version: 66.06
glider: 148
mission: 10
dive: 427
start: 9 18 111 18 25 48
data:
$ID,148
$MISSION,10
$DIVE,427
$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,-886010
$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,57
$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
$GPS1,181506,2432.393,-15633.216,39,1.6,45,10.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.6
$GPS2,182450,2432.358,-15633.220,14,1.4,14,10.5
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.112,0.226
$KALMAN_X,-33325.8,553.7,500.6,197677.8,270.5
$KALMAN_Y,-71499.0,-275.8,32.0,388724.2,-806.1
$MHEAD_RNG_PITCHd_Wd,323.2,108183,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.32,-136.0,0.0,0.0,0,95,0.00,0.00,-74.82,0.000,2,0.000,0.000,409,1929,3343,0,0,0,0,0,0
$GC,99,-1.32,-136.3,3.9,-6.9,10,124,11.90,2.42,-2.92,0.000,4,0.152,0.038,2696,3437,3514,0,0,0,0,0,0
$GC,198,-1.22,-136.3,28.1,-15.0,24,209,0.10,2.53,0.00,0.000,6,0.092,0.021,2721,1861,3515,0,0,0,0,0,0
$GC,469,-1.11,-136.3,73.1,-16.6,49,473,0.12,2.47,0.00,0.000,4,0.120,0.020,2747,3443,3515,0,0,0,0,0,0
$GC,481,-0.70,-136.3,75.2,-12.7,49,491,0.38,2.55,0.00,0.000,6,0.100,0.016,2829,1798,3515,0,0,0,0,0,0
$GC,744,-1.04,-136.3,87.9,-4.1,74,750,0.25,2.60,0.00,0.000,4,0.038,0.025,2738,3443,3515,0,0,0,0,0,0
$GC,855,-1.18,-136.3,95.3,-7.5,83,859,0.00,2.55,0.00,0.000,6,0.000,0.021,2737,1827,3515,0,0,0,0,0,0
$GC,1124,-1.25,-136.3,116.8,-7.7,107,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1827,3516,0,0,0,0,0,0
$GC,1387,-1.34,-136.3,137.8,-8.0,132,1392,0.17,2.55,0.00,0.000,4,0.044,0.027,2627,3435,3516,0,0,0,0,0,0
$GC,1418,-1.21,-136.3,140.8,-11.5,134,1432,0.43,2.53,0.00,0.000,6,0.077,0.022,2725,1833,3516,0,0,0,0,0,0
$GC,1684,-1.28,-136.3,164.3,-8.7,159,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1833,3515,0,0,0,0,0,0
$GC,1941,-1.37,-136.3,186.0,-8.3,183,1946,0.15,2.55,0.00,0.000,4,0.053,0.028,2647,3437,3515,0,0,0,0,0,0
$GC,1977,-1.29,-136.3,189.9,-10.8,186,1983,0.28,2.53,0.00,0.000,6,0.079,0.022,2710,1839,3515,0,0,0,0,0,0
$STATE,2098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2098,begin apogee
$GC,2106,-0.31,0.0,200.8,8.3,197,2220,0.90,0.00,105.97,0.576,6,0.065,0.000,2920,1599,2954,0,0,0,0,0,0
$STATE,2221,end apogee,CONTROL_FINISHED_OK
$STATE,2221,begin climb
$GC,2224,1.32,136.3,205.0,0.0,200,2339,1.42,2.33,107.35,0.572,4,0.029,0.055,3299,206,2398,0,0,0,0,0,0
$GC,2364,0.94,170.7,204.5,8.4,203,2401,0.47,2.22,28.73,0.548,6,0.094,0.020,3196,1625,2258,0,0,0,0,0,0
$GC,2669,1.01,227.7,181.7,7.2,226,2728,0.00,2.65,47.35,0.554,4,0.000,0.038,3196,3190,2024,0,0,0,0,0,0
$GC,2740,1.06,272.5,176.2,7.9,233,2792,0.10,2.47,39.40,0.545,6,0.075,0.028,3250,1659,1842,0,0,0,0,0,0
$GC,3042,1.06,272.5,139.1,13.1,262,3047,0.12,2.47,0.00,0.000,4,0.106,0.048,3221,170,1837,0,0,0,0,0,0
$GC,3107,1.06,272.5,131.2,12.7,267,3111,0.00,2.28,0.00,0.000,6,0.000,0.019,3221,1632,1837,0,0,0,0,0,0
$GC,3375,1.07,277.8,102.4,9.8,291,3385,0.00,2.53,4.45,0.362,4,0.000,0.031,3221,3199,1821,0,0,0,0,0,0
$GC,3423,1.18,277.8,96.8,10.2,295,3429,0.10,2.53,0.00,0.000,6,0.075,0.027,3275,1636,1819,0,0,0,0,0,0
$GC,3693,1.18,277.8,68.2,10.9,320,3703,0.15,0.00,0.00,0.000,6,0.100,0.000,3241,1636,1819,0,0,0,0,0,0
$GC,3962,1.30,312.4,43.9,8.4,345,4000,0.12,0.00,30.25,0.471,6,0.065,0.000,3309,1636,1679,0,0,0,0,0,0
$GC,4284,1.24,312.4,7.4,14.1,387,4294,0.22,0.00,0.00,0.000,6,0.094,0.000,3259,1636,1676,0,0,0,0,0,0
$STATE,4312,end climb,SURFACE_DEPTH_REACHED
$STATE,4312,begin surface coast
$FINISH,0.3,1.009966
$STATE,4353,end surface coast,CONTROL_FINISHED_OK
$STATE,4353,begin surface
$SM_CCo,4375,50.55,0.441,0,0,1323,400.08
$SM_GC,1.22,0.00,0.00,50.55,0.000,0.000,0.441,411,1894,1323,-11.87,0.68,400.08
$IRIDIUM_FIX,2425.21,-15636.89,121200,181808
$TT8_MAMPS,0.026845
$HUMID,61.89
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.8,39.475
$10V_AH,10.2,44.377
$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,28.775,45.425,363.500,50.550,0.000,58.509,73.492,243.716,0.000,0.000,16.292,722.029,1611.975,392.320,1338.867,952.402,33.348,944.675,0.000,1670.186,0.000,0.540,0.000
$DEVICE_MAMPS,151.866,55.224,576.017,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,266.128,490.790,572.509,592.985,1116.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,32022,396
$CAP_FILE_SIZE,67726,0
$CFSIZE,260165632,112087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180911,194026,2432.110,-15633.292,10,1.6,11,10.4