version: 66.06
glider: 148
mission: 11
dive: 58
start: 5 27 112 7 56 29
data:
$ID,148
$MISSION,11
$DIVE,58
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$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,95
$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,120
$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,-899009
$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,3040
$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,28
$R_STBD_OVSHOOT,85
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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
$GPS1,074936,2227.226,-15824.409,11,1.7,27,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.2
$GPS2,075532,2227.207,-15824.464,11,1.7,11,10.0
$SPEED_LIMITS,0.122,0.208
$TGT_NAME,T02
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,0.071
$KALMAN_X,-112140.2,-1679.7,-195.9,72889.0,-728.2
$KALMAN_Y,-63072.1,-13.2,326.9,30780.4,-375.5
$MHEAD_RNG_PITCHd_Wd,60.0,67721,-14.0,-7.018
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.02,-116.8,0.0,0.0,0,92,0.00,0.00,-74.75,0.000,2,0.000,0.000,413,1705,3176,0,0,0,0,0,0
$GC,97,-1.02,-116.8,3.4,-3.3,10,122,12.45,2.53,-1.88,0.000,4,0.150,0.036,2813,3283,3280,0,0,0,0,0,0
$GC,132,1.17,-116.8,18.1,-26.6,14,149,4.78,2.53,0.00,0.000,6,0.058,0.029,3288,1736,3281,8,0,0,0,0,0
$GC,423,0.84,-116.8,39.9,-3.5,46,429,0.25,2.58,0.00,0.000,4,0.048,0.045,3207,176,3283,0,0,0,0,0,0
$GC,490,0.74,-116.8,45.1,-7.9,51,499,0.00,2.38,0.00,0.000,6,0.000,0.019,3207,1708,3282,0,0,0,0,0,0
$GC,758,0.74,-116.8,63.1,-5.8,76,762,0.00,2.50,0.00,0.000,4,0.000,0.025,3207,3312,3282,0,0,0,0,0,0
$GC,788,0.63,-116.8,64.9,-5.4,78,802,1.52,2.53,0.00,0.000,6,0.003,0.028,3115,1738,3282,5,0,0,0,0,0
$GC,1060,0.86,-116.8,94.1,-11.6,103,1069,0.45,2.55,0.00,0.000,4,0.085,0.041,3221,165,3282,0,0,0,0,0,0
$GC,1159,0.73,-116.8,101.0,-5.3,112,1168,0.08,2.42,0.00,0.000,6,0.035,0.018,3154,1737,3282,0,0,0,0,0,0
$GC,1427,0.80,-116.8,123.5,-9.1,137,1432,0.25,2.55,0.00,0.000,4,0.084,0.040,3215,166,3282,0,0,0,0,0,0
$GC,1478,0.64,-116.8,128.0,-7.2,141,1484,0.15,2.35,0.00,0.000,6,0.054,0.018,3127,1727,3282,0,0,0,0,0,0
$GC,1747,0.78,-116.8,151.8,-9.6,166,1756,0.32,2.55,0.00,0.000,4,0.081,0.042,3206,165,3282,0,0,0,0,0,0
$GC,1841,0.59,-116.8,159.0,-7.0,175,1846,0.17,2.33,0.00,0.000,6,0.047,0.018,3118,1697,3282,0,0,0,0,0,0
$GC,2109,0.73,-116.8,187.1,-11.0,199,2114,0.35,2.47,0.00,0.000,4,0.080,0.041,3196,174,3283,0,0,0,0,0,0
$GC,2164,0.55,-116.8,192.7,-7.6,204,2169,0.15,2.30,0.00,0.000,6,0.053,0.019,3117,1684,3283,0,0,0,0,0,0
$STATE,2245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2245,begin apogee
