version: 66.06
glider: 148
mission: 11
dive: 59
start: 5 27 112 9 44 38
data:
$ID,148
$MISSION,11
$DIVE,59
$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,-899026.44
$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,37
$R_STBD_OVSHOOT,51
$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
$GPS1,092555,2226.862,-15824.644,22,1.2,41,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.5
$GPS2,094343,2226.816,-15824.802,11,1.7,15,10.0
$SPEED_LIMITS,0.122,0.208
$TGT_NAME,T02
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,0.118
$KALMAN_X,-113734.0,-1599.1,-283.3,73914.3,-674.9
$KALMAN_Y,-63692.4,83.3,-206.1,31116.2,-646.8
$MHEAD_RNG_PITCHd_Wd,45.4,68356,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.02,-116.8,0.0,0.0,0,93,0.00,0.00,-74.65,0.000,2,0.000,0.000,416,1720,3204,0,0,0,0,0,0
$GC,98,-1.02,-116.8,3.3,-3.2,10,123,12.48,2.58,-1.38,0.000,4,0.150,0.035,2814,3329,3280,0,0,0,0,0,0
$GC,145,0.72,-116.8,22.4,-35.3,16,155,3.03,2.58,0.00,0.000,6,0.070,0.029,3193,1751,3280,4,0,0,0,0,0
$GC,419,0.72,-116.8,49.0,-8.4,42,423,0.00,2.58,0.00,0.000,4,0.000,0.042,3192,164,3282,0,0,0,0,0,0
$GC,473,0.72,-116.8,54.6,-10.0,46,478,0.00,2.45,0.00,0.000,6,0.000,0.019,3193,1745,3282,0,0,0,0,0,0
$GC,740,0.72,-116.8,79.3,-9.0,70,745,0.00,2.45,0.00,0.000,4,0.000,0.025,3192,3315,3282,0,0,0,0,0,0
$GC,771,0.64,-116.8,82.4,-8.2,72,779,0.00,2.58,0.00,0.000,6,0.000,0.028,3193,1727,3282,0,0,0,0,0,0
$GC,1035,0.64,-116.8,102.1,-7.5,97,1039,0.00,2.53,0.00,0.000,4,0.000,0.051,3192,170,3282,0,0,0,0,0,0
$GC,1104,0.64,-116.8,107.2,-7.8,103,1109,0.00,2.40,0.00,0.000,6,0.000,0.018,3193,1737,3282,0,0,0,0,0,0
$GC,1370,0.64,-116.8,124.1,-6.2,127,1375,0.00,2.58,0.00,0.000,4,0.000,0.044,3193,174,3282,0,0,0,0,0,0
$GC,1423,0.56,-116.8,127.9,-7.0,131,1429,0.12,2.38,0.00,0.000,6,0.063,0.018,3117,1725,3282,0,0,0,0,0,0
$GC,1686,0.73,-116.8,151.8,-10.2,156,1691,0.32,2.55,0.00,0.000,4,0.084,0.042,3194,168,3282,0,0,0,0,0,0
$GC,1766,0.63,-116.8,157.8,-7.5,163,1770,0.00,2.35,0.00,0.000,6,0.000,0.019,3194,1704,3282,0,0,0,0,0,0
$GC,2033,0.52,-116.8,175.2,-6.5,187,2038,0.17,2.53,0.00,0.000,4,0.048,0.045,3106,168,3282,0,0,0,0,0,0
$GC,2072,0.71,-116.8,178.8,-9.9,190,2078,0.38,2.35,0.00,0.000,6,0.083,0.019,3190,1701,3282,0,0,0,0,0,0
$GC,2338,0.60,-116.8,194.6,-5.3,214,2342,0.00,2.50,0.00,0.000,4,0.000,0.046,3190,172,3281,0,0,0,0,0,0
$GC,2368,0.48,-116.8,196.6,-6.3,216,2378,0.15,2.35,0.00,0.000,6,0.023,0.019,3102,1698,3282,0,0,0,0,0,0
$STATE,2414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2414,begin apogee
