version: 66.06
glider: 148
mission: 10
dive: 462
start: 9 20 111 20 1 29
data:
$ID,148
$MISSION,10
$DIVE,462
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$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,66
$T_MISSION,660
$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,140
$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,-886775.75
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,48
$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
$GPS1,193725,2427.104,-15639.519,8,1.6,9,10.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.2
$GPS2,200034,2427.007,-15639.621,10,2.4,29,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.125,-0.220
$KALMAN_X,-24806.3,342.7,452.4,178406.5,-330.4
$KALMAN_Y,-106049.2,-402.7,-216.7,413737.2,-659.4
$MHEAD_RNG_PITCHd_Wd,199.1,182596,-18.3,-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,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,95,0.00,0.00,-73.53,0.000,2,0.000,0.000,409,1959,3276,0,0,0,0,0,0
$GC,98,-1.31,-136.3,3.3,-5.0,10,123,12.30,2.78,-4.32,0.000,4,0.165,0.051,2693,280,3512,0,0,0,0,0,0
$GC,230,-1.23,-136.3,29.0,-13.5,29,241,0.08,2.47,0.00,0.000,6,0.084,0.018,2715,1872,3512,0,0,0,0,0,0
$GC,500,-1.12,-136.3,65.7,-12.4,54,505,0.12,2.60,0.00,0.000,4,0.110,0.038,2744,276,3512,0,0,0,0,0,0
$GC,524,-1.12,-136.3,69.9,-12.9,55,533,0.00,2.45,0.00,0.000,6,0.000,0.017,2744,1856,3512,0,0,0,0,0,0
$GC,788,-1.12,-136.3,92.1,-7.9,80,793,0.00,2.55,0.00,0.000,4,0.000,0.037,2744,275,3512,0,0,0,0,0,0
$GC,807,-1.12,-136.3,93.5,-8.0,81,812,0.00,2.45,0.00,0.000,6,0.000,0.018,2744,1857,3513,0,0,0,0,0,0
$GC,1077,-1.21,-136.3,112.9,-7.0,106,1081,0.00,2.58,0.00,0.000,4,0.000,0.045,2744,275,3513,0,0,0,0,0,0
$GC,1096,-1.31,-136.3,114.2,-6.8,107,1102,0.12,2.42,0.00,0.000,6,0.024,0.017,2652,1849,3513,0,0,0,0,0,0
$GC,1363,-1.15,-136.3,145.7,-12.0,132,1368,0.35,2.47,0.00,0.000,4,0.081,0.024,2736,3438,3513,0,0,0,0,0,0
$GC,1404,-1.32,-136.3,149.2,-8.8,135,1410,0.15,2.50,0.00,0.000,6,0.051,0.021,2637,1826,3513,0,0,0,0,0,0
$GC,1665,-1.08,-136.3,184.6,-12.8,159,1679,0.60,2.45,0.00,0.000,4,0.080,0.036,2753,297,3512,0,0,0,0,0,0
$GC,1703,-1.34,-136.3,188.1,-7.6,162,1714,0.20,2.38,0.00,0.000,6,0.018,0.018,2637,1837,3512,0,0,0,0,0,0
$STATE,1813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1813,begin apogee
$GC,1820,-0.31,0.0,200.7,12.2,173,1929,1.25,0.00,105.00,0.572,6,0.076,0.000,2922,1607,2955,0,0,0,0,0,0
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1930,begin climb
$GC,1932,1.31,136.3,204.2,0.0,175,2048,1.42,2.35,106.78,0.569,4,0.031,0.048,3291,208,2397,0,0,0,0,0,0
$GC,2165,0.94,139.5,196.0,9.9,181,2170,0.43,2.20,0.00,0.000,6,0.095,0.018,3197,1619,2393,0,0,0,0,0,0
$GC,2431,1.03,211.6,178.3,6.5,205,2499,0.00,2.60,61.28,0.553,4,0.000,0.033,3197,3200,2090,0,0,0,0,0,0
$GC,2524,1.09,258.1,171.8,7.8,214,2571,0.12,2.50,39.83,0.539,6,0.063,0.027,3257,1651,1902,0,0,0,0,0,0
$GC,2830,1.00,258.1,134.5,12.4,243,2835,0.22,2.50,0.00,0.000,4,0.091,0.031,3208,3196,1896,0,0,0,0,0,0
$GC,2871,1.09,258.1,129.8,11.2,246,2875,0.00,2.53,0.00,0.000,6,0.000,0.027,3208,1635,1893,0,0,0,0,0,0
$GC,3135,1.23,307.2,107.8,7.7,270,3179,0.20,0.00,41.10,0.510,6,0.046,0.000,3299,1636,1702,0,0,0,0,0,0
$GC,3436,1.13,307.2,71.5,12.5,298,3441,0.25,2.53,0.00,0.000,4,0.092,0.029,3239,3199,1697,0,0,0,0,0,0
$GC,3483,1.24,313.1,66.1,9.8,301,3498,0.10,2.50,5.78,0.382,6,0.075,0.028,3306,1652,1677,0,0,0,0,0,0
$GC,3756,1.18,313.1,35.6,10.9,326,3761,0.25,2.45,0.00,0.000,4,0.089,0.044,3244,166,1675,0,0,0,0,0,0
$GC,3789,1.18,313.4,31.9,10.1,328,3793,0.00,2.28,0.00,0.000,6,0.000,0.018,3245,1657,1675,0,0,0,0,0,0
$STATE,4096,end climb,SURFACE_DEPTH_REACHED
$STATE,4096,begin surface coast
$FINISH,0.4,1.023335
$STATE,4150,end surface coast,CONTROL_FINISHED_OK
$STATE,4150,begin surface
$SM_CCo,4171,45.55,0.436,0,0,1323,400.08
$SM_GC,1.29,0.00,0.00,45.55,0.000,0.000,0.436,407,1924,1323,-11.88,1.50,400.08
$IRIDIUM_FIX,2418.11,-15640.94,141200,191944
$TT8_MAMPS,0.026845
$HUMID,61.73
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.9,42.494
$10V_AH,10.2,48.018
$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,29.375,55.125,359.750,45.550,0.000,101.892,141.198,783.811,0.500,0.000,31.673,708.398,1569.309,376.179,1334.432,1624.569,33.354,909.657,0.000,1656.440,0.000,0.540,0.000
$DEVICE_MAMPS,164.905,50.622,572.182,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,257.307,496.735,573.220,605.365,1135.158,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356128
$DATA_FILE_SIZE,32090,383
$CAP_FILE_SIZE,78197,0
$CFSIZE,260165632,110657536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200911,211238,2426.304,-15639.932,9,1.0,10,10.4