version: 66.06
glider: 148
mission: 11
dive: 46
start: 5 26 112 7 43 43
data:
$ID,148
$MISSION,11
$DIVE,46
$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,-898011
$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,22
$R_STBD_OVSHOOT,39
$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
$GPS1,073655,2228.138,-15818.068,12,1.6,30,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.0
$GPS2,074249,2228.126,-15818.141,32,1.3,49,10.0
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,T02
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.120
$KALMAN_X,-90060.1,-53.0,151.7,59625.1,-1937.0
$KALMAN_Y,-54718.6,51.7,-48.1,24434.1,-761.1
$MHEAD_RNG_PITCHd_Wd,50.4,56810,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.34,-126.5,0.0,0.0,0,99,0.00,0.00,-78.65,0.000,6,0.000,0.000,410,1694,3357,0,0,0,0,0,0
$GC,103,-1.34,-126.5,4.4,-8.4,11,120,12.05,2.62,0.00,0.000,4,0.154,0.024,2689,3343,3359,0,0,0,0,0,0
$GC,137,0.55,-126.5,21.0,-46.8,15,147,2.53,2.62,0.00,0.000,6,0.106,0.028,3104,1734,3361,2,0,0,0,0,0
$GC,410,0.66,-126.5,70.9,-13.7,41,415,0.12,2.58,0.00,0.000,4,0.121,0.046,3130,166,3362,0,0,0,0,0,0
$GC,467,0.66,-126.5,78.8,-14.2,45,471,0.00,2.45,0.00,0.000,6,0.000,0.019,3130,1743,3362,0,0,0,0,0,0
$GC,733,0.66,-126.5,111.5,-10.8,69,737,0.00,2.60,0.00,0.000,4,0.000,0.042,3130,166,3363,0,0,0,0,0,0
$GC,793,0.66,-126.5,119.0,-11.4,74,802,0.00,2.42,0.00,0.000,6,0.000,0.019,3130,1712,3362,0,0,0,0,0,0
$GC,1059,0.66,-126.5,142.4,-8.7,99,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1714,3363,0,0,0,0,0,0
$GC,1327,0.58,-126.5,161.4,-7.2,124,1331,0.00,2.53,0.00,0.000,4,0.000,0.043,3130,176,3363,0,0,0,0,0,0
$GC,1426,0.46,-126.5,170.7,-8.0,133,1432,0.32,2.40,0.00,0.000,6,0.025,0.019,3065,1730,3363,1,0,0,0,0,0
$GC,1690,0.55,-126.5,199.3,-11.9,158,1695,0.20,2.55,0.00,0.000,4,0.100,0.042,3108,170,3363,0,0,0,0,0,0
$GC,1738,0.49,-126.5,204.7,-10.2,159,1742,0.00,2.40,0.00,0.000,6,0.000,0.020,3108,1718,3364,0,0,0,0,0,0
$GC,2022,0.43,-126.5,227.5,-7.7,166,2027,0.12,2.55,0.00,0.000,4,0.067,0.045,3053,174,3364,0,0,0,0,0,0
$GC,2097,0.53,-126.5,235.0,-10.3,167,2105,0.52,2.38,0.00,0.000,6,0.031,0.027,3101,1706,3364,1,0,0,0,0,0
$GC,2356,0.46,-126.5,253.0,-6.7,174,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1709,3364,0,0,0,0,0,0
$GC,2600,0.38,-126.5,270.0,-7.1,180,2606,0.12,2.58,0.00,0.000,4,0.067,0.048,3043,168,3364,0,0,0,0,0,0
$GC,2685,0.46,-126.5,279.8,-11.8,181,2692,1.48,2.40,0.00,0.000,6,0.012,0.022,3087,1700,3364,4,0,0,0,0,0
$STATE,2933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2933,begin apogee
