version: 66.06
glider: 148
mission: 10
dive: 422
start: 9 18 111 11 33 13
data:
$ID,148
$MISSION,10
$DIVE,422
$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,-885918.25
$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,31
$R_STBD_OVSHOOT,56
$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
$GPS1,112140,2433.545,-15633.425,12,3.0,32,10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.5
$GPS2,113216,2433.507,-15633.441,11,2.6,30,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.192,0.163
$KALMAN_X,-36516.4,-260.2,-86.8,201881.2,-1.0
$KALMAN_Y,-66476.6,-669.4,-456.4,386707.7,-264.1
$MHEAD_RNG_PITCHd_Wd,300.0,106862,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.32,-135.5,0.0,0.0,0,95,0.00,0.00,-75.28,0.000,2,0.000,0.000,410,1939,3349,0,0,0,0,0,0
$GC,99,-1.32,-136.3,3.9,-7.1,10,124,12.32,2.40,-2.85,0.000,4,0.167,0.034,2694,3441,3513,0,0,0,0,0,0
$GC,186,-1.24,-136.3,26.2,-15.3,22,197,0.08,2.55,0.00,0.000,6,0.083,0.025,2717,1865,3514,0,0,0,0,0,0
$GC,464,-1.08,-136.3,64.0,-13.8,48,469,0.17,2.60,0.00,0.000,4,0.101,0.039,2755,279,3514,0,0,0,0,0,0
$GC,487,-0.99,-136.3,67.4,-13.3,49,491,0.00,2.45,0.00,0.000,6,0.000,0.017,2756,1885,3514,0,0,0,0,0,0
$GC,754,-0.99,-136.3,91.4,-7.9,73,759,0.00,2.40,0.00,0.000,4,0.000,0.025,2755,3433,3514,0,0,0,0,0,0
$GC,814,-1.14,-136.3,96.8,-8.2,78,824,0.00,2.47,0.00,0.000,6,0.000,0.020,2755,1864,3514,0,0,0,0,0,0
$GC,1082,-1.24,-136.3,119.8,-7.7,103,1087,0.15,2.53,0.00,0.000,4,0.052,0.039,2661,297,3514,0,0,0,0,0,0
$GC,1114,-1.15,-136.3,123.0,-11.3,105,1119,0.35,2.45,0.00,0.000,6,0.081,0.017,2741,1895,3514,0,0,0,0,0,0
$GC,1382,-1.22,-136.3,143.8,-7.2,129,1386,0.00,2.40,0.00,0.000,4,0.000,0.026,2741,3436,3514,0,0,0,0,0,0
$GC,1454,-1.35,-136.3,148.9,-6.7,135,1459,0.20,2.40,0.00,0.000,6,0.041,0.019,2631,1896,3514,0,0,0,0,0,0
$GC,1715,-1.05,-136.3,182.4,-13.8,159,1729,0.60,2.58,0.00,0.000,4,0.082,0.037,2753,292,3515,0,0,0,0,0,0
$GC,1765,-1.29,-136.3,186.7,-7.9,163,1770,0.17,2.47,0.00,0.000,6,0.046,0.017,2663,1918,3514,0,0,0,0,0,0
$STATE,1885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1885,begin apogee
$GC,1891,-0.31,0.0,200.3,11.4,174,2001,1.15,0.00,105.72,0.570,6,0.073,0.000,2924,1611,2955,0,0,0,0,0,0
$STATE,2001,end apogee,CONTROL_FINISHED_OK
$STATE,2001,begin climb
$GC,2005,1.32,136.3,203.6,0.0,176,2120,1.42,2.42,107.25,0.567,4,0.029,0.051,3301,193,2397,0,0,0,0,0,0
$GC,2398,0.99,167.2,178.4,8.5,198,2430,0.40,2.22,25.62,0.532,6,0.088,0.019,3209,1606,2272,0,0,0,0,0,0
$GC,2697,1.09,249.1,160.5,6.0,226,2774,0.00,2.38,68.20,0.544,4,0.000,0.044,3209,197,1937,0,0,0,0,0,0
$GC,2840,1.09,249.1,147.2,11.0,240,2850,0.00,2.30,0.00,0.000,6,0.000,0.020,3209,1643,1936,0,0,0,0,0,0
$GC,3109,1.17,261.5,121.9,9.5,265,3131,0.15,2.58,11.25,0.473,4,0.056,0.034,3277,3196,1886,0,0,0,0,0,0
$GC,3138,1.17,261.5,118.2,10.8,267,3145,0.15,2.47,0.00,0.000,6,0.098,0.028,3243,1679,1885,0,0,0,0,0,0
$GC,3401,1.21,294.8,94.2,8.4,292,3436,0.00,2.53,28.62,0.496,4,0.000,0.044,3243,174,1751,0,0,0,0,0,0
$GC,3462,1.21,294.8,88.8,10.1,297,3466,0.00,2.30,0.00,0.000,6,0.000,0.019,3243,1663,1751,0,0,0,0,0,0
$GC,3731,1.36,331.5,66.4,8.3,321,3772,0.17,0.00,32.42,0.479,6,0.049,0.000,3323,1666,1602,0,0,0,0,0,0
$GC,4029,1.26,331.5,31.9,10.6,349,4034,0.25,2.47,0.00,0.000,4,0.091,0.042,3263,166,1598,0,0,0,0,0,0
$GC,4078,1.26,331.5,25.7,12.2,354,4089,0.00,2.33,0.00,0.000,6,0.000,0.019,3263,1650,1598,0,0,0,0,0,0
$STATE,4281,end climb,SURFACE_DEPTH_REACHED
$STATE,4281,begin surface coast
$FINISH,0.5,1.023324
$STATE,4328,end surface coast,CONTROL_FINISHED_OK
$STATE,4328,begin surface
$SM_CCo,4350,40.78,0.433,0,0,1324,400.08
$SM_GC,1.56,0.00,0.00,40.78,0.000,0.000,0.433,409,1924,1324,-11.87,1.53,400.08
$IRIDIUM_FIX,2427.58,-15633.77,121200,111137
$TT8_MAMPS,0.026845
$HUMID,61.30
$INTERNAL_PRESSURE,9.49642
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.8,39.079
$10V_AH,10.2,43.867
$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,29.025,54.450,379.100,40.775,0.000,57.372,72.699,277.456,0.000,0.000,32.538,721.926,1560.577,382.655,1378.711,989.066,33.349,959.482,0.000,1694.101,0.000,0.540,0.000
$DEVICE_MAMPS,167.206,51.389,569.881,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.841,494.303,579.302,597.445,1116.867,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,32170,392
$CAP_FILE_SIZE,69078,0
$CFSIZE,260165632,112291840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,124737,2433.560,-15633.420,32,1.0,33,10.5