version: 66.06
glider: 148
mission: 11
dive: 43
start: 5 26 112 2 41 45
data:
$ID,148
$MISSION,11
$DIVE,43
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,220
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$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,380
$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,-897851.38
$T_RSLEEP,5
$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,1740
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2840
$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
$GPS1,022706,2228.287,-15817.440,54,1.9,54,10.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.4
$GPS2,024050,2228.290,-15817.624,13,1.4,13,10.0
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,T02
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,0.093
$KALMAN_X,-84455.6,-362.8,-367.9,55739.9,-731.7
$KALMAN_Y,-52542.3,-13.4,-0.8,22579.8,-520.4
$MHEAD_RNG_PITCHd_Wd,57.6,55910,-18.9,-10.000
$D_GRID,300
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.34,-126.5,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,412,1747,3227,0,0,0,0,0,0
$GC,97,-1.34,-126.5,3.4,-5.2,10,121,12.10,2.47,-2.35,0.000,4,0.155,0.037,2689,3286,3358,0,0,0,0,0,0
$GC,132,0.50,-126.5,18.2,-37.5,14,141,2.00,2.55,0.00,0.000,6,0.127,0.026,3090,1722,3359,0,0,0,0,0,0
$GC,407,0.68,-126.5,70.1,-16.3,41,412,0.22,2.55,0.00,0.000,4,0.102,0.041,3138,176,3360,0,0,0,0,0,0
$GC,429,0.81,-126.5,73.9,-15.2,42,434,0.12,2.38,0.00,0.000,6,0.116,0.018,3164,1712,3361,0,0,0,0,0,0
$GC,693,0.70,-126.5,100.7,-9.8,66,698,0.00,2.53,0.00,0.000,4,0.000,0.044,3164,177,3361,0,0,0,0,0,0
$GC,723,0.62,-126.5,104.4,-11.0,68,732,0.12,2.40,0.00,0.000,6,0.030,0.019,3099,1715,3361,0,0,0,0,0,0
$GC,991,0.68,-126.5,137.0,-11.3,93,996,0.17,2.55,0.00,0.000,4,0.103,0.042,3136,178,3361,0,0,0,0,0,0
$GC,1007,0.68,-126.5,139.6,-11.3,94,1011,0.00,2.38,0.00,0.000,6,0.000,0.019,3136,1734,3361,0,0,0,0,0,0
$GC,1275,0.58,-126.5,158.5,-6.4,119,1279,0.00,2.55,0.00,0.000,4,0.000,0.043,3136,177,3361,0,0,0,0,0,0
$GC,1345,0.43,-126.5,163.6,-6.9,125,1352,0.22,2.35,0.00,0.000,6,0.043,0.019,3055,1713,3361,0,0,0,0,0,0
$GC,1608,0.54,-126.5,193.5,-12.6,150,1614,0.22,2.53,0.00,0.000,4,0.098,0.042,3104,171,3362,0,0,0,0,0,0
$GC,1667,0.46,-126.5,201.1,-12.1,155,1671,0.00,2.35,0.00,0.000,6,0.000,0.020,3104,1706,3362,0,0,0,0,0,0
$GC,1944,0.46,-126.5,233.9,-11.8,162,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1709,3362,0,0,0,0,0,0
$GC,2190,0.39,-126.5,255.7,-8.2,168,2195,0.12,2.53,0.00,0.000,4,0.067,0.053,3049,178,3362,0,0,0,0,0,0
$GC,2242,0.50,-126.5,261.4,-11.0,169,2247,0.40,2.38,0.00,0.000,6,0.051,0.021,3098,1705,3362,1,0,0,0,0,0
$GC,2521,0.43,-126.5,284.7,-8.5,176,2526,0.00,2.55,0.00,0.000,4,0.000,0.048,3098,173,3362,0,0,0,0,0,0
