version: 66.11
revision: 1138
glider: 146
mission: 12
dive: 8
start: 3 24 116 13 37 48
data:
$ID,146
$MISSION,12
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$D_NO_BLEED,200
$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,100
$T_MISSION,240
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52688
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2130
$TGT_DEFAULT_LON,-15720
$TGT_AUTO_DEFAULT,0
$SM_CC,667.9519
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-388103.91
$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,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,21
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,175
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.112076
$PRESSURE_SLOPE,0.0001164343
$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,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,133
$DEVICE4,163
$DEVICE5,150
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043265903
$SEABIRD_T_H,0.00062147615
$SEABIRD_T_I,2.2659055e-05
$SEABIRD_T_J,2.3511025e-06
$SEABIRD_C_G,-9.816083
$SEABIRD_C_H,1.0859504
$SEABIRD_C_I,-0.0014767541
$SEABIRD_C_J,0.00019490313
$GPS1,240316,133120,2128.736,-15702.313,5,3.8,26,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-55.9
$GPS2,240316,133653,2128.778,-15702.293,40,1.5,40,9.9
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,DIAG1
$TGT_LATLONG,2330.000,-15542.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,0.202
$KALMAN_X,890.9,-8.8,165.6,5303.3,121.5
$KALMAN_Y,4383.7,149.8,324.6,6158.1,457.7
$MHEAD_RNG_PITCHd_Wd,27.0,262675,-18.9,-10.000,-21.63,2088
$D_GRID,300
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.62,-136.3,458,1768,611,336,0.0,0.0,0,119,0.00,0.00,-101.93,0.000,16386,0.000,0.000,458,1769,3010,2985,3035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.62,-136.3,458,1769,2985,3035,3.3,-4.6,16,156,10.90,2.33,-13.07,0.000,18692,0.158,0.042,2530,3209,3659,3643,3675,0,0,0,0,0,0,24.34,24.50,24.77
$GC,286,-1.58,-136.3,2530,3209,3643,3674,38.0,-18.3,42,295,0.00,2.22,0.00,0.000,1030,0.000,0.024,2530,1826,3658,3643,3674,0,0,0,0,0,0,28.83,24.56,28.83
$GC,535,-1.50,-136.3,2530,1826,3643,3674,87.3,-19.3,67,544,0.12,2.42,0.00,0.000,2564,0.128,0.064,2557,410,3658,3643,3674,0,0,0,0,0,0,24.56,24.51,28.83
$GC,557,-1.42,-136.3,2557,410,3643,3673,91.5,-19.2,69,567,0.10,2.15,0.00,0.000,3078,0.131,0.023,2576,1808,3658,3643,3674,0,0,0,0,0,0,24.56,24.68,28.83
$GC,808,-1.47,-136.3,2576,1808,3643,3674,128.9,-13.5,94,817,0.00,2.12,0.00,0.000,260,0.000,0.028,2576,3186,3658,3643,3674,0,0,0,0,0,0,28.83,24.68,28.83
$GC,840,-1.53,-136.3,2576,3186,3643,3674,133.4,-13.9,97,849,0.00,2.20,0.00,0.000,1030,0.000,0.024,2576,1787,3658,3643,3674,0,0,0,0,0,0,28.83,24.67,28.83
