version: 66.06
glider: 148
mission: 11
dive: 66
start: 5 28 112 3 48 39
data:
$ID,148
$MISSION,11
$DIVE,66
$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,-900442.19
$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,3080
$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,94
$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
$GPS1,033719,2224.133,-15830.926,9,1.2,15,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.1
$GPS2,034744,2224.160,-15831.055,8,1.5,14,10.0
$SPEED_LIMITS,0.122,0.208
$TGT_NAME,T02
$TGT_LATLONG,2230.000,-15745.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,0.062
$KALMAN_X,-132959.2,-1747.4,1624.9,80690.7,-2052.9
$KALMAN_Y,-72252.4,-427.2,503.4,34550.9,-477.9
$MHEAD_RNG_PITCHd_Wd,62.8,79539,-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,-116.8,0.0,0.0,0,92,0.00,0.00,-74.38,0.000,2,0.000,0.000,416,1785,3198,0,0,0,0,0,0
$GC,97,-1.02,-116.8,3.5,-3.5,10,122,12.75,2.40,-1.48,0.000,4,0.152,0.040,2852,3274,3279,0,0,0,0,0,0
$GC,132,1.17,-116.8,17.9,-26.7,14,141,3.47,2.47,0.00,0.000,6,0.074,0.024,3328,1736,3281,4,0,0,0,0,0
$GC,431,0.54,-116.8,37.3,-7.0,53,443,0.52,2.55,0.00,0.000,4,0.056,0.043,3194,180,3282,0,0,0,0,0,0
$GC,503,0.54,-116.8,43.0,-8.8,59,507,0.00,2.33,0.00,0.000,6,0.000,0.018,3194,1719,3282,0,0,0,0,0,0
$GC,770,0.54,-116.8,63.2,-9.3,83,775,0.00,2.53,0.00,0.000,4,0.000,0.049,3193,180,3282,0,0,0,0,0,0
$GC,791,0.54,-116.8,66.2,-10.3,84,800,0.00,2.38,0.00,0.000,6,0.000,0.018,3194,1720,3282,0,0,0,0,0,0
$GC,1056,0.54,-116.8,86.4,-7.5,109,1061,0.00,2.47,0.00,0.000,4,0.000,0.025,3194,3303,3282,0,0,0,0,0,0
$GC,1076,0.54,-116.8,88.3,-7.5,110,1085,0.00,2.53,0.00,0.000,6,0.000,0.026,3194,1737,3282,0,0,0,0,0,0
$GC,1343,0.54,-116.8,101.9,-4.3,135,1347,0.00,2.53,0.00,0.000,4,0.000,0.044,3194,174,3282,0,0,0,0,0,0
$GC,1415,0.44,-116.8,105.9,-4.7,141,1420,0.00,2.35,0.00,0.000,6,0.000,0.018,3194,1725,3282,0,0,0,0,0,0
$GC,1678,0.44,-116.8,120.7,-6.0,166,1682,0.00,2.53,0.00,0.000,4,0.000,0.043,3194,174,3282,0,0,0,0,0,0
$GC,1706,0.44,-116.8,122.6,-6.9,168,1710,0.00,2.33,0.00,0.000,6,0.000,0.018,3193,1709,3282,0,0,0,0,0,0
$GC,1969,0.37,-116.8,141.2,-7.1,192,1974,0.15,2.53,0.00,0.000,4,0.054,0.044,3093,168,3282,0,0,0,0,0,0
$GC,2017,0.63,-116.8,146.6,-12.8,196,2030,0.55,2.35,0.00,0.000,6,0.087,0.019,3214,1701,3282,0,0,0,0,0,0
$GC,2281,0.47,-116.8,158.2,-2.9,221,2286,0.12,2.53,0.00,0.000,4,0.061,0.045,3117,164,3282,0,0,0,0,0,0
$GC,2321,0.60,-116.8,161.2,-8.7,224,2327,0.40,2.33,0.00,0.000,6,0.079,0.019,3208,1693,3282,0,0,0,0,0,0
$GC,2586,0.45,-116.8,170.5,-3.9,249,2595,0.12,0.00,0.00,0.000,6,0.060,0.000,3117,1696,3282,0,0,0,0,0,0
$GC,2854,0.58,-116.8,191.7,-7.8,274,2859,0.35,2.47,0.00,0.000,4,0.078,0.043,3201,174,3282,0,0,0,0,0,0
$GC,2910,0.39,-116.8,195.0,-5.2,279,2915,0.15,2.30,0.00,0.000,6,0.054,0.019,3124,1704,3282,0,0,0,0,0,0
$STATE,2998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2998,begin apogee
$GC,3006,-0.31,0.0,200.7,6.9,287,3101,0.45,0.00,91.72,0.573,6,0.030,0.000,2997,1833,2800,0,0,0,0,0,0
$STATE,3102,end apogee,CONTROL_FINISHED_OK
$STATE,3102,begin climb
$GC,3104,1.02,116.8,208.4,0.0,289,3209,1.35,2.38,95.10,0.568,4,0.087,0.024,3293,3324,2321,0,0,0,0,0,0
$GC,3354,1.76,172.4,200.7,4.8,294,3432,15.70,2.45,45.95,0.554,6,0.002,0.027,3293,1796,2096,52,1,0,0,0,0
$STATE,3436,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,3449,332.48,0.550,3,0,511,561.49
$SM_GC,1.46,11.62,0.00,0.00,0.028,0.000,0.000,406,1792,485,-12.20,-0.25,567.87
$IRIDIUM_FIX,2216.01,-15830.97,220801,030309
$TT8_MAMPS,0.027612
$HUMID,63.74
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,23.30
$XPDR_PINGS,109
$24V_AH,23.7,8.358
$10V_AH,10.0,6.507
$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,47.725,48.775,232.775,332.475,0.000,60.484,69.904,289.821,27.250,0.000,15.746,630.394,2938.417,633.293,1170.077,631.561,33.345,1095.254,0.000,1182.088,0.000,0.539,0.000
$DEVICE_MAMPS,151.866,103.545,572.949,549.939,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,199.871,234.166,299.601,461.671,810.928,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,22617,299
$CAP_FILE_SIZE,66029,8
$CFSIZE,260165632,169484288
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,56,0,3,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,280512,051922,2224.226,-15831.333,9,2.3,29,10.0