version: 66.06
glider: 148
mission: 10
dive: 438
start: 9 19 111 10 10 20
data:
$ID,148
$MISSION,10
$DIVE,438
$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,-886233
$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,32
$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
$GPS1,095936,2430.383,-15635.160,11,1.3,27,10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.9
$GPS2,100925,2430.333,-15635.200,10,1.3,15,10.4
$SPEED_LIMITS,0.175,0.253
$TGT_NAME,TNorth
$TGT_LATLONG,2500.000,-15730.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.134,0.214
$KALMAN_X,-30191.4,-203.5,80.6,192312.1,-271.5
$KALMAN_Y,-82960.5,-792.5,-356.7,397336.1,-382.0
$MHEAD_RNG_PITCHd_Wd,317.7,107141,-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,17,begin dive
$GC,20,-1.31,-136.2,0.0,0.0,0,88,0.00,0.00,-66.05,0.000,2,0.000,0.000,411,1947,3088,0,0,0,0,0,0
$GC,91,-1.31,-136.3,3.5,-6.4,9,116,11.70,2.42,-7.97,0.000,4,0.145,0.035,2697,3448,3513,0,0,0,0,0,0
$GC,191,-1.21,-136.3,22.8,-12.4,23,202,0.10,2.55,0.00,0.000,6,0.081,0.023,2724,1863,3513,0,0,0,0,0,0
$GC,472,-1.08,-136.3,60.9,-14.0,51,482,0.12,0.00,0.00,0.000,6,0.114,0.000,2753,1863,3514,0,0,0,0,0,0
$GC,735,-1.08,-136.3,88.5,-9.1,76,739,0.00,2.53,0.00,0.000,4,0.000,0.026,2753,3451,3514,0,0,0,0,0,0
$GC,787,-1.23,-136.3,92.9,-8.0,80,798,0.10,2.50,0.00,0.000,6,0.029,0.021,2670,1879,3514,0,0,0,0,0,0
$GC,1057,-1.10,-136.3,121.7,-11.0,105,1062,0.30,2.47,0.00,0.000,4,0.084,0.025,2743,3449,3515,0,0,0,0,0,0
$GC,1079,-1.10,-136.3,124.4,-9.7,106,1090,0.00,2.47,0.00,0.000,6,0.000,0.021,2743,1890,3515,0,0,0,0,0,0
$GC,1348,-1.19,-136.3,145.6,-7.9,131,1353,0.00,2.58,0.00,0.000,4,0.000,0.038,2743,295,3515,0,0,0,0,0,0
$GC,1405,-1.35,-136.3,150.9,-8.2,136,1411,0.20,2.45,0.00,0.000,6,0.042,0.017,2648,1913,3515,0,0,0,0,0,0
$GC,1671,-1.16,-136.3,180.8,-11.6,160,1676,0.38,2.35,0.00,0.000,4,0.081,0.024,2734,3421,3515,0,0,0,0,0,0
$GC,1713,-1.31,-136.3,184.8,-7.5,163,1719,0.12,2.42,0.00,0.000,6,0.062,0.021,2634,1878,3515,0,0,0,0,0,0
$STATE,1855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1855,begin apogee
$GC,1862,-0.31,0.0,201.2,11.7,177,1971,1.25,0.00,105.60,0.575,6,0.073,0.000,2921,1610,2954,0,0,0,0,0,0
$STATE,1972,end apogee,CONTROL_FINISHED_OK
$STATE,1972,begin climb
$GC,1975,1.31,136.3,204.6,0.0,179,2091,1.42,2.38,107.47,0.571,4,0.028,0.055,3295,211,2398,0,0,0,0,0,0
$GC,2151,0.91,136.3,201.0,10.4,183,2157,0.50,2.17,0.00,0.000,6,0.094,0.018,3188,1620,2395,0,0,0,0,0,0
$GC,2424,1.04,239.3,185.3,5.0,206,2517,0.12,2.42,84.25,0.561,4,0.065,0.048,3244,203,1978,0,0,0,0,0,0
$GC,2560,0.91,239.3,173.4,12.4,219,2565,0.25,2.22,0.00,0.000,6,0.091,0.019,3190,1622,1976,0,0,0,0,0,0
$GC,2821,1.06,291.4,153.1,7.5,243,2874,0.12,2.62,44.17,0.538,4,0.064,0.035,3252,3188,1764,0,0,0,0,0,0
$GC,2882,1.06,291.4,147.1,10.6,248,2893,0.10,2.53,0.00,0.000,6,0.074,0.028,3223,1662,1762,0,0,0,0,0,0
$GC,3148,1.06,291.4,119.4,10.7,273,3152,0.00,2.47,0.00,0.000,4,0.000,0.047,3223,170,1758,0,0,0,0,0,0
$GC,3178,1.06,291.4,116.2,11.3,275,3182,0.00,2.30,0.00,0.000,6,0.000,0.020,3223,1644,1758,0,0,0,0,0,0
$GC,3446,1.21,337.9,91.2,7.8,299,3492,0.12,2.58,39.38,0.504,4,0.064,0.033,3289,3188,1576,0,0,0,0,0,0
$GC,3513,1.21,337.9,84.4,11.2,305,3518,0.15,2.55,0.00,0.000,6,0.097,0.029,3253,1628,1572,0,0,0,0,0,0
$GC,3780,1.33,358.1,60.1,9.1,329,3801,0.10,0.00,17.38,0.463,6,0.075,0.000,3320,1628,1494,0,0,0,0,0,0
$GC,4065,1.27,358.1,25.2,13.4,357,4075,0.25,2.58,0.00,0.000,4,0.089,0.031,3259,3195,1489,0,0,0,0,0,0
$GC,4110,1.40,358.1,19.6,12.1,362,4121,0.10,2.55,0.00,0.000,6,0.031,0.028,3318,1630,1486,0,0,0,0,0,0
$STATE,4230,end climb,SURFACE_DEPTH_REACHED
$STATE,4231,begin surface coast
$FINISH,0.4,1.010378
$STATE,4269,end surface coast,CONTROL_FINISHED_OK
$STATE,4269,begin surface
$SM_CCo,4290,27.25,0.435,0,0,1324,400.08
$SM_GC,1.26,0.00,0.00,27.25,0.000,0.000,0.435,411,1909,1324,-11.86,1.10,400.08
$IRIDIUM_FIX,2422.84,-15636.89,131200,101035
$TT8_MAMPS,0.026845
$HUMID,62.75
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.8,40.438
$10V_AH,10.2,45.523
$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,29.150,54.875,398.250,27.250,0.000,56.996,74.592,246.145,0.000,0.000,17.460,707.313,1560.836,375.075,1299.165,969.237,33.351,941.169,0.000,1644.972,0.000,0.539,0.000
$DEVICE_MAMPS,144.963,55.224,575.250,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,258.202,494.692,573.929,591.833,1093.700,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,31971,385
$CAP_FILE_SIZE,68345,0
$CFSIZE,260165632,111644672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190911,112328,2430.398,-15635.531,8,2.7,28,10.4