version: 66.06
glider: 148
mission: 10
dive: 239
start: 9 8 111 5 23 41
data:
$ID,148
$MISSION,10
$DIVE,239
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,430
$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,660
$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,140
$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,-881880.06
$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,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,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3015
$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
$GPS1,051646,2459.900,-15730.116,12,3.9,31,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.0
$GPS2,052246,2459.937,-15730.052,13,4.7,32,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.163,-0.064
$KALMAN_X,-96565.1,15.7,66.6,164082.2,445.5
$KALMAN_Y,31261.6,60.5,41.3,336684.2,254.2
$MHEAD_RNG_PITCHd_Wd,238.3,146,-27.3,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.78,-63.9,0.0,0.0,0,90,0.00,0.00,-68.03,0.000,2,0.000,0.000,411,1937,3186,0,0,0,0,0,0
$GC,93,-1.84,-111.6,3.3,-5.1,9,118,11.05,2.38,-5.38,0.000,4,0.152,0.034,2538,3431,3472,0,0,0,0,0,0
$GC,143,-1.29,-111.6,19.3,-31.6,15,154,0.55,2.50,0.00,0.000,6,0.096,0.023,2659,1869,3472,0,0,0,0,0,0
$GC,424,-1.29,-111.6,78.3,-20.7,42,428,0.00,2.53,0.00,0.000,4,0.000,0.035,2660,292,3472,0,0,0,0,0,0
$GC,447,-1.29,-111.6,82.8,-18.2,43,451,0.00,2.42,0.00,0.000,6,0.000,0.018,2660,1865,3472,0,0,0,0,0,0
$GC,714,-1.39,-111.6,125.9,-14.8,67,719,0.00,2.55,0.00,0.000,4,0.000,0.035,2660,286,3473,0,0,0,0,0,0
$GC,733,-1.49,-111.6,129.9,-14.6,68,742,0.10,2.45,0.00,0.000,6,0.031,0.018,2604,1869,3473,0,0,0,0,0,0
$GC,997,-1.49,-111.6,169.5,-15.1,93,1002,0.10,2.55,0.00,0.000,4,0.127,0.037,2625,289,3473,0,0,0,0,0,0
$GC,1100,-1.57,-111.6,185.5,-15.8,102,1111,0.00,2.42,0.00,0.000,6,0.000,0.018,2625,1849,3473,0,0,0,0,0,0
$STATE,1204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1204,begin apogee
$GC,1211,-0.31,0.0,201.4,15.4,112,1301,1.15,0.00,86.75,0.567,6,0.084,0.000,2882,1595,3014,0,0,0,0,0,0
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1304,1.84,111.6,206.4,0.0,114,1402,1.92,2.38,86.62,0.565,4,0.039,0.051,3357,220,2559,0,0,0,0,0,0
$GC,1500,1.64,123.3,202.5,8.9,118,1517,0.20,2.20,10.90,0.497,6,0.103,0.018,3312,1626,2510,0,0,0,0,0,0
$GC,1781,1.67,145.8,178.6,7.7,140,1807,0.00,2.42,18.75,0.523,4,0.000,0.046,3312,207,2419,0,0,0,0,0,0
$GC,1836,1.60,152.3,174.4,9.4,145,1849,0.00,2.20,6.75,0.441,6,0.000,0.018,3313,1630,2393,0,0,0,0,0,0
$GC,2110,1.69,170.8,150.4,8.1,171,2136,0.00,2.40,16.35,0.508,4,0.000,0.046,3312,217,2317,0,0,0,0,0,0
$GC,2446,1.70,180.8,117.8,9.0,201,2465,0.00,2.15,9.23,0.457,6,0.000,0.018,3312,1620,2277,0,0,0,0,0,0
$GC,2721,1.85,203.9,94.7,7.7,227,2746,0.17,2.35,20.05,0.488,4,0.054,0.045,3374,203,2182,0,0,0,0,0,0
$GC,2854,1.75,208.4,80.9,9.6,239,2865,0.20,2.15,4.93,0.365,6,0.162,0.018,3333,1601,2165,0,0,0,0,0,0
$GC,3126,1.90,227.5,58.0,8.1,264,3147,0.12,0.00,17.23,0.459,6,0.068,0.000,3384,1604,2086,0,0,0,0,0,0
$GC,3409,1.90,227.5,26.2,11.4,292,3420,0.00,2.30,0.00,0.000,4,0.000,0.041,3384,212,2083,0,0,0,0,0,0
$GC,3477,1.82,227.5,17.5,13.5,301,3487,0.15,2.17,0.00,0.000,6,0.096,0.019,3349,1610,2084,0,0,0,0,0,0
$STATE,3602,end climb,SURFACE_DEPTH_REACHED
$STATE,3602,begin surface coast
$FINISH,0.5,0.998735
$STATE,3654,end surface coast,CONTROL_FINISHED_OK
$STATE,3654,begin surface
$SM_CCo,3675,91.07,0.439,0,0,1384,400.08
$SM_GC,1.37,0.00,0.00,91.07,0.000,0.000,0.439,409,1949,1384,-11.69,2.23,400.08
$IRIDIUM_FIX,2451.31,-15730.86,021200,040432
$TT8_MAMPS,0.026845
$HUMID,58.15
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.60
$XPDR_PINGS,3
$24V_AH,23.9,24.554
$10V_AH,10.4,25.595
$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,27.525,43.250,277.550,91.075,0.000,29.080,42.540,136.211,0.750,0.000,34.474,626.601,1255.146,361.402,1185.702,705.859,33.349,845.391,0.000,1454.385,0.000,0.541,0.000
$DEVICE_MAMPS,161.837,51.389,566.813,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,223.455,420.347,488.656,509.339,954.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356052
$DATA_FILE_SIZE,25734,327
$CAP_FILE_SIZE,56041,0
$CFSIZE,260165632,119263232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080911,062737,2459.937,-15730.278,29,1.9,29,10.4