$GC,2253,-0.31,0.0,200.5,10.1,211,2348,0.57,0.00,91.80,0.575,6,0.024,0.000,2928,1831,2799,0,0,0,0,0,0
$STATE,2349,end apogee,CONTROL_FINISHED_OK
$STATE,2349,begin climb
$GC,2351,1.02,116.8,211.8,0.0,213,2453,1.55,0.00,95.35,0.572,6,0.092,0.000,3258,1831,2323,0,0,0,0,0,0
$GC,2693,1.82,130.8,197.1,6.4,225,2715,0.73,2.45,12.57,0.509,4,0.051,0.027,3438,3320,2264,0,0,0,0,0,0
$GC,2861,2.20,180.1,187.8,5.0,241,2922,11.98,2.38,41.90,0.552,6,0.004,0.028,3541,1838,2065,39,0,0,0,0,0
$GC,3187,2.29,252.9,171.6,4.1,272,3253,0.00,2.45,60.72,0.551,4,0.000,0.029,3541,3323,1768,0,0,0,0,0,0
$GC,3339,2.37,252.9,160.4,8.0,287,3344,0.00,2.42,0.00,0.000,6,0.000,0.031,3541,1831,1761,0,0,0,0,0,0
$GC,3603,2.37,252.9,139.0,8.3,312,3607,0.00,2.70,0.00,0.000,4,0.000,0.048,3541,215,1759,0,0,0,0,0,0
$GC,3765,2.37,252.9,121.8,11.3,327,3770,0.00,2.45,0.00,0.000,6,0.000,0.021,3541,1768,1758,0,0,0,0,0,0
$GC,4028,2.37,252.9,97.0,8.0,352,4033,0.00,2.58,0.00,0.000,4,0.000,0.048,3541,218,1757,0,0,0,0,0,0
$GC,4177,2.37,252.9,85.2,7.4,366,4182,0.00,2.50,0.00,0.000,6,0.000,0.021,3541,1813,1756,0,0,0,0,0,0
$GC,4447,2.49,290.4,68.7,5.5,390,4485,0.17,2.70,31.40,0.479,4,0.050,0.045,3615,212,1614,0,0,0,0,0,0
$GC,4601,2.34,290.4,50.4,13.7,403,4611,0.28,2.50,0.00,0.000,6,0.071,0.021,3550,1781,1614,0,0,0,0,0,0
$GC,4870,2.42,290.4,27.8,7.9,430,4879,0.00,2.65,0.00,0.000,4,0.000,0.049,3550,220,1611,0,0,0,0,0,0
$GC,4981,2.42,290.4,18.6,9.1,447,4990,0.00,2.45,0.00,0.000,6,0.000,0.021,3549,1777,1611,0,0,0,0,0,0
$STATE,5146,end climb,SURFACE_DEPTH_REACHED
$STATE,5148,begin surface coast
$FINISH,0.5,0.998531
$STATE,5205,end surface coast,CONTROL_FINISHED_OK
$STATE,5205,begin surface
$SM_CCo,5228,48.40,0.421,1,0,1249,380.21
$SM_GC,1.42,0.00,0.00,48.40,0.000,0.000,0.421,416,1720,1249,-12.07,-0.57,380.21
$IRIDIUM_FIX,2218.34,-15825.77,210801,060654
$TT8_MAMPS,0.027612
$HUMID,59.72
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,23.20
$XPDR_PINGS,91
$24V_AH,23.7,7.286
$10V_AH,10.0,5.575
$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,48.875,64.950,333.750,48.400,0.000,31.319,32.154,170.131,22.750,0.000,12.563,868.031,1976.008,413.025,1918.032,468.833,33.335,1036.287,0.000,1935.902,0.000,0.540,0.000
$DEVICE_MAMPS,150.332,121.186,575.250,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.083,385.559,486.021,803.459,1411.588,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356000
$DATA_FILE_SIZE,38254,482
$CAP_FILE_SIZE,74892,0
$CFSIZE,260165632,169811968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,52,0,1,0
$GPS,270512,092555,2226.862,-15824.644,22,1.2,41,10.0