version: 66.06
glider: 148
mission: 10
dive: 256
start: 9 9 111 0 36 23
data:
$ID,148
$MISSION,10
$DIVE,256
$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,-882177.69
$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,2990
$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,36
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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
$GPS1,002943,2459.841,-15730.081,10,1.3,27,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.2
$GPS2,003526,2459.896,-15730.082,12,1.3,12,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.156,0.079
$KALMAN_X,-93378.4,452.8,-194.5,160667.1,152.7
$KALMAN_Y,37076.0,88.7,-272.7,331078.7,187.6
$MHEAD_RNG_PITCHd_Wd,286.3,237,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.78,-63.9,0.0,0.0,0,89,0.00,0.00,-67.60,0.000,2,0.000,0.000,412,1964,3111,0,0,0,0,0,0
$GC,92,-1.85,-117.3,3.0,-4.4,9,117,11.75,2.72,-6.28,0.000,4,0.170,0.041,2578,279,3435,0,0,0,0,0,0
$GC,319,-1.67,-117.3,62.0,-24.1,35,324,0.22,2.45,0.00,0.000,6,0.110,0.018,2625,1869,3435,0,0,0,0,0,0
$GC,587,-1.67,-117.3,108.9,-16.8,59,592,0.00,2.58,0.00,0.000,4,0.000,0.044,2625,280,3436,0,0,0,0,0,0
$GC,660,-1.67,-117.3,120.6,-15.3,65,665,0.00,2.45,0.00,0.000,6,0.000,0.018,2625,1871,3436,0,0,0,0,0,0
$GC,924,-1.73,-117.3,161.2,-15.4,89,928,0.00,2.55,0.00,0.000,4,0.000,0.035,2625,285,3436,0,0,0,0,0,0
$GC,954,-1.73,-117.3,165.0,-15.2,91,958,0.00,2.42,0.00,0.000,6,0.000,0.018,2625,1862,3436,0,0,0,0,0,0
$STATE,1203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1203,begin apogee
$GC,1213,-0.31,0.0,200.5,13.2,114,1307,1.30,0.00,90.85,0.567,6,0.078,0.000,2920,1594,2955,0,0,0,0,0,0
$STATE,1308,end apogee,CONTROL_FINISHED_OK
$STATE,1308,begin climb
$GC,1310,1.85,117.3,203.4,0.0,116,1409,1.90,0.00,91.93,0.564,6,0.031,0.000,3407,1594,2475,0,0,0,0,0,0
$GC,1650,1.65,117.3,178.8,10.9,136,1655,0.25,2.28,0.00,0.000,4,0.117,0.052,3354,212,2471,0,0,0,0,0,0
$GC,1689,1.48,117.3,174.3,11.2,139,1694,0.20,2.17,0.00,0.000,6,0.121,0.018,3315,1630,2469,0,0,0,0,0,0
$GC,1955,1.52,147.7,155.4,6.9,163,1985,0.00,2.58,24.80,0.523,4,0.000,0.035,3315,3195,2353,0,0,0,0,0,0
$GC,2064,1.62,163.0,147.5,8.5,173,2083,0.12,2.45,13.82,0.494,6,0.068,0.027,3360,1663,2289,0,0,0,0,0,0
$GC,2338,1.62,163.0,119.7,11.0,199,2342,0.00,2.45,0.00,0.000,4,0.000,0.049,3360,176,2286,0,0,0,0,0,0
$GC,2357,1.54,163.0,117.0,11.2,200,2366,0.12,2.30,0.00,0.000,6,0.104,0.019,3331,1646,2285,0,0,0,0,0,0
$GC,2626,1.64,175.9,93.1,8.7,225,2647,0.00,2.50,11.00,0.456,4,0.000,0.048,3331,173,2238,0,0,0,0,0,0
$GC,2761,1.64,175.9,77.0,11.2,237,2772,0.00,2.30,0.00,0.000,6,0.000,0.019,3331,1641,2236,0,0,0,0,0,0
$GC,3032,1.80,213.9,58.6,6.1,262,3073,0.20,2.47,32.62,0.476,4,0.051,0.041,3401,178,2080,0,0,0,0,0,0
$GC,3276,1.67,213.9,29.3,13.0,282,3287,0.17,2.28,0.00,0.000,6,0.099,0.019,3361,1640,2077,0,0,0,0,0,0
$STATE,3522,end climb,SURFACE_DEPTH_REACHED
$STATE,3522,begin surface coast
$FINISH,0.5,1.023092
$STATE,3576,end surface coast,CONTROL_FINISHED_OK
$STATE,3576,begin surface
$SM_CCo,3599,110.10,0.439,0,0,1324,400.08
$SM_GC,1.33,0.00,0.00,110.10,0.000,0.000,0.439,410,1940,1324,-11.87,1.98,400.08
$IRIDIUM_FIX,2448.93,-15728.66,021200,232333
$TT8_MAMPS,0.026845
$HUMID,58.03
$INTERNAL_PRESSURE,9.51595
$TCM_TEMP,23.60
$XPDR_PINGS,4
$24V_AH,23.9,25.663
$10V_AH,10.4,27.035
$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,28.000,39.650,265.025,110.100,0.000,28.753,32.531,149.219,1.000,0.000,14.294,616.790,1183.255,376.628,1193.313,691.903,33.342,822.258,0.000,1436.298,0.000,0.541,0.000
$DEVICE_MAMPS,169.507,52.156,566.813,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,220.735,382.726,457.639,518.795,961.975,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,25811,328
$CAP_FILE_SIZE,52193,0
$CFSIZE,260165632,118673408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090911,013932,2500.018,-15730.371,20,3.7,39,10.4