version: 66.06
glider: 148
mission: 10
dive: 5
start: 8 12 111 23 4 51
data:
$ID,148
$MISSION,10
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,380
$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,100
$T_MISSION,200
$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,-876713.06
$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,2900
$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,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3095
$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
$GPS1,225816,2142.368,-15808.921,12,1.4,13,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.6
$GPS2,230356,2142.358,-15808.968,14,1.3,14,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,FIRST
$TGT_LATLONG,2145.500,-15813.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.194,0.131
$KALMAN_X,2409.6,1022.0,227.3,-3030.3,423.3
$KALMAN_Y,592.4,512.3,133.1,895.8,-165.1
$MHEAD_RNG_PITCHd_Wd,294.1,9053,-19.8,-10.000
$D_GRID,300
$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,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-68.07,0.000,2,0.000,0.000,413,1847,3270,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-6.6,9,118,11.57,2.45,-5.28,0.000,4,0.157,0.038,2593,3373,3573,0,0,0,0,0,0
$GC,190,-0.92,-116.8,35.1,-24.6,22,205,0.50,2.50,0.00,0.000,6,0.109,0.022,2697,1775,3574,0,0,0,0,0,0
$GC,463,-0.83,-116.8,80.5,-16.1,47,469,0.10,2.58,0.00,0.000,4,0.137,0.040,2716,217,3574,0,0,0,0,0,0
$GC,480,-0.77,-116.8,84.4,-15.5,48,489,0.00,2.50,0.00,0.000,6,0.000,0.021,2716,1801,3574,0,0,0,0,0,0
$GC,745,-0.77,-116.8,115.3,-10.8,73,749,0.00,2.45,0.00,0.000,4,0.000,0.030,2716,3368,3575,0,0,0,0,0,0
$GC,815,-0.89,-116.8,122.6,-11.3,79,819,0.00,2.45,0.00,0.000,6,0.000,0.025,2716,1802,3576,0,0,0,0,0,0
$GC,1082,-0.97,-116.8,150.0,-10.5,103,1087,0.12,2.60,0.00,0.000,4,0.071,0.049,2667,215,3576,0,0,0,0,0,0
$GC,1109,-0.97,-116.8,153.9,-13.2,105,1113,0.00,2.47,0.00,0.000,6,0.000,0.021,2667,1812,3576,0,0,0,0,0,0
$GC,1371,-0.97,-116.8,185.7,-10.9,129,1375,0.00,2.45,0.00,0.000,4,0.000,0.031,2667,3363,3576,0,0,0,0,0,0
$GC,1397,-0.97,-116.8,188.9,-12.8,131,1401,0.00,2.45,0.00,0.000,6,0.000,0.023,2667,1804,3576,0,0,0,0,0,0
$GC,1651,-0.97,-116.8,220.5,-12.3,143,1656,0.00,2.60,0.00,0.000,4,0.000,0.043,2667,224,3576,0,0,0,0,0,0
$GC,1702,-0.97,-116.8,226.4,-10.7,144,1707,0.00,2.45,0.00,0.000,6,0.000,0.021,2667,1795,3576,0,0,0,0,0,0
$GC,1985,-0.97,-116.8,255.9,-10.0,151,1989,0.00,2.50,0.00,0.000,4,0.000,0.035,2667,3362,3576,0,0,0,0,0,0
$GC,2009,-0.97,-116.8,258.6,-11.8,151,2014,0.00,2.45,0.00,0.000,6,0.000,0.025,2667,1801,3576,0,0,0,0,0,0
$GC,2268,-0.97,-116.8,290.0,-12.3,158,2273,0.00,2.55,0.00,0.000,4,0.000,0.043,2667,3369,3576,0,0,0,0,0,0
$GC,2295,-0.97,-116.8,293.7,-12.8,158,2300,0.00,2.50,0.00,0.000,6,0.000,0.027,2667,1800,3576,0,0,0,0,0,0
$STATE,2385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2385,begin apogee
$GC,2392,-0.31,0.0,304.4,11.7,161,2487,0.75,0.00,91.75,0.678,6,0.088,0.000,2832,1664,3095,0,0,0,0,0,0
