version: 66.06
glider: 148
mission: 10
dive: 575
start: 9 28 111 19 59 18
data:
$ID,148
$MISSION,10
$DIVE,575
$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,-889275.5
$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,33
$R_STBD_OVSHOOT,67
$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
$GPS1,195214,2259.970,-15733.973,11,1.8,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.9
$GPS2,195820,2259.956,-15733.991,14,1.8,14,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.000
$KALMAN_X,-18520.3,-370.0,-536.7,6982.3,-979.0
$KALMAN_Y,-8422.1,275.7,165.6,-6880.6,4.1
$MHEAD_RNG_PITCHd_Wd,72.0,6804,-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,-116.8,0.0,0.0,0,99,0.00,0.00,-77.47,0.000,2,0.000,0.000,407,1730,3411,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.3,-8.0,10,121,11.85,2.45,-0.35,0.000,4,0.151,0.032,2684,3286,3433,0,0,0,0,0,0
$GC,135,0.39,-116.8,16.7,-35.9,13,145,1.70,2.55,0.00,0.000,6,0.074,0.025,3070,1720,3435,0,0,0,0,0,0
$GC,439,-0.58,-116.8,39.7,-7.1,51,453,0.82,2.50,0.00,0.000,4,0.034,0.025,2854,3289,3436,0,0,0,0,0,0
$GC,695,-1.42,-116.8,58.4,-7.4,71,709,0.73,2.42,0.00,0.000,6,0.041,0.021,2666,1759,3436,0,0,0,0,0,0
$GC,963,-1.30,-116.8,89.7,-8.9,96,968,0.17,2.60,0.00,0.000,4,0.100,0.040,2704,175,3436,0,0,0,0,0,0
$GC,1059,-1.30,-116.8,98.3,-8.2,104,1070,0.00,2.45,0.00,0.000,6,0.000,0.016,2704,1771,3436,0,0,0,0,0,0
$GC,1329,-1.30,-116.8,120.7,-9.5,129,1334,0.00,2.58,0.00,0.000,4,0.000,0.039,2704,183,3437,0,0,0,0,0,0
$GC,1364,-1.39,-116.8,125.1,-10.4,132,1368,0.00,2.38,0.00,0.000,6,0.000,0.016,2704,1755,3437,0,0,0,0,0,0
$GC,1629,-1.46,-116.8,148.1,-7.8,156,1633,0.12,2.38,0.00,0.000,4,0.064,0.024,2632,3280,3437,0,0,0,0,0,0
$GC,1666,-1.37,-116.8,152.0,-10.2,159,1672,0.25,2.42,0.00,0.000,6,0.087,0.023,2690,1746,3437,0,0,0,0,0,0
$GC,1928,-1.37,-116.8,169.5,-6.9,183,1932,0.00,2.55,0.00,0.000,4,0.000,0.040,2690,179,3438,0,0,0,0,0,0
$GC,1950,-1.37,-116.8,171.1,-7.2,184,1956,0.00,2.40,0.00,0.000,6,0.000,0.017,2690,1750,3438,0,0,0,0,0,0
$GC,2214,-1.37,-116.8,191.8,-8.8,209,2219,0.00,2.38,0.00,0.000,4,0.000,0.025,2690,3280,3438,0,0,0,0,0,0
$GC,2245,-1.43,-116.8,194.4,-9.1,211,2250,0.00,2.40,0.00,0.000,6,0.000,0.022,2690,1749,3438,0,0,0,0,0,0
$GC,2510,-1.43,-116.8,219.0,-9.1,221,2514,0.00,2.55,0.00,0.000,4,0.000,0.041,2690,182,3438,0,0,0,0,0,0
$GC,2544,-1.51,-116.8,222.3,-9.9,221,2549,0.12,2.38,0.00,0.000,6,0.062,0.017,2621,1754,3438,0,0,0,0,0,0
$GC,2794,-1.36,-116.8,248.6,-10.5,227,2799,0.30,2.38,0.00,0.000,4,0.084,0.023,2692,3279,3437,0,0,0,0,0,0
$GC,2814,-1.36,-116.8,250.3,-7.8,227,2818,0.00,2.42,0.00,0.000,6,0.000,0.023,2692,1737,3437,0,0,0,0,0,0
$GC,3080,-1.44,-116.8,264.8,-5.2,234,3085,0.00,2.55,0.00,0.000,4,0.000,0.044,2692,180,3437,0,0,0,0,0,0
$GC,3100,-1.51,-116.8,265.9,-5.2,234,3105,0.12,2.38,0.00,0.000,6,0.063,0.018,2627,1735,3437,0,0,0,0,0,0
$GC,3366,-1.40,-116.8,287.5,-8.7,241,3371,0.25,2.55,0.00,0.000,4,0.086,0.042,2688,181,3436,0,0,0,0,0,0
$GC,3400,-1.50,-116.8,290.8,-9.1,241,3405,0.10,2.38,0.00,0.000,6,0.074,0.019,2627,1736,3436,0,0,0,0,0,0
