version: 66.06
glider: 148
mission: 10
dive: 505
start: 9 23 111 7 9 1
data:
$ID,148
$MISSION,10
$DIVE,505
$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,120
$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,-887800.25
$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,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$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
$GPS1,065907,2400.596,-15648.352,5,1.1,11,10.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.0
$GPS2,070807,2400.588,-15648.340,12,2.0,12,10.3
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.146,-0.185
$KALMAN_X,-9832.6,22.7,-189.9,149375.3,231.4
$KALMAN_Y,-125270.1,-347.5,-17.4,383766.8,185.2
$MHEAD_RNG_PITCHd_Wd,208.1,132796,-19.9,-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,20,-1.39,-116.8,0.0,0.0,0,96,0.00,0.00,-73.90,0.000,2,0.000,0.000,412,1963,3294,0,0,0,0,0,0
$GC,99,-1.39,-116.8,3.6,-6.1,10,124,11.75,2.78,-2.53,0.000,4,0.150,0.048,2679,287,3434,0,0,0,0,0,0
$GC,198,-1.31,-116.8,24.8,-13.3,24,209,0.08,2.50,0.00,0.000,6,0.093,0.018,2700,1890,3435,0,0,0,0,0,0
$GC,478,-1.16,-116.8,62.8,-12.9,51,483,0.15,2.45,0.00,0.000,4,0.110,0.025,2734,3446,3435,0,0,0,0,0,0
$GC,502,-1.16,-116.8,67.0,-12.2,52,510,0.00,2.53,0.00,0.000,6,0.000,0.022,2734,1862,3435,0,0,0,0,0,0
$GC,770,-1.16,-116.8,89.8,-7.9,77,775,0.00,2.53,0.00,0.000,4,0.000,0.038,2734,287,3435,0,0,0,0,0,0
$GC,864,-1.26,-116.8,97.5,-7.9,85,869,0.00,2.42,0.00,0.000,6,0.000,0.017,2734,1886,3436,0,0,0,0,0,0
$GC,1133,-1.35,-116.8,116.9,-8.1,109,1139,0.15,2.60,0.00,0.000,4,0.053,0.038,2645,285,3436,0,0,0,0,0,0
$GC,1157,-1.29,-116.8,119.6,-9.5,110,1165,0.25,2.38,0.00,0.000,6,0.074,0.017,2707,1824,3436,0,0,0,0,0,0
$GC,1423,-1.29,-116.8,143.8,-8.3,135,1427,0.00,2.53,0.00,0.000,4,0.000,0.025,2707,3432,3436,0,0,0,0,0,0
$GC,1463,-1.41,-116.8,147.0,-7.8,138,1468,0.10,2.50,0.00,0.000,6,0.073,0.021,2627,1829,3436,0,0,0,0,0,0
$GC,1723,-1.19,-116.8,176.2,-11.9,162,1737,0.50,2.45,0.00,0.000,4,0.084,0.037,2725,297,3436,0,0,0,0,0,0
$GC,1815,-1.34,-116.8,183.5,-7.6,170,1822,0.12,2.30,0.00,0.000,6,0.061,0.017,2648,1823,3436,0,0,0,0,0,0
$STATE,1994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1994,begin apogee
$GC,2001,-0.31,0.0,200.2,9.3,187,2096,1.20,0.00,91.15,0.568,6,0.077,0.000,2920,1594,2955,0,0,0,0,0,0
$STATE,2097,end apogee,CONTROL_FINISHED_OK
$STATE,2097,begin climb
$GC,2099,1.39,116.8,203.5,0.0,189,2197,1.50,0.00,92.28,0.565,6,0.028,0.000,3317,1594,2477,0,0,0,0,0,0
$GC,2462,1.15,166.4,188.6,7.2,208,2509,0.32,2.35,40.20,0.547,4,0.140,0.048,3244,205,2275,0,0,0,0,0,0
$GC,2769,1.05,193.1,160.6,8.6,238,2800,0.12,2.10,22.77,0.523,6,0.120,0.018,3217,1574,2165,0,0,0,0,0,0
$GC,3055,1.10,232.9,137.7,7.8,265,3101,0.00,2.35,33.58,0.522,4,0.000,0.045,3217,208,2004,0,0,0,0,0,0
$GC,3128,1.11,239.5,131.0,9.7,271,3146,0.00,2.15,7.10,0.432,6,0.000,0.020,3218,1600,1977,0,0,0,0,0,0
$GC,3402,1.29,290.0,109.7,7.2,297,3457,0.20,2.60,43.45,0.512,4,0.046,0.032,3294,3184,1768,0,0,0,0,0,0
$GC,3517,1.29,290.0,98.3,11.1,307,3522,0.12,2.55,0.00,0.000,6,0.110,0.028,3267,1617,1764,0,0,0,0,0,0
$GC,3785,1.41,338.0,75.6,7.3,331,3840,0.12,2.45,41.00,0.486,4,0.066,0.044,3323,183,1576,0,0,0,0,0,0
$GC,3858,1.33,338.0,68.1,12.1,336,3863,0.20,2.17,0.00,0.000,6,0.096,0.019,3280,1585,1576,0,0,0,0,0,0
$GC,4126,1.44,350.4,42.0,9.4,360,4144,0.10,2.65,11.23,0.423,4,0.077,0.031,3328,3192,1525,0,0,0,0,0,0
$GC,4220,1.44,350.4,31.3,12.0,368,4225,0.12,2.58,0.00,0.000,6,0.107,0.028,3300,1605,1521,0,0,0,0,0,0
$STATE,4459,end climb,SURFACE_DEPTH_REACHED
$STATE,4459,begin surface coast
$FINISH,0.3,0.998504
$STATE,4501,end surface coast,CONTROL_FINISHED_OK
$STATE,4501,begin surface
$SM_CCo,4524,32.95,0.430,0,0,1324,400.08
$SM_GC,1.46,0.00,0.00,32.95,0.000,0.000,0.430,410,1944,1324,-11.87,2.09,400.08
$IRIDIUM_FIX,2352.12,-15650.87,171200,050538
$TT8_MAMPS,0.026845
$HUMID,61.57
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.8,45.878
$10V_AH,10.2,52.444
$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,28.650,54.625,382.750,32.950,0.000,30.149,35.303,329.015,0.500,0.000,13.959,751.990,1531.452,388.072,1435.162,992.978,33.353,969.578,0.000,1768.714,0.000,0.540,0.000
$DEVICE_MAMPS,149.565,48.321,567.580,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,283.455,495.767,588.451,629.048,1175.178,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356112
$DATA_FILE_SIZE,32064,411
$CAP_FILE_SIZE,68713,0
$CFSIZE,260165632,108933120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230911,082607,2400.027,-15648.439,28,1.3,29,10.3