$STATE,2488,end apogee,CONTROL_FINISHED_OK
$STATE,2488,begin climb
$GC,2490,1.38,116.8,308.2,0.0,163,2589,1.60,0.00,93.68,0.670,6,0.056,0.000,3201,1664,2618,0,0,0,0,0,0
$GC,2833,1.48,198.0,297.9,5.3,172,2903,0.00,0.00,67.68,0.663,6,0.000,0.000,3201,1664,2287,0,0,0,0,0,0
$GC,3116,1.50,218.1,275.7,8.8,179,3136,0.10,0.00,17.55,0.619,6,0.084,0.000,3237,1664,2205,0,0,0,0,0,0
$GC,3360,1.50,218.1,248.3,10.7,185,3364,0.00,2.65,0.00,0.000,4,0.000,0.042,3236,3247,2200,0,0,0,0,0,0
$GC,3380,1.44,218.1,246.2,10.0,185,3386,0.10,2.55,0.00,0.000,6,0.133,0.033,3216,1694,2199,0,0,0,0,0,0
$GC,3645,1.46,234.3,222.1,9.1,192,3661,0.00,0.00,14.40,0.599,6,0.000,0.000,3216,1695,2138,0,0,0,0,0,0
$GC,3910,1.46,234.3,193.7,10.8,200,3915,0.00,2.58,0.00,0.000,4,0.000,0.059,3216,168,2136,0,0,0,0,0,0
$GC,3931,1.46,234.3,191.5,11.4,201,3941,0.00,2.40,0.00,0.000,6,0.000,0.023,3216,1670,2135,0,0,0,0,0,0
$GC,4198,1.48,247.9,168.8,9.2,226,4217,0.00,2.60,12.00,0.558,4,0.000,0.036,3216,3250,2083,0,0,0,0,0,0
$GC,4307,1.55,247.9,157.2,11.2,236,4313,0.00,2.53,0.00,0.000,6,0.000,0.029,3216,1693,2081,0,0,0,0,0,0
$GC,4574,1.55,247.9,129.0,10.5,261,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1693,2080,0,0,0,0,0,0
$GC,4836,1.65,278.3,105.3,8.2,286,4873,0.17,2.58,26.02,0.550,4,0.057,0.048,3277,183,1960,0,0,0,0,0,0
$GC,4887,1.52,278.3,99.4,12.7,290,4898,0.17,2.42,0.00,0.000,6,0.094,0.022,3237,1694,1960,0,0,0,0,0,0
$GC,5155,1.57,315.8,72.5,7.8,315,5196,0.00,2.60,32.75,0.525,4,0.000,0.035,3236,3257,1805,0,0,0,0,0,0
$GC,5288,1.69,323.6,60.6,9.6,326,5303,0.12,2.50,7.03,0.433,6,0.067,0.028,3286,1708,1775,0,0,0,0,0,0
$GC,5562,1.69,323.6,27.7,12.4,352,5572,0.00,2.53,0.00,0.000,4,0.000,0.033,3285,3254,1772,0,0,0,0,0,0
$GC,5583,1.69,323.6,25.0,12.4,354,5593,0.00,2.47,0.00,0.000,6,0.000,0.028,3286,1727,1772,0,0,0,0,0,0
$STATE,5754,end climb,SURFACE_DEPTH_REACHED
$STATE,5756,begin surface coast
$FINISH,0.3,1.013101
$STATE,5799,end surface coast,CONTROL_FINISHED_OK
$STATE,5799,begin surface
$SM_CCo,5820,48.35,0.464,0,0,1462,400.08
$SM_GC,1.37,0.00,0.00,48.35,0.000,0.000,0.464,411,1887,1462,-11.45,2.74,400.08
$IRIDIUM_FIX,2136.49,-15810.62,051100,212153
$TT8_MAMPS,0.027612
$HUMID,61.93
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,22.30
$XPDR_PINGS,4
$24V_AH,23.7,0.883
$10V_AH,10.4,1.421
$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,27.050,70.625,362.850,48.350,0.000,31.086,36.305,144.593,1.000,0.000,15.600,743.418,3002.114,459.936,1278.291,732.777,33.346,984.056,0.000,1564.003,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,79.768,678.028,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.872,375.068,458.478,516.862,982.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356100
$DATA_FILE_SIZE,32084,386
$CAP_FILE_SIZE,69274,0
$CFSIZE,260165632,130899968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130811,004401,2142.605,-15809.916,38,1.4,39,9.9