version: 66.06
glider: 148
mission: 10
dive: 82
start: 8 27 111 9 47 20
data:
$ID,148
$MISSION,10
$DIVE,82
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,400
$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,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,110
$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,-878653.94
$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,2950
$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,1850
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,54
$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
$GPS1,094038,2331.719,-15817.172,10,1.8,10,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.3
$GPS2,094625,2331.724,-15817.219,12,1.3,12,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.080,0.211
$KALMAN_X,-78562.9,-46.9,71.9,64974.8,-197.0
$KALMAN_Y,-55338.8,276.9,290.7,259447.8,-134.2
$MHEAD_RNG_PITCHd_Wd,329.1,37117,-20.9,-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,-1.44,-107.1,0.0,0.0,0,89,0.00,0.00,-67.38,0.000,2,0.000,0.000,414,1909,3229,0,0,0,0,0,0
$GC,92,-1.44,-107.1,3.0,-3.8,9,116,12.15,2.40,-5.62,0.000,4,0.172,0.038,2627,3421,3533,0,0,0,0,0,0
$GC,166,-1.11,-107.1,24.8,-23.8,19,177,0.32,2.53,0.00,0.000,6,0.087,0.022,2702,1845,3534,0,0,0,0,0,0
$GC,443,-1.11,-107.1,71.5,-14.5,45,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1845,3535,0,0,0,0,0,0
$GC,705,-1.11,-107.1,106.9,-12.9,70,709,0.00,2.53,0.00,0.000,4,0.000,0.038,2702,273,3535,0,0,0,0,0,0
$GC,747,-1.11,-107.1,112.2,-14.1,73,751,0.00,2.42,0.00,0.000,6,0.000,0.018,2703,1862,3536,0,0,0,0,0,0
$GC,1015,-1.18,-107.1,143.2,-11.7,97,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1865,3536,0,0,0,0,0,0
$GC,1276,-1.28,-107.1,174.9,-10.8,122,1281,0.12,2.60,0.00,0.000,4,0.066,0.038,2647,272,3536,0,0,0,0,0,0
$GC,1321,-1.28,-107.1,180.6,-13.3,126,1326,0.12,2.42,0.00,0.000,6,0.112,0.018,2673,1842,3536,0,0,0,0,0,0
$STATE,1484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1484,begin apogee
$GC,1490,-0.31,0.0,200.9,11.5,141,1577,0.93,0.00,83.60,0.575,6,0.077,0.000,2882,1596,3095,0,0,0,0,0,0
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1580,1.44,107.1,203.9,0.0,143,1672,1.60,2.40,83.50,0.572,4,0.040,0.052,3269,205,2657,0,0,0,0,0,0
$GC,1699,1.33,271.0,206.0,-0.3,146,1841,0.12,2.22,132.00,0.574,6,0.124,0.018,3243,1652,1988,0,0,0,0,0,0
$GC,2096,1.33,271.0,162.9,13.3,175,2101,0.00,2.47,0.00,0.000,4,0.000,0.035,3243,3178,1982,0,0,0,0,0,0
$GC,2137,1.33,271.0,158.1,12.0,178,2141,0.00,2.42,0.00,0.000,6,0.000,0.028,3243,1668,1981,0,0,0,0,0,0
$GC,2399,1.33,271.0,125.5,11.6,202,2403,0.00,2.45,0.00,0.000,4,0.000,0.050,3243,176,1980,0,0,0,0,0,0
$GC,2526,1.33,271.0,108.0,13.2,213,2532,0.00,2.22,0.00,0.000,6,0.000,0.020,3243,1614,1979,0,0,0,0,0,0
$GC,2789,1.41,271.0,80.0,11.1,238,2793,0.00,2.55,0.00,0.000,4,0.000,0.032,3243,3199,1978,0,0,0,0,0,0
$GC,2820,1.49,271.0,76.9,10.5,240,2826,0.12,2.53,0.00,0.000,6,0.066,0.028,3297,1616,1977,0,0,0,0,0,0
$GC,3087,1.49,271.0,47.6,10.4,264,3091,0.00,2.35,0.00,0.000,4,0.000,0.044,3297,176,1977,0,0,0,0,0,0
$GC,3132,1.40,271.0,42.2,12.3,267,3137,0.20,2.25,0.00,0.000,6,0.103,0.018,3254,1638,1977,0,0,0,0,0,0
$GC,3425,1.50,293.6,15.8,8.7,304,3454,0.10,2.55,18.67,0.439,4,0.079,0.031,3301,3196,1896,0,0,0,0,0,0
$GC,3480,1.50,293.6,10.4,10.4,310,3490,0.10,2.55,0.00,0.000,6,0.083,0.027,3275,1627,1894,0,0,0,0,0,0
$STATE,3528,end climb,SURFACE_DEPTH_REACHED
$STATE,3528,begin surface coast
$FINISH,0.6,1.023331
$STATE,3564,end surface coast,CONTROL_FINISHED_OK
$STATE,3564,begin surface
$SM_CCo,3585,62.10,0.444,0,0,1462,400.08
$SM_GC,1.49,0.00,0.00,62.10,0.000,0.000,0.444,411,1893,1462,-11.68,1.22,400.08
$IRIDIUM_FIX,2319.18,-15926.09,201100,080804
$TT8_MAMPS,0.026845
$HUMID,56.77
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,23.9,11.323
$10V_AH,10.5,10.631
$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,27.375,44.550,317.775,62.100,0.000,30.782,33.716,153.977,0.750,0.000,13.996,607.076,1210.559,380.309,1111.783,693.000,33.340,824.330,0.000,1391.350,0.000,0.539,0.000
$DEVICE_MAMPS,171.808,52.156,575.250,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,216.096,399.690,466.931,505.013,948.282,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,25747,321
$CAP_FILE_SIZE,53006,0
$CFSIZE,260165632,125816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270811,104859,2332.086,-15817.751,8,1.6,11,10.2