version: 66.06
glider: 148
mission: 10
dive: 488
start: 9 22 111 7 41 55
data:
$ID,148
$MISSION,10
$DIVE,488
$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,-887467.12
$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,50
$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
$GPS1,073428,2410.951,-15645.011,7,99.0,27,10.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.4
$GPS2,074059,2410.932,-15645.028,13,99.0,32,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.180,-0.177
$KALMAN_X,-16377.9,-43.5,35.1,161468.5,182.6
$KALMAN_Y,-117066.1,-306.6,17.5,394644.4,-201.0
$MHEAD_RNG_PITCHd_Wd,215.2,152101,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.32,-135.8,0.0,0.0,0,95,0.00,0.00,-74.22,0.000,2,0.000,0.000,413,1945,3293,0,0,0,0,0,0
$GC,98,-1.32,-136.3,3.6,-6.3,10,123,11.68,2.75,-3.92,0.000,4,0.144,0.051,2693,286,3512,0,0,0,0,0,0
$GC,191,-1.23,-136.3,23.6,-13.0,23,202,0.10,2.50,0.00,0.000,6,0.081,0.018,2720,1876,3512,0,0,0,0,0,0
$GC,476,-1.09,-136.3,60.7,-14.0,52,481,0.15,2.47,0.00,0.000,4,0.102,0.027,2754,3448,3513,0,0,0,0,0,0
$GC,548,-1.20,-136.3,70.4,-10.6,57,557,0.08,2.50,0.00,0.000,6,0.032,0.021,2663,1878,3512,0,0,0,0,0,0
$GC,811,-1.02,-136.3,102.8,-11.2,82,825,0.43,2.55,0.00,0.000,4,0.080,0.037,2763,289,3513,0,0,0,0,0,0
$GC,831,-1.02,-136.3,105.1,-10.5,83,837,0.00,2.47,0.00,0.000,6,0.000,0.018,2763,1905,3513,0,0,0,0,0,0
$GC,1094,-1.16,-136.3,122.0,-6.9,108,1099,0.12,2.40,0.00,0.000,4,0.061,0.026,2669,3436,3514,0,0,0,0,0,0
$GC,1138,-1.16,-136.3,125.5,-9.9,111,1143,0.30,2.42,0.00,0.000,6,0.080,0.021,2738,1881,3513,0,0,0,0,0,0
$GC,1404,-1.25,-136.3,146.6,-8.0,135,1409,0.00,2.55,0.00,0.000,4,0.000,0.039,2738,290,3514,0,0,0,0,0,0
$GC,1426,-1.35,-136.3,148.5,-7.9,136,1435,0.15,2.50,0.00,0.000,6,0.022,0.018,2651,1904,3514,0,0,0,0,0,0
$GC,1688,-1.20,-136.3,176.4,-10.6,161,1694,0.30,2.40,0.00,0.000,4,0.083,0.025,2724,3439,3514,0,0,0,0,0,0
$GC,1701,-1.10,-136.3,177.7,-10.4,161,1708,0.08,2.45,0.00,0.000,6,0.071,0.021,2750,1892,3514,0,0,0,0,0,0
$GC,1965,-1.25,-136.3,194.7,-6.8,186,1970,0.12,2.60,0.00,0.000,4,0.062,0.041,2672,286,3514,0,0,0,0,0,0
$STATE,2020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2020,begin apogee
$GC,2029,-0.31,0.0,200.3,10.1,191,2142,1.08,0.00,105.55,0.573,6,0.067,0.000,2922,1673,2954,0,0,0,0,0,0
$STATE,2143,end apogee,CONTROL_FINISHED_OK
$STATE,2143,begin climb
$GC,2145,1.32,136.3,205.7,0.0,194,2257,1.40,0.00,107.50,0.568,6,0.023,0.000,3313,1673,2399,0,0,0,0,0,0
$GC,2482,1.02,165.2,188.8,8.7,211,2513,0.43,2.55,24.00,0.535,4,0.099,0.035,3217,3209,2281,0,0,0,0,0,0
$GC,2520,1.05,237.8,185.7,6.5,214,2587,0.00,2.53,60.78,0.551,6,0.000,0.026,3217,1659,1985,0,0,0,0,0,0
$GC,2849,1.10,277.4,156.7,8.1,246,2893,0.00,2.58,34.22,0.531,4,0.000,0.031,3217,3198,1821,0,0,0,0,0,0
$GC,2928,1.11,283.3,150.0,9.8,253,2941,0.00,2.47,5.78,0.412,6,0.000,0.028,3217,1677,1799,0,0,0,0,0,0
$GC,3207,1.11,283.3,122.1,10.2,279,3211,0.00,2.47,0.00,0.000,4,0.000,0.038,3218,3209,1796,0,0,0,0,0,0
$GC,3324,1.23,307.7,110.6,8.9,289,3353,0.17,2.47,21.70,0.497,6,0.050,0.029,3288,1684,1700,0,0,0,0,0,0
$GC,3612,1.16,307.7,78.5,11.4,316,3617,0.20,2.50,0.00,0.000,4,0.094,0.044,3243,175,1697,0,0,0,0,0,0
$GC,3632,1.16,307.7,76.2,10.6,317,3637,0.00,2.33,0.00,0.000,6,0.000,0.020,3243,1677,1697,0,0,0,0,0,0
$GC,3902,1.37,373.4,55.0,6.8,341,3970,0.17,2.58,56.75,0.478,4,0.050,0.031,3321,3227,1430,0,0,0,0,0,0
$GC,4010,1.37,373.4,43.5,11.4,349,4021,0.12,2.53,0.00,0.000,6,0.074,0.028,3288,1696,1425,0,0,0,0,0,0
$GC,4302,1.37,373.4,11.7,10.3,387,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1696,1423,0,0,0,0,0,0
$STATE,4371,end climb,SURFACE_DEPTH_REACHED
$STATE,4372,begin surface coast
$FINISH,0.4,1.023166
$STATE,4419,end surface coast,CONTROL_FINISHED_OK
$STATE,4419,begin surface
$SM_CCo,4441,20.65,0.423,0,0,1323,400.08
$SM_GC,1.63,0.00,0.00,20.65,0.000,0.000,0.423,411,1922,1323,-11.86,1.47,400.08
$IRIDIUM_FIX,2403.92,-15643.74,161200,060642
$TT8_MAMPS,0.026845
$HUMID,62.20
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.00
$XPDR_PINGS,4
$24V_AH,23.8,44.541
$10V_AH,10.2,50.695
$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,28.550,59.950,416.275,20.650,0.000,22.421,33.722,170.617,1.000,0.000,35.110,729.615,1524.457,419.396,1373.546,811.561,33.379,979.656,0.000,1698.097,0.000,0.539,0.000
$DEVICE_MAMPS,144.196,50.622,572.949,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,270.330,506.299,588.648,619.165,1162.062,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,32070,404
$CAP_FILE_SIZE,65839,0
$CFSIZE,260165632,109625344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220911,085757,2410.376,-15645.158,38,99.0,58,10.4