version: 66.06
glider: 148
mission: 10
dive: 492
start: 9 22 111 13 15 46
data:
$ID,148
$MISSION,10
$DIVE,492
$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,-887549
$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,51
$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
$GPS1,130904,2408.516,-15645.552,9,2.3,29,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.0
$GPS2,131450,2408.493,-15645.553,14,1.7,14,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.194,-0.163
$KALMAN_X,-14636.8,96.0,191.9,158525.5,262.9
$KALMAN_Y,-118823.9,-151.6,-235.6,391984.9,-191.0
$MHEAD_RNG_PITCHd_Wd,219.5,147757,-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,-74.68,0.000,2,0.000,0.000,407,1921,3348,0,0,0,0,0,0
$GC,100,-1.31,-136.3,4.2,-8.5,10,125,12.30,2.72,-2.85,0.000,4,0.165,0.047,2695,284,3513,0,0,0,0,0,0
$GC,194,-1.17,-136.3,26.8,-14.7,23,205,0.12,2.50,0.00,0.000,6,0.082,0.018,2727,1884,3514,0,0,0,0,0,0
$GC,475,-1.05,-136.3,65.5,-13.1,49,480,0.15,2.47,0.00,0.000,4,0.107,0.025,2760,3446,3514,0,0,0,0,0,0
$GC,488,-0.95,-136.3,68.3,-12.7,49,498,0.05,2.55,0.00,0.000,6,0.092,0.021,2778,1848,3514,0,0,0,0,0,0
$GC,751,-1.05,-136.3,89.4,-6.7,74,755,0.00,2.50,0.00,0.000,4,0.000,0.026,2778,3436,3514,0,0,0,0,0,0
$GC,799,-1.24,-136.3,92.7,-7.1,78,804,0.25,2.38,0.00,0.000,6,0.035,0.019,2661,1902,3514,0,0,0,0,0,0
$GC,1061,-1.04,-136.3,122.7,-11.2,102,1075,0.43,2.58,0.00,0.000,4,0.083,0.036,2752,295,3515,0,0,0,0,0,0
$GC,1128,-1.19,-136.3,128.1,-7.8,108,1133,0.00,2.45,0.00,0.000,6,0.000,0.016,2752,1909,3515,0,0,0,0,0,0
$GC,1392,-1.30,-136.3,147.2,-8.3,132,1397,0.20,2.38,0.00,0.000,4,0.043,0.025,2653,3421,3515,0,0,0,0,0,0
$GC,1430,-1.20,-136.3,151.3,-11.2,135,1435,0.32,2.38,0.00,0.000,6,0.080,0.021,2728,1894,3515,0,0,0,0,0,0
$GC,1691,-1.20,-136.3,174.9,-8.6,159,1696,0.00,2.58,0.00,0.000,4,0.000,0.038,2727,297,3515,0,0,0,0,0,0
$GC,1773,-1.30,-136.3,181.4,-7.9,166,1777,0.00,2.42,0.00,0.000,6,0.000,0.017,2727,1897,3515,0,0,0,0,0,0
$STATE,1988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1989,begin apogee
$GC,1997,-0.31,0.0,200.3,8.4,186,2106,0.85,0.00,105.65,0.571,6,0.070,0.000,2923,1637,2954,0,0,0,0,0,0
$STATE,2107,end apogee,CONTROL_FINISHED_OK
$STATE,2107,begin climb
$GC,2109,1.31,136.3,204.0,0.0,188,2226,1.40,2.62,107.10,0.567,4,0.026,0.039,3297,3199,2398,0,0,0,0,0,0
$GC,2282,1.10,185.8,204.0,7.7,192,2330,0.30,2.45,40.65,0.551,6,0.100,0.027,3233,1685,2196,0,0,0,0,0,0
$GC,2593,1.07,219.4,178.8,8.4,215,2630,0.00,2.55,28.50,0.536,4,0.000,0.047,3232,169,2058,0,0,0,0,0,0
$GC,2648,1.01,237.6,174.5,9.2,220,2670,0.00,2.28,16.62,0.512,6,0.000,0.019,3232,1638,1985,0,0,0,0,0,0
$GC,2937,1.04,261.8,146.6,8.9,247,2968,0.00,2.60,21.83,0.514,4,0.000,0.031,3232,3229,1884,0,0,0,0,0,0
$GC,3050,1.08,287.7,136.3,8.8,257,3078,0.00,2.50,22.52,0.510,6,0.000,0.027,3232,1677,1781,0,0,0,0,0,0
$GC,3332,1.10,307.2,109.5,9.1,284,3351,0.00,0.00,17.33,0.487,6,0.000,0.000,3232,1677,1702,0,0,0,0,0,0
$GC,3611,1.22,333.4,85.0,8.8,310,3649,0.10,2.60,23.85,0.484,4,0.076,0.031,3284,3225,1593,0,0,0,0,0,0
$GC,3736,1.22,333.4,71.3,11.7,320,3741,0.12,2.50,0.00,0.000,6,0.105,0.027,3256,1684,1589,0,0,0,0,0,0
$GC,4006,1.33,357.0,46.8,8.9,344,4034,0.10,2.53,20.58,0.453,4,0.077,0.029,3309,3226,1497,0,0,0,0,0,0
$GC,4062,1.38,399.4,41.1,8.0,348,4113,0.00,2.50,36.97,0.459,6,0.000,0.028,3309,1703,1324,0,0,0,0,0,0
$STATE,4369,end climb,SURFACE_DEPTH_REACHED
$STATE,4369,begin surface coast
$FINISH,0.4,1.019160
$STATE,4404,end surface coast,CONTROL_FINISHED_OK
$STATE,4405,begin surface
$SM_CCo,4486,0.00,0.000,0,0,1315,402.29
$SM_GC,1.23,11.48,0.00,0.00,0.017,0.000,0.000,410,1949,1315,-11.79,2.23,402.29
$IRIDIUM_FIX,2401.56,-15641.57,161200,121252
$TT8_MAMPS,0.026845
$HUMID,61.26
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.8,44.862
$10V_AH,10.3,51.106
$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,28.175,55.650,441.600,0.000,0.000,24.058,34.245,148.034,0.000,0.000,16.354,721.173,1569.200,392.820,1368.229,783.779,33.348,972.745,0.000,1700.665,0.000,0.539,0.000
$DEVICE_MAMPS,164.905,46.787,570.648,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,264.032,489.275,571.257,595.647,1111.017,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,32137,394
$CAP_FILE_SIZE,65344,0
$CFSIZE,260165632,109465600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220911,143120,2407.909,-15645.680,10,1.9,10,10.4