$GC,1090,-1.61,-136.3,2576,1786,3643,3674,162.7,-12.6,122,1099,0.15,2.40,0.00,0.000,4612,0.061,0.072,2515,404,3658,3644,3673,0,0,0,0,0,0,24.78,24.58,28.83
$GC,1131,-1.61,-136.3,2515,404,3643,3673,169.3,-15.6,126,1136,0.10,2.15,0.00,0.000,3078,0.119,0.040,2536,1782,3658,3644,3673,0,0,0,0,0,0,24.66,24.75,28.83
$GC,1377,-1.65,-136.3,2536,1782,3644,3673,201.2,-12.5,150,1383,0.00,2.22,0.00,0.000,260,0.000,0.034,2536,3203,3658,3644,3673,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1510,-1.71,-136.3,2536,3203,3644,3673,216.2,-12.4,153,1514,0.00,2.22,0.00,0.000,1030,0.000,0.030,2536,1799,3658,3644,3673,0,0,0,0,0,0,28.83,24.74,28.83
$GC,1772,-1.78,-136.3,2536,1799,3644,3672,247.6,-11.6,160,1778,0.12,2.22,0.00,0.000,4356,0.070,0.039,2482,3196,3658,3644,3672,0,0,0,0,0,0,24.84,24.77,28.83
$GC,1825,-1.84,-136.3,2482,3196,3644,3672,252.7,-11.7,161,1829,0.00,2.22,0.00,0.000,1030,0.000,0.028,2482,1799,3658,3644,3672,0,0,0,0,0,0,28.83,24.75,28.83
$GC,2092,-1.84,-136.3,2482,1799,3644,3669,290.9,-13.5,168,2096,0.00,2.22,0.00,0.000,260,0.000,0.036,2483,3194,3656,3644,3669,0,0,0,0,0,0,28.83,24.79,28.83
$STATE,2166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2166,begin apogee
$GC,2172,-0.38,0.0,2483,1958,3643,3669,300.4,-12.8,170,2282,1.42,0.00,106.22,0.755,10244,0.077,0.000,2803,1958,3100,3159,3041,0,0,0,0,0,0,24.73,28.83,23.59
$STATE,2283,end apogee,CONTROL_FINISHED_OK
$STATE,2283,begin climb
$GC,2284,1.62,136.3,2803,1958,3159,3041,303.4,0.0,172,2402,1.75,2.33,108.22,0.754,10500,0.033,0.042,3249,3354,2544,2608,2481,0,0,0,0,0,0,24.25,24.20,23.59
$GC,2622,1.63,273.0,3249,3354,2594,2479,305.9,3.3,180,2741,0.00,2.22,111.47,0.761,9222,0.000,0.024,3249,1968,1985,2072,1899,0,0,0,0,0,0,28.83,24.46,23.58
$GC,3004,1.54,273.0,3249,1968,2060,1896,268.0,11.0,190,3010,0.12,2.47,0.00,0.000,4612,0.129,0.070,3223,564,1977,2060,1895,0,0,0,0,0,0,24.42,24.39,28.83
$GC,3204,1.46,273.0,3222,564,2056,1894,245.6,11.3,195,3208,0.00,2.28,0.00,0.000,1030,0.000,0.037,3223,1982,1975,2056,1894,0,0,0,0,0,0,28.83,24.58,28.83
$GC,3480,1.46,273.5,3222,1983,2055,1893,218.7,10.0,202,3484,0.00,2.22,0.00,0.000,260,0.000,0.036,3223,3362,1974,2056,1893,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3518,1.46,273.5,3222,3362,2053,1893,215.2,10.1,203,3523,0.00,2.22,0.00,0.000,1030,0.000,0.022,3223,1991,1973,2053,1893,0,0,0,0,0,0,28.83,24.63,28.83
$GC,3766,1.49,294.8,3222,1991,2052,1893,193.3,9.0,213,3789,0.00,2.30,17.48,0.671,8452,0.000,0.031,3223,3360,1897,1983,1811,0,0,0,0,0,0,28.83,24.33,23.81
$GC,3869,1.49,295.4,3223,3360,1979,1810,183.7,10.0,223,3876,0.00,2.20,0.00,0.000,1030,0.000,0.022,3223,1975,1894,1979,1810,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4117,1.54,334.2,3223,1975,1977,1809,161.9,8.1,248,4156,0.00,0.00,33.58,0.675,8198,0.000,0.000,3223,1975,1735,1831,1639,0,0,0,0,0,0,28.83,28.83,23.70