$GC,2420,-0.31,0.0,200.0,7.6,221,2515,0.52,0.00,91.62,0.574,6,0.026,0.000,2936,1846,2799,0,0,0,0,0,0
$STATE,2515,end apogee,CONTROL_FINISHED_OK
$STATE,2515,begin climb
$GC,2518,1.02,116.8,210.9,0.0,223,2621,1.52,0.00,94.68,0.571,6,0.097,0.000,3257,1845,2322,0,0,0,0,0,0
$GC,2867,1.83,149.8,196.7,5.7,235,2905,0.73,2.38,27.80,0.544,4,0.056,0.026,3434,3314,2186,0,0,0,0,0,0
$GC,2919,2.20,174.5,193.8,6.0,240,2950,0.35,2.45,22.23,0.534,6,0.040,0.027,3534,1805,2086,0,0,0,0,0,0
$GC,3204,2.20,174.5,170.7,8.5,267,3209,0.00,2.65,0.00,0.000,4,0.000,0.048,3534,220,2082,0,0,0,0,0,0
$GC,3459,2.14,186.2,151.5,6.5,292,3478,0.30,2.35,10.38,0.480,6,0.025,0.021,3504,1735,2038,0,0,0,0,0,0
$GC,3733,2.30,216.8,136.0,5.8,318,3767,0.15,2.55,26.48,0.518,4,0.052,0.046,3577,224,1916,0,0,0,0,0,0
$GC,4061,2.16,216.8,100.7,11.2,349,4068,0.40,2.35,0.00,0.000,6,0.046,0.021,3511,1722,1914,1,0,0,0,0,0
$GC,4326,2.34,245.2,82.5,5.9,374,4360,0.15,2.58,24.58,0.483,4,0.051,0.047,3572,220,1799,0,0,0,0,0,0
$GC,4493,2.26,245.2,67.2,10.3,389,4498,0.20,2.33,0.00,0.000,6,0.076,0.021,3531,1705,1799,0,0,0,0,0,0
$GC,4762,2.38,256.1,47.8,6.6,413,4779,0.12,2.53,10.12,0.423,4,0.064,0.047,3570,222,1754,0,0,0,0,0,0
$GC,4858,2.38,256.1,39.0,8.5,421,4862,0.00,2.28,0.00,0.000,6,0.000,0.020,3570,1696,1754,0,0,0,0,0,0
$GC,5142,2.38,256.1,17.0,10.0,456,5150,0.00,2.50,0.00,0.000,4,0.000,0.059,3570,225,1751,0,0,0,0,0,0
$GC,5242,2.38,256.1,5.3,12.0,471,5251,0.00,2.30,0.00,0.000,6,0.000,0.022,3570,1679,1751,0,0,0,0,0,0
$STATE,5258,end climb,SURFACE_DEPTH_REACHED
$STATE,5258,begin surface coast
$FINISH,0.5,1.019103
$STATE,5297,end surface coast,CONTROL_FINISHED_OK
$STATE,5297,begin surface
$SM_CCo,5319,61.50,0.433,0,0,1249,380.21
$SM_GC,1.33,0.00,0.00,61.50,0.000,0.000,0.433,415,1683,1249,-12.07,-1.61,380.21
$IRIDIUM_FIX,2218.34,-15823.60,210801,090934
$TT8_MAMPS,0.026845
$HUMID,58.82
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,23.30
$XPDR_PINGS,130
$24V_AH,23.7,7.385
$10V_AH,10.0,5.697
$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,33.750,69.025,307.875,61.500,0.000,105.690,142.645,485.624,32.500,0.000,16.838,883.173,2308.126,392.794,1871.873,998.737,33.341,1000.257,0.000,1886.027,0.000,0.539,0.000
$DEVICE_MAMPS,149.565,81.302,574.483,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.654,372.756,482.925,757.960,1331.722,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,38217,479
$CAP_FILE_SIZE,89554,0
$CFSIZE,260165632,169754624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$GPS,270512,111528,2226.477,-15825.039,6,3.1,26,10.0