version: 66.06
glider: 148
mission: 10
dive: 421
start: 9 18 111 10 5 59
data:
$ID,148
$MISSION,10
$DIVE,421
$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,-885885.06
$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,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,34
$R_STBD_OVSHOOT,92
$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
$GPS1,095814,2433.575,-15633.147,8,1.7,9,10.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.8
$GPS2,100501,2433.548,-15633.163,10,2.0,15,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.147,0.205
$KALMAN_X,-36827.7,-246.4,131.2,202441.3,-178.7
$KALMAN_Y,-65555.4,-729.8,-468.4,385932.7,-431.4
$MHEAD_RNG_PITCHd_Wd,313.8,107243,-18.3,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,95,0.00,0.00,-74.90,0.000,2,0.000,0.000,408,1915,3342,0,0,0,0,0,0
$GC,99,-1.31,-136.3,4.0,-7.4,10,124,12.40,2.38,-2.90,0.000,4,0.169,0.034,2700,3405,3509,0,0,0,0,0,0
$GC,186,-1.22,-136.3,25.5,-13.5,22,197,0.08,2.47,0.00,0.000,6,0.084,0.025,2722,1869,3510,0,0,0,0,0,0
$GC,470,-1.06,-136.3,64.1,-12.7,49,475,0.15,2.58,0.00,0.000,4,0.106,0.039,2757,279,3510,0,0,0,0,0,0
$GC,507,-1.06,-136.3,69.3,-10.1,51,515,0.00,2.42,0.00,0.000,6,0.000,0.018,2757,1848,3510,0,0,0,0,0,0
$GC,770,-1.06,-136.3,89.0,-7.0,76,774,0.00,2.45,0.00,0.000,4,0.000,0.025,2757,3429,3511,0,0,0,0,0,0
$GC,832,-1.21,-136.3,93.2,-7.2,81,837,0.12,2.45,0.00,0.000,6,0.062,0.020,2669,1864,3511,0,0,0,0,0,0
$GC,1099,-1.00,-136.3,123.8,-11.8,105,1108,0.50,2.45,0.00,0.000,4,0.081,0.023,2770,3429,3511,0,0,0,0,0,0
$GC,1129,-1.07,-136.3,127.0,-8.4,107,1134,0.00,2.42,0.00,0.000,6,0.000,0.021,2770,1882,3512,0,0,0,0,0,0
$GC,1392,-1.23,-136.3,145.8,-7.3,132,1394,0.20,0.00,0.00,0.000,6,0.042,0.000,2667,1882,3512,0,0,0,0,0,0
$GC,1647,-1.07,-136.3,175.1,-10.7,156,1652,0.38,2.45,0.00,0.000,4,0.081,0.025,2752,3433,3512,0,0,0,0,0,0
$GC,1704,-1.24,-136.3,180.0,-7.1,161,1709,0.15,2.42,0.00,0.000,6,0.052,0.020,2654,1887,3512,0,0,0,0,0,0
$STATE,1878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1878,begin apogee
$GC,1885,-0.31,0.0,201.0,12.3,177,1994,1.27,0.00,105.05,0.573,6,0.074,0.000,2922,1609,2955,0,0,0,0,0,0
$STATE,1995,end apogee,CONTROL_FINISHED_OK
$STATE,1995,begin climb
$GC,1997,1.31,136.3,204.7,0.0,179,2113,1.42,2.38,107.05,0.570,4,0.029,0.052,3295,207,2398,0,0,0,0,0,0
$GC,2358,0.98,171.2,187.3,8.4,194,2394,0.43,2.20,28.62,0.543,6,0.094,0.019,3203,1617,2256,0,0,0,0,0,0
$GC,2649,1.07,238.5,167.8,6.7,222,2712,0.00,2.60,56.28,0.549,4,0.000,0.034,3202,3196,1980,0,0,0,0,0,0
$GC,2808,1.18,254.4,154.1,9.3,237,2828,0.15,2.50,14.45,0.502,6,0.025,0.028,3275,1680,1917,0,0,0,0,0,0
$GC,3087,1.08,254.4,121.0,12.0,263,3093,0.22,2.50,0.00,0.000,4,0.091,0.045,3225,171,1913,0,0,0,0,0,0
$GC,3180,1.08,254.4,110.3,10.5,271,3184,0.00,2.30,0.00,0.000,6,0.000,0.018,3225,1653,1913,0,0,0,0,0,0
$GC,3449,1.22,310.1,88.0,7.3,295,3502,0.12,2.50,47.08,0.502,4,0.064,0.029,3292,3191,1690,0,0,0,0,0,0
$GC,3561,1.22,311.4,77.7,10.0,305,3566,0.15,2.50,0.00,0.000,6,0.097,0.029,3256,1655,1684,0,0,0,0,0,0
$GC,3831,1.31,312.9,52.2,10.0,329,3835,0.00,2.45,0.00,0.000,4,0.000,0.044,3256,170,1683,0,0,0,0,0,0
$GC,3864,1.31,312.9,48.5,10.6,331,3868,0.00,2.33,0.00,0.000,6,0.000,0.018,3256,1668,1683,0,0,0,0,0,0
$GC,4142,1.31,312.9,22.1,10.2,361,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1672,1682,0,0,0,0,0,0
$STATE,4330,end climb,SURFACE_DEPTH_REACHED
$STATE,4330,begin surface coast
$FINISH,0.4,1.016067
$STATE,4394,end surface coast,CONTROL_FINISHED_OK
$STATE,4395,begin surface
$SM_CCo,4415,51.47,0.436,0,0,1323,400.08
$SM_GC,1.41,0.00,0.00,51.47,0.000,0.000,0.436,411,1939,1323,-11.86,1.95,400.08
$IRIDIUM_FIX,2425.21,-15631.60,121200,080844
$TT8_MAMPS,0.026845
$HUMID,61.45
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.40
$XPDR_PINGS,1
$24V_AH,23.8,38.994
$10V_AH,10.3,43.763
$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,29.125,49.400,358.525,51.475,0.000,30.957,37.296,190.568,0.250,0.000,16.759,736.821,1510.018,380.030,1404.045,851.231,33.348,933.234,0.000,1746.519,0.000,0.539,0.000
$DEVICE_MAMPS,168.740,52.156,572.949,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.184,519.707,599.073,618.982,1162.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,32047,399
$CAP_FILE_SIZE,64416,0
$CFSIZE,260165632,112336896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,112140,2433.545,-15633.425,12,3.0,32,10.5