version: 66.07
glider: 23
mission: 14
dive: 65
start: 3 24 110 23 40 31
data:
$ID,23
$MISSION,14
$DIVE,65
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,0
$T_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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,90
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-41954.555
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,360
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,525
$R_STBD_OVSHOOT,1209
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,2841
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.779308
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,10
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,10000.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,240310,233514,1904.323,-15623.161,13,1.5,13,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.4
$GPS2,240310,233949,1904.279,-15623.059,14,1.6,14,9.6
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,K2
$TGT_LATLONG,1910.000,-15559.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.275,0.074
$KALMAN_X,-27643.2,2059.1,461.6,-3869.5,444.6
$KALMAN_Y,10608.4,-2208.3,-513.6,-78914.6,-618.7
$MHEAD_RNG_PITCHd_Wd,65.3,43399,-14.8,-10.000
$D_GRID,90
$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,15,begin dive
$GC,17,-1.15,-146.0,0.0,0.0,0,94,0.00,0.00,-66.38,0.000,2,0.000,0.000,359,2350,2706,0,0,0,0,0,0
$GC,97,-1.15,-146.0,3.1,-5.0,8,139,10.93,0.00,-15.65,0.000,6,0.169,0.000,2241,2349,3438,0,0,0,0,0,0
$GC,211,-1.15,-146.0,23.8,-16.9,22,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2349,3437,0,0,0,0,0,0
$GC,412,-1.15,-146.0,56.9,-15.0,41,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2349,3438,0,0,0,0,0,0
$GC,613,-1.15,-146.0,87.3,-14.6,60,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2349,3438,0,0,0,0,0,0
$STATE,636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,636,begin apogee
$GC,640,-0.33,0.0,91.1,14.7,62,769,0.85,0.00,107.82,0.644,6,0.090,0.000,2420,2348,2840,0,0,0,0,0,0
$STATE,775,end apogee,CONTROL_FINISHED_OK
$STATE,775,begin climb
$GC,777,1.15,146.0,96.8,0.0,74,906,1.45,0.00,108.20,0.633,6,0.042,0.000,2751,2348,2243,0,0,0,0,0,0
$GC,1090,1.35,331.2,88.4,4.3,104,1248,0.20,0.00,137.77,0.627,6,0.044,0.000,2807,2348,1488,0,0,0,0,0,0
$GC,1433,1.35,331.2,51.1,13.8,137,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2348,1484,0,0,0,0,0,0
$GC,1634,1.35,331.2,24.6,12.1,156,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2348,1483,0,0,0,0,0,0
$STATE,1815,end climb,SURFACE_DEPTH_REACHED
$STATE,1815,begin surface coast
$FINISH,0.5,1.010930
$STATE,1839,end surface coast,CONTROL_FINISHED_OK
$STATE,1839,begin surface
$SM_CCo,1873,18.95,0.539,0,0,1311,375.06
$SM_GC,1.03,0.00,0.00,18.95,0.000,0.000,0.539,351,2348,1311,-9.89,0.00,375.06
$IRIDIUM_FIX,1857.82,-15625.63,170911,171730
$TT8_MAMPS,0.132573
$HUMID,1078034184
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.2,16.829
$10V_AH,10.1,16.879
$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,24.050,0.000,353.800,18.950,0.000,22.857,27.855,120.942,0.000,0.000,16.664,0.000,397.123,239.364,1515.521,100.949,33.315,747.316,0.000,276.290,0.000,0.547,0.000
$DEVICE_MAMPS,169.065,0.000,644.130,538.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,120.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,352888
$DATA_FILE_SIZE,6837,187
$CAP_FILE_SIZE,44231,0
$CFSIZE,260034560,252788736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,001402,1903.779,-15622.162,11,1.7,11,9.6