version: 66.06
glider: 148
mission: 10
dive: 499
start: 9 22 111 22 44 20
data:
$ID,148
$MISSION,10
$DIVE,499
$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,120
$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,-887702.5
$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,1620
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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
$GPS1,223731,2404.135,-15646.788,12,1.2,30,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.7
$GPS2,224326,2404.111,-15646.775,14,0.9,14,10.4
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.229,-0.054
$KALMAN_X,-11698.4,300.4,80.9,153388.3,525.8
$KALMAN_Y,-122380.6,-227.9,-5.6,387277.6,-392.0
$MHEAD_RNG_PITCHd_Wd,246.3,139741,-19.9,-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,-1.39,-116.6,0.0,0.0,0,97,0.00,0.00,-75.12,0.000,2,0.000,0.000,406,1928,3364,0,0,0,0,0,0
$GC,100,-1.39,-116.8,4.3,-8.8,10,125,12.30,2.70,-1.17,0.000,4,0.167,0.044,2679,287,3435,0,0,0,0,0,0
$GC,225,-1.25,-116.8,32.0,-15.7,27,230,0.17,2.45,0.00,0.000,6,0.103,0.018,2717,1880,3436,0,0,0,0,0,0
$GC,495,-1.15,-116.8,68.1,-12.5,51,500,0.10,2.62,0.00,0.000,4,0.126,0.038,2739,286,3436,0,0,0,0,0,0
$GC,541,-1.15,-116.8,73.8,-10.4,54,546,0.00,2.40,0.00,0.000,6,0.000,0.017,2738,1865,3436,0,0,0,0,0,0
$GC,805,-1.24,-116.8,97.2,-8.3,78,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1868,3436,0,0,0,0,0,0
$GC,1059,-1.37,-116.8,115.7,-6.7,102,1064,0.20,2.55,0.00,0.000,4,0.043,0.036,2641,289,3436,0,0,0,0,0,0
$GC,1102,-1.25,-116.8,119.7,-11.3,105,1108,0.32,2.35,0.00,0.000,6,0.085,0.017,2714,1849,3437,0,0,0,0,0,0
$GC,1369,-1.34,-116.8,142.5,-8.6,129,1373,0.00,2.55,0.00,0.000,4,0.000,0.038,2715,285,3437,0,0,0,0,0,0
$GC,1398,-1.42,-116.8,145.1,-9.4,131,1403,0.15,2.35,0.00,0.000,6,0.053,0.017,2634,1846,3437,0,0,0,0,0,0
$GC,1659,-1.28,-116.8,174.9,-10.3,155,1664,0.32,2.47,0.00,0.000,4,0.084,0.025,2709,3434,3437,0,0,0,0,0,0
$GC,1677,-1.28,-116.8,176.3,-8.7,156,1681,0.00,2.53,0.00,0.000,6,0.000,0.021,2709,1826,3437,0,0,0,0,0,0
$GC,1941,-1.37,-116.8,194.9,-7.6,180,1946,0.00,2.45,0.00,0.000,4,0.000,0.039,2709,296,3437,0,0,0,0,0,0
$GC,1977,-1.49,-116.8,197.9,-8.8,183,1982,0.17,2.35,0.00,0.000,6,0.048,0.018,2623,1840,3437,0,0,0,0,0,0
$STATE,2001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2001,begin apogee
$GC,2009,-0.31,0.0,200.4,8.9,185,2104,1.33,0.00,91.10,0.570,6,0.077,0.000,2923,1597,2955,0,0,0,0,0,0
$STATE,2104,end apogee,CONTROL_FINISHED_OK
$STATE,2104,begin climb
$GC,2107,1.39,116.8,203.0,0.0,187,2210,1.45,2.35,91.93,0.565,4,0.025,0.048,3318,202,2477,0,0,0,0,0,0
$GC,2471,1.02,136.4,182.7,9.0,209,2494,0.47,2.17,16.40,0.517,6,0.097,0.018,3214,1601,2398,0,0,0,0,0,0
$GC,2755,1.10,199.2,163.1,6.4,236,2815,0.00,2.67,51.53,0.543,4,0.000,0.035,3214,3191,2141,0,0,0,0,0,0
$GC,2901,1.21,231.2,151.7,8.2,250,2936,0.17,2.50,27.42,0.522,6,0.050,0.028,3284,1655,2011,0,0,0,0,0,0
$GC,3198,1.13,231.2,119.5,10.9,278,3203,0.22,2.50,0.00,0.000,4,0.094,0.031,3235,3198,2007,0,0,0,0,0,0
$GC,3261,1.24,243.2,113.8,9.4,283,3284,0.12,2.50,10.38,0.461,6,0.064,0.035,3293,1652,1963,0,0,0,0,0,0
$GC,3540,1.24,243.2,83.2,11.0,309,3545,0.15,2.50,0.00,0.000,4,0.104,0.031,3260,3198,1961,0,0,0,0,0,0
$GC,3580,1.34,273.5,79.2,8.3,312,3617,0.05,2.50,27.30,0.484,6,0.048,0.028,3305,1665,1838,0,0,0,0,0,0
$GC,3874,1.40,315.0,53.6,7.7,339,3916,0.00,2.50,35.60,0.469,4,0.000,0.029,3304,3189,1668,0,0,0,0,0,0
$GC,4048,1.40,322.3,37.7,9.7,354,4063,0.00,2.45,7.00,0.384,6,0.000,0.027,3305,1677,1639,0,0,0,0,0,0
$GC,4352,1.40,322.3,4.1,10.9,397,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1677,1637,0,0,0,0,0,0
$STATE,4370,end climb,SURFACE_DEPTH_REACHED
$STATE,4370,begin surface coast
$FINISH,0.4,1.011152
$STATE,4419,end surface coast,CONTROL_FINISHED_OK
$STATE,4419,begin surface
$SM_CCo,4442,51.95,0.433,0,0,1323,400.08
$SM_GC,1.47,0.00,0.00,51.95,0.000,0.000,0.433,408,1929,1323,-11.88,1.67,400.08
$IRIDIUM_FIX,2354.48,-15644.67,161200,212119
$TT8_MAMPS,0.026845
$HUMID,61.14
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.30
$XPDR_PINGS,1
$24V_AH,23.8,45.400
$10V_AH,10.2,51.815
$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,29.325,55.050,358.650,51.950,0.000,24.023,34.868,151.826,0.250,0.000,16.437,756.403,1467.700,370.891,1445.246,813.229,33.353,949.742,0.000,1772.941,0.000,0.539,0.000
$DEVICE_MAMPS,167.206,48.321,569.881,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,273.003,497.976,586.343,626.843,1170.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,31964,406
$CAP_FILE_SIZE,67506,0
$CFSIZE,260165632,109178880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230911,000002,2403.525,-15647.038,7,1.7,7,10.4