version: 66.06
glider: 148
mission: 10
dive: 474
start: 9 21 111 12 29 31
data:
$ID,148
$MISSION,10
$DIVE,474
$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,-887030.25
$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,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,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,85
$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
$GPS1,122216,2419.263,-15642.109,6,99.0,26,10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.1
$GPS2,122834,2419.242,-15642.103,13,99.0,32,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,-0.175
$KALMAN_X,-21376.8,85.2,-90.0,171493.0,329.3
$KALMAN_Y,-111436.8,-33.7,-195.3,404345.4,-2.6
$MHEAD_RNG_PITCHd_Wd,215.7,167943,-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,15,begin dive
$GC,17,-1.31,-136.3,0.0,0.0,0,94,0.00,0.00,-74.20,0.000,2,0.000,0.000,410,1911,3288,0,0,0,0,0,0
$GC,97,-1.31,-136.3,3.7,-7.4,10,122,11.90,2.70,-4.03,0.000,4,0.152,0.046,2696,283,3512,0,0,0,0,0,0
$GC,184,-1.23,-136.3,24.0,-14.6,22,195,0.08,2.45,0.00,0.000,6,0.093,0.018,2717,1845,3512,0,0,0,0,0,0
$GC,466,-1.08,-136.3,63.1,-13.1,49,471,0.17,2.53,0.00,0.000,4,0.105,0.026,2755,3444,3512,0,0,0,0,0,0
$GC,500,-1.08,-136.3,68.0,-11.5,51,505,0.00,2.50,0.00,0.000,6,0.000,0.022,2755,1848,3513,0,0,0,0,0,0
$GC,768,-1.08,-136.3,91.9,-8.3,75,772,0.00,2.50,0.00,0.000,4,0.000,0.039,2755,292,3513,0,0,0,0,0,0
$GC,840,-1.20,-136.3,97.8,-8.1,81,845,0.12,2.40,0.00,0.000,6,0.062,0.017,2682,1870,3513,0,0,0,0,0,0
$GC,1107,-1.08,-136.3,126.7,-11.5,105,1112,0.28,2.55,0.00,0.000,4,0.084,0.037,2749,295,3513,0,0,0,0,0,0
$GC,1140,-1.08,-136.3,130.2,-9.6,107,1144,0.00,2.33,0.00,0.000,6,0.000,0.017,2749,1826,3514,0,0,0,0,0,0
$GC,1403,-1.19,-136.3,151.0,-6.6,131,1407,0.00,2.47,0.00,0.000,4,0.000,0.038,2749,292,3514,0,0,0,0,0,0
$GC,1441,-1.35,-136.3,153.7,-7.2,134,1446,0.22,2.28,0.00,0.000,6,0.039,0.017,2648,1808,3514,0,0,0,0,0,0
$GC,1702,-1.17,-136.3,182.0,-11.2,158,1711,0.35,2.53,0.00,0.000,4,0.081,0.025,2731,3424,3514,0,0,0,0,0,0
$GC,1760,-1.31,-136.3,187.0,-8.7,163,1766,0.12,2.53,0.00,0.000,6,0.062,0.021,2640,1802,3514,0,0,0,0,0,0
$STATE,1885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1885,begin apogee
$GC,1891,-0.31,0.0,201.2,12.5,175,2004,1.23,0.00,105.65,0.574,6,0.074,0.000,2920,1630,2954,0,0,0,0,0,0
$STATE,2004,end apogee,CONTROL_FINISHED_OK
$STATE,2004,begin climb
$GC,2008,1.31,136.3,207.6,0.0,178,2123,1.42,2.58,106.82,0.571,4,0.028,0.037,3292,3207,2397,0,0,0,0,0,0
$GC,2219,1.10,162.6,201.9,8.8,182,2248,0.25,2.47,22.17,0.537,6,0.096,0.027,3235,1697,2291,0,0,0,0,0,0
$GC,2508,1.07,215.2,177.5,7.5,206,2559,0.00,2.47,43.92,0.548,4,0.000,0.032,3235,3200,2075,0,0,0,0,0,0
$GC,2613,1.11,244.1,168.5,8.7,216,2651,0.00,2.50,25.05,0.528,6,0.000,0.028,3235,1677,1957,0,0,0,0,0,0
$GC,2901,1.11,244.1,140.6,10.7,244,2905,0.00,2.45,0.00,0.000,4,0.000,0.029,3235,3205,1954,0,0,0,0,0,0
$GC,2963,1.11,244.9,134.1,10.1,249,2968,0.00,2.47,0.00,0.000,6,0.000,0.028,3235,1677,1952,0,0,0,0,0,0
$GC,3227,1.16,281.7,110.8,8.3,274,3264,0.00,2.58,32.20,0.509,4,0.000,0.048,3235,176,1805,0,0,0,0,0,0
$GC,3312,1.17,291.2,103.0,9.6,281,3330,0.00,2.33,9.68,0.451,6,0.000,0.019,3235,1662,1765,0,0,0,0,0,0
$GC,3586,1.30,332.8,81.9,8.0,307,3632,0.15,2.60,36.38,0.492,4,0.054,0.031,3305,3227,1596,0,0,0,0,0,0
$GC,3691,1.30,332.8,70.6,11.6,316,3697,0.15,2.50,0.00,0.000,6,0.100,0.028,3271,1693,1591,0,0,0,0,0,0
$GC,3961,1.31,339.9,42.6,9.7,340,3976,0.00,2.53,6.20,0.378,4,0.000,0.029,3272,3230,1568,0,0,0,0,0,0
$GC,4046,1.39,341.2,34.2,10.0,347,4051,0.00,2.45,0.00,0.000,6,0.000,0.027,3272,1706,1565,0,0,0,0,0,0
$STATE,4323,end climb,SURFACE_DEPTH_REACHED
$STATE,4324,begin surface coast
$FINISH,0.4,0.999624
$STATE,4371,end surface coast,CONTROL_FINISHED_OK
$STATE,4371,begin surface
$SM_CCo,4393,46.30,0.437,0,0,1323,400.08
$SM_GC,1.37,0.00,0.00,46.30,0.000,0.000,0.437,413,1921,1323,-11.85,1.41,400.08
$IRIDIUM_FIX,2411.01,-15639.70,151200,111122
$TT8_MAMPS,0.026845
$HUMID,61.45
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.8,43.448
$10V_AH,10.2,49.256
$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,27.900,60.100,388.075,46.300,0.000,29.410,34.958,151.522,0.500,0.000,34.928,733.122,1479.503,396.190,1416.567,799.478,33.348,971.233,0.000,1718.200,0.000,0.540,0.000
$DEVICE_MAMPS,151.866,52.156,574.483,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,265.047,490.993,574.557,605.376,1131.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,31889,395
$CAP_FILE_SIZE,66678,0
$CFSIZE,260165632,110190592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,134439,2418.781,-15642.280,13,1.9,26,10.4