version: 66.06
glider: 148
mission: 10
dive: 103
start: 8 28 111 12 4 20
data:
$ID,148
$MISSION,10
$DIVE,103
$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,-879044
$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,30
$R_STBD_OVSHOOT,67
$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
$GPS1,115740,2341.289,-15825.418,29,1.5,33,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.1
$GPS2,120325,2341.280,-15825.440,9,1.1,14,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.013,0.226
$KALMAN_X,-86723.8,2.5,271.2,58734.8,-365.9
$KALMAN_Y,-54068.6,148.6,-96.5,276388.7,-232.9
$MHEAD_RNG_PITCHd_Wd,346.6,14649,-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,-107.0,0.0,0.0,0,89,0.00,0.00,-67.57,0.000,2,0.000,0.000,412,1876,3257,0,0,0,0,0,0
$GC,92,-1.44,-107.1,3.4,-5.7,9,117,11.73,2.45,-4.95,0.000,4,0.156,0.035,2628,3406,3532,0,0,0,0,0,0
$GC,203,-1.22,-107.1,34.4,-20.7,24,208,0.25,2.47,0.00,0.000,6,0.101,0.021,2681,1839,3533,0,0,0,0,0,0
$GC,472,-1.15,-107.1,80.9,-14.1,48,476,0.00,2.53,0.00,0.000,4,0.000,0.039,2681,268,3533,0,0,0,0,0,0
$GC,495,-1.08,-107.1,84.5,-14.5,49,500,0.15,2.40,0.00,0.000,6,0.115,0.018,2713,1847,3534,0,0,0,0,0,0
$GC,763,-1.17,-107.1,114.6,-11.1,73,767,0.00,2.53,0.00,0.000,4,0.000,0.036,2713,272,3534,0,0,0,0,0,0
$GC,780,-1.24,-107.1,117.2,-11.7,74,786,0.10,2.45,0.00,0.000,6,0.032,0.018,2654,1852,3534,0,0,0,0,0,0
$GC,1049,-1.24,-107.1,156.1,-14.4,99,1051,0.12,0.00,0.00,0.000,6,0.113,0.000,2681,1855,3535,0,0,0,0,0,0
$GC,1303,-1.24,-107.1,187.0,-11.2,123,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1855,3535,0,0,0,0,0,0
$STATE,1427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1427,begin apogee
$GC,1433,-0.31,0.0,200.7,10.9,135,1520,0.88,0.00,83.18,0.577,6,0.078,0.000,2879,1607,3095,0,0,0,0,0,0
$STATE,1521,end apogee,CONTROL_FINISHED_OK
$STATE,1521,begin climb
$GC,1523,1.44,107.1,203.5,0.0,137,1611,1.62,0.00,83.60,0.574,6,0.042,0.000,3271,1607,2658,0,0,0,0,0,0
$GC,1836,1.42,224.1,201.9,2.7,145,1941,0.00,2.65,93.78,0.576,4,0.000,0.038,3271,3180,2178,0,0,0,0,0,0
$GC,1985,1.42,224.1,190.9,10.7,153,1995,0.00,2.50,0.00,0.000,6,0.000,0.035,3271,1663,2175,0,0,0,0,0,0
$GC,2253,1.35,224.1,162.9,10.3,178,2258,0.12,2.50,0.00,0.000,4,0.117,0.052,3244,169,2173,0,0,0,0,0,0
$GC,2271,1.28,224.1,160.4,10.6,179,2276,0.00,2.28,0.00,0.000,6,0.000,0.019,3245,1620,2173,0,0,0,0,0,0
$GC,2539,1.29,226.5,133.8,9.9,204,2543,0.00,2.50,0.00,0.000,4,0.000,0.031,3244,3192,2171,0,0,0,0,0,0
$GC,2561,1.30,238.8,131.6,9.3,205,2581,0.00,2.55,12.70,0.499,6,0.000,0.027,3244,1624,2120,0,0,0,0,0,0
$GC,2836,1.30,238.8,104.5,10.5,231,2840,0.00,2.53,0.00,0.000,4,0.000,0.029,3244,3195,2116,0,0,0,0,0,0
$GC,2887,1.38,238.8,99.1,10.5,235,2891,0.00,2.47,0.00,0.000,6,0.000,0.027,3244,1638,2115,0,0,0,0,0,0
$GC,3157,1.48,254.6,72.1,9.1,259,3178,0.10,0.00,13.65,0.472,6,0.079,0.000,3295,1638,2055,0,0,0,0,0,0
$GC,3435,1.51,281.6,46.7,8.4,285,3466,0.00,0.00,23.67,0.472,6,0.000,0.000,3295,1638,1945,0,0,0,0,0,0
$GC,3743,1.51,281.6,14.0,11.8,323,3753,0.00,2.42,0.00,0.000,4,0.000,0.049,3295,173,1943,0,0,0,0,0,0
$GC,3773,1.51,281.6,10.3,12.1,326,3783,0.00,2.30,0.00,0.000,6,0.000,0.019,3295,1641,1943,0,0,0,0,0,0
$STATE,3831,end climb,SURFACE_DEPTH_REACHED
$STATE,3831,begin surface coast
$FINISH,0.4,1.023248
$STATE,3874,end surface coast,CONTROL_FINISHED_OK
$STATE,3874,begin surface
$SM_CCo,3896,66.05,0.445,0,0,1462,400.08
$SM_GC,1.51,0.00,0.00,66.05,0.000,0.000,0.445,409,1877,1462,-11.69,0.76,400.08
$IRIDIUM_FIX,2333.28,-15823.28,211100,101036
$TT8_MAMPS,0.026845
$HUMID,59.25
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,23.9,12.871
$10V_AH,10.5,12.543
$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,26.650,40.175,310.575,66.050,0.000,29.848,36.754,146.088,0.750,0.000,16.071,629.594,1482.974,378.097,1110.020,714.630,33.353,819.109,0.000,1411.813,0.000,0.539,0.000
$DEVICE_MAMPS,156.468,52.156,576.784,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,228.959,433.076,502.273,527.131,988.464,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,28874,340
$CAP_FILE_SIZE,52611,0
$CFSIZE,260165632,125038592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280811,131114,2341.613,-15825.722,11,1.7,11,10.2