version: 66.06
glider: 148
mission: 10
dive: 478
start: 9 21 111 17 53 50
data:
$ID,148
$MISSION,10
$DIVE,478
$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,-887143.38
$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,1660
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,50
$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
$GPS1,174626,2417.377,-15642.755,12,1.5,12,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.5
$GPS2,175255,2417.351,-15642.754,16,1.6,33,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.200,-0.152
$KALMAN_X,-19926.5,417.1,112.1,168394.2,300.8
$KALMAN_Y,-112678.5,-99.3,123.2,401837.5,-265.2
$MHEAD_RNG_PITCHd_Wd,222.4,164344,-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,-1.32,-135.3,0.0,0.0,0,97,0.00,0.00,-75.18,0.000,2,0.000,0.000,407,1962,3346,0,0,0,0,0,0
$GC,100,-1.32,-136.3,4.0,-7.6,10,125,12.40,2.78,-2.88,0.000,4,0.168,0.044,2695,282,3511,0,0,0,0,0,0
$GC,214,-1.19,-136.3,31.8,-14.7,26,225,0.12,2.50,0.00,0.000,6,0.088,0.018,2726,1879,3512,0,0,0,0,0,0
$GC,485,-1.07,-136.3,66.7,-12.3,51,495,0.15,0.00,0.00,0.000,6,0.106,0.000,2760,1883,3512,0,0,0,0,0,0
$GC,749,-1.15,-136.3,90.7,-7.3,76,753,0.00,2.58,0.00,0.000,4,0.000,0.038,2760,289,3512,0,0,0,0,0,0
$GC,781,-1.28,-136.3,93.0,-8.3,78,786,0.20,2.42,0.00,0.000,6,0.042,0.017,2662,1887,3513,0,0,0,0,0,0
$GC,1045,-1.12,-136.3,122.5,-11.3,102,1050,0.35,2.42,0.00,0.000,4,0.081,0.025,2743,3438,3513,0,0,0,0,0,0
$GC,1073,-1.21,-136.3,125.4,-8.9,104,1078,0.00,2.50,0.00,0.000,6,0.000,0.021,2743,1836,3513,0,0,0,0,0,0
$GC,1338,-1.32,-136.3,145.6,-7.7,128,1343,0.17,2.50,0.00,0.000,4,0.048,0.039,2647,290,3513,0,0,0,0,0,0
$GC,1378,-1.21,-136.3,149.6,-11.0,131,1383,0.35,2.40,0.00,0.000,6,0.085,0.017,2726,1860,3513,0,0,0,0,0,0
$GC,1640,-1.29,-136.3,170.8,-7.3,155,1644,0.00,2.53,0.00,0.000,4,0.000,0.038,2726,297,3513,0,0,0,0,0,0
$GC,1681,-1.41,-136.3,173.9,-7.7,158,1687,0.17,2.38,0.00,0.000,6,0.047,0.018,2622,1850,3513,0,0,0,0,0,0
$STATE,1907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1910,begin apogee
$GC,1916,-0.31,0.0,200.8,11.6,180,2030,1.33,0.00,105.35,0.569,6,0.080,0.000,2920,1636,2954,0,0,0,0,0,0
$STATE,2030,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2033,1.32,136.3,204.8,0.0,183,2151,1.42,2.62,107.10,0.566,4,0.028,0.038,3296,3205,2398,0,0,0,0,0,0
$GC,2160,1.13,213.6,204.6,6.2,186,2233,0.28,2.47,63.12,0.557,6,0.105,0.026,3238,1680,2084,0,0,0,0,0,0
$GC,2495,1.06,213.6,168.7,10.3,212,2499,0.00,2.50,0.00,0.000,4,0.000,0.033,3238,3214,2079,0,0,0,0,0,0
$GC,2553,1.06,213.6,163.1,10.2,217,2557,0.00,2.53,0.00,0.000,6,0.000,0.029,3238,1657,2076,0,0,0,0,0,0
$GC,2821,1.06,213.6,138.0,10.2,241,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1657,2076,0,0,0,0,0,0
$GC,3082,1.06,213.6,110.3,10.3,266,3086,0.00,2.50,0.00,0.000,4,0.000,0.031,3238,3213,2075,0,0,0,0,0,0
$GC,3143,1.06,219.3,104.9,9.8,271,3153,0.00,2.50,4.95,0.375,6,0.000,0.026,3238,1659,2059,0,0,0,0,0,0
$GC,3408,1.11,254.9,82.6,8.3,296,3447,0.00,2.60,31.45,0.490,4,0.000,0.029,3238,3222,1913,0,0,0,0,0,0
$GC,3494,1.23,273.7,75.6,9.2,303,3522,0.00,2.50,17.20,0.466,6,0.000,0.028,3238,1681,1837,0,0,0,0,0,0
$GC,3780,1.35,300.7,50.7,8.7,329,3809,0.20,2.58,23.40,0.459,4,0.044,0.030,3317,3219,1727,0,0,0,0,0,0
$GC,3880,1.35,300.7,39.6,10.3,337,3892,0.12,2.47,0.00,0.000,6,0.081,0.027,3286,1703,1723,0,0,0,0,0,0
$GC,4176,1.35,300.7,10.3,10.2,377,4186,0.00,2.45,0.00,0.000,4,0.000,0.031,3286,3209,1721,0,0,0,0,0,0
$GC,4226,1.35,300.7,5.2,10.3,383,4236,0.00,2.42,0.00,0.000,6,0.000,0.026,3286,1710,1719,0,0,0,0,0,0
$STATE,4245,end climb,SURFACE_DEPTH_REACHED
$STATE,4245,begin surface coast
$FINISH,0.4,1.013183
$STATE,4294,end surface coast,CONTROL_FINISHED_OK
$STATE,4294,begin surface
$SM_CCo,4318,59.70,0.434,0,0,1323,400.08
$SM_GC,1.37,0.00,0.00,59.70,0.000,0.000,0.434,415,1919,1323,-11.85,1.39,400.08
$IRIDIUM_FIX,2408.65,-15642.81,151200,161651
$TT8_MAMPS,0.026845
$HUMID,60.71
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.30
$XPDR_PINGS,2
$24V_AH,23.8,43.752
$10V_AH,10.3,49.660
$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,28.750,55.650,352.575,59.700,0.000,23.396,36.855,167.181,0.500,0.000,34.713,722.495,1464.988,411.589,1369.260,802.713,33.351,939.832,0.000,1683.253,0.000,0.540,0.000
$DEVICE_MAMPS,167.973,44.486,569.114,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,263.832,480.771,565.024,613.542,1137.839,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,32089,392
$CAP_FILE_SIZE,63167,0
$CFSIZE,260165632,110030848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,190758,2416.712,-15642.954,8,99.0,28,10.4