version: 66.06
glider: 148
mission: 10
dive: 502
start: 9 23 111 2 54 50
data:
$ID,148
$MISSION,10
$DIVE,502
$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,-887751.5
$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,32
$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
$GPS1,024424,2402.100,-15647.754,24,1.8,43,10.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.1
$GPS2,025356,2402.048,-15647.798,14,1.7,14,10.3
$SPEED_LIMITS,0.175,0.235
$TGT_NAME,bowp4
$TGT_LATLONG,2300.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.148,-0.183
$KALMAN_X,-11036.5,246.6,255.0,150850.2,-136.6
$KALMAN_Y,-124576.6,-343.5,-311.5,386071.9,-420.2
$MHEAD_RNG_PITCHd_Wd,208.7,135576,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-74.97,0.000,2,0.000,0.000,408,1925,3331,0,0,0,0,0,0
$GC,100,-1.39,-116.8,3.8,-7.1,10,125,11.80,2.67,-1.80,0.000,4,0.150,0.042,2680,287,3434,0,0,0,0,0,0
$GC,226,-1.26,-116.8,30.0,-14.1,28,231,0.15,2.47,0.00,0.000,6,0.111,0.018,2713,1890,3435,0,0,0,0,0,0
$GC,496,-1.20,-116.8,65.5,-12.2,52,500,0.00,2.45,0.00,0.000,4,0.000,0.025,2713,3445,3435,0,0,0,0,0,0
$GC,520,-1.20,-116.8,69.3,-11.4,53,528,0.00,2.53,0.00,0.000,6,0.000,0.022,2713,1866,3435,0,0,0,0,0,0
$GC,782,-1.20,-116.8,93.0,-7.7,78,787,0.00,2.53,0.00,0.000,4,0.000,0.038,2713,292,3435,0,0,0,0,0,0
$GC,854,-1.20,-116.8,98.8,-7.5,84,859,0.00,2.40,0.00,0.000,6,0.000,0.016,2713,1869,3435,0,0,0,0,0,0
$GC,1118,-1.26,-116.8,120.4,-9.8,108,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1873,3436,0,0,0,0,0,0
$GC,1373,-1.34,-116.8,143.2,-7.9,132,1377,0.00,2.55,0.00,0.000,4,0.000,0.038,2713,290,3436,0,0,0,0,0,0
$GC,1421,-1.46,-116.8,147.0,-7.2,136,1426,0.17,2.38,0.00,0.000,6,0.048,0.017,2632,1865,3435,0,0,0,0,0,0
$GC,1687,-1.33,-116.8,175.0,-11.2,160,1692,0.28,2.55,0.00,0.000,4,0.085,0.036,2699,287,3436,0,0,0,0,0,0
$GC,1713,-1.33,-116.8,178.4,-10.7,162,1718,0.00,2.38,0.00,0.000,6,0.000,0.018,2699,1847,3436,0,0,0,0,0,0
$GC,1978,-1.40,-116.8,199.4,-7.4,186,1981,0.00,2.05,0.00,0.000,3,0.000,0.036,2699,561,3435,0,0,0,0,0,0
$STATE,1982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1982,begin apogee
$GC,1990,-0.31,0.0,200.0,7.2,186,2084,0.93,0.00,90.95,0.571,6,0.069,0.000,2918,1695,2954,0,0,0,0,0,0
$STATE,2085,end apogee,CONTROL_FINISHED_OK
$STATE,2085,begin climb
$GC,2087,1.39,116.8,203.3,0.0,189,2192,1.50,2.42,91.88,0.568,4,0.028,0.036,3319,3157,2476,0,0,0,0,0,0
$GC,2291,1.17,179.1,199.8,6.5,193,2348,0.32,2.53,50.60,0.557,6,0.098,0.027,3247,1622,2223,0,0,0,0,0,0
$GC,2615,1.11,187.0,172.2,9.6,223,2628,0.00,2.47,7.12,0.452,4,0.000,0.051,3248,176,2192,0,0,0,0,0,0
$GC,2699,1.00,187.0,163.2,10.7,231,2709,0.15,2.22,0.00,0.000,6,0.084,0.019,3209,1586,2191,0,0,0,0,0,0
$GC,2960,1.11,223.1,141.8,8.0,256,2998,0.10,2.62,31.00,0.530,4,0.078,0.040,3258,3187,2043,0,0,0,0,0,0
$GC,3023,1.12,230.8,136.3,9.7,261,3037,0.12,2.58,7.90,0.451,6,0.109,0.028,3233,1608,2013,0,0,0,0,0,0
$GC,3294,1.16,264.3,112.5,8.2,286,3330,0.00,2.60,29.77,0.512,4,0.000,0.030,3233,3192,1875,0,0,0,0,0,0
$GC,3390,1.30,270.0,103.7,9.8,294,3401,0.12,2.58,5.55,0.393,6,0.028,0.028,3295,1627,1854,0,0,0,0,0,0
$GC,3658,1.30,270.0,72.7,11.1,319,3663,0.10,2.55,0.00,0.000,4,0.125,0.031,3273,3201,1851,0,0,0,0,0,0
$GC,3703,1.32,285.2,68.3,9.2,322,3731,0.00,2.53,13.80,0.459,6,0.000,0.028,3273,1637,1791,0,0,0,0,0,0
$GC,3988,1.42,315.6,43.8,8.3,348,4030,0.10,2.55,26.92,0.463,4,0.078,0.030,3326,3196,1665,0,0,0,0,0,0
$GC,4126,1.42,315.6,28.1,11.3,360,4137,0.10,2.53,0.00,0.000,6,0.084,0.028,3299,1660,1662,0,0,0,0,0,0
$STATE,4341,end climb,SURFACE_DEPTH_REACHED
$STATE,4341,begin surface coast
$FINISH,0.5,1.022883
$STATE,4389,end surface coast,CONTROL_FINISHED_OK
$STATE,4389,begin surface
$SM_CCo,4411,55.08,0.439,0,0,1323,400.08
$SM_GC,1.43,0.00,0.00,55.08,0.000,0.000,0.439,407,1961,1323,-11.88,2.60,400.08
$IRIDIUM_FIX,2354.48,-15647.78,171200,020220
$TT8_MAMPS,0.026845
$HUMID,62.52
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,21.70
$XPDR_PINGS,2
$24V_AH,23.8,45.624
$10V_AH,10.1,52.127
$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,27.450,59.075,355.500,55.075,0.000,50.976,70.317,238.605,0.500,0.000,16.429,739.243,1575.212,370.546,1402.255,954.635,33.356,947.396,0.000,1740.940,0.000,0.539,0.000
$DEVICE_MAMPS,150.332,50.622,571.415,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.914,496.033,580.955,617.563,1150.646,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,32161,400
$CAP_FILE_SIZE,70308,0
$CFSIZE,260165632,109051904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230911,041036,2401.435,-15648.122,33,1.6,38,10.3