version: 66.06
glider: 148
mission: 10
dive: 510
start: 9 23 111 14 3 42
data:
$ID,148
$MISSION,10
$DIVE,510
$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,-887896.69
$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,58
$R_STBD_OVSHOOT,49
$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
$GPS1,135305,2357.420,-15649.186,11,1.5,15,10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.5
$GPS2,140249,2357.350,-15649.241,13,2.0,30,10.3
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.198,-0.128
$KALMAN_X,-8059.1,156.9,349.8,145384.6,88.7
$KALMAN_Y,-128857.8,-247.5,-400.4,381645.7,-542.7
$MHEAD_RNG_PITCHd_Wd,226.7,126921,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.39,-116.8,0.0,0.0,0,95,0.00,0.00,-74.85,0.000,2,0.000,0.000,408,1955,3314,0,0,0,0,0,0
$GC,98,-1.39,-116.8,3.7,-6.1,10,123,11.75,2.72,-2.12,0.000,4,0.150,0.046,2678,305,3434,0,0,0,0,0,0
$GC,192,-1.28,-116.8,24.4,-14.6,23,203,0.10,2.45,0.00,0.000,6,0.088,0.018,2705,1873,3434,0,0,0,0,0,0
$GC,471,-1.17,-116.8,63.7,-13.7,50,476,0.15,2.55,0.00,0.000,4,0.110,0.038,2737,313,3434,0,0,0,0,0,0
$GC,506,-1.17,-116.8,68.4,-11.9,52,510,0.00,2.38,0.00,0.000,6,0.000,0.017,2737,1861,3434,0,0,0,0,0,0
$GC,769,-1.23,-116.8,92.1,-8.3,76,774,0.00,2.47,0.00,0.000,4,0.000,0.025,2737,3439,3435,0,0,0,0,0,0
$GC,819,-1.38,-116.8,96.0,-7.2,80,824,0.20,2.42,0.00,0.000,6,0.042,0.020,2636,1879,3435,0,0,0,0,0,0
$GC,1082,-1.18,-116.8,125.7,-11.5,104,1095,0.43,2.55,0.00,0.000,4,0.084,0.037,2728,293,3435,0,0,0,0,0,0
$GC,1170,-1.32,-116.8,133.3,-8.1,112,1175,0.10,2.35,0.00,0.000,6,0.075,0.016,2664,1843,3435,0,0,0,0,0,0
$GC,1436,-1.24,-116.8,161.0,-10.9,136,1441,0.25,2.50,0.00,0.000,4,0.086,0.037,2725,297,3435,0,0,0,0,0,0
$GC,1465,-1.30,-116.8,164.1,-9.4,138,1469,0.00,2.33,0.00,0.000,6,0.000,0.017,2725,1825,3435,0,0,0,0,0,0
$GC,1728,-1.41,-116.8,185.3,-7.9,162,1733,0.17,2.50,0.00,0.000,4,0.048,0.039,2643,288,3435,0,0,0,0,0,0
$GC,1809,-1.41,-116.8,194.0,-11.7,169,1813,0.17,2.30,0.00,0.000,6,0.094,0.018,2682,1798,3435,0,0,0,0,0,0
$STATE,1865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1865,begin apogee
$GC,1871,-0.31,0.0,200.0,8.7,174,1966,1.05,0.00,90.78,0.571,6,0.074,0.000,2922,1600,2955,0,0,0,0,0,0
$STATE,1967,end apogee,CONTROL_FINISHED_OK
$STATE,1967,begin climb
$GC,1970,1.39,116.8,203.4,0.0,176,2073,1.48,2.35,91.72,0.568,4,0.029,0.048,3317,204,2476,0,0,0,0,0,0
$GC,2353,1.06,159.7,185.0,7.6,197,2394,0.45,2.17,34.95,0.545,6,0.096,0.019,3219,1603,2302,0,0,0,0,0,0
$GC,2648,1.16,247.0,166.4,5.0,225,2728,0.10,2.42,71.78,0.548,4,0.078,0.047,3269,202,1947,0,0,0,0,0,0
$GC,2865,1.10,247.0,145.3,11.9,245,2872,0.17,2.25,0.00,0.000,6,0.098,0.019,3230,1634,1945,0,0,0,0,0,0
$GC,3128,1.16,247.0,120.3,10.2,270,3132,0.00,2.50,0.00,0.000,4,0.000,0.032,3230,3191,1941,0,0,0,0,0,0
$GC,3190,1.30,247.0,114.7,10.1,275,3195,0.17,2.47,0.00,0.000,6,0.050,0.028,3299,1662,1938,0,0,0,0,0,0
$GC,3455,1.34,280.4,89.8,8.2,299,3489,0.00,2.50,28.25,0.492,4,0.000,0.029,3299,3195,1810,0,0,0,0,0,0
$GC,3590,1.36,293.6,78.0,9.3,311,3607,0.00,2.50,11.82,0.449,6,0.000,0.036,3300,1656,1757,0,0,0,0,0,0
$GC,3875,1.38,308.6,52.2,9.2,337,3896,0.00,0.00,14.10,0.445,6,0.000,0.000,3299,1655,1694,0,0,0,0,0,0
$GC,4162,1.38,311.6,24.1,9.9,367,4172,0.00,2.53,0.00,0.000,4,0.000,0.031,3299,3196,1692,0,0,0,0,0,0
$GC,4223,1.44,358.4,19.4,7.4,375,4280,0.00,2.53,42.95,0.446,6,0.000,0.029,3300,1657,1491,0,0,0,0,0,0
$STATE,4363,end climb,SURFACE_DEPTH_REACHED
$STATE,4366,begin surface coast
$FINISH,0.4,1.009754
$STATE,4409,end surface coast,CONTROL_FINISHED_OK
$STATE,4409,begin surface
$SM_CCo,4430,33.80,0.430,0,0,1323,400.08
$SM_GC,1.51,0.00,0.00,33.80,0.000,0.000,0.430,411,1958,1323,-11.86,2.49,400.08
$IRIDIUM_FIX,2349.77,-15920.28,171200,141420
$TT8_MAMPS,0.026845
$HUMID,60.94
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.8,46.265
$10V_AH,10.1,52.953
$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,28.325,54.350,386.350,33.800,0.000,56.212,85.146,217.592,0.250,0.000,32.450,737.274,1567.232,361.440,1431.971,952.583,33.354,966.788,0.000,1761.576,0.000,0.539,0.000
$DEVICE_MAMPS,150.332,48.321,570.648,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.175,512.935,595.168,610.092,1151.824,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,32055,400
$CAP_FILE_SIZE,69623,0
$CFSIZE,260165632,108728320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230911,151916,2356.841,-15649.537,8,99.0,28,10.3