version: 66.06
glider: 148
mission: 10
dive: 739
start: 10 27 111 6 31 29
data:
$ID,148
$MISSION,10
$DIVE,739
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,133
$T_MISSION,300
$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,120
$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,-892744.38
$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,2980
$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,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,39
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,380
$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
$GPS1,061936,2143.245,-15811.482,25,1.2,26,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.8
$GPS2,063031,2143.263,-15811.296,10,1.6,15,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,7mile
$TGT_LATLONG,2143.000,-15811.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.045,-0.169
$KALMAN_X,-137373.3,-461.7,-272.2,62124.0,857.8
$KALMAN_Y,-134841.8,-109.9,-190.9,-21741.9,859.1
$MHEAD_RNG_PITCHd_Wd,184.8,704,-27.0,-10.025
$D_GRID,400
$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,-1.77,-64.2,0.0,0.0,0,90,0.00,0.00,-69.95,0.000,2,0.000,0.000,414,1720,3154,0,0,0,0,0,0
$GC,95,-1.80,-90.9,3.7,-7.2,13,117,11.18,2.58,-3.30,0.000,4,0.145,0.048,2582,173,3327,0,0,0,0,0,0
$GC,245,-1.58,-90.9,40.1,-20.3,38,251,0.32,2.40,0.00,0.000,6,0.061,0.017,2632,1739,3328,1,0,0,0,0,0
$GC,513,-1.51,-90.9,86.3,-17.5,62,517,0.00,2.45,0.00,0.000,4,0.000,0.024,2632,3295,3328,0,0,0,0,0,0
$GC,541,-1.51,-90.9,92.3,-17.2,64,545,0.00,2.50,0.00,0.000,6,0.000,0.021,2633,1707,3329,0,0,0,0,0,0
$GC,805,-1.58,-90.9,127.0,-12.8,88,809,0.00,2.50,0.00,0.000,4,0.000,0.038,2633,172,3330,0,0,0,0,0,0
$GC,841,-1.66,-90.9,131.9,-14.0,91,845,0.00,2.33,0.00,0.000,6,0.000,0.016,2633,1722,3329,0,0,0,0,0,0
$GC,1110,-1.76,-91.9,162.2,-9.9,115,1115,0.15,2.55,0.00,0.000,4,0.054,0.038,2569,172,3330,0,0,0,0,0,0
$GC,1194,-1.66,-91.9,175.6,-15.2,123,1201,0.20,2.30,0.00,0.000,6,0.074,0.016,2611,1677,3330,0,0,0,0,0,0
$GC,1489,-1.76,-94.6,204.1,-9.7,148,1493,0.00,2.50,0.00,0.000,4,0.000,0.023,2611,3275,3330,0,0,0,0,0,0
$GC,1563,-1.94,-94.6,212.8,-11.6,149,1569,0.22,2.50,0.00,0.000,6,0.041,0.024,2531,1691,3330,0,0,0,0,0,0
$GC,1822,-1.84,-94.6,245.9,-12.8,156,1827,0.22,2.53,0.00,0.000,4,0.097,0.023,2579,3282,3330,0,0,0,0,0,0
$GC,1852,-1.84,-94.6,250.1,-11.7,156,1857,0.00,2.53,0.00,0.000,6,0.000,0.025,2579,1686,3330,0,0,0,0,0,0
$GC,2107,-1.84,-94.6,276.8,-10.1,163,2111,0.00,2.45,0.00,0.000,4,0.000,0.042,2579,176,3330,0,0,0,0,0,0
$GC,2173,-1.84,-94.6,284.0,-10.5,164,2177,0.00,2.30,0.00,0.000,6,0.000,0.018,2579,1681,3330,0,0,0,0,0,0
$GC,2438,-1.84,-94.6,310.8,-10.7,171,2442,0.00,2.47,0.00,0.000,4,0.000,0.043,2579,176,3330,0,0,0,0,0,0
$GC,2518,-1.84,-94.6,319.9,-11.6,172,2522,0.00,2.25,0.00,0.000,6,0.000,0.019,2579,1655,3330,0,0,0,0,0,0
$GC,2769,-1.91,-94.6,346.1,-10.6,178,2774,0.00,2.60,0.00,0.000,4,0.000,0.030,2579,3274,3329,0,0,0,0,0,0
$GC,2802,-2.03,-94.6,350.0,-11.2,178,2807,0.17,2.58,0.00,0.000,6,0.050,0.028,2508,1669,3329,0,0,0,0,0,0
$GC,3056,-1.91,-94.6,385.2,-14.6,184,3061,0.25,2.50,0.00,0.000,4,0.098,0.060,2566,182,3327,0,0,0,0,0,0
$GC,3098,-1.91,-94.6,391.9,-14.1,184,3105,0.00,2.33,0.00,0.000,6,0.000,0.024,2566,1644,3327,0,0,0,0,0,0
$STATE,3187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3187,begin apogee
$GC,3193,-0.31,0.0,402.6,12.5,187,3271,1.55,0.00,73.95,0.732,6,0.084,0.000,2908,1647,2954,0,0,0,0,0,0
$STATE,3272,end apogee,CONTROL_FINISHED_OK
$STATE,3272,begin climb
$GC,3276,1.81,94.6,406.1,0.0,189,3365,1.90,2.78,78.38,0.725,4,0.030,0.050,3388,3235,2568,0,0,0,0,0,0
$GC,3414,1.61,108.9,403.8,8.5,192,3435,0.28,2.55,13.27,0.656,6,0.130,0.033,3334,1719,2511,0,0,0,0,0,0
$GC,3701,1.54,121.2,379.2,8.7,199,3718,0.00,2.75,11.25,0.643,4,0.000,0.067,3335,170,2459,0,0,0,0,0,0
$GC,3982,1.35,121.2,343.5,14.3,205,4006,15.70,2.35,0.00,0.000,6,0.006,0.022,3332,1664,2453,52,1,0,0,0,0
$STATE,4009,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,4025,449.55,0.656,9,0,510,599.51
$SM_GC,1.64,12.15,0.00,0.00,0.040,0.000,0.000,417,1667,497,-11.73,-0.93,602.70
$IRIDIUM_FIX,2136.49,-15812.78,200101,060603
$TT8_MAMPS,0.028379
$HUMID,71.77
$INTERNAL_PRESSURE,9.32063
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.5,71.594
$10V_AH,9.8,78.485
$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,44.300,59.550,176.850,449.550,0.000,58.412,83.055,272.069,1.250,0.000,17.320,529.825,3705.478,730.507,676.473,765.073,33.355,1157.615,0.000,745.303,0.000,11.197,0.000
$DEVICE_MAMPS,144.963,67.496,732.485,655.785,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,137.244,161.996,206.268,235.896,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,16296,205
$CAP_FILE_SIZE,69285,8
$CFSIZE,260165632,94842880
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,53,0,9,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,271011,080814,2143.234,-15811.063,9,2.0,10,9.9