version: 66.06
glider: 147
mission: 5
dive: 63
start: 7 15 110 16 52 46
data:
$ID,147
$MISSION,5
$DIVE,63
$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,-20052.877
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,164550,2139.898,-15816.957,8,1.9,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.3
$GPS2,165224,2139.959,-15817.056,35,1.1,39,9.9
$SPEED_LIMITS,0.174,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2143.653,-15827.979
$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,-107.5,0.0,0.0,0,80,0.00,0.00,-62.83,0.000,2,0.000,0.000,477,2112,3152,0,0,0,0,0,0
$GC,84,-1.52,-107.5,3.0,-5.1,8,118,10.70,2.40,-17.10,0.000,4,0.179,0.052,2361,3576,3952,0,0,0,0,0,0
$GC,382,-1.52,-107.5,80.1,-19.8,38,386,0.00,2.25,0.00,0.000,6,0.000,0.032,2361,2173,3953,0,0,0,0,0,0
$GC,642,-1.52,-107.5,138.0,-21.3,62,646,0.00,2.28,0.00,0.000,4,0.000,0.044,2361,3577,3954,0,0,0,0,0,0
$GC,734,-1.52,-107.5,157.3,-20.9,69,743,0.00,2.28,0.00,0.000,6,0.000,0.032,2361,2168,3954,0,0,0,0,0,0
$STATE,748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,749,begin apogee
$GC,755,-0.33,0.0,160.3,19.8,71,841,1.23,0.00,82.10,0.558,6,0.098,0.000,2622,2652,3519,0,0,0,0,0,0
$STATE,842,end apogee,CONTROL_FINISHED_OK
$STATE,842,begin climb
$GC,845,1.52,107.5,166.9,0.0,80,936,1.75,2.20,81.65,0.551,4,0.049,0.054,3031,3925,3080,0,0,0,0,0,0
$GC,1011,1.86,385.2,177.7,-7.4,94,1236,0.30,2.10,216.70,0.564,6,0.038,0.027,3127,2592,1948,0,0,0,0,0,0
$GC,1503,1.86,385.2,127.6,18.0,139,1508,0.12,2.38,0.00,0.000,4,0.128,0.056,3104,1192,1942,0,0,0,0,0,0
$GC,1560,1.86,385.2,117.4,15.0,143,1566,0.00,2.25,0.00,0.000,6,0.000,0.035,3104,2596,1941,0,0,0,0,0,0
$GC,1823,1.86,385.2,80.5,13.1,168,1827,0.00,2.22,0.00,0.000,4,0.000,0.055,3104,3939,1940,0,0,0,0,0,0
$GC,1929,1.86,385.2,68.9,10.9,176,1933,0.00,2.15,0.00,0.000,6,0.000,0.028,3104,2592,1940,0,0,0,0,0,0
$GC,2196,1.87,393.3,43.1,9.6,200,2210,0.00,2.35,7.18,0.413,4,0.000,0.058,3104,1198,1915,0,0,0,0,0,0
$GC,2334,1.87,393.3,27.7,11.7,212,2343,0.00,2.28,0.00,0.000,6,0.000,0.032,3104,2602,1914,0,0,0,0,0,0
$STATE,2517,end climb,SURFACE_DEPTH_REACHED
$STATE,2517,begin surface coast
$FINISH,0.2,0.999427
$STATE,2559,end surface coast,CONTROL_FINISHED_OK
$STATE,2559,begin surface
$SM_CCo,2581,22.62,0.450,0,0,1806,420.19
$SM_GC,0.94,0.00,0.00,22.62,0.000,0.000,0.450,475,2143,1806,-10.24,-0.76,420.19
$IRIDIUM_FIX,2131.85,-15818.80,091099,161642
$TT8_MAMPS,0.026845
$HUMID,38.69
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.1,7.855
$10V_AH,10.5,7.120
$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,24.950,28.525,387.625,22.625,0.000,27.288,27.053,195.892,4.250,0.000,40.674,433.029,713.362,342.274,1128.901,393.750,0.000,760.016,0.000,1098.930,0.000,27.343,0.000
$DEVICE_MAMPS,178.711,57.525,563.745,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,162.374,190.070,251.380,431.734,818.115,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,19368,245
$CAP_FILE_SIZE,42891,0
$CFSIZE,260165632,215175168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150710,173702,2140.258,-15817.525,12,1.3,12,9.9