version: 66.06
glider: 148
mission: 10
dive: 415
start: 9 18 111 1 40 58
data:
$ID,148
$MISSION,10
$DIVE,415
$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,-885705.81
$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,34
$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,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
$GPS1,013020,2434.962,-15632.056,7,1.4,7,10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.3
$GPS2,014002,2434.953,-15632.033,11,1.6,11,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.188,0.168
$KALMAN_X,-38234.6,317.3,-279.7,205638.5,68.5
$KALMAN_Y,-58775.3,-592.5,-297.4,381450.5,-350.2
$MHEAD_RNG_PITCHd_Wd,301.2,107788,-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,-1.31,-136.1,0.0,0.0,0,97,0.00,0.00,-74.90,0.000,2,0.000,0.000,411,1906,3346,0,0,0,0,0,0
$GC,100,-1.31,-136.3,4.1,-8.3,10,125,11.82,2.42,-2.85,0.000,4,0.150,0.038,2697,3412,3514,0,0,0,0,0,0
$GC,182,-1.19,-136.3,26.2,-14.4,21,192,0.10,2.47,0.00,0.000,6,0.080,0.024,2726,1874,3515,0,0,0,0,0,0
$GC,459,-1.06,-136.3,62.6,-13.0,47,464,0.15,2.60,0.00,0.000,4,0.105,0.039,2759,282,3515,0,0,0,0,0,0
$GC,484,-1.06,-136.3,66.7,-12.1,48,493,0.00,2.42,0.00,0.000,6,0.000,0.018,2759,1845,3515,0,0,0,0,0,0
$GC,752,-1.15,-136.3,91.4,-8.6,73,756,0.00,2.50,0.00,0.000,4,0.000,0.026,2759,3446,3515,0,0,0,0,0,0
$GC,786,-1.31,-136.3,94.6,-8.5,75,792,0.22,2.45,0.00,0.000,6,0.038,0.021,2626,1868,3515,0,0,0,0,0,0
$GC,1049,-1.06,-136.3,130.7,-14.1,100,1063,0.55,2.53,0.00,0.000,4,0.083,0.035,2754,291,3516,0,0,0,0,0,0
$GC,1078,-1.06,-136.3,134.4,-10.4,102,1088,0.00,2.47,0.00,0.000,6,0.000,0.017,2754,1893,3516,0,0,0,0,0,0
$GC,1345,-1.19,-136.3,155.2,-7.5,127,1350,0.10,2.45,0.00,0.000,4,0.074,0.027,2672,3439,3516,0,0,0,0,0,0
$GC,1375,-1.13,-136.3,158.5,-10.7,129,1386,0.28,2.45,0.00,0.000,6,0.064,0.021,2742,1899,3516,0,0,0,0,0,0
$GC,1644,-1.24,-136.3,176.3,-6.9,154,1648,0.00,2.58,0.00,0.000,4,0.000,0.038,2742,293,3516,0,0,0,0,0,0
$GC,1663,-1.34,-136.3,178.4,-7.6,155,1670,0.15,2.50,0.00,0.000,6,0.022,0.018,2641,1907,3516,0,0,0,0,0,0
$STATE,1858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1858,begin apogee
$GC,1865,-0.31,0.0,201.1,12.2,174,1975,1.23,0.00,105.90,0.570,6,0.077,0.000,2920,1601,2954,0,0,0,0,0,0
$STATE,1975,end apogee,CONTROL_FINISHED_OK
$STATE,1975,begin climb
$GC,1978,1.31,136.3,204.8,0.0,176,2094,1.42,2.35,107.22,0.568,4,0.024,0.051,3305,208,2397,0,0,0,0,0,0
$GC,2373,0.94,146.5,178.3,9.6,198,2392,0.47,2.22,9.15,0.475,6,0.086,0.019,3196,1619,2356,0,0,0,0,0,0
$GC,2647,1.05,239.2,159.6,5.5,224,2730,0.10,2.45,76.62,0.544,4,0.078,0.045,3245,204,1978,0,0,0,0,0,0
$GC,2743,0.97,239.2,151.4,10.5,233,2748,0.20,2.22,0.00,0.000,6,0.092,0.020,3202,1638,1977,0,0,0,0,0,0
$GC,3009,1.07,268.5,128.4,8.6,257,3041,0.00,2.42,25.58,0.509,4,0.000,0.044,3202,204,1859,0,0,0,0,0,0
$GC,3048,1.18,294.9,124.6,8.8,260,3081,0.15,2.25,23.50,0.501,6,0.027,0.019,3277,1628,1750,0,0,0,0,0,0
$GC,3337,1.11,294.9,87.8,13.6,287,3342,0.20,0.00,0.00,0.000,6,0.094,0.000,3233,1628,1746,0,0,0,0,0,0
$GC,3607,1.24,326.0,61.7,8.5,312,3638,0.12,0.00,26.88,0.472,6,0.064,0.000,3299,1631,1624,0,0,0,0,0,0
$GC,3894,1.24,326.0,29.3,11.8,339,3905,0.17,2.58,0.00,0.000,4,0.100,0.031,3261,3198,1619,0,0,0,0,0,0
$GC,3917,1.24,326.0,26.5,11.6,341,3928,0.00,2.55,0.00,0.000,6,0.000,0.027,3261,1635,1617,0,0,0,0,0,0
$STATE,4127,end climb,SURFACE_DEPTH_REACHED
$STATE,4127,begin surface coast
$FINISH,0.4,1.006352
$STATE,4175,end surface coast,CONTROL_FINISHED_OK
$STATE,4175,begin surface
$SM_CCo,4196,46.47,0.435,0,0,1323,400.08
$SM_GC,1.34,0.00,0.00,46.47,0.000,0.000,0.435,411,1943,1323,-11.86,2.06,400.08
$IRIDIUM_FIX,2425.21,-15633.77,121200,010113
$TT8_MAMPS,0.026845
$HUMID,61.57
$INTERNAL_PRESSURE,9.50619
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.8,38.504
$10V_AH,10.2,43.131
$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,28.800,49.700,374.850,46.475,0.000,53.558,71.995,250.558,0.000,0.000,13.397,693.995,1523.165,385.924,1292.614,935.246,33.348,946.482,0.000,1625.168,0.000,0.539,0.000
$DEVICE_MAMPS,150.332,51.389,569.881,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,254.274,481.834,562.998,577.834,1085.958,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,29022,380
$CAP_FILE_SIZE,66109,0
$CFSIZE,260165632,112578560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,025232,2434.863,-15632.242,10,2.0,10,10.5