version: 66.06
glider: 148
mission: 10
dive: 490
start: 9 22 111 10 31 19
data:
$ID,148
$MISSION,10
$DIVE,490
$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,-887499.56
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,102102,2409.657,-15645.258,8,1.2,9,10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.4
$GPS2,103023,2409.601,-15645.244,9,1.7,12,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.196,-0.158
$KALMAN_X,-15500.3,-22.4,141.5,160086.2,239.6
$KALMAN_Y,-118042.9,-216.4,-102.7,393194.1,-271.8
$MHEAD_RNG_PITCHd_Wd,220.7,149789,-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,-135.6,0.0,0.0,0,95,0.00,0.00,-74.28,0.000,2,0.000,0.000,412,1944,3312,0,0,0,0,0,0
$GC,98,-1.32,-136.3,3.8,-6.9,10,123,11.70,2.72,-3.53,0.000,4,0.145,0.043,2694,292,3511,0,0,0,0,0,0
$GC,192,-1.20,-136.3,24.7,-12.7,23,203,0.12,2.47,0.00,0.000,6,0.075,0.018,2727,1867,3512,0,0,0,0,0,0
$GC,475,-1.08,-136.3,60.0,-11.6,51,480,0.12,2.50,0.00,0.000,4,0.110,0.026,2755,3451,3512,0,0,0,0,0,0
$GC,535,-1.17,-136.3,66.0,-8.9,55,539,0.00,2.47,0.00,0.000,6,0.000,0.021,2755,1870,3512,0,0,0,0,0,0
$GC,804,-1.23,-136.3,88.0,-8.3,79,809,0.15,2.53,0.00,0.000,4,0.053,0.026,2671,3450,3512,0,0,0,0,0,0
$GC,817,-1.23,-136.3,89.9,-8.6,79,824,0.17,2.45,0.00,0.000,6,0.069,0.021,2717,1906,3512,0,0,0,0,0,0
$GC,1080,-1.23,-136.3,116.8,-9.3,104,1084,0.00,2.60,0.00,0.000,4,0.000,0.038,2717,296,3512,0,0,0,0,0,0
$GC,1150,-1.30,-136.3,123.6,-9.1,110,1154,0.00,2.45,0.00,0.000,6,0.000,0.017,2717,1915,3512,0,0,0,0,0,0
$GC,1413,-1.30,-136.3,145.8,-8.4,134,1417,0.00,2.35,0.00,0.000,4,0.000,0.026,2717,3428,3513,0,0,0,0,0,0
$GC,1444,-1.36,-136.3,148.3,-9.5,136,1449,0.10,2.38,0.00,0.000,6,0.074,0.020,2646,1893,3513,0,0,0,0,0,0
$GC,1710,-1.19,-136.3,179.0,-11.5,160,1719,0.35,2.55,0.00,0.000,4,0.083,0.035,2725,297,3513,0,0,0,0,0,0
$GC,1754,-1.33,-136.3,183.6,-8.6,164,1761,0.12,2.45,0.00,0.000,6,0.061,0.017,2652,1903,3512,0,0,0,0,0,0
$STATE,1917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1917,begin apogee
$GC,1923,-0.31,0.0,200.3,10.9,180,2032,1.17,0.00,105.22,0.569,6,0.074,0.000,2921,1640,2955,0,0,0,0,0,0
$STATE,2033,end apogee,CONTROL_FINISHED_OK
$STATE,2033,begin climb
$GC,2036,1.32,136.3,203.1,0.0,182,2152,1.42,2.45,106.80,0.565,4,0.029,0.047,3299,211,2398,0,0,0,0,0,0
$GC,2431,0.92,138.1,179.9,10.0,204,2442,0.45,2.25,0.00,0.000,6,0.085,0.019,3195,1637,2393,0,0,0,0,0,0
$GC,2703,1.04,236.8,164.9,5.1,229,2792,0.00,2.42,82.12,0.545,4,0.000,0.046,3195,204,1987,0,0,0,0,0,0
$GC,2839,1.04,236.8,153.0,10.2,242,2845,0.00,2.30,0.00,0.000,6,0.000,0.020,3195,1660,1986,0,0,0,0,0,0
$GC,3108,1.21,309.9,133.3,6.4,267,3181,0.22,2.60,62.08,0.524,4,0.041,0.038,3308,3226,1688,0,0,0,0,0,0
$GC,3286,1.11,309.9,111.5,12.7,283,3292,0.35,2.50,0.00,0.000,6,0.089,0.029,3232,1698,1682,0,0,0,0,0,0
$GC,3549,1.22,326.8,85.5,9.3,308,3573,0.10,2.58,14.60,0.463,4,0.075,0.033,3294,3233,1621,0,0,0,0,0,0
$GC,3609,1.22,326.8,79.5,11.8,313,3614,0.17,2.55,0.00,0.000,6,0.095,0.029,3255,1666,1618,0,0,0,0,0,0
$GC,3878,1.39,387.0,57.2,7.1,337,3937,0.15,2.62,51.62,0.474,4,0.054,0.030,3341,3230,1375,0,0,0,0,0,0
$GC,3973,1.39,387.0,46.0,14.2,344,3979,0.22,2.53,0.00,0.000,6,0.093,0.030,3293,1692,1371,0,0,0,0,0,0
$GC,4261,1.39,387.0,12.5,12.8,379,4271,0.00,2.53,0.00,0.000,4,0.000,0.030,3293,3238,1368,0,0,0,0,0,0
$GC,4282,1.39,387.0,9.4,12.8,381,4293,0.00,2.50,0.00,0.000,6,0.000,0.027,3293,1703,1368,0,0,0,0,0,0
$STATE,4323,end climb,SURFACE_DEPTH_REACHED
$STATE,4323,begin surface coast
$FINISH,0.4,1.021243
$STATE,4364,end surface coast,CONTROL_FINISHED_OK
$STATE,4364,begin surface
$SM_CCo,4386,9.57,0.387,0,0,1323,400.08
$SM_GC,1.09,0.00,0.00,9.57,0.000,0.000,0.387,409,1951,1323,-11.88,2.29,400.08
$IRIDIUM_FIX,2359.20,-15644.67,161200,101000
$TT8_MAMPS,0.026845
$HUMID,61.34
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.8,44.703
$10V_AH,10.2,50.903
$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,28.600,60.375,422.450,9.575,0.000,55.694,71.066,224.710,0.500,0.000,14.151,723.850,1521.616,375.896,1397.661,944.432,33.357,976.089,0.000,1729.758,0.000,0.539,0.000
$DEVICE_MAMPS,144.963,46.787,569.114,387.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.240,484.639,570.125,602.519,1131.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,31996,392
$CAP_FILE_SIZE,70283,0
$CFSIZE,260165632,109539328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220911,114549,2409.046,-15645.390,13,1.7,31,10.4