version: 66.06
glider: 148
mission: 10
dive: 511
start: 9 23 111 15 26 29
data:
$ID,148
$MISSION,10
$DIVE,511
$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,-887927.62
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,151916,2356.841,-15649.537,8,99.0,28,10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.8
$GPS2,152536,2356.807,-15649.572,12,1.9,28,10.3
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.150,-0.182
$KALMAN_X,-7789.4,199.6,238.7,144611.9,-60.4
$KALMAN_Y,-129211.3,-270.1,-529.7,381140.8,-269.0
$MHEAD_RNG_PITCHd_Wd,209.2,125772,-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,19,-1.39,-116.8,0.0,0.0,0,96,0.00,0.00,-74.43,0.000,2,0.000,0.000,411,1959,3302,0,0,0,0,0,0
$GC,99,-1.39,-116.8,3.7,-6.4,10,124,12.27,2.78,-2.35,0.000,4,0.168,0.045,2679,283,3434,0,0,0,0,0,0
$GC,213,-1.25,-116.8,28.0,-14.4,26,224,0.12,2.50,0.00,0.000,6,0.091,0.018,2711,1881,3435,0,0,0,0,0,0
$GC,484,-1.13,-116.8,65.2,-13.0,51,489,0.15,2.62,0.00,0.000,4,0.109,0.038,2744,287,3435,0,0,0,0,0,0
$GC,530,-1.21,-116.8,71.6,-12.1,54,535,0.00,2.40,0.00,0.000,6,0.000,0.017,2744,1856,3435,0,0,0,0,0,0
$GC,793,-1.21,-116.8,95.2,-7.6,78,797,0.00,2.45,0.00,0.000,4,0.000,0.025,2744,3429,3435,0,0,0,0,0,0
$GC,844,-1.38,-116.8,99.0,-7.3,82,850,0.22,2.47,0.00,0.000,6,0.037,0.021,2640,1838,3435,0,0,0,0,0,0
$GC,1107,-1.17,-116.8,129.5,-12.2,106,1113,0.40,2.47,0.00,0.000,4,0.086,0.038,2730,296,3436,0,0,0,0,0,0
$GC,1149,-1.28,-116.8,133.4,-10.1,109,1153,0.00,2.33,0.00,0.000,6,0.000,0.017,2730,1828,3437,0,0,0,0,0,0
$GC,1417,-1.37,-116.8,154.3,-7.5,133,1422,0.17,2.53,0.00,0.000,4,0.049,0.025,2649,3430,3437,0,0,0,0,0,0
$GC,1459,-1.37,-116.8,159.2,-10.8,136,1465,0.20,2.58,0.00,0.000,6,0.090,0.021,2694,1796,3436,0,0,0,0,0,0
$GC,1722,-1.37,-116.8,183.5,-9.0,161,1726,0.00,2.40,0.00,0.000,4,0.000,0.039,2694,297,3436,0,0,0,0,0,0
$GC,1758,-1.37,-116.8,186.9,-9.8,164,1762,0.00,2.22,0.00,0.000,6,0.000,0.017,2694,1765,3436,0,0,0,0,0,0
$STATE,1915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1915,begin apogee
$GC,1921,-0.31,0.0,200.4,8.1,178,2016,1.00,0.00,90.93,0.569,6,0.073,0.000,2924,1593,2955,0,0,0,0,0,0
$STATE,2016,end apogee,CONTROL_FINISHED_OK
$STATE,2017,begin climb
$GC,2019,1.39,116.8,203.3,0.0,180,2123,1.48,2.62,91.78,0.565,4,0.027,0.034,3318,3164,2476,0,0,0,0,0,0
$GC,2403,1.21,185.1,188.5,6.2,201,2465,0.30,2.42,54.95,0.551,6,0.105,0.027,3255,1650,2199,0,0,0,0,0,0
$GC,2733,1.25,216.3,163.3,8.3,232,2764,0.00,2.50,26.55,0.528,4,0.000,0.030,3255,3171,2071,0,0,0,0,0,0
$GC,2794,1.26,228.7,157.8,9.4,238,2812,0.00,2.53,11.52,0.486,6,0.000,0.027,3256,1615,2022,0,0,0,0,0,0
$GC,3067,1.27,230.9,130.1,10.0,264,3071,0.00,2.53,0.00,0.000,4,0.000,0.031,3256,3172,2018,0,0,0,0,0,0
$GC,3205,1.31,265.0,117.2,8.1,276,3242,0.00,2.47,31.73,0.509,6,0.000,0.027,3255,1632,1874,0,0,0,0,0,0
$GC,3498,1.32,278.2,91.0,9.3,303,3521,0.10,2.55,12.10,0.461,4,0.079,0.031,3304,3168,1818,0,0,0,0,0,0
$GC,3626,1.33,281.4,76.9,9.9,314,3631,0.12,2.47,0.00,0.000,6,0.109,0.028,3277,1637,1814,0,0,0,0,0,0
$GC,3895,1.44,320.9,53.5,7.8,338,3939,0.10,2.50,36.78,0.469,4,0.078,0.028,3331,3167,1645,0,0,0,0,0,0
$GC,3967,1.48,349.3,47.6,8.5,343,3998,0.00,2.47,25.23,0.453,6,0.000,0.029,3331,1647,1530,0,0,0,0,0,0
$GC,4292,1.48,349.3,4.1,13.4,385,4303,0.00,2.50,0.00,0.000,4,0.000,0.033,3331,3167,1524,0,0,0,0,0,0
$STATE,4311,end climb,SURFACE_DEPTH_REACHED
$STATE,4311,begin surface coast
$FINISH,0.4,1.018163
$STATE,4367,end surface coast,CONTROL_FINISHED_OK
$STATE,4367,begin surface
$SM_CCo,4390,34.62,0.427,0,0,1323,400.08
$SM_GC,1.52,0.00,0.00,34.62,0.000,0.000,0.427,407,1849,1323,-11.88,-0.59,400.08
$IRIDIUM_FIX,2347.41,-15646.54,171200,141453
$TT8_MAMPS,0.026845
$HUMID,61.10
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.8,46.339
$10V_AH,10.3,53.054
$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,28.225,59.675,381.550,34.625,0.000,23.475,43.596,155.041,0.000,0.000,30.309,728.433,1494.670,367.138,1412.291,804.284,33.353,948.403,0.000,1738.216,0.000,0.540,0.000
$DEVICE_MAMPS,167.973,49.088,569.114,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,265.093,485.927,573.902,598.628,1115.398,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,32171,395
$CAP_FILE_SIZE,65302,0
$CFSIZE,260165632,108691456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230911,164107,2356.308,-15649.850,11,1.7,12,10.3