version: 66.06
glider: 148
mission: 10
dive: 140
start: 8 30 111 9 25 33
data:
$ID,148
$MISSION,10
$DIVE,140
$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,-879801.56
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,52
$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
$GPS1,091904,2347.612,-15820.606,8,6.9,27,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.9
$GPS2,092438,2347.623,-15820.625,14,1.2,14,10.2
$SPEED_LIMITS,0.175,0.226
$TGT_NAME,Bowf3
$TGT_LATLONG,2346.600,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.050
$KALMAN_X,-97271.6,-22.3,-130.2,77993.2,59.6
$KALMAN_Y,-52285.5,230.8,-128.7,286302.1,176.2
$MHEAD_RNG_PITCHd_Wd,92.5,85821,-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,-67.47,0.000,2,0.000,0.000,408,1956,3264,0,0,0,0,0,0
$GC,92,-1.44,-107.1,3.6,-6.0,9,117,12.18,2.72,-4.75,0.000,4,0.173,0.043,2629,290,3533,0,0,0,0,0,0
$GC,142,-0.69,-107.1,21.1,-35.3,15,153,0.73,2.47,0.00,0.000,6,0.091,0.019,2791,1863,3534,0,0,0,0,0,0
$GC,424,-0.85,-107.1,52.2,-9.8,43,429,0.12,2.53,0.00,0.000,4,0.063,0.028,2706,3449,3534,0,0,0,0,0,0
$GC,459,-0.85,-107.1,56.7,-13.2,45,464,0.25,2.50,0.00,0.000,6,0.083,0.022,2763,1866,3534,0,0,0,0,0,0
$GC,727,-1.02,-107.1,85.5,-9.4,69,732,0.15,2.55,0.00,0.000,4,0.054,0.044,2689,291,3535,0,0,0,0,0,0
$GC,778,-1.02,-107.1,92.4,-12.2,73,785,0.17,2.45,0.00,0.000,6,0.100,0.018,2726,1886,3535,0,0,0,0,0,0
$GC,1041,-1.10,-107.1,120.2,-10.8,98,1045,0.00,2.45,0.00,0.000,4,0.000,0.027,2726,3447,3535,0,0,0,0,0,0
$GC,1062,-1.19,-107.1,122.0,-10.1,99,1067,0.15,2.45,0.00,0.000,6,0.054,0.020,2643,1862,3535,0,0,0,0,0,0
$GC,1323,-1.06,-107.1,159.8,-14.3,123,1328,0.35,2.50,0.00,0.000,4,0.093,0.035,2715,301,3535,0,0,0,0,0,0
$GC,1359,-1.18,-107.1,163.8,-10.8,126,1364,0.10,2.40,0.00,0.000,6,0.075,0.018,2659,1876,3535,0,0,0,0,0,0
$GC,1620,-1.18,-107.1,195.1,-11.6,150,1622,0.15,0.00,0.00,0.000,6,0.102,0.000,2691,1879,3536,0,0,0,0,0,0
$STATE,1671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1671,begin apogee
$GC,1679,-0.31,0.0,200.4,9.7,155,1765,0.85,0.00,83.18,0.574,6,0.083,0.000,2881,1610,3095,0,0,0,0,0,0
$STATE,1766,end apogee,CONTROL_FINISHED_OK
$STATE,1766,begin climb
$GC,1769,1.44,107.1,203.0,0.0,157,1861,1.58,2.38,82.53,0.571,4,0.045,0.050,3266,203,2657,0,0,0,0,0,0
$GC,2125,1.32,230.6,202.5,2.3,165,2234,0.12,2.20,98.78,0.575,6,0.122,0.018,3240,1638,2153,0,0,0,0,0,0
$GC,2497,1.32,230.6,167.5,10.4,194,2501,0.00,2.38,0.00,0.000,4,0.000,0.044,3240,210,2147,0,0,0,0,0,0
$GC,2545,1.32,230.6,161.5,13.2,198,2555,0.00,2.22,0.00,0.000,6,0.000,0.020,3240,1616,2147,0,0,0,0,0,0
$GC,2812,1.36,262.2,137.2,8.1,223,2844,0.00,2.38,26.27,0.525,4,0.000,0.045,3240,201,2024,0,0,0,0,0,0
$GC,2903,1.36,262.2,128.0,11.0,231,2907,0.00,2.22,0.00,0.000,6,0.000,0.021,3240,1638,2024,0,0,0,0,0,0
$GC,3171,1.45,264.5,101.1,10.0,255,3176,0.10,2.53,0.00,0.000,4,0.077,0.032,3293,3208,2020,0,0,0,0,0,0
$GC,3192,1.45,264.5,98.2,10.8,256,3202,0.10,2.50,0.00,0.000,6,0.084,0.026,3266,1668,2020,0,0,0,0,0,0
$GC,3461,1.47,286.6,71.4,8.7,281,3489,0.00,2.47,21.10,0.481,4,0.000,0.044,3266,176,1926,0,0,0,0,0,0
$GC,3538,1.47,286.6,62.7,11.8,287,3548,0.00,2.28,0.00,0.000,6,0.000,0.018,3266,1625,1925,0,0,0,0,0,0
$GC,3807,1.54,286.6,36.5,11.6,312,3811,0.00,2.38,0.00,0.000,4,0.000,0.043,3267,179,1922,0,0,0,0,0,0
$GC,3851,1.54,286.6,30.9,12.5,315,3855,0.00,2.20,0.00,0.000,6,0.000,0.018,3266,1628,1922,0,0,0,0,0,0
$STATE,4079,end climb,SURFACE_DEPTH_REACHED
$STATE,4079,begin surface coast
$FINISH,0.5,1.023593
$STATE,4127,end surface coast,CONTROL_FINISHED_OK
$STATE,4127,begin surface
$SM_CCo,4148,61.65,0.441,0,0,1464,400.08
$SM_GC,1.32,0.00,0.00,61.65,0.000,0.000,0.441,409,1923,1464,-11.69,1.53,400.08
$IRIDIUM_FIX,2335.63,-15916.17,231100,080808
$TT8_MAMPS,0.026845
$HUMID,58.26
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.60
$XPDR_PINGS,3
$24V_AH,23.9,15.595
$10V_AH,10.4,15.857
$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,28.475,53.850,311.850,61.650,0.000,30.453,32.784,141.681,0.750,0.000,15.517,685.813,1455.902,354.868,1307.952,750.243,33.349,879.358,0.000,1614.131,0.000,0.540,0.000
$DEVICE_MAMPS,172.575,49.855,575.250,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,240.441,462.849,535.210,563.345,1056.965,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,28890,357
$CAP_FILE_SIZE,62575,0
$CFSIZE,260165632,123691008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300811,103648,2347.586,-15820.059,12,2.0,22,10.2