$GC,4396,1.54,334.2,3223,1976,1825,1637,133.0,11.5,276,4400,0.00,2.22,0.00,0.000,260,0.000,0.028,3223,3369,1731,1825,1637,0,0,0,0,0,0,28.83,24.56,28.83
$GC,4422,1.54,334.2,3223,3369,1824,1636,130.1,10.9,278,4426,0.00,2.22,0.00,0.000,1030,0.000,0.021,3223,1958,1730,1824,1637,0,0,0,0,0,0,28.83,24.59,28.83
$GC,4668,1.62,364.8,3222,1958,1823,1637,108.1,8.5,302,4700,0.00,2.35,25.30,0.615,8452,0.000,0.034,3222,3361,1611,1712,1510,0,0,0,0,0,0,28.83,24.27,23.77
$GC,4745,1.66,364.8,3223,3361,1708,1510,100.8,10.1,309,4753,0.08,2.22,0.00,0.000,3078,0.057,0.021,3253,1980,1608,1708,1509,0,0,0,0,0,0,24.47,24.51,28.83
$GC,4993,1.66,364.8,3253,1979,1707,1508,73.4,10.5,334,5003,0.00,2.38,0.00,0.000,516,0.000,0.052,3253,569,1606,1705,1508,0,0,0,0,0,0,28.83,24.53,28.83
$GC,5056,1.66,364.8,3253,569,1705,1508,66.0,12.1,340,5066,0.00,2.17,0.00,0.000,1030,0.000,0.018,3253,1990,1606,1705,1508,0,0,0,0,0,0,28.83,24.66,28.83
$GC,5308,1.66,364.8,3253,1990,1705,1508,38.3,11.1,365,5317,0.00,2.10,0.00,0.000,260,0.000,0.027,3253,3344,1606,1704,1508,0,0,0,0,0,0,28.83,24.67,28.83
$GC,5430,1.66,364.8,2208,3343,1658,1503,24.5,10.7,382,5438,0.00,2.15,0.00,0.000,1030,0.000,0.020,3253,1983,1605,1704,1507,0,0,0,0,0,0,28.83,24.70,28.83
$STATE,5629,end climb,SURFACE_DEPTH_REACHED
$STATE,5629,begin surface coast
$FINISH,0.7,1.005543
$STATE,5660,end surface coast,CONTROL_FINISHED_OK
$STATE,5661,begin surface
$SM_CCo,5678,217.95,0.543,0,0,476,643.42
$SM_CCo,5898,-0.08,0.000,0,0,477,643.42
$SM_CCo,5901,0.00,0.000,0,0,477,643.42
$SM_GC,1.30,11.10,0.28,0.00,0.024,0.048,0.000,462,1786,477,-11.01,1.05,643.42,0,0,0,0,0,0,24.75,24.75,28.83
$IRIDIUM_FIX,2117.95,-15704.81,190109,010121
$TT8_MAMPS,0.025466,0.025466
$HUMID,43.14
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,23.00
$XPDR_PINGS,13
$24V_AH,23.6,4.364
$10V_AH,10.6,2.174
$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,25.975,67.500,402.275,217.950,0.000,28.419,35.467,155.209,3.250,0.000,43.125,1102.378,2904.931,702.433,1479.389,57.722,33.209,1323.128,0.000,1200.518,0.000,0.538,0.000
$DEVICE_MAMPS,157.590,71.910,761.175,543.150,0.000,67.320,160.000,223.000,420.000,0.000,32.210,16.060,2.190,16.060,42.280,50.520,67.740,12.400,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830_CNF,WL_BB2F,WL_BBFL2,nil,nil,nil,nil,nil
$SENSOR_SECS,286.136,294.093,387.968,301.770,534.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,46.440,38.950,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,353324
$DATA_FILE_SIZE,33891,427
$CAP_FILE_SIZE,78072,0
$CFSIZE,259248128,257994752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240316,151654,2129.849,-15702.208,8,1.6,9,9.9