version: 66.06
glider: 148
mission: 11
dive: 61
start: 5 27 112 13 11 57
data:
$ID,148
$MISSION,11
$DIVE,61
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,400
$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,95
$T_MISSION,220
$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,52645
$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,380
$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,-899083.44
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3040
$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,1740
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,106
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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
$GPS1,130101,2226.296,-15825.305,47,1.7,48,10.0
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.1
$GPS2,131102,2226.280,-15825.377,16,1.7,16,10.0
$SPEED_LIMITS,0.122,0.208
$TGT_NAME,T02
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,0.065
$KALMAN_X,-117339.7,-984.7,-119.5,75755.4,-805.9
$KALMAN_Y,-65342.6,2.4,-737.2,32378.8,-337.6
$MHEAD_RNG_PITCHd_Wd,61.8,69428,-14.0,-7.018
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.02,-116.8,0.0,0.0,0,100,0.00,0.00,-77.60,0.000,6,0.000,0.000,416,1633,3276,0,0,0,0,0,0
$GC,105,-1.02,-116.8,4.4,-4.7,11,121,12.50,0.00,0.00,0.000,6,0.150,0.000,2812,1633,3277,0,0,0,0,0,0
$GC,389,0.07,-116.8,99.4,-29.2,41,399,1.15,2.38,0.00,0.000,4,0.120,0.040,3049,164,3278,0,0,0,0,0,0
$GC,517,0.53,-116.8,122.7,-14.5,53,526,0.47,2.38,0.00,0.000,6,0.091,0.020,3153,1702,3279,0,0,0,0,0,0
$GC,783,0.61,-116.8,149.6,-10.3,78,784,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1705,3280,0,0,0,0,0,0
$GC,1038,0.68,-116.8,173.3,-8.4,102,1043,0.15,2.50,0.00,0.000,4,0.103,0.044,3186,178,3280,0,0,0,0,0,0
$GC,1139,0.60,-116.8,180.5,-6.4,111,1147,0.00,2.42,0.00,0.000,6,0.000,0.019,3185,1736,3280,0,0,0,0,0,0
$GC,1407,0.52,-116.8,192.3,-4.1,136,1412,0.15,2.58,0.00,0.000,4,0.055,0.045,3107,171,3280,0,0,0,0,0,0
$GC,1423,0.52,-116.8,193.7,-5.4,137,1428,0.20,2.40,0.00,0.000,6,0.093,0.019,3153,1754,3280,0,0,0,0,0,0
$STATE,1522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1522,begin apogee
$GC,1529,-0.31,0.0,200.4,6.7,146,1624,0.73,0.00,91.43,0.574,6,0.020,0.000,2916,1757,2800,0,0,0,0,0,0
$STATE,1625,end apogee,CONTROL_FINISHED_OK
$STATE,1625,begin climb
$GC,1627,1.02,116.8,213.1,0.0,148,1735,1.62,2.55,94.78,0.576,4,0.096,0.023,3259,3360,2321,0,0,0,0,0,0
$GC,1759,1.96,176.6,217.6,4.6,151,1817,0.88,2.53,50.15,0.565,6,0.048,0.026,3468,1802,2078,0,0,0,0,0,0
$GC,2108,2.24,245.0,202.1,4.2,160,2173,0.25,2.60,57.75,0.561,4,0.041,0.032,3569,3353,1800,0,0,0,0,0,0
$GC,2253,2.24,245.0,190.3,7.9,171,2278,15.48,2.60,0.00,0.000,6,0.003,0.033,3523,1792,1794,51,0,0,0,0,0
$GC,2534,2.34,265.1,174.0,6.2,198,2559,0.10,2.70,17.25,0.522,4,0.075,0.048,3584,213,1718,0,0,0,0,0,0
$GC,2707,2.25,265.1,153.0,14.3,215,2714,0.25,2.40,0.00,0.000,6,0.082,0.022,3528,1744,1718,0,0,0,0,0,0
$GC,2970,2.34,265.1,126.2,10.7,240,2975,0.00,2.55,0.00,0.000,4,0.000,0.049,3527,211,1715,0,0,0,0,0,0
$GC,3094,2.41,265.1,113.0,11.0,251,3099,0.15,2.35,0.00,0.000,6,0.054,0.028,3591,1731,1715,0,0,0,0,0,0
$GC,3361,2.34,265.1,85.9,8.1,275,3367,0.20,2.50,0.00,0.000,4,0.084,0.048,3545,215,1714,0,0,0,0,0,0
$GC,3508,2.34,265.1,73.8,9.9,288,3513,0.00,2.30,0.00,0.000,6,0.000,0.020,3545,1722,1714,0,0,0,0,0,0
$GC,3778,2.41,265.1,51.4,9.8,312,3782,0.00,2.47,0.00,0.000,4,0.000,0.046,3545,213,1713,0,0,0,0,0,0
$GC,3874,2.47,265.1,41.6,10.3,320,3879,0.12,2.33,0.00,0.000,6,0.064,0.024,3594,1709,1713,0,0,0,0,0,0
$GC,4166,2.39,265.1,7.9,12.2,358,4176,0.17,2.53,0.00,0.000,4,0.093,0.051,3555,220,1712,0,0,0,0,0,0
$STATE,4220,end climb,SURFACE_DEPTH_REACHED
$STATE,4220,begin surface coast
$FINISH,0.7,1.019010
$STATE,4309,end surface coast,CONTROL_FINISHED_OK
$STATE,4309,begin surface
$SM_CCo,4335,63.10,0.435,0,0,1250,380.21
$SM_GC,1.39,0.00,0.00,63.10,0.000,0.000,0.435,418,1749,1250,-12.06,0.25,380.21
$IRIDIUM_FIX,2216.01,-15828.80,210801,131346
$TT8_MAMPS,0.027612
$HUMID,59.64
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,23.40
$XPDR_PINGS,78
$24V_AH,23.7,7.560
$10V_AH,10.0,5.911
$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,47.175,49.425,311.350,63.100,0.000,51.701,76.200,276.604,19.500,0.000,19.339,710.770,1779.185,399.370,1498.098,617.791,33.361,914.109,0.000,1503.357,0.000,0.540,0.000
$DEVICE_MAMPS,150.332,50.622,576.017,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,255.171,291.642,377.162,578.064,1015.475,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356024
$DATA_FILE_SIZE,28839,380
$CAP_FILE_SIZE,67516,0
$CFSIZE,260165632,169697280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,51,0,0,0
$GPS,270512,142634,2226.143,-15825.344,17,99.0,37,10.0