version: 66.06
glider: 148
mission: 10
dive: 481
start: 9 21 111 21 57 15
data:
$ID,148
$MISSION,10
$DIVE,481
$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,-887251.81
$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,31
$R_STBD_OVSHOOT,48
$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
$GPS1,214638,2415.296,-15643.347,9,1.7,9,10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.1
$GPS2,215620,2415.253,-15643.352,16,1.5,34,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.189,-0.168
$KALMAN_X,-18663.7,346.2,173.2,166111.3,147.0
$KALMAN_Y,-114129.3,-227.5,-248.3,399899.2,-382.9
$MHEAD_RNG_PITCHd_Wd,218.1,160462,-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,-74.45,0.000,2,0.000,0.000,404,1930,3298,0,0,0,0,0,0
$GC,98,-1.31,-136.3,3.5,-5.4,10,123,11.88,2.72,-3.85,0.000,4,0.150,0.044,2698,281,3511,0,0,0,0,0,0
$GC,212,-1.21,-136.3,27.5,-14.0,26,223,0.10,2.50,0.00,0.000,6,0.081,0.018,2724,1877,3512,0,0,0,0,0,0
$GC,492,-1.07,-136.3,65.2,-13.1,52,497,0.15,2.62,0.00,0.000,4,0.105,0.038,2758,281,3512,0,0,0,0,0,0
$GC,505,-0.95,-136.3,68.1,-13.3,52,515,0.08,2.45,0.00,0.000,6,0.084,0.018,2780,1869,3512,0,0,0,0,0,0
$GC,773,-1.06,-136.3,93.2,-8.1,77,777,0.00,2.42,0.00,0.000,4,0.000,0.025,2781,3426,3512,0,0,0,0,0,0
$GC,806,-1.26,-136.3,95.6,-8.1,79,811,0.28,2.47,0.00,0.000,6,0.033,0.021,2654,1836,3512,0,0,0,0,0,0
$GC,1073,-1.00,-136.3,132.5,-13.8,103,1082,0.62,2.47,0.00,0.000,4,0.081,0.037,2770,292,3512,0,0,0,0,0,0
$GC,1120,-1.22,-136.3,137.1,-7.4,107,1125,0.20,2.38,0.00,0.000,6,0.041,0.017,2667,1866,3512,0,0,0,0,0,0
$GC,1381,-1.09,-136.3,164.3,-10.3,131,1383,0.40,0.00,0.00,0.000,6,0.076,0.000,2750,1869,3513,0,0,0,0,0,0
$GC,1638,-1.25,-136.3,181.7,-6.7,155,1643,0.15,2.55,0.00,0.000,4,0.054,0.039,2665,299,3513,0,0,0,0,0,0
$GC,1688,-1.25,-136.3,186.9,-10.1,159,1699,0.20,2.38,0.00,0.000,6,0.071,0.018,2717,1837,3513,0,0,0,0,0,0
$STATE,1862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1862,begin apogee
$GC,1869,-0.31,0.0,200.1,7.1,176,1978,0.88,0.00,105.18,0.569,6,0.068,0.000,2920,1638,2954,0,0,0,0,0,0
$STATE,1979,end apogee,CONTROL_FINISHED_OK
$STATE,1979,begin climb
$GC,1981,1.31,136.3,202.8,0.0,178,2098,1.42,2.45,106.47,0.565,4,0.028,0.048,3294,198,2397,0,0,0,0,0,0
$GC,2269,0.97,162.3,187.4,8.8,193,2302,0.43,2.28,21.98,0.528,6,0.093,0.019,3203,1651,2291,0,0,0,0,0,0
$GC,2557,1.04,222.5,167.1,7.1,220,2616,0.00,2.47,49.83,0.542,4,0.000,0.045,3202,211,2045,0,0,0,0,0,0
$GC,2630,1.08,249.3,160.9,8.8,227,2661,0.00,2.25,23.88,0.521,6,0.000,0.019,3202,1649,1937,0,0,0,0,0,0
$GC,2915,1.12,284.9,135.1,8.3,254,2952,0.12,2.60,30.70,0.517,4,0.065,0.035,3263,3226,1791,0,0,0,0,0,0
$GC,2999,1.12,284.9,126.7,11.9,261,3005,0.12,2.47,0.00,0.000,6,0.105,0.027,3234,1701,1786,0,0,0,0,0,0
$GC,3265,1.12,289.0,99.4,9.9,285,3270,0.00,2.47,0.00,0.000,4,0.000,0.030,3234,3228,1784,0,0,0,0,0,0
$GC,3319,1.23,291.1,94.5,10.0,289,3329,0.10,2.50,4.93,0.370,6,0.077,0.027,3286,1678,1768,0,0,0,0,0,0
$GC,3590,1.24,293.1,65.3,10.0,314,3600,0.12,0.00,0.00,0.000,6,0.107,0.000,3257,1678,1766,0,0,0,0,0,0
$GC,3861,1.27,323.4,41.3,8.6,339,3902,0.00,2.58,29.10,0.459,4,0.000,0.029,3257,3227,1635,0,0,0,0,0,0
$GC,3940,1.40,332.5,33.7,9.6,345,3955,0.15,2.50,9.02,0.403,6,0.055,0.026,3329,1683,1598,0,0,0,0,0,0
$STATE,4175,end climb,SURFACE_DEPTH_REACHED
$STATE,4175,begin surface coast
$FINISH,0.5,1.018314
$STATE,4216,end surface coast,CONTROL_FINISHED_OK
$STATE,4216,begin surface
$SM_CCo,4238,46.03,0.433,0,0,1323,400.08
$SM_GC,1.27,0.00,0.00,46.03,0.000,0.000,0.433,411,1964,1323,-11.86,2.66,400.08
$IRIDIUM_FIX,2406.29,-15644.98,151200,212137
$TT8_MAMPS,0.026845
$HUMID,60.98
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.8,43.987
$10V_AH,10.2,49.965
$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,29.050,50.100,381.075,46.025,0.000,60.349,69.626,219.580,0.000,0.000,35.700,709.257,1510.853,388.603,1338.078,927.120,33.350,944.289,0.000,1645.717,0.000,0.539,0.000
$DEVICE_MAMPS,149.565,48.321,569.114,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,258.812,497.904,575.538,590.548,1113.981,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,32104,386
$CAP_FILE_SIZE,66664,0
$CFSIZE,260165632,109912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210911,231000,2414.618,-15643.628,33,1.3,38,10.4