579,1.34,324.8,60.7,10.1,373,5584,0.15,2.55,0.00,0.000,4,0.107,0.032,3280,3255,1625,0,0,0,0,0,0
$GC,5663,1.47,324.8,52.3,10.6,379,5668,0.12,2.47,0.00,0.000,6,0.064,0.026,3337,1724,1622,0,0,0,0,0,0
$GC,5946,1.40,324.8,18.7,11.9,410,5958,0.20,2.50,0.00,0.000,4,0.098,0.031,3293,3245,1622,0,0,0,0,0,0
$GC,5978,1.40,324.8,15.0,11.7,413,5988,0.00,2.45,0.00,0.000,6,0.000,0.026,3293,1734,1622,0,0,0,0,0,0
$STATE,6084,end climb,SURFACE_DEPTH_REACHED
$STATE,6084,begin surface coast
$FINISH,0.6,1.015114
$STATE,6135,end surface coast,CONTROL_FINISHED_OK
$STATE,6135,begin surface
$SM_CCo,6156,48.45,0.438,0,0,1324,400.08
$SM_GC,1.51,0.00,0.00,48.45,0.000,0.000,0.438,407,1730,1324,-11.88,0.28,400.08
$IRIDIUM_FIX,2248.70,-15732.35,221200,161632
$TT8_MAMPS,0.026845
$HUMID,65.00
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,20.30
$XPDR_PINGS,1
$24V_AH,23.7,51.638
$10V_AH,10.1,59.915
$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,31.900,79.400,366.450,48.450,0.000,25.781,32.358,157.137,0.250,0.000,13.054,904.290,2899.669,438.792,1486.274,839.684,33.327,1051.072,0.000,1834.319,0.000,0.539,0.000
$DEVICE_MAMPS,169.507,219.362,655.785,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.525,502.929,586.212,620.214,1160.523,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,35191,435
$CAP_FILE_SIZE,81010,0
$CFSIZE,260165632,105844736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259,262.7,1
$GPS,280911,195214,2259.970,-15733.973,11,1.8,12,10.1