version: 66.06
glider: 148
mission: 10
dive: 97
start: 8 28 111 4 30 39
data:
$ID,148
$MISSION,10
$DIVE,97
$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,-878891.31
$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,40
$R_STBD_OVSHOOT,52
$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
$GPS1,042410,2338.878,-15823.336,34,2.2,53,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.0
$GPS2,042944,2338.916,-15823.361,11,1.7,11,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.084,0.210
$KALMAN_X,-85499.2,-129.6,-202.6,61691.1,-403.9
$KALMAN_Y,-53935.3,-65.6,-130.6,272123.5,251.9
$MHEAD_RNG_PITCHd_Wd,328.1,20238,-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,-107.0,0.0,0.0,0,88,0.00,0.00,-66.22,0.000,2,0.000,0.000,410,1840,3194,0,0,0,0,0,0
$GC,91,-1.44,-107.1,3.1,-4.8,9,116,11.70,2.50,-6.32,0.000,4,0.156,0.037,2630,3423,3533,0,0,0,0,0,0
$GC,224,-1.19,-107.1,36.2,-20.4,27,230,0.28,2.45,0.00,0.000,6,0.101,0.021,2689,1846,3534,0,0,0,0,0,0
$GC,494,-1.13,-107.1,84.2,-15.2,51,498,0.00,2.53,0.00,0.000,4,0.000,0.035,2689,266,3534,0,0,0,0,0,0
$GC,544,-1.13,-107.1,91.4,-13.8,55,548,0.00,2.40,0.00,0.000,6,0.000,0.018,2689,1852,3535,0,0,0,0,0,0
$GC,811,-1.13,-107.1,124.5,-12.3,79,815,0.00,2.55,0.00,0.000,4,0.000,0.041,2689,267,3535,0,0,0,0,0,0
$GC,839,-1.13,-107.1,128.4,-13.2,81,844,0.00,2.45,0.00,0.000,6,0.000,0.018,2689,1849,3535,0,0,0,0,0,0
$GC,1112,-1.13,-107.1,160.8,-11.1,106,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1850,3535,0,0,0,0,0,0
$GC,1375,-1.20,-107.1,188.3,-9.9,131,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1850,3535,0,0,0,0,0,0
$STATE,1497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1497,begin apogee
$GC,1503,-0.31,0.0,200.7,9.5,143,1590,0.85,0.00,83.28,0.574,6,0.081,0.000,2879,1600,3095,0,0,0,0,0,0
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1593,1.44,107.1,203.2,0.0,145,1686,1.58,2.33,82.82,0.572,4,0.044,0.047,3261,208,2657,0,0,0,0,0,0
$GC,1724,1.36,263.1,205.1,0.2,148,1856,0.00,2.20,125.22,0.572,6,0.000,0.018,3261,1639,2022,0,0,0,0,0,0
$GC,2116,1.36,263.1,165.6,12.7,177,2120,0.00,2.53,0.00,0.000,4,0.000,0.039,3261,3176,2016,0,0,0,0,0,0
$GC,2146,1.36,263.1,161.7,13.0,179,2152,0.00,2.45,0.00,0.000,6,0.000,0.028,3261,1663,2014,0,0,0,0,0,0
$GC,2408,1.36,263.1,129.7,11.3,204,2413,0.00,2.45,0.00,0.000,4,0.000,0.031,3261,3190,2013,0,0,0,0,0,0
$GC,2428,1.36,263.1,127.7,12.0,205,2432,0.00,2.50,0.00,0.000,6,0.000,0.027,3262,1633,2012,0,0,0,0,0,0
$GC,2696,1.36,263.1,95.5,12.3,229,2700,0.00,2.38,0.00,0.000,4,0.000,0.053,3262,173,2011,0,0,0,0,0,0
$GC,2726,1.36,263.1,91.5,13.6,231,2730,0.00,2.22,0.00,0.000,6,0.000,0.019,3261,1625,2011,0,0,0,0,0,0
$GC,2995,1.41,300.0,63.4,7.8,255,3033,0.00,2.45,31.08,0.485,4,0.000,0.044,3262,173,1870,0,0,0,0,0,0
$GC,3103,1.41,300.0,53.0,10.1,264,3107,0.00,2.28,0.00,0.000,6,0.000,0.018,3261,1642,1869,0,0,0,0,0,0
$GC,3377,1.49,300.0,26.2,10.4,291,3387,0.00,2.50,0.00,0.000,4,0.000,0.030,3261,3194,1865,0,0,0,0,0,0
$GC,3399,1.57,303.3,23.7,9.9,293,3410,0.10,2.50,0.00,0.000,6,0.031,0.027,3317,1644,1865,0,0,0,0,0,0
$STATE,3560,end climb,SURFACE_DEPTH_REACHED
$STATE,3560,begin surface coast
$FINISH,0.4,1.022372
$STATE,3603,end surface coast,CONTROL_FINISHED_OK
$STATE,3603,begin surface
$SM_CCo,3625,56.15,0.440,0,0,1464,400.08
$SM_GC,1.34,0.00,0.00,56.15,0.000,0.000,0.440,413,1890,1464,-11.67,1.13,400.08
$IRIDIUM_FIX,2328.57,-15824.15,211100,030333
$TT8_MAMPS,0.026845
$HUMID,58.46
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,23.9,12.425
$10V_AH,10.5,11.995
$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,26.100,44.300,322.400,56.150,0.000,31.140,37.924,138.909,0.500,0.000,12.521,603.190,1256.056,345.771,1129.512,688.232,33.364,804.070,0.000,1396.727,0.000,0.539,0.000
$DEVICE_MAMPS,155.701,52.923,573.716,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,217.719,404.005,471.490,500.642,941.390,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,25686,323
$CAP_FILE_SIZE,52675,0
$CFSIZE,260165632,125263872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,053310,2339.521,-15823.686,10,2.7,29,10.2