version: 66.06
glider: 147
mission: 5
dive: 57
start: 7 15 110 11 41 8
data:
$ID,147
$MISSION,5
$DIVE,57
$D_SURF,4
$D_FLARE,3
$D_TGT,160
$D_ABORT,230
$D_NO_BLEED,80
$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,53
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52418
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,290
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,8
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19892.242
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2170
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3519
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.612097
$PRESSURE_SLOPE,0.000116148
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0042834701
$SEABIRD_T_H,0.00062685186
$SEABIRD_T_I,2.2120101e-05
$SEABIRD_T_J,2.1369924e-06
$SEABIRD_C_G,-9.8335438
$SEABIRD_C_H,1.0998563
$SEABIRD_C_I,-0.0012027813
$SEABIRD_C_J,0.00017447164
$GPS1,113416,2138.642,-15812.850,7,6.1,26,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.3
$GPS2,114046,2138.630,-15812.910,10,99.0,29,9.9
$SPEED_LIMITS,0.174,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2142.323,-15823.832
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.204,-0.095
$KALMAN_X,2184.8,943.7,425.3,-1676.0,507.1
$KALMAN_Y,527.9,14.2,-117.3,904.5,220.7
$MHEAD_RNG_PITCHd_Wd,280.1,20000,-20.8,-10.063
$D_GRID,160
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.52,-107.5,0.0,0.0,0,88,0.00,0.00,-70.62,0.000,2,0.000,0.000,474,2142,3397,0,0,0,0,0,0
$GC,92,-1.52,-107.5,4.7,-9.7,9,126,10.88,2.40,-10.32,0.000,4,0.184,0.051,2360,3582,3954,0,0,0,0,0,0
$GC,280,-1.52,-107.5,62.9,-24.8,28,290,0.00,2.28,0.00,0.000,6,0.000,0.034,2360,2187,3955,0,0,0,0,0,0
$GC,545,-1.52,-107.5,126.3,-22.3,53,549,0.00,2.25,0.00,0.000,4,0.000,0.040,2360,3585,3955,0,0,0,0,0,0
$GC,577,-1.52,-107.5,133.5,-22.6,55,582,0.00,2.28,0.00,0.000,6,0.000,0.031,2360,2161,3956,0,0,0,0,0,0
$STATE,708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,708,begin apogee
$GC,717,-0.33,0.0,161.1,20.1,67,808,1.23,0.00,83.18,0.554,6,0.101,0.000,2620,2624,3518,0,0,0,0,0,0
$STATE,808,end apogee,CONTROL_FINISHED_OK
$STATE,808,begin climb
$GC,811,1.52,107.5,168.8,0.0,76,907,1.75,2.45,82.03,0.550,4,0.048,0.045,3037,1190,3079,0,0,0,0,0,0
$GC,1037,1.85,379.9,181.5,-7.1,96,1261,0.28,2.28,213.12,0.566,6,0.043,0.035,3124,2590,1969,0,0,0,0,0,0
$GC,1515,1.85,379.9,134.1,18.7,140,1519,0.00,2.33,0.00,0.000,4,0.000,0.048,3124,1194,1963,0,0,0,0,0,0
$GC,1607,1.85,379.9,118.7,16.3,147,1611,0.00,2.25,0.00,0.000,6,0.000,0.033,3124,2601,1963,0,0,0,0,0,0
$GC,1873,1.85,379.9,81.1,10.9,171,1877,0.00,2.25,0.00,0.000,4,0.000,0.057,3124,3942,1961,0,0,0,0,0,0
$GC,1905,1.87,393.1,78.0,9.2,173,1923,0.00,2.12,11.95,0.464,6,0.000,0.026,3124,2584,1915,0,0,0,0,0,0
$GC,2190,1.87,393.1,47.1,13.5,199,2194,0.00,2.30,0.00,0.000,4,0.000,0.054,3124,1198,1912,0,0,0,0,0,0
$GC,2275,1.87,393.1,31.7,14.4,205,2285,0.05,2.25,0.00,0.000,6,0.120,0.030,3111,2606,1911,0,0,0,0,0,0
$STATE,2485,end climb,SURFACE_DEPTH_REACHED
$STATE,2485,begin surface coast
$FINISH,0.2,1.013568
$STATE,2540,end surface coast,CONTROL_FINISHED_OK
$STATE,2540,begin surface
$SM_CCo,2563,22.12,0.446,0,0,1805,420.19
$SM_GC,0.95,0.00,0.00,22.12,0.000,0.000,0.446,476,2158,1805,-10.23,-0.31,420.19
$IRIDIUM_FIX,2127.21,-15809.33,091099,101047
$TT8_MAMPS,0.026845
$HUMID,38.58
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,24.1,7.383
$10V_AH,10.5,6.703
$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,25.000,28.850,390.275,22.125,0.000,28.832,29.378,194.402,4.250,0.000,31.709,427.471,739.882,352.914,1072.246,396.441,0.000,772.495,0.000,1055.410,0.000,28.821,0.000
$DEVICE_MAMPS,184.080,56.758,566.046,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,161.574,190.310,250.116,414.371,786.111,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,19413,244
$CAP_FILE_SIZE,42195,0
$CFSIZE,260165632,215347200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150710,122522,2138.795,-15813.284,10,99.0,29,9.9