version: 66.06
glider: 148
mission: 10
dive: 487
start: 9 22 111 6 17 40
data:
$ID,148
$MISSION,10
$DIVE,487
$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,-887431.38
$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,28
$R_STBD_OVSHOOT,72
$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
$GPS1,061050,2411.500,-15644.669,8,1.8,8,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.3
$GPS2,061644,2411.466,-15644.689,14,1.6,14,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.188,-0.170
$KALMAN_X,-16558.9,4.6,1.4,162212.5,172.3
$KALMAN_Y,-116817.3,-310.7,87.1,395317.5,-297.8
$MHEAD_RNG_PITCHd_Wd,217.5,153246,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.31,-136.3,0.0,0.0,0,97,0.00,0.00,-74.75,0.000,2,0.000,0.000,409,1929,3314,0,0,0,0,0,0
$GC,100,-1.31,-136.3,3.8,-6.8,10,125,12.32,2.72,-3.47,0.000,4,0.166,0.044,2696,280,3511,0,0,0,0,0,0
$GC,200,-1.22,-136.3,26.2,-13.8,24,211,0.08,2.47,0.00,0.000,6,0.088,0.018,2717,1857,3512,0,0,0,0,0,0
$GC,479,-1.09,-136.3,63.0,-13.4,50,484,0.15,2.50,0.00,0.000,4,0.106,0.025,2750,3444,3512,0,0,0,0,0,0
$GC,513,-1.09,-136.3,67.6,-10.1,52,517,0.00,2.47,0.00,0.000,6,0.000,0.021,2751,1866,3512,0,0,0,0,0,0
$GC,776,-1.15,-136.3,93.1,-9.0,76,781,0.00,2.53,0.00,0.000,4,0.000,0.042,2750,293,3513,0,0,0,0,0,0
$GC,838,-1.28,-136.3,98.5,-9.0,81,843,0.17,2.42,0.00,0.000,6,0.047,0.017,2666,1882,3513,0,0,0,0,0,0
$GC,1105,-1.12,-136.3,128.4,-10.7,105,1110,0.32,2.40,0.00,0.000,4,0.081,0.024,2744,3426,3513,0,0,0,0,0,0
$GC,1138,-1.19,-136.3,131.3,-7.6,107,1143,0.00,2.45,0.00,0.000,6,0.000,0.021,2743,1850,3513,0,0,0,0,0,0
$GC,1407,-1.30,-136.3,150.5,-7.4,131,1412,0.15,2.53,0.00,0.000,4,0.054,0.039,2658,298,3513,0,0,0,0,0,0
$GC,1425,-1.30,-136.3,152.5,-7.8,132,1431,0.17,2.40,0.00,0.000,6,0.068,0.018,2704,1849,3513,0,0,0,0,0,0
$GC,1697,-1.30,-136.3,175.7,-8.4,157,1702,0.00,2.47,0.00,0.000,4,0.000,0.025,2704,3436,3513,0,0,0,0,0,0
$GC,1726,-1.30,-136.3,178.2,-8.7,159,1730,0.00,2.47,0.00,0.000,6,0.000,0.022,2704,1853,3513,0,0,0,0,0,0
$GC,1989,-1.30,-136.3,200.0,-8.6,183,1993,0.00,2.05,0.00,0.000,3,0.000,0.037,2704,555,3513,0,0,0,0,0,0
$STATE,1994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1994,begin apogee
$GC,2001,-0.31,0.0,200.5,8.4,183,2110,0.93,0.00,105.28,0.575,6,0.071,0.000,2921,1711,2954,0,0,0,0,0,0
$STATE,2110,end apogee,CONTROL_FINISHED_OK
$STATE,2110,begin climb
$GC,2114,1.31,136.3,204.8,0.0,186,2230,1.42,2.50,106.85,0.571,4,0.030,0.038,3298,3215,2397,0,0,0,0,0,0
$GC,2289,1.05,165.2,204.5,8.7,190,2321,0.38,2.53,24.20,0.542,6,0.107,0.027,3222,1668,2280,0,0,0,0,0,0
$GC,2587,1.05,228.3,183.9,7.0,212,2647,0.00,2.62,52.25,0.555,4,0.000,0.034,3222,3222,2022,0,0,0,0,0,0
$GC,2660,1.07,244.7,177.8,9.3,219,2683,0.00,2.55,15.20,0.513,6,0.000,0.028,3222,1662,1955,0,0,0,0,0,0
$GC,2942,1.08,250.2,148.9,9.8,245,2953,0.00,2.55,5.55,0.413,4,0.000,0.048,3222,173,1934,0,0,0,0,0,0
$GC,3010,1.09,258.7,141.9,9.7,251,3033,0.00,2.35,9.27,0.471,6,0.000,0.020,3222,1669,1898,0,0,0,0,0,0
$GC,3288,1.12,282.5,118.4,8.9,277,3319,0.00,2.55,21.27,0.506,4,0.000,0.030,3222,3240,1800,0,0,0,0,0,0
$GC,3363,1.25,289.8,111.4,9.7,284,3378,0.17,2.58,7.00,0.427,6,0.048,0.028,3296,1659,1772,0,0,0,0,0,0
$GC,3634,1.17,289.8,81.0,11.1,309,3639,0.22,2.45,0.00,0.000,4,0.095,0.044,3245,174,1769,0,0,0,0,0,0
$GC,3678,1.17,289.8,76.2,10.5,312,3682,0.00,2.33,0.00,0.000,6,0.000,0.019,3245,1666,1769,0,0,0,0,0,0
$GC,3948,1.35,351.0,56.4,7.1,336,4007,0.15,2.55,52.75,0.481,4,0.057,0.031,3317,3228,1522,0,0,0,0,0,0
$GC,4062,1.35,351.0,44.6,11.6,345,4067,0.15,2.55,0.00,0.000,6,0.100,0.028,3284,1663,1517,0,0,0,0,0,0
$GC,4350,1.35,351.0,14.0,11.7,380,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1663,1516,0,0,0,0,0,0
$STATE,4438,end climb,SURFACE_DEPTH_REACHED
$STATE,4438,begin surface coast
$FINISH,0.5,1.010592
$STATE,4486,end surface coast,CONTROL_FINISHED_OK
$STATE,4486,begin surface
$SM_CCo,4508,30.52,0.430,0,0,1324,400.08
$SM_GC,1.35,0.00,0.00,30.52,0.000,0.000,0.430,413,1944,1324,-11.86,2.06,400.08
$IRIDIUM_FIX,2401.56,-15643.74,161200,050547
$TT8_MAMPS,0.026845
$HUMID,63.03
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.8,44.462
$10V_AH,10.3,50.591
$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,28.275,64.000,399.625,30.525,0.000,22.410,35.342,150.584,0.250,0.000,16.217,745.028,1572.636,382.128,1389.797,808.323,33.351,963.210,0.000,1728.586,0.000,0.539,0.000
$DEVICE_MAMPS,165.672,47.554,575.250,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.872,504.976,585.545,619.956,1158.650,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,32021,400
$CAP_FILE_SIZE,67583,0
$CFSIZE,260165632,109666304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220911,073428,2410.951,-15645.011,7,99.0,27,10.4