version: 66.06
glider: 146
mission: 7
dive: 317
start: 7 9 112 15 45 44
data:
$ID,146
$MISSION,7
$DIVE,317
$D_SURF,4
$D_FLARE,3
$D_TGT,60
$D_ABORT,120
$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,20
$T_MISSION,40
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$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,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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-298663.69
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3115
$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,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,46
$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,-29.527605
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,153819,2139.548,-15807.865,7,1.7,7,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-70.1
$GPS2,154449,2139.563,-15807.887,11,1.5,11,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,Mile3
$TGT_LATLONG,2138.700,-15808.200
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.164,-0.191
$KALMAN_X,-168373.7,-222.5,761.9,160722.5,162.4
$KALMAN_Y,203693.6,103.0,631.5,-317438.7,127.0
$MHEAD_RNG_PITCHd_Wd,210.8,1688,-18.2,-10.000
$D_GRID,60
$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,-1.30,-136.3,0.0,0.0,0,114,0.00,0.00,-88.25,0.000,6,0.000,0.000,467,2182,3747,0,0,0,0,0,0
$GC,119,-1.30,-136.3,3.4,-7.5,10,139,12.93,2.58,0.00,0.000,4,0.170,0.040,2824,597,3747,0,0,0,0,0,0
$GC,359,-1.03,-136.3,55.3,-17.4,32,364,0.30,2.47,0.00,0.000,6,0.110,0.018,2887,2199,3748,0,0,0,0,0,0
$STATE,389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,389,begin apogee
$GC,396,-0.31,0.0,60.4,16.0,34,507,0.68,0.00,104.45,0.526,6,0.078,0.000,3043,2199,3188,0,0,0,0,0,0
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,514,1.30,136.3,67.2,0.0,45,627,1.48,0.00,103.62,0.522,6,0.051,0.000,3395,2199,2634,0,0,0,0,0,0
$GC,891,1.49,203.1,51.9,6.7,78,948,0.17,0.00,53.20,0.508,6,0.059,0.000,3448,2199,2363,0,0,0,0,0,0
$GC,1234,1.56,260.1,23.5,7.2,111,1292,0.00,2.75,47.58,0.488,4,0.000,0.047,3447,592,2127,0,0,0,0,0,0
$GC,1394,1.56,260.1,7.5,11.5,129,1404,0.00,2.50,0.00,0.000,6,0.000,0.025,3449,2170,2123,0,0,0,0,0,0
$STATE,1429,end climb,SURFACE_DEPTH_REACHED
$STATE,1429,begin surface coast
$FINISH,-0.7,1.011664
$STATE,1498,end surface coast,CONTROL_FINISHED_OK
$STATE,1499,begin surface
$SM_CCo,1520,93.65,0.480,0,0,1639,380.21
$SM_GC,0.04,0.00,0.00,93.65,0.000,0.000,0.480,469,2172,1639,-12.17,-0.23,380.21
$IRIDIUM_FIX,2129.53,-15806.32,031001,141459
$TT8_MAMPS,0.026845
$HUMID,56.85
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.20
$XPDR_PINGS,4
$24V_AH,23.8,44.888
$10V_AH,10.4,38.643
$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,27.475,10.300,308.850,93.650,0.000,28.707,34.506,192.790,1.000,0.000,12.491,247.672,155.700,267.099,936.940,400.447,33.350,659.826,0.000,955.694,0.000,0.538,0.000
$DEVICE_MAMPS,170.274,46.787,526.162,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,91.755,96.989,144.135,534.352,852.781,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,10006,141
$CAP_FILE_SIZE,31876,0
$CFSIZE,260165632,128720896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,161327,2139.399,-15808.008,8,1.6,10,9.9