version: 66.06
glider: 148
mission: 10
dive: 388
start: 9 16 111 11 35 29
data:
$ID,148
$MISSION,10
$DIVE,388
$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,-885031.69
$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,60
$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,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
$GPS1,112622,2438.902,-15628.989,9,2.4,29,10.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-72.1
$GPS2,113433,2438.860,-15628.966,10,2.9,29,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,NEeddie
$TGT_LATLONG,2445.000,-15630.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.039,0.245
$KALMAN_X,-48033.7,23.8,10.1,220723.7,92.3
$KALMAN_Y,-32442.8,-650.6,-259.0,362368.8,-562.7
$MHEAD_RNG_PITCHd_Wd,340.4,11503,-18.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.33,-130.8,0.0,0.0,0,95,0.00,0.00,-74.38,0.000,2,0.000,0.000,407,1936,3334,0,0,0,0,0,0
$GC,99,-1.34,-136.3,4.0,-7.9,10,124,12.35,2.42,-3.03,0.000,4,0.170,0.037,2688,3440,3512,0,0,0,0,0,0
$GC,204,-1.25,-136.3,29.7,-13.6,25,215,0.10,2.50,0.00,0.000,6,0.081,0.025,2714,1890,3512,0,0,0,0,0,0
$GC,475,-1.11,-136.3,65.6,-12.2,50,485,0.15,0.00,0.00,0.000,6,0.109,0.000,2747,1889,3513,0,0,0,0,0,0
$GC,742,-1.11,-136.3,91.9,-8.1,75,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1889,3513,0,0,0,0,0,0
$GC,1004,-1.11,-136.3,114.4,-8.8,100,1008,0.00,2.47,0.00,0.000,4,0.000,0.026,2747,3452,3514,0,0,0,0,0,0
$GC,1055,-1.27,-136.3,118.9,-7.5,104,1066,0.10,2.50,0.00,0.000,6,0.028,0.021,2648,1877,3514,0,0,0,0,0,0
$GC,1322,-1.06,-136.3,150.8,-12.5,129,1332,0.45,0.00,0.00,0.000,6,0.083,0.000,2753,1877,3514,0,0,0,0,0,0
$GC,1589,-1.19,-136.3,172.3,-7.4,154,1594,0.00,2.47,0.00,0.000,4,0.000,0.027,2753,3450,3514,0,0,0,0,0,0
$GC,1617,-1.35,-136.3,174.8,-8.5,156,1622,0.22,2.45,0.00,0.000,6,0.037,0.021,2638,1888,3514,0,0,0,0,0,0
$STATE,1811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1812,begin apogee
$GC,1818,-0.31,0.0,200.9,13.9,174,1927,1.38,0.00,105.65,0.573,6,0.079,0.000,2919,1596,2955,0,0,0,0,0,0
$STATE,1928,end apogee,CONTROL_FINISHED_OK
$STATE,1928,begin climb
$GC,1931,1.34,136.3,203.5,0.0,176,2047,1.48,2.38,107.53,0.569,4,0.033,0.054,3288,206,2398,0,0,0,0,0,0
$GC,2180,1.00,136.3,192.2,10.2,187,2185,0.35,2.22,0.00,0.000,6,0.089,0.020,3210,1630,2393,0,0,0,0,0,0
$GC,2446,1.11,221.8,175.4,5.7,211,2523,0.00,2.60,69.85,0.555,4,0.000,0.035,3210,3197,2049,0,0,0,0,0,0
$GC,2571,1.23,260.6,167.1,8.1,223,2612,0.20,2.53,33.75,0.537,6,0.042,0.028,3295,1647,1891,0,0,0,0,0,0
$GC,2871,1.08,260.6,130.8,12.4,251,2876,0.28,2.42,0.00,0.000,4,0.084,0.046,3228,179,1885,0,0,0,0,0,0
$GC,3017,1.08,260.6,113.8,10.9,264,3021,0.00,2.22,0.00,0.000,6,0.000,0.019,3228,1626,1885,0,0,0,0,0,0
$GC,3281,1.24,318.3,93.1,7.1,288,3337,0.12,2.45,48.22,0.508,4,0.063,0.045,3292,177,1657,0,0,0,0,0,0
$GC,3421,1.24,318.3,77.4,11.9,300,3426,0.15,2.22,0.00,0.000,6,0.097,0.021,3259,1610,1655,0,0,0,0,0,0
$GC,3689,1.36,346.5,52.9,8.6,324,3720,0.12,0.00,24.70,0.467,6,0.061,0.000,3324,1614,1540,0,0,0,0,0,0
$GC,3994,1.24,346.5,14.8,13.9,360,4005,0.25,2.40,0.00,0.000,4,0.091,0.044,3263,180,1536,0,0,0,0,0,0
$GC,4049,1.24,346.5,7.1,14.1,367,4059,0.00,2.25,0.00,0.000,6,0.000,0.018,3263,1641,1536,0,0,0,0,0,0
$STATE,4077,end climb,SURFACE_DEPTH_REACHED
$STATE,4077,begin surface coast
$FINISH,0.6,1.011201
$STATE,4119,end surface coast,CONTROL_FINISHED_OK
$STATE,4119,begin surface
$SM_CCo,4141,37.72,0.437,0,0,1323,400.08
$SM_GC,1.36,0.00,0.00,37.72,0.000,0.000,0.437,413,1916,1323,-11.85,1.30,400.08
$IRIDIUM_FIX,2427.58,-15628.48,101200,101034
$TT8_MAMPS,0.027612
$HUMID,62.40
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.9,36.188
$10V_AH,10.3,40.329
$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,29.075,39.225,389.700,37.725,0.000,25.876,36.679,273.119,0.500,0.000,31.893,675.632,1439.740,373.571,1314.025,872.468,33.342,925.908,0.000,1612.155,0.000,0.539,0.000
$DEVICE_MAMPS,169.507,54.457,572.949,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,251.878,464.363,544.848,572.123,1074.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356096
$DATA_FILE_SIZE,32048,376
$CAP_FILE_SIZE,60038,0
$CFSIZE,260165632,113643520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160911,124602,2438.994,-15628.885,13,1.5,13,10.5