$GC,2593,0.31,-126.5,291.6,-9.4,177,2601,0.77,2.35,0.00,0.000,6,0.012,0.021,3035,1691,3362,2,0,0,0,0,0
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2697,-0.31,0.0,302.6,11.1,180,2801,0.45,0.00,100.97,0.667,6,0.031,0.000,2901,1850,2840,0,0,0,0,0,0
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin climb
$GC,2805,1.34,126.5,316.1,0.0,182,2919,1.75,2.33,103.55,0.667,4,0.097,0.028,3271,3325,2322,0,0,0,0,0,0
$GC,3016,2.39,252.4,319.6,3.3,186,3135,5.43,2.50,106.12,0.665,6,0.008,0.030,3515,1799,1811,15,0,0,0,0,0
$GC,3392,2.59,252.4,286.3,11.3,196,3397,0.15,2.50,0.00,0.000,4,0.051,0.035,3587,3315,1804,0,0,0,0,0,0
$GC,3501,2.71,252.4,271.5,12.3,198,3505,0.00,2.53,0.00,0.000,6,0.000,0.035,3587,1785,1799,0,0,0,0,0,0
$GC,3771,2.71,252.4,241.6,10.5,205,3775,0.00,2.67,0.00,0.000,4,0.000,0.055,3587,216,1798,0,0,0,0,0,0
$GC,3947,2.71,252.4,221.6,13.1,208,3952,0.00,2.38,0.00,0.000,6,0.000,0.024,3588,1706,1797,0,0,0,0,0,0
$GC,4201,2.71,252.4,186.7,15.0,221,4206,0.00,2.50,0.00,0.000,4,0.000,0.050,3587,213,1796,0,0,0,0,0,0
$GC,4378,2.71,252.4,159.8,14.2,238,4382,0.00,2.33,0.00,0.000,6,0.000,0.031,3587,1682,1796,0,0,0,0,0,0
$GC,4642,2.79,252.4,130.7,10.4,262,4646,0.00,2.45,0.00,0.000,4,0.000,0.049,3587,206,1794,0,0,0,0,0,0
$GC,4904,2.79,252.4,99.1,10.7,287,4908,0.00,2.28,0.00,0.000,6,0.000,0.022,3587,1662,1794,0,0,0,0,0,0
$GC,5172,2.91,272.1,74.6,9.0,311,5198,0.15,2.47,15.30,0.486,4,0.054,0.048,3652,215,1729,0,0,0,0,0,0
$GC,5314,2.75,272.1,53.7,15.2,323,5319,0.45,2.25,0.00,0.000,6,0.054,0.021,3586,1650,1729,1,0,0,0,0,0
$GC,5585,2.85,272.1,26.4,10.3,349,5594,0.10,2.42,0.00,0.000,4,0.077,0.046,3642,213,1726,0,0,0,0,0,0
$GC,5616,2.85,272.1,22.3,12.5,353,5625,0.15,2.28,0.00,0.000,6,0.088,0.021,3606,1659,1726,0,0,0,0,0,0
$STATE,5782,end climb,SURFACE_DEPTH_REACHED
$STATE,5782,begin surface coast
$FINISH,0.6,1.019019
$STATE,5820,end surface coast,CONTROL_FINISHED_OK
$STATE,5821,begin surface
$SM_CCo,5845,65.43,0.450,0,0,1290,380.21
$SM_GC,1.23,0.00,0.00,65.43,0.000,0.000,0.450,415,1663,1290,-11.85,-2.18,380.21
$IRIDIUM_FIX,2218.34,-15820.58,200801,020258
$TT8_MAMPS,0.026845
$HUMID,61.34
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,16
$24V_AH,23.6,5.622
$10V_AH,9.9,4.338
$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,38.275,73.375,325.950,65.425,0.000,54.583,75.656,438.083,4.000,0.000,14.721,789.870,3063.016,413.343,1609.522,862.065,33.351,1021.681,0.000,1610.020,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,69.797,667.290,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.538,272.835,347.110,539.541,948.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,28842,385
$CAP_FILE_SIZE,88013,0
$CFSIZE,260165632,170369024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,19,0,0,0
$GPS,260512,042125,2228.223,-15817.511,10,1.9,28,10.0