version: 66.06
glider: 148
mission: 10
dive: 169
start: 8 31 111 21 8 57
data:
$ID,148
$MISSION,10
$DIVE,169
$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,-880370
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,56
$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
$GPS1,205856,2349.274,-15812.540,14,1.8,14,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,210802,2349.363,-15812.543,11,1.8,11,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf3
$TGT_LATLONG,2346.600,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.135,-0.181
$KALMAN_X,-106938.0,-282.4,-367.5,102066.5,-189.0
$KALMAN_Y,-42026.0,53.1,-189.9,279502.3,693.4
$MHEAD_RNG_PITCHd_Wd,133.1,72283,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.44,-107.1,0.0,0.0,0,89,0.00,0.00,-67.12,0.000,2,0.000,0.000,406,1951,3268,0,0,0,0,0,0
$GC,92,-1.44,-107.1,3.7,-7.2,9,117,11.65,2.72,-4.70,0.000,4,0.153,0.041,2627,282,3532,0,0,0,0,0,0
$GC,178,-1.14,-107.1,29.5,-22.8,21,189,0.30,2.47,0.00,0.000,6,0.091,0.019,2696,1860,3533,0,0,0,0,0,0
$GC,449,-1.03,-107.1,77.4,-15.6,46,454,0.12,2.50,0.00,0.000,4,0.119,0.027,2723,3446,3533,0,0,0,0,0,0
$GC,482,-1.03,-107.1,81.7,-9.4,48,486,0.00,2.47,0.00,0.000,6,0.000,0.021,2723,1860,3533,0,0,0,0,0,0
$GC,745,-1.11,-107.1,109.3,-10.9,72,750,0.00,2.50,0.00,0.000,4,0.000,0.037,2723,290,3534,0,0,0,0,0,0
$GC,788,-1.19,-107.1,113.9,-11.7,75,793,0.15,2.47,0.00,0.000,6,0.056,0.018,2654,1896,3534,0,0,0,0,0,0
$GC,1052,-1.10,-107.1,153.5,-14.5,99,1062,0.25,0.00,0.00,0.000,6,0.091,0.000,2710,1899,3534,0,0,0,0,0,0
$GC,1319,-1.20,-107.1,179.6,-9.6,124,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1899,3535,0,0,0,0,0,0
$STATE,1514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1514,begin apogee
$GC,1521,-0.31,0.0,200.3,10.2,143,1607,0.75,0.00,82.95,0.575,6,0.071,0.000,2883,1606,3094,0,0,0,0,0,0
$STATE,1608,end apogee,CONTROL_FINISHED_OK
$STATE,1608,begin climb
$GC,1610,1.44,107.1,203.0,0.0,145,1704,1.55,2.38,83.00,0.571,4,0.041,0.052,3264,206,2656,0,0,0,0,0,0
$GC,1858,1.34,233.6,206.2,2.1,150,1972,0.12,2.20,101.22,0.574,6,0.123,0.018,3239,1653,2140,0,0,0,0,0,0
$GC,2240,1.34,233.6,168.1,11.6,176,2244,0.00,2.40,0.00,0.000,4,0.000,0.046,3239,200,2136,0,0,0,0,0,0
$GC,2348,1.34,233.6,153.7,12.9,186,2359,0.00,2.20,0.00,0.000,6,0.000,0.019,3239,1601,2135,0,0,0,0,0,0
$GC,2617,1.34,236.2,127.4,9.9,211,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1604,2134,0,0,0,0,0,0
$GC,2878,1.39,279.3,104.9,7.4,236,2919,0.00,0.00,38.17,0.514,6,0.000,0.000,3239,1604,1955,0,0,0,0,0,0
$GC,3180,1.52,279.3,78.2,10.3,264,3190,0.17,0.00,0.00,0.000,6,0.051,0.000,3309,1604,1950,0,0,0,0,0,0
$GC,3447,1.52,279.3,49.1,10.7,289,3452,0.12,2.58,0.00,0.000,4,0.114,0.031,3281,3202,1948,0,0,0,0,0,0
$GC,3482,1.52,284.5,45.0,9.8,291,3493,0.00,2.53,4.55,0.343,6,0.000,0.026,3281,1641,1935,0,0,0,0,0,0
$GC,3769,1.52,284.5,15.1,10.9,326,3779,0.00,2.53,0.00,0.000,4,0.000,0.029,3280,3201,1933,0,0,0,0,0,0
$GC,3805,1.52,284.5,11.1,11.2,330,3815,0.00,2.55,0.00,0.000,6,0.000,0.026,3281,1620,1932,0,0,0,0,0,0
$STATE,3869,end climb,SURFACE_DEPTH_REACHED
$STATE,3870,begin surface coast
$FINISH,0.3,1.004136
$STATE,3912,end surface coast,CONTROL_FINISHED_OK
$STATE,3912,begin surface
$SM_CCo,3934,59.08,0.440,0,0,1463,400.08
$SM_GC,1.24,0.00,0.00,59.08,0.000,0.000,0.440,410,1967,1463,-11.69,2.77,400.08
$IRIDIUM_FIX,2337.99,-15814.98,241100,212145
$TT8_MAMPS,0.026845
$HUMID,58.19
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.9,17.710
$10V_AH,10.4,18.438
$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,26.525,35.300,309.900,59.075,0.000,53.472,73.274,214.286,0.250,0.000,13.453,641.841,1479.337,353.901,1219.457,852.948,33.348,848.830,0.000,1503.544,0.000,0.540,0.000
$DEVICE_MAMPS,153.400,52.156,575.250,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,231.910,412.006,487.309,523.459,984.710,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,28971,345
$CAP_FILE_SIZE,56496,0
$CFSIZE,260165632,122654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310811,221636,2349.354,-15812.306,25,1.7,25,10.2