version: 66.06
glider: 148
mission: 10
dive: 102
start: 8 28 111 10 51 21
data:
$ID,148
$MISSION,10
$DIVE,102
$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,-879027.31
$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,36
$R_STBD_OVSHOOT,87
$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
$GPS1,104449,2340.944,-15825.093,12,1.8,29,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.9
$GPS2,105026,2340.945,-15825.110,11,1.9,11,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,0.221
$KALMAN_X,-86323.0,-31.7,278.0,58932.0,-180.4
$KALMAN_Y,-54060.7,208.1,95.4,275510.8,-306.4
$MHEAD_RNG_PITCHd_Wd,337.8,15471,-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,-67.43,0.000,2,0.000,0.000,411,1888,3235,0,0,0,0,0,0
$GC,92,-1.44,-107.1,3.2,-5.1,9,117,11.68,2.40,-5.47,0.000,4,0.155,0.035,2626,3388,3532,0,0,0,0,0,0
$GC,204,-1.21,-107.1,32.5,-20.6,24,209,0.28,2.42,0.00,0.000,6,0.098,0.022,2685,1846,3533,0,0,0,0,0,0
$GC,473,-1.14,-107.1,80.2,-15.2,48,477,0.00,2.53,0.00,0.000,4,0.000,0.035,2685,266,3534,0,0,0,0,0,0
$GC,495,-1.14,-107.1,84.1,-15.1,49,500,0.00,2.38,0.00,0.000,6,0.000,0.018,2685,1826,3534,0,0,0,0,0,0
$GC,762,-1.14,-107.1,119.8,-13.2,73,767,0.00,2.50,0.00,0.000,4,0.000,0.035,2685,273,3535,0,0,0,0,0,0
$GC,783,-1.14,-107.1,123.3,-13.2,74,791,0.00,2.42,0.00,0.000,6,0.000,0.018,2685,1840,3535,0,0,0,0,0,0
$GC,1044,-1.14,-107.1,156.5,-12.4,99,1048,0.00,2.45,0.00,0.000,4,0.000,0.028,2685,3414,3535,0,0,0,0,0,0
$GC,1078,-1.23,-107.1,160.4,-11.4,102,1083,0.00,2.47,0.00,0.000,6,0.000,0.021,2685,1833,3535,0,0,0,0,0,0
$GC,1342,-1.30,-107.1,190.9,-11.5,126,1346,0.00,2.50,0.00,0.000,4,0.000,0.038,2685,278,3536,0,0,0,0,0,0
$GC,1371,-1.30,-107.1,194.8,-11.6,128,1377,0.00,2.40,0.00,0.000,6,0.000,0.018,2685,1854,3535,0,0,0,0,0,0
$STATE,1422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1422,begin apogee
$GC,1430,-0.31,0.0,200.1,11.6,133,1517,0.85,0.00,83.10,0.576,6,0.077,0.000,2879,1604,3095,0,0,0,0,0,0
$STATE,1517,end apogee,CONTROL_FINISHED_OK
$STATE,1518,begin climb
$GC,1520,1.44,107.1,204.0,0.0,135,1612,1.58,2.35,82.85,0.574,4,0.042,0.047,3265,201,2657,0,0,0,0,0,0
$GC,1724,1.28,201.1,203.0,4.1,139,1807,0.17,2.22,75.00,0.571,6,0.114,0.018,3230,1639,2274,0,0,0,0,0,0
$GC,2074,1.29,211.8,172.0,9.4,165,2086,0.00,0.00,9.50,0.487,6,0.000,0.000,3230,1639,2231,0,0,0,0,0,0
$GC,2338,1.32,232.7,147.8,8.8,190,2362,0.00,2.42,18.65,0.522,4,0.000,0.044,3230,201,2145,0,0,0,0,0,0
$GC,2387,1.32,232.7,142.7,10.9,194,2398,0.00,2.25,0.00,0.000,6,0.000,0.028,3229,1616,2143,0,0,0,0,0,0
$GC,2655,1.39,245.7,117.7,9.3,219,2678,0.10,2.62,11.77,0.484,4,0.079,0.037,3278,3196,2092,0,0,0,0,0,0
$GC,2736,1.39,245.7,108.2,11.1,226,2747,0.10,2.47,0.00,0.000,6,0.084,0.028,3252,1679,2089,0,0,0,0,0,0
$GC,3003,1.39,245.7,81.6,10.2,251,3008,0.00,2.45,0.00,0.000,4,0.000,0.048,3252,174,2088,0,0,0,0,0,0
$GC,3097,1.39,245.7,71.5,11.4,259,3102,0.00,2.28,0.00,0.000,6,0.000,0.020,3252,1640,2088,0,0,0,0,0,0
$GC,3367,1.55,302.4,51.4,6.5,283,3422,0.15,2.47,47.80,0.486,4,0.058,0.043,3315,167,1862,0,0,0,0,0,0
$GC,3462,1.42,302.4,41.1,14.2,290,3467,0.25,2.30,0.00,0.000,6,0.097,0.019,3261,1641,1861,0,0,0,0,0,0
$GC,3759,1.43,304.9,7.6,9.9,330,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1641,1857,0,0,0,0,0,0
$STATE,3785,end climb,SURFACE_DEPTH_REACHED
$STATE,3785,begin surface coast
$FINISH,0.6,1.023337
$STATE,3827,end surface coast,CONTROL_FINISHED_OK
$STATE,3827,begin surface
$SM_CCo,3848,56.50,0.443,0,0,1464,400.08
$SM_GC,1.32,0.00,0.00,56.50,0.000,0.000,0.443,412,1875,1464,-11.67,0.71,400.08
$IRIDIUM_FIX,2333.28,-15823.28,211100,090914
$TT8_MAMPS,0.026845
$HUMID,58.50
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,23.9,12.802
$10V_AH,10.4,12.454
$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,26.550,48.975,328.675,56.500,0.000,27.709,33.783,147.080,0.500,0.000,13.389,640.638,1311.904,352.699,1220.423,724.506,33.356,859.107,0.000,1501.531,0.000,0.540,0.000
$DEVICE_MAMPS,154.934,47.554,576.017,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,227.997,412.430,487.439,529.027,988.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,25802,339
$CAP_FILE_SIZE,57839,0
$CFSIZE,260165632,125071360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,115740,2341.289,-15825.418,29,1.5,33,10.2