version: 66.06
glider: 148
mission: 10
dive: 109
start: 8 28 111 19 25 58
data:
$ID,148
$MISSION,10
$DIVE,109
$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,-879159.25
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,191902,2343.886,-15827.567,8,1.5,8,10.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.8
$GPS2,192502,2343.910,-15827.594,13,1.5,13,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.087,0.209
$KALMAN_X,-89038.1,-117.2,-255.2,57988.8,-111.8
$KALMAN_Y,-54403.0,-178.7,187.2,281640.6,6.7
$MHEAD_RNG_PITCHd_Wd,327.2,8602,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.44,-107.1,0.0,0.0,0,88,0.00,0.00,-67.55,0.000,2,0.000,0.000,408,1923,3246,0,0,0,0,0,0
$GC,91,-1.44,-107.1,3.2,-5.1,9,116,12.18,2.38,-5.20,0.000,4,0.172,0.035,2628,3435,3533,0,0,0,0,0,0
$GC,266,-1.21,-107.1,47.8,-20.7,30,272,0.28,2.53,0.00,0.000,6,0.101,0.022,2687,1836,3535,0,0,0,0,0,0
$GC,529,-1.21,-107.1,97.4,-15.9,54,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1836,3535,0,0,0,0,0,0
$GC,783,-1.21,-107.1,128.8,-11.4,78,787,0.00,2.50,0.00,0.000,4,0.000,0.037,2686,268,3536,0,0,0,0,0,0
$GC,855,-1.21,-107.1,137.5,-11.2,84,865,0.00,2.45,0.00,0.000,6,0.000,0.018,2687,1850,3536,0,0,0,0,0,0
$GC,1123,-1.21,-107.1,166.6,-11.5,109,1127,0.00,2.47,0.00,0.000,4,0.000,0.028,2687,3418,3536,0,0,0,0,0,0
$GC,1161,-1.29,-107.1,171.3,-11.5,112,1165,0.00,2.45,0.00,0.000,6,0.000,0.021,2687,1855,3536,0,0,0,0,0,0
$GC,1430,-1.35,-107.1,198.9,-10.4,136,1434,0.12,2.00,0.00,0.000,3,0.067,0.035,2629,600,3536,0,0,0,0,0,0
$STATE,1435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1435,begin apogee
$GC,1442,-0.31,0.0,200.3,10.4,136,1530,1.10,0.00,83.53,0.574,6,0.084,0.000,2877,1714,3095,0,0,0,0,0,0
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1534,1.44,107.1,204.0,0.0,139,1622,1.60,0.00,83.50,0.571,6,0.044,0.000,3261,1715,2657,0,0,0,0,0,0
$GC,1863,1.46,236.0,202.3,1.9,147,1976,0.00,2.38,103.45,0.575,4,0.000,0.039,3262,3141,2130,0,0,0,0,0,0
$GC,2008,1.46,236.0,191.2,12.0,155,2012,0.00,2.45,0.00,0.000,6,0.000,0.028,3261,1636,2128,0,0,0,0,0,0
$GC,2270,1.46,236.0,160.1,11.4,179,2274,0.00,2.40,0.00,0.000,4,0.000,0.049,3262,179,2127,0,0,0,0,0,0
$GC,2306,1.37,236.0,155.2,13.8,182,2310,0.00,2.20,0.00,0.000,6,0.000,0.019,3261,1597,2125,0,0,0,0,0,0
$GC,2568,1.37,236.0,126.5,10.2,206,2573,0.00,2.58,0.00,0.000,4,0.000,0.033,3261,3193,2124,0,0,0,0,0,0
$GC,2601,1.38,238.0,123.1,10.0,208,2612,0.00,2.55,0.00,0.000,6,0.000,0.029,3262,1627,2122,0,0,0,0,0,0
$GC,2869,1.42,274.4,98.7,7.8,233,2914,0.00,2.50,31.52,0.511,4,0.000,0.047,3261,169,1975,0,0,0,0,0,0
$GC,3112,1.42,276.4,70.2,10.0,254,3116,0.00,2.25,0.00,0.000,6,0.000,0.020,3262,1620,1973,0,0,0,0,0,0
$GC,3382,1.51,286.9,45.1,9.4,278,3399,0.00,2.60,11.55,0.439,4,0.000,0.031,3262,3204,1924,0,0,0,0,0,0
$GC,3443,1.62,286.9,38.7,10.5,283,3448,0.17,2.55,0.00,0.000,6,0.051,0.027,3329,1617,1921,0,0,0,0,0,0
$STATE,3709,end climb,SURFACE_DEPTH_REACHED
$STATE,3709,begin surface coast
$FINISH,0.5,1.022443
$STATE,3751,end surface coast,CONTROL_FINISHED_OK
$STATE,3751,begin surface
$SM_CCo,3773,62.80,0.443,0,0,1464,400.08
$SM_GC,1.61,0.00,0.00,62.80,0.000,0.000,0.443,409,1914,1464,-11.69,1.81,400.08
$IRIDIUM_FIX,2333.28,-15823.28,211100,181811
$TT8_MAMPS,0.026845
$HUMID,58.89
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,23.9,13.315
$10V_AH,10.4,13.071
$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,27.125,43.175,313.550,62.800,0.000,30.393,36.843,164.265,0.500,0.000,14.634,606.198,1372.076,365.392,1151.978,709.503,33.357,818.223,0.000,1415.575,0.000,0.539,0.000
$DEVICE_MAMPS,171.808,49.088,575.250,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,219.363,383.939,455.154,496.901,927.935,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,25802,326
$CAP_FILE_SIZE,52502,0
$CFSIZE,260165632,124829696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,203104,2344.412,-15827.883,9,99.0,28,10.2