version: 66.06
glider: 148
mission: 10
dive: 480
start: 9 21 111 20 34 50
data:
$ID,148
$MISSION,10
$DIVE,480
$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,-887215.5
$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,31
$R_STBD_OVSHOOT,49
$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
$GPS1,202734,2415.983,-15643.035,8,99.0,27,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.4
$GPS2,203355,2415.934,-15643.036,14,1.5,31,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.201,-0.153
$KALMAN_X,-19017.4,407.0,214.4,166899.3,163.1
$KALMAN_Y,-113707.3,-166.1,-84.0,400514.9,-494.3
$MHEAD_RNG_PITCHd_Wd,222.3,161823,-18.4,-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,-1.32,-135.7,0.0,0.0,0,97,0.00,0.00,-75.22,0.000,2,0.000,0.000,407,1958,3339,0,0,0,0,0,0
$GC,100,-1.32,-136.3,3.9,-7.6,10,125,11.88,2.78,-3.05,0.000,4,0.151,0.046,2692,283,3514,0,0,0,0,0,0
$GC,220,-1.20,-136.3,30.3,-14.2,27,231,0.12,2.50,0.00,0.000,6,0.084,0.018,2724,1883,3514,0,0,0,0,0,0
$GC,491,-1.07,-136.3,65.4,-13.4,52,501,0.15,0.00,0.00,0.000,6,0.105,0.000,2759,1886,3514,0,0,0,0,0,0
$GC,759,-1.16,-136.3,93.1,-9.5,77,764,0.00,2.60,0.00,0.000,4,0.000,0.040,2758,277,3515,0,0,0,0,0,0
$GC,799,-1.33,-136.3,98.0,-9.8,80,810,0.20,2.45,0.00,0.000,6,0.018,0.017,2655,1870,3515,0,0,0,0,0,0
$GC,1068,-1.16,-136.3,129.8,-11.6,105,1074,0.32,2.55,0.00,0.000,4,0.081,0.035,2734,286,3515,0,0,0,0,0,0
$GC,1091,-1.16,-136.3,132.7,-10.1,106,1101,0.00,2.40,0.00,0.000,6,0.000,0.018,2734,1842,3515,0,0,0,0,0,0
$GC,1360,-1.25,-136.3,149.8,-6.6,131,1364,0.00,2.55,0.00,0.000,4,0.000,0.038,2734,279,3515,0,0,0,0,0,0
$GC,1382,-1.36,-136.3,151.8,-7.0,132,1393,0.12,2.40,0.00,0.000,6,0.024,0.017,2640,1838,3515,0,0,0,0,0,0
$GC,1652,-1.17,-136.3,184.1,-13.2,157,1661,0.40,2.53,0.00,0.000,4,0.081,0.036,2735,276,3515,0,0,0,0,0,0
$GC,1693,-1.35,-136.3,189.2,-9.2,161,1698,0.17,2.35,0.00,0.000,6,0.046,0.018,2641,1816,3515,0,0,0,0,0,0
$STATE,1786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1787,begin apogee
$GC,1794,-0.31,0.0,200.0,12.3,169,1905,1.30,0.00,105.68,0.572,6,0.081,0.000,2919,1629,2954,0,0,0,0,0,0
$STATE,1906,end apogee,CONTROL_FINISHED_OK
$STATE,1906,begin climb
$GC,1909,1.32,136.3,205.3,0.0,172,2023,1.42,2.42,106.57,0.568,4,0.029,0.048,3295,204,2398,0,0,0,0,0,0
$GC,2249,0.95,136.3,179.3,10.9,192,2254,0.45,2.25,0.00,0.000,6,0.094,0.020,3198,1639,2393,0,0,0,0,0,0
$GC,2510,1.07,233.4,163.8,5.2,216,2595,0.10,2.45,79.38,0.546,4,0.078,0.046,3248,204,2002,0,0,0,0,0,0
$GC,2609,0.95,233.4,155.9,10.6,225,2614,0.22,2.30,0.00,0.000,6,0.091,0.020,3198,1662,2001,0,0,0,0,0,0
$GC,2875,1.07,273.2,132.8,8.1,249,2921,0.10,2.62,34.17,0.518,4,0.077,0.035,3259,3225,1839,0,0,0,0,0,0
$GC,2960,1.07,273.2,123.5,11.3,256,2970,0.15,2.50,0.00,0.000,6,0.073,0.028,3221,1704,1835,0,0,0,0,0,0
$GC,3226,1.20,318.6,100.6,7.8,281,3272,0.12,2.50,38.85,0.502,4,0.064,0.030,3282,3229,1654,0,0,0,0,0,0
$GC,3321,1.20,318.6,90.4,12.5,289,3326,0.15,2.50,0.00,0.000,6,0.097,0.028,3249,1680,1649,0,0,0,0,0,0
$GC,3591,1.29,333.2,62.2,9.4,313,3619,0.10,2.53,13.30,0.445,4,0.077,0.031,3308,3228,1593,0,0,0,0,0,0
$GC,3636,1.29,333.2,56.3,12.0,316,3647,0.12,2.53,0.00,0.000,6,0.078,0.028,3275,1689,1591,0,0,0,0,0,0
$GC,3905,1.29,333.2,29.4,10.2,341,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1689,1590,0,0,0,0,0,0
$STATE,4143,end climb,SURFACE_DEPTH_REACHED
$STATE,4144,begin surface coast
$FINISH,0.5,1.011593
$STATE,4191,end surface coast,CONTROL_FINISHED_OK
$STATE,4191,begin surface
$SM_CCo,4212,44.78,0.435,0,0,1323,400.08
$SM_GC,1.34,0.00,0.00,44.78,0.000,0.000,0.435,404,1929,1323,-11.90,1.67,400.08
$IRIDIUM_FIX,2406.29,-15644.98,151200,191958
$TT8_MAMPS,0.026845
$HUMID,61.30
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.8,43.905
$10V_AH,10.2,49.863
$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,29.025,50.225,377.950,44.775,0.000,27.366,40.740,155.367,0.250,0.000,32.669,700.641,1395.741,396.867,1349.215,801.821,33.351,962.248,0.000,1666.358,0.000,0.539,0.000
$DEVICE_MAMPS,151.099,48.321,572.182,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,257.808,492.552,571.080,601.906,1130.768,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,31905,385
$CAP_FILE_SIZE,62093,0
$CFSIZE,260165632,109953024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,214638,2415.296,-15643.347,9,1.7,9,10.4