version: 66.06
glider: 146
mission: 8
dive: 5
start: 1 17 113 18 22 50
data:
$ID,146
$MISSION,8
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,300
$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,40
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-302426.66
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,181618,1921.523,-8114.107,11,2.0,28,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.4
$GPS2,182157,1921.504,-8114.132,15,2.1,34,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,START1
$TGT_LATLONG,1922.500,-8112.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,0.120
$KALMAN_X,-991.5,-548.3,-410.1,642.3,-70.4
$KALMAN_Y,-369.8,-243.4,-179.1,488.7,24.2
$MHEAD_RNG_PITCHd_Wd,66.3,3396,-17.5,-10.000
$D_GRID,120
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-71.07,0.000,2,0.000,0.000,467,2207,3484,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.0,-4.2,9,121,13.07,2.40,-5.88,0.000,4,0.174,0.041,2812,3713,3787,0,0,0,0,0,0
$GC,180,-1.32,-146.0,20.1,-11.3,20,190,0.00,2.50,0.00,0.000,6,0.000,0.031,2812,2141,3786,0,0,0,0,0,0
$GC,469,-1.32,-146.0,54.6,-11.9,51,474,0.00,2.55,0.00,0.000,4,0.000,0.047,2812,573,3786,0,0,0,0,0,0
$GC,515,-1.32,-146.0,60.8,-13.1,54,519,0.00,2.38,0.00,0.000,6,0.000,0.017,2812,2145,3786,0,0,0,0,0,0
$GC,779,-1.32,-146.0,90.7,-9.9,78,783,0.00,2.45,0.00,0.000,4,0.000,0.039,2812,3709,3786,0,0,0,0,0,0
$GC,800,-1.32,-146.0,92.8,-10.2,79,804,0.00,2.42,0.00,0.000,6,0.000,0.021,2812,2149,3786,0,0,0,0,0,0
$GC,1069,-1.40,-146.0,116.6,-8.2,103,1073,0.00,2.58,0.00,0.000,4,0.000,0.050,2812,572,3786,0,0,0,0,0,0
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1108,-0.31,0.0,120.4,8.7,105,1230,0.93,0.00,109.43,0.561,6,0.071,0.000,3030,2106,3190,0,0,0,0,0,0
$STATE,1231,end apogee,CONTROL_FINISHED_OK
$STATE,1231,begin climb
$GC,1234,1.27,146.0,124.2,0.0,117,1354,1.38,2.65,110.95,0.553,4,0.028,0.046,3386,525,2593,0,0,0,0,0,0
$GC,1360,1.27,265.2,124.9,4.5,128,1463,0.00,2.47,94.85,0.543,6,0.000,0.018,3386,2097,2107,0,0,0,0,0,0
$GC,1721,1.22,265.2,81.5,10.9,161,1725,0.00,2.53,0.00,0.000,4,0.000,0.041,3386,3661,2102,0,0,0,0,0,0
$GC,1914,1.18,265.2,59.0,11.2,176,1919,0.12,2.45,0.00,0.000,6,0.125,0.027,3361,2125,2101,0,0,0,0,0,0
$GC,2182,1.19,268.7,32.5,9.8,200,2186,0.00,2.45,0.00,0.000,4,0.000,0.037,3360,3661,2101,0,0,0,0,0,0
$GC,2294,1.19,268.7,20.1,11.4,214,2303,0.00,2.45,0.00,0.000,6,0.000,0.028,3360,2134,2101,0,0,0,0,0,0
$STATE,2444,end climb,SURFACE_DEPTH_REACHED
$STATE,2444,begin surface coast
$FINISH,0.4,1.009995
$STATE,2495,end surface coast,CONTROL_FINISHED_OK
$STATE,2495,begin surface
$SM_CCo,2517,64.38,0.471,0,0,1763,350.04
$SM_GC,1.16,0.00,0.00,64.38,0.000,0.000,0.471,471,2132,1763,-12.09,-0.54,350.04
$IRIDIUM_FIX,1913.80,-8114.71,130402,171731
$TT8_MAMPS,0.025311
$HUMID,53.97
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,26.30
$XPDR_PINGS,8
$24V_AH,23.7,1.385
$10V_AH,10.7,1.076
$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,27.025,34.650,315.225,64.375,0.000,30.554,35.500,129.760,2.000,0.000,37.059,431.619,660.367,337.675,1148.364,350.671,33.319,729.352,0.000,1138.552,0.000,0.541,0.000
$DEVICE_MAMPS,174.109,49.855,560.677,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,158.667,198.551,248.599,496.981,947.323,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,19510,243
$CAP_FILE_SIZE,38769,0
$CFSIZE,260165632,128126976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170113,190703,1921.778,-8113.994,12,99.0,31,-3.8