version: 66.06
glider: 148
mission: 10
dive: 343
start: 9 13 111 20 17 57
data:
$ID,148
$MISSION,10
$DIVE,343
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,430
$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,66
$T_MISSION,660
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,-884004.88
$T_RSLEEP,3
$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,1870
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,96
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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
$GPS1,201133,2443.752,-15641.114,36,1.7,45,10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-72.0
$GPS2,201701,2443.709,-15641.100,11,1.5,11,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,NEeddie
$TGT_LATLONG,2445.000,-15630.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,0.193
$KALMAN_X,-69386.5,285.3,-41.9,220980.8,391.8
$KALMAN_Y,18964.8,-548.8,-277.9,319860.7,-637.0
$MHEAD_RNG_PITCHd_Wd,29.4,18821,-18.4,-10.101
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.32,-136.0,0.0,0.0,0,97,0.00,0.00,-74.95,0.000,2,0.000,0.000,410,1915,3351,0,0,0,0,0,0
$GC,100,-1.32,-136.3,4.0,-7.2,10,117,11.88,0.00,-2.78,0.000,6,0.152,0.000,2698,1916,3513,0,0,0,0,0,0
$GC,389,-1.09,-136.3,62.4,-15.8,42,399,0.25,0.00,0.00,0.000,6,0.095,0.000,2757,1917,3514,0,0,0,0,0,0
$GC,655,-1.09,-136.3,90.5,-9.9,67,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1916,3515,0,0,0,0,0,0
$GC,917,-1.17,-136.3,114.9,-8.6,92,919,0.10,0.00,0.00,0.000,6,0.076,0.000,2691,1916,3515,0,0,0,0,0,0
$GC,1174,-1.08,-136.3,143.3,-10.6,116,1179,0.25,2.58,0.00,0.000,4,0.083,0.035,2753,313,3515,0,0,0,0,0,0
$GC,1223,-1.26,-136.3,148.4,-9.3,120,1228,0.15,2.33,0.00,0.000,6,0.051,0.018,2667,1844,3516,0,0,0,0,0,0
$GC,1486,-1.13,-136.3,179.6,-12.0,144,1489,0.35,0.00,0.00,0.000,6,0.079,0.000,2744,1848,3516,0,0,0,0,0,0
$GC,1741,-1.25,-136.3,199.1,-7.7,168,1746,0.12,2.47,0.00,0.000,4,0.062,0.027,2665,3425,3516,0,0,0,0,0,0
$STATE,1752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1752,begin apogee
$GC,1763,-0.31,0.0,200.3,7.8,168,1873,1.10,0.00,105.90,0.572,6,0.073,0.000,2920,1658,2955,0,0,0,0,0,0
$STATE,1874,end apogee,CONTROL_FINISHED_OK
$STATE,1874,begin climb
$GC,1876,1.32,136.3,204.2,0.0,171,1990,1.42,0.00,107.38,0.568,6,0.028,0.000,3295,1658,2398,0,0,0,0,0,0
$GC,2210,1.05,152.7,186.8,9.3,188,2232,0.32,2.50,14.10,0.512,4,0.097,0.051,3221,182,2332,0,0,0,0,0,0
$GC,2300,0.92,164.3,178.3,9.5,196,2318,0.12,2.25,11.00,0.493,6,0.084,0.018,3189,1626,2284,0,0,0,0,0,0
$GC,2584,0.99,222.0,157.2,7.2,223,2643,0.00,2.47,47.80,0.542,4,0.000,0.048,3189,187,2049,0,0,0,0,0,0
$GC,2681,0.99,222.0,148.2,10.8,232,2692,0.00,2.25,0.00,0.000,6,0.000,0.019,3189,1619,2048,0,0,0,0,0,0
$GC,2949,1.12,253.3,125.1,8.5,257,2982,0.17,2.50,27.12,0.513,4,0.050,0.046,3270,176,1921,0,0,0,0,0,0
$GC,3023,0.97,253.3,115.7,13.1,263,3029,0.30,2.28,0.00,0.000,6,0.088,0.020,3204,1630,1920,0,0,0,0,0,0
$GC,3286,1.12,294.3,91.2,8.0,288,3325,0.12,0.00,34.97,0.499,6,0.064,0.000,3268,1633,1755,0,0,0,0,0,0
$GC,3585,1.13,303.9,59.4,9.6,316,3599,0.15,0.00,8.70,0.422,6,0.098,0.000,3234,1633,1716,0,0,0,0,0,0
$GC,3861,1.27,338.3,37.0,8.4,341,3902,0.12,2.58,30.75,0.459,4,0.065,0.030,3302,3196,1573,0,0,0,0,0,0
$GC,3930,1.27,338.3,29.1,12.2,346,3941,0.12,2.55,0.00,0.000,6,0.074,0.027,3268,1632,1570,0,0,0,0,0,0
$STATE,4145,end climb,SURFACE_DEPTH_REACHED
$STATE,4145,begin surface coast
$FINISH,0.5,1.004257
$STATE,4187,end surface coast,CONTROL_FINISHED_OK
$STATE,4187,begin surface
$SM_CCo,4209,38.10,0.435,0,0,1323,400.08
$SM_GC,1.48,0.00,0.00,38.10,0.000,0.000,0.435,406,1911,1323,-11.89,1.16,400.08
$IRIDIUM_FIX,2437.06,-15730.48,071200,191929
$TT8_MAMPS,0.026845
$HUMID,60.71
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.9,32.390
$10V_AH,10.4,35.650
$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,28.325,29.925,387.725,38.100,0.000,23.799,32.344,137.970,0.000,0.000,12.981,681.071,1516.025,386.390,1259.933,739.428,33.355,893.073,0.000,1595.755,0.000,0.539,0.000
$DEVICE_MAMPS,151.866,50.622,572.182,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,258.084,487.535,569.796,586.105,1101.789,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,32184,385
$CAP_FILE_SIZE,56006,0
$CFSIZE,260165632,115408896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130911,212937,2443.546,-15640.409,7,1.4,12,10.5