$STATE,3525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3526,begin apogee
$GC,3531,-0.31,0.0,303.2,9.7,244,3628,1.27,0.00,93.35,0.658,6,0.074,0.000,2919,1740,2955,0,0,0,0,0,0
$STATE,3629,end apogee,CONTROL_FINISHED_OK
$STATE,3629,begin climb
$GC,3633,1.38,116.8,306.6,0.0,246,3737,1.48,2.72,94.50,0.653,4,0.025,0.059,3319,180,2478,0,0,0,0,0,0
$GC,3904,0.97,137.3,296.5,8.8,252,3929,0.52,2.38,17.90,0.608,6,0.096,0.020,3205,1684,2394,0,0,0,0,0,0
$GC,4186,1.05,200.1,278.6,6.4,259,4241,0.00,0.00,53.28,0.637,6,0.000,0.000,3205,1684,2138,0,0,0,0,0,0
$GC,4470,1.07,219.0,254.3,8.9,266,4489,0.00,0.00,16.62,0.591,6,0.000,0.000,3205,1684,2062,0,0,0,0,0,0
$GC,4713,1.11,244.8,233.4,8.5,272,4742,0.10,2.70,23.15,0.597,4,0.078,0.046,3252,3273,1956,0,0,0,0,0,0
$GC,4786,1.11,244.8,226.2,10.4,273,4792,0.08,2.60,0.00,0.000,6,0.085,0.028,3231,1703,1952,0,0,0,0,0,0
$GC,5047,1.12,255.3,201.8,9.4,280,5063,0.00,2.65,9.95,0.533,4,0.000,0.041,3232,3271,1913,0,0,0,0,0,0
$GC,5119,1.21,255.3,194.3,10.5,283,5124,0.00,2.55,0.00,0.000,6,0.000,0.028,3231,1699,1910,0,0,0,0,0,0
$GC,5382,1.28,255.3,167.1,10.8,308,5387,0.15,2.60,0.00,0.000,4,0.058,0.036,3291,3274,1909,0,0,0,0,0,0
$GC,5465,1.19,255.3,156.5,13.5,315,5474,0.15,2.55,0.00,0.000,6,0.080,0.028,3251,1720,1908,0,0,0,0,0,0
$GC,5727,1.19,255.3,127.1,10.5,340,5731,0.00,2.55,0.00,0.000,4,0.000,0.041,3252,3280,1907,0,0,0,0,0,0
$GC,5771,1.19,255.3,122.6,10.8,343,5776,0.00,2.53,0.00,0.000,6,0.000,0.027,3252,1718,1906,0,0,0,0,0,0
$GC,6034,1.23,287.2,100.5,8.2,368,6068,0.00,2.60,27.98,0.521,4,0.000,0.048,3252,170,1782,0,0,0,0,0,0
$GC,6093,1.23,287.2,95.2,10.2,373,6098,0.00,2.47,0.00,0.000,6,0.000,0.021,3252,1726,1782,0,0,0,0,0,0
$GC,6364,1.35,303.9,70.7,9.0,397,6393,0.12,2.67,15.10,0.474,4,0.065,0.044,3306,172,1715,0,0,0,0,0,0
$GC,6539,1.35,303.9,50.3,10.7,412,6544,0.10,2.42,0.00,0.000,6,0.123,0.020,3286,1709,1715,0,0,0,0,0,0
$GC,6815,1.38,324.5,25.0,8.8,440,6846,0.00,2.62,19.20,0.446,4,0.000,0.044,3285,177,1631,0,0,0,0,0,0
$GC,6884,1.38,324.5,18.1,10.7,448,6895,0.00,2.47,0.00,0.000,6,0.000,0.020,3286,1726,1631,0,0,0,0,0,0
$STATE,7022,end climb,SURFACE_DEPTH_REACHED
$STATE,7022,begin surface coast
$FINISH,0.6,1.013910
$STATE,7073,end surface coast,CONTROL_FINISHED_OK
$STATE,7073,begin surface
$SM_CCo,7094,49.40,0.440,0,0,1324,400.08
$SM_GC,1.52,0.00,0.00,49.40,0.000,0.000,0.440,410,1730,1324,-11.87,0.25,400.08
$IRIDIUM_FIX,2251.04,-15732.35,221200,181856
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.40
$XPDR_PINGS,4
$24V_AH,23.7,51.721
$10V_AH,10.1,60.032
$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,32.125,95.125,371.025,49.400,0.000,28.187,37.123,154.898,1.000,0.000,16.086,1005.523,3435.468,449.050,1707.217,918.243,33.331,1142.862,0.000,2062.325,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,59.059,658.086,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.630,506.231,605.073,668.614,1229.418,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,38358,475
$CAP_FILE_SIZE,90447,0
$CFSIZE,260165632,105783296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,249.6,1
$GPS,280911,215948,2259.875,-15734.014,29,1.1,41,10.1