version: 66.06
glider: 148
mission: 10
dive: 401
start: 9 17 111 6 21 46
data:
$ID,148
$MISSION,10
$DIVE,401
$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,-885378.44
$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,33
$R_STBD_OVSHOOT,64
$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
$GPS1,061507,2437.002,-15630.368,32,1.2,33,10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.2
$GPS2,062050,2436.975,-15630.360,13,1.5,13,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.156,0.198
$KALMAN_X,-44002.9,-129.9,256.6,214203.1,192.6
$KALMAN_Y,-45824.9,-481.6,21.5,371817.2,-607.8
$MHEAD_RNG_PITCHd_Wd,311.2,108808,-18.4,-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,20,-1.31,-136.2,0.0,0.0,0,90,0.00,0.00,-67.50,0.000,2,0.000,0.000,411,1898,3099,0,0,0,0,0,0
$GC,93,-1.31,-136.3,3.1,-4.7,9,125,11.88,2.50,-8.02,0.000,4,0.152,0.037,2694,3435,3514,0,0,0,0,0,0
$GC,208,-1.17,-136.3,23.8,-13.1,25,219,0.15,2.53,0.00,0.000,6,0.074,0.024,2734,1864,3514,0,0,0,0,0,0
$GC,492,-1.04,-136.3,60.8,-13.6,53,497,0.15,2.58,0.00,0.000,4,0.110,0.039,2766,287,3515,0,0,0,0,0,0
$GC,550,-1.13,-136.3,67.7,-10.3,57,555,0.10,2.42,0.00,0.000,6,0.074,0.018,2699,1882,3515,0,0,0,0,0,0
$GC,820,-1.00,-136.3,99.5,-11.8,81,826,0.30,2.58,0.00,0.000,4,0.085,0.036,2767,287,3515,0,0,0,0,0,0
$GC,836,-1.00,-136.3,102.3,-11.3,82,842,0.00,2.42,0.00,0.000,6,0.000,0.018,2767,1860,3515,0,0,0,0,0,0
$GC,1110,-1.12,-136.3,121.8,-7.4,107,1114,0.00,2.45,0.00,0.000,4,0.000,0.025,2767,3434,3516,0,0,0,0,0,0
$GC,1160,-1.35,-136.3,125.2,-6.4,111,1166,0.28,2.47,0.00,0.000,6,0.035,0.020,2658,1839,3516,0,0,0,0,0,0
$GC,1421,-1.19,-136.3,152.6,-10.9,135,1426,0.30,2.47,0.00,0.000,4,0.084,0.036,2730,300,3516,0,0,0,0,0,0
$GC,1445,-1.11,-136.3,154.3,-10.7,136,1449,0.00,2.38,0.00,0.000,6,0.000,0.018,2730,1869,3517,0,0,0,0,0,0
$GC,1713,-1.18,-136.3,176.5,-8.1,160,1717,0.00,2.42,0.00,0.000,4,0.000,0.025,2730,3431,3517,0,0,0,0,0,0
$GC,1793,-1.32,-136.3,183.2,-7.8,167,1798,0.12,2.40,0.00,0.000,6,0.062,0.020,2647,1881,3517,0,0,0,0,0,0
$STATE,1950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1950,begin apogee
$GC,1956,-0.31,0.0,200.0,11.1,181,2069,1.20,0.00,106.07,0.576,6,0.076,0.000,2919,1609,2954,0,0,0,0,0,0
$STATE,2069,end apogee,CONTROL_FINISHED_OK
$STATE,2070,begin climb
$GC,2073,1.31,136.3,204.5,0.0,184,2190,1.45,0.00,107.80,0.572,6,0.028,0.000,3291,1609,2398,0,0,0,0,0,0
$GC,2445,1.05,145.6,181.5,9.6,205,2464,0.30,2.40,8.68,0.476,4,0.100,0.052,3221,203,2360,0,0,0,0,0,0
$GC,2496,0.93,182.9,176.8,8.2,210,2541,0.12,2.20,31.40,0.545,6,0.115,0.019,3194,1611,2208,0,0,0,0,0,0
$GC,2797,0.99,232.2,154.4,7.6,238,2844,0.00,2.67,41.47,0.542,4,0.000,0.033,3194,3201,2006,0,0,0,0,0,0
$GC,2874,1.09,252.5,148.5,9.1,245,2900,0.15,2.53,18.23,0.512,6,0.054,0.028,3262,1639,1925,0,0,0,0,0,0
$GC,3162,1.03,252.5,114.9,10.5,272,3166,0.22,2.42,0.00,0.000,4,0.088,0.044,3211,177,1921,0,0,0,0,0,0
$GC,3275,1.04,263.2,104.1,9.6,282,3292,0.00,2.22,10.52,0.465,6,0.000,0.020,3211,1613,1880,0,0,0,0,0,0
$GC,3554,1.25,309.9,81.4,7.8,308,3598,0.20,0.00,39.75,0.500,6,0.045,0.000,3299,1614,1690,0,0,0,0,0,0
$GC,3855,1.25,309.9,49.1,11.2,336,3860,0.17,2.58,0.00,0.000,4,0.096,0.030,3259,3205,1685,0,0,0,0,0,0
$GC,3916,1.41,341.7,43.1,8.5,340,3954,0.12,2.65,27.48,0.466,6,0.028,0.028,3327,1586,1559,0,0,0,0,0,0
$STATE,4237,end climb,SURFACE_DEPTH_REACHED
$STATE,4237,begin surface coast
$FINISH,0.4,1.023330
$STATE,4274,end surface coast,CONTROL_FINISHED_OK
$STATE,4275,begin surface
$SM_CCo,4296,41.67,0.441,0,0,1323,400.08
$SM_GC,1.49,0.00,0.00,41.67,0.000,0.000,0.441,407,1895,1323,-11.88,0.71,400.08
$IRIDIUM_FIX,2427.58,-15628.48,111200,050504
$TT8_MAMPS,0.026845
$HUMID,62.32
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.8,37.369
$10V_AH,10.4,41.696
$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,28.725,50.100,391.400,41.675,0.000,27.829,38.740,139.616,0.000,0.000,14.560,710.745,1497.910,418.027,1292.918,768.277,33.346,931.968,0.000,1638.075,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,52.156,576.017,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,260.598,483.127,564.408,593.399,1114.579,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,32254,388
$CAP_FILE_SIZE,61987,0
$CFSIZE,260165632,113131520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170911,073520,2436.841,-15630.540,33,1.2,34,10.5