version: 66.06
glider: 148
mission: 9
dive: 2
start: 1 13 110 20 27 10
data:
$ID,148
$MISSION,9
$DIVE,2
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,200
$D_BOOST,4
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$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,700
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-854801.25
$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,2860
$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
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3426
$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,-11.449877
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,201701,4807.010,-12222.711,11,1.7,28,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.5
$GPS2,202620,4806.923,-12222.615,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.207,0.157
$KALMAN_X,105.4,105.4,105.4,83.6,210.1
$KALMAN_Y,-136.0,-136.0,-136.0,-346.0,-271.1
$MHEAD_RNG_PITCHd_Wd,288.8,496,-17.5,-10.000
$D_GRID,107
$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,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,96,0.00,0.00,-75.40,0.000,2,0.000,0.000,419,1743,2244,0,0,0,0,0,0
$GC,100,-1.27,-146.0,3.1,-3.7,10,176,11.75,2.70,-56.72,0.000,4,0.171,0.057,2575,3345,3950,0,0,0,0,0,0
$GC,224,-1.27,-146.0,8.2,-7.3,27,232,0.00,2.67,0.00,0.000,6,0.000,0.040,2576,1755,3952,0,0,0,0,0,0
$GC,311,-1.27,-146.0,17.2,-11.1,40,320,0.00,2.72,0.00,0.000,4,0.000,0.057,2576,168,3952,0,0,0,0,0,0
$GC,397,-1.27,-146.0,28.7,-13.8,53,405,0.00,2.60,0.00,0.000,6,0.000,0.035,2575,1734,3952,0,0,0,0,0,0
$GC,483,-1.27,-146.0,40.6,-13.2,66,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1737,3952,0,0,0,0,0,0
$GC,640,-1.27,-146.0,61.2,-13.4,91,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1737,3952,0,0,0,0,0,0
$GC,791,-1.27,-146.0,81.8,-12.8,116,800,0.00,2.67,0.00,0.000,4,0.000,0.058,2575,172,3952,0,0,0,0,0,0
$GC,814,-1.27,-146.0,84.4,-13.1,119,820,0.00,2.55,0.00,0.000,6,0.000,0.039,2575,1734,3952,0,0,0,0,0,0
$GC,967,-1.27,-146.0,104.2,-13.1,144,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1734,3952,0,0,0,0,0,0
$STATE,989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,989,begin apogee
$GC,994,-0.31,0.0,107.1,12.8,147,1102,1.00,0.00,101.95,0.729,6,0.110,0.000,2786,1881,3425,0,0,0,0,0,0
$STATE,1106,end apogee,CONTROL_FINISHED_OK
$STATE,1106,begin climb
$GC,1108,1.27,146.0,111.7,0.0,164,1234,1.52,2.83,116.10,0.700,4,0.064,0.061,3133,258,2830,0,0,0,0,0,0
$GC,1252,1.27,146.0,103.1,11.6,186,1261,0.00,2.62,0.00,0.000,6,0.000,0.038,3134,1813,2828,0,0,0,0,0,0
$GC,1410,1.27,146.0,85.7,10.8,211,1415,0.00,2.65,0.00,0.000,4,0.000,0.060,3133,262,2825,0,0,0,0,0,0
$GC,1525,1.27,146.0,71.4,12.5,231,1531,0.00,2.62,0.00,0.000,6,0.000,0.044,3133,1839,2823,0,0,0,0,0,0
$GC,1679,1.27,146.0,54.2,10.4,256,1688,0.00,2.72,0.00,0.000,4,0.000,0.054,3133,265,2823,0,0,0,0,0,0
$GC,1769,1.27,146.0,43.7,11.9,271,1774,0.00,2.60,0.00,0.000,6,0.000,0.037,3133,1834,2822,0,0,0,0,0,0
$GC,1929,1.27,146.0,26.6,10.5,296,1938,0.00,2.72,0.00,0.000,4,0.000,0.057,3133,260,2822,0,0,0,0,0,0
$GC,2015,1.27,146.0,16.5,11.8,309,2023,0.00,2.60,0.00,0.000,6,0.000,0.038,3133,1813,2822,0,0,0,0,0,0
$GC,2102,1.31,177.8,8.1,8.5,322,2136,0.00,2.70,26.33,0.625,4,0.000,0.056,3133,260,2702,0,0,0,0,0,0
$STATE,2143,end climb,SURFACE_DEPTH_REACHED
$STATE,2143,begin surface coast
$FINISH,4.3,1.017353
$STATE,2163,end surface coast,CONTROL_FINISHED_OK
$STATE,2163,begin surface
$SM_CCo,2186,427.40,0.617,0,0,572,700.09
$SM_GC,2.09,0.00,0.00,427.40,0.000,0.000,0.617,416,1765,572,-11.24,0.42,700.09
$IRIDIUM_FIX,4748.51,-12221.84,090499,202013
$TT8_MAMPS,0.027612
$HUMID,32.67
$INTERNAL_PRESSURE,9.25227
$TCM_TEMP,13.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,80.3,6.8
$24V_AH,23.6,0.484
$10V_AH,10.3,0.262
$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,26.100,42.675,244.375,427.400,0.000,0.000,0.000,0.000,5.500,0.000,13.469,511.186,194.606,664.730,1212.299,104.207,30.181,1149.130,0.000,1230.786,0.000,5.423,0.000
$DEVICE_MAMPS,171.041,61.360,728.650,616.668,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,230.806,180.002,230.593,573.800,1010.300,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,28918,330
$CAP_FILE_SIZE,67615,0
$CFSIZE,260165632,172265472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130110,202620,4806.923,-12222.615,301,99.0,301,18.3