version: 66.06
glider: 148
mission: 10
dive: 483
start: 9 22 111 0 44 53
data:
$ID,148
$MISSION,10
$DIVE,483
$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,-887303
$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,32
$R_STBD_OVSHOOT,52
$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
$GPS1,003422,2414.083,-15643.752,12,99.0,32,10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.2
$GPS2,004358,2414.010,-15643.739,11,99.0,30,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.146,-0.204
$KALMAN_X,-17747.7,241.3,49.3,164751.5,69.3
$KALMAN_Y,-114850.1,-307.8,-306.9,398455.3,-67.1
$MHEAD_RNG_PITCHd_Wd,205.2,158135,-18.5,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.32,-133.8,0.0,0.0,0,96,0.00,0.00,-75.15,0.000,2,0.000,0.000,408,1966,3341,0,0,0,0,0,0
$GC,99,-1.33,-136.3,3.9,-7.3,10,124,12.32,2.78,-2.97,0.000,4,0.166,0.043,2692,282,3512,0,0,0,0,0,0
$GC,205,-1.21,-136.3,28.3,-14.8,25,216,0.12,2.50,0.00,0.000,6,0.084,0.018,2724,1878,3513,0,0,0,0,0,0
$GC,475,-1.09,-136.3,61.9,-12.2,50,485,0.12,0.00,0.00,0.000,6,0.111,0.000,2752,1882,3513,0,0,0,0,0,0
$GC,745,-1.18,-136.3,84.0,-7.4,75,749,0.00,2.60,0.00,0.000,4,0.000,0.041,2752,278,3513,0,0,0,0,0,0
$GC,776,-1.30,-136.3,86.5,-7.8,77,781,0.17,2.45,0.00,0.000,6,0.047,0.017,2662,1879,3513,0,0,0,0,0,0
$GC,1045,-1.14,-136.3,116.1,-11.9,101,1050,0.32,2.42,0.00,0.000,4,0.082,0.024,2738,3435,3513,0,0,0,0,0,0
$GC,1076,-1.14,-136.3,119.6,-9.5,103,1081,0.00,2.50,0.00,0.000,6,0.000,0.021,2738,1831,3514,0,0,0,0,0,0
$GC,1345,-1.24,-136.3,142.0,-8.4,127,1349,0.00,2.45,0.00,0.000,4,0.000,0.039,2739,296,3514,0,0,0,0,0,0
$GC,1361,-1.34,-136.3,144.0,-8.5,128,1367,0.12,2.40,0.00,0.000,6,0.025,0.017,2656,1860,3514,0,0,0,0,0,0
$GC,1629,-1.21,-136.3,171.1,-9.1,153,1634,0.28,2.53,0.00,0.000,4,0.082,0.037,2724,296,3513,0,0,0,0,0,0
$GC,1656,-1.21,-136.3,173.5,-8.9,155,1660,0.00,2.38,0.00,0.000,6,0.000,0.018,2724,1847,3513,0,0,0,0,0,0
$GC,1920,-1.30,-136.3,194.0,-8.2,179,1925,0.00,2.47,0.00,0.000,4,0.000,0.026,2723,3434,3514,0,0,0,0,0,0
$GC,1965,-1.47,-136.3,197.8,-7.8,183,1970,0.22,2.45,0.00,0.000,6,0.038,0.021,2617,1861,3513,0,0,0,0,0,0
$STATE,1990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1990,begin apogee
$GC,1998,-0.31,0.0,200.5,10.0,185,2107,1.35,0.00,105.18,0.574,6,0.077,0.000,2919,1636,2955,0,0,0,0,0,0
$STATE,2108,end apogee,CONTROL_FINISHED_OK
$STATE,2108,begin climb
$GC,2110,1.33,136.3,204.1,0.0,187,2227,1.42,2.62,107.15,0.569,4,0.025,0.037,3293,3209,2397,0,0,0,0,0,0
$GC,2298,1.12,172.7,202.4,8.2,192,2335,0.28,2.47,30.25,0.546,6,0.108,0.027,3235,1683,2249,0,0,0,0,0,0
$GC,2598,1.05,194.0,178.2,9.0,215,2624,0.00,2.58,18.00,0.523,4,0.000,0.034,3236,3208,2163,0,0,0,0,0,0
$GC,2632,0.99,208.4,175.0,9.4,218,2654,0.12,2.55,13.50,0.506,6,0.114,0.026,3208,1640,2105,0,0,0,0,0,0
$GC,2910,1.02,232.7,149.6,8.9,244,2933,0.00,0.00,21.27,0.518,6,0.000,0.000,3208,1640,2006,0,0,0,0,0,0
$GC,3186,1.05,258.4,124.4,8.8,270,3223,0.00,2.58,23.10,0.510,4,0.000,0.028,3208,3219,1898,0,0,0,0,0,0
$GC,3249,1.18,267.1,118.8,9.7,275,3272,0.17,2.55,8.40,0.446,6,0.050,0.030,3280,1650,1865,0,0,0,0,0,0
$GC,3529,1.11,267.1,85.9,11.4,301,3534,0.22,2.53,0.00,0.000,4,0.094,0.029,3231,3218,1862,0,0,0,0,0,0
$GC,3551,1.12,273.2,83.3,9.8,302,3564,0.00,2.55,6.03,0.397,6,0.000,0.028,3230,1657,1842,0,0,0,0,0,0
$GC,3832,1.30,335.1,62.7,7.0,328,3896,0.17,0.00,54.05,0.485,6,0.051,0.000,3308,1657,1587,0,0,0,0,0,0
$GC,4157,1.24,335.1,26.4,11.8,359,4168,0.22,2.55,0.00,0.000,4,0.091,0.028,3256,3215,1582,0,0,0,0,0,0
$GC,4220,1.37,338.4,19.7,9.9,367,4231,0.10,2.53,0.00,0.000,6,0.031,0.028,3319,1671,1579,0,0,0,0,0,0
$STATE,4347,end climb,SURFACE_DEPTH_REACHED
$STATE,4347,begin surface coast
$FINISH,0.4,1.010546
$STATE,4391,end surface coast,CONTROL_FINISHED_OK
$STATE,4392,begin surface
$SM_CCo,4413,45.70,0.437,0,0,1323,400.08
$SM_GC,1.24,0.00,0.00,45.70,0.000,0.000,0.437,408,1941,1323,-11.88,2.01,400.08
$IRIDIUM_FIX,2406.29,-15640.64,161200,000024
$TT8_MAMPS,0.026845
$HUMID,61.65
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.8,44.145
$10V_AH,10.2,50.175
$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,29.375,56.000,386.925,45.700,0.000,56.183,72.448,221.054,0.500,0.000,32.577,730.250,1616.277,414.504,1343.578,935.019,33.353,969.592,0.000,1665.831,0.000,0.539,0.000
$DEVICE_MAMPS,166.439,42.952,574.483,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,263.165,506.083,582.141,605.743,1133.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356028
$DATA_FILE_SIZE,32146,392
$CAP_FILE_SIZE,70274,0
$CFSIZE,260165632,109826048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220911,020002,2413.384,-15643.917,7,1.7,8,10.4