$GC,2941,-0.31,0.0,302.2,9.0,188,3045,0.68,0.00,101.32,0.670,6,0.025,0.000,2886,1853,2839,0,0,0,0,0,0
$STATE,3046,end apogee,CONTROL_FINISHED_OK
$STATE,3046,begin climb
$GC,3048,1.34,126.5,313.6,0.0,190,3162,1.83,2.47,103.93,0.667,4,0.100,0.028,3271,3374,2322,0,0,0,0,0,0
$GC,3248,2.31,216.4,313.0,5.2,194,3341,5.97,2.60,75.88,0.660,6,0.007,0.031,3494,1795,1956,17,0,0,0,0,0
$GC,3601,2.61,257.0,287.3,7.8,203,3644,0.25,2.67,35.45,0.641,4,0.038,0.041,3601,3365,1791,0,0,0,0,0,0
$GC,3701,2.61,257.0,275.4,12.7,205,3709,1.00,2.65,0.00,0.000,6,0.015,0.033,3560,1776,1785,3,0,0,0,0,0
$GC,3983,2.71,257.0,245.8,10.1,212,3987,0.00,2.65,0.00,0.000,4,0.000,0.056,3560,211,1783,0,0,0,0,0,0
$GC,4198,2.77,257.0,217.2,14.4,216,4206,1.38,2.47,0.00,0.000,6,0.005,0.024,3622,1759,1782,4,0,0,0,0,0
$GC,4466,2.77,257.0,180.0,13.5,232,4471,0.15,2.60,0.00,0.000,4,0.110,0.048,3590,212,1780,0,0,0,0,0,0
$GC,4641,2.77,257.0,158.7,11.7,249,4650,0.00,2.42,0.00,0.000,6,0.000,0.023,3590,1729,1780,0,0,0,0,0,0
$GC,4906,2.83,257.0,131.2,12.4,274,4910,0.00,2.53,0.00,0.000,4,0.000,0.048,3590,216,1777,0,0,0,0,0,0
$GC,5198,2.83,257.0,96.6,10.1,302,5207,0.00,2.38,0.00,0.000,6,0.000,0.022,3590,1710,1777,0,0,0,0,0,0
$GC,5466,2.96,279.2,75.0,8.8,327,5492,0.17,2.53,18.17,0.492,4,0.051,0.053,3672,206,1699,0,0,0,0,0,0
$GC,5695,2.70,279.2,36.2,18.2,347,5708,0.47,2.35,0.00,0.000,6,0.064,0.022,3578,1711,1699,0,0,0,0,0,0
$GC,6000,2.85,288.1,4.5,9.5,393,6010,0.15,0.00,7.22,0.384,2,0.055,0.000,3645,1714,1670,0,0,0,0,0,0
$STATE,6011,end climb,SURFACE_DEPTH_REACHED
$STATE,6011,begin surface coast
$FINISH,0.5,1.007045
$STATE,6062,end surface coast,CONTROL_FINISHED_OK
$STATE,6062,begin surface
$SM_CCo,6085,57.53,0.450,0,0,1288,380.21
$SM_GC,1.40,0.00,0.00,57.53,0.000,0.000,0.450,410,1715,1288,-11.87,-0.71,380.21
$IRIDIUM_FIX,2220.67,-15815.38,200801,060601
$TT8_MAMPS,0.027612
$HUMID,61.97
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,6
$24V_AH,23.6,5.890
$10V_AH,9.9,4.592
$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,42.550,65.525,341.975,57.525,0.000,27.833,37.112,140.323,1.500,0.000,51.326,810.280,3127.135,416.964,1729.352,421.784,33.348,1057.474,0.000,1693.094,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,69.030,670.358,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,270.748,275.137,360.994,550.049,966.444,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356040
$DATA_FILE_SIZE,32065,402
$CAP_FILE_SIZE,77911,0
$CFSIZE,260165632,170258432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,32,0,0,0
$GPS,260512,092701,2227.900,-15818.484,7,2.0,13,10.0