version: 66.06
glider: 148
mission: 10
dive: 81
start: 8 27 111 8 31 3
data:
$ID,148
$MISSION,10
$DIVE,81
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,400
$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,66
$T_MISSION,200
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-878639.31
$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,2950
$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,1850
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3095
$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
$GPS1,082410,2331.311,-15816.666,30,1.8,33,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.2
$GPS2,083008,2331.321,-15816.705,15,1.1,15,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.117,0.193
$KALMAN_X,-77927.1,-58.5,-153.6,65459.2,-87.0
$KALMAN_Y,-55299.8,283.4,264.0,258681.7,-24.2
$MHEAD_RNG_PITCHd_Wd,318.7,38232,-20.9,-10.101
$D_GRID,200
$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,-1.44,-107.1,0.0,0.0,0,89,0.00,0.00,-67.40,0.000,2,0.000,0.000,410,1931,3256,0,0,0,0,0,0
$GC,92,-1.44,-107.1,3.3,-5.2,9,117,11.73,2.40,-5.00,0.000,4,0.156,0.037,2628,3421,3532,0,0,0,0,0,0
$GC,179,-1.16,-107.1,29.0,-21.9,21,190,0.28,2.53,0.00,0.000,6,0.088,0.022,2693,1845,3533,0,0,0,0,0,0
$GC,449,-1.03,-107.1,79.0,-18.3,46,454,0.15,2.53,0.00,0.000,4,0.116,0.037,2724,272,3534,0,0,0,0,0,0
$GC,461,-0.95,-107.1,82.5,-16.8,46,471,0.00,2.45,0.00,0.000,6,0.000,0.017,2724,1861,3534,0,0,0,0,0,0
$GC,729,-1.03,-107.1,112.7,-10.8,71,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1864,3534,0,0,0,0,0,0
$GC,991,-1.14,-107.1,139.7,-8.7,96,995,0.00,2.60,0.00,0.000,4,0.000,0.038,2724,265,3535,0,0,0,0,0,0
$GC,1034,-1.26,-107.1,143.0,-9.1,99,1039,0.20,2.42,0.00,0.000,6,0.045,0.018,2642,1843,3535,0,0,0,0,0,0
$GC,1295,-1.15,-107.1,178.5,-15.1,123,1300,0.25,2.55,0.00,0.000,4,0.095,0.036,2697,274,3535,0,0,0,0,0,0
$GC,1325,-1.22,-107.1,182.6,-11.9,125,1330,0.00,2.42,0.00,0.000,6,0.000,0.018,2697,1844,3535,0,0,0,0,0,0
$STATE,1503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1503,begin apogee
$GC,1510,-0.31,0.0,200.3,9.9,142,1597,0.80,0.00,83.38,0.573,6,0.075,0.000,2879,1598,3094,0,0,0,0,0,0
$STATE,1597,end apogee,CONTROL_FINISHED_OK
$STATE,1597,begin climb
$GC,1600,1.44,107.1,203.7,0.0,144,1695,1.58,2.35,83.00,0.571,4,0.041,0.058,3265,202,2657,0,0,0,0,0,0
$GC,1960,1.31,223.8,198.2,2.7,156,2068,0.15,2.22,93.78,0.571,6,0.117,0.018,3235,1648,2180,0,0,0,0,0,0
$GC,2324,1.32,232.7,167.2,9.5,190,2337,0.00,2.53,7.97,0.466,4,0.000,0.036,3234,3179,2146,0,0,0,0,0,0
$GC,2362,1.32,232.7,163.1,11.2,193,2366,0.00,2.47,0.00,0.000,6,0.000,0.028,3235,1655,2144,0,0,0,0,0,0
$GC,2629,1.32,232.7,134.6,10.9,217,2633,0.00,2.42,0.00,0.000,4,0.000,0.054,3235,175,2143,0,0,0,0,0,0
$GC,2791,1.32,232.7,115.7,11.2,231,2797,0.00,2.22,0.00,0.000,6,0.000,0.019,3234,1610,2142,0,0,0,0,0,0
$GC,3054,1.42,259.1,94.9,8.4,256,3091,0.10,2.60,22.77,0.499,4,0.080,0.031,3280,3202,2035,0,0,0,0,0,0
$GC,3124,1.42,259.1,87.3,12.1,262,3129,0.00,2.58,0.00,0.000,6,0.000,0.028,3280,1613,2033,0,0,0,0,0,0
$GC,3393,1.43,259.7,60.2,10.1,286,3397,0.00,2.35,0.00,0.000,4,0.000,0.045,3280,167,2032,0,0,0,0,0,0
$GC,3500,1.36,259.7,48.4,11.6,294,3505,0.15,2.25,0.00,0.000,6,0.110,0.018,3249,1626,2032,0,0,0,0,0,0
$GC,3777,1.48,282.7,25.2,8.6,322,3804,0.10,2.55,20.55,0.446,4,0.078,0.030,3294,3202,1940,0,0,0,0,0,0
$GC,3866,1.49,284.3,16.3,10.0,334,3877,0.08,2.55,0.00,0.000,6,0.087,0.026,3273,1628,1938,0,0,0,0,0,0
$STATE,3988,end climb,SURFACE_DEPTH_REACHED
$STATE,3988,begin surface coast
$FINISH,0.6,1.011598
$STATE,4038,end surface coast,CONTROL_FINISHED_OK
$STATE,4038,begin surface
$SM_CCo,4059,65.10,0.441,0,0,1463,400.08
$SM_GC,1.48,0.00,0.00,65.10,0.000,0.000,0.441,414,1909,1463,-11.67,1.67,400.08
$IRIDIUM_FIX,2321.52,-15815.41,201100,070733
$TT8_MAMPS,0.026845
$HUMID,56.30
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,23.9,11.252
$10V_AH,10.5,10.546
$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,27.000,49.675,311.450,65.100,0.000,30.890,37.316,149.855,0.500,0.000,16.529,672.771,1418.843,356.644,1291.210,751.750,33.339,881.879,0.000,1601.914,0.000,0.539,0.000
$DEVICE_MAMPS,156.468,57.525,572.949,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,240.828,440.511,520.120,551.974,1031.132,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,28984,359
$CAP_FILE_SIZE,60084,0
$CFSIZE,260165632,125841408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270811,094038,2331.719,-15817.172,10,1.8,10,10.2