version: 66.06
glider: 148
mission: 10
dive: 585
start: 9 29 111 16 20 13
data:
$ID,148
$MISSION,10
$DIVE,585
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,430
$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,100
$T_MISSION,360
$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,52523
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,400
$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,-889435.56
$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,2990
$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,1720
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2955
$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
$GPS1,161301,2251.461,-15748.061,40,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.2
$GPS2,161914,2251.448,-15748.143,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.188,-0.140
$KALMAN_X,-34594.9,-546.4,209.6,-1616.4,-1302.0
$KALMAN_Y,-17637.5,63.1,-1160.8,-11872.9,-597.7
$MHEAD_RNG_PITCHd_Wd,236.1,23510,-19.8,-10.000
$D_GRID,300
$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,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-78.00,0.000,2,0.000,0.000,415,1671,3419,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.5,-8.5,10,120,11.70,2.60,-0.20,0.000,4,0.147,0.033,2682,3313,3432,0,0,0,0,0,0
$GC,209,-1.29,-116.8,28.1,-12.5,25,220,0.08,2.58,0.00,0.000,6,0.086,0.024,2704,1721,3434,0,0,0,0,0,0
$GC,491,-1.16,-116.8,63.7,-11.4,51,496,0.15,2.55,0.00,0.000,4,0.107,0.041,2736,171,3435,0,0,0,0,0,0
$GC,550,-1.16,-116.8,70.0,-8.3,55,554,0.00,2.40,0.00,0.000,6,0.000,0.017,2736,1738,3435,0,0,0,0,0,0
$GC,821,-1.25,-116.8,90.2,-8.4,79,825,0.00,2.58,0.00,0.000,4,0.000,0.046,2736,173,3435,0,0,0,0,0,0
$GC,852,-1.34,-116.8,93.6,-10.2,81,857,0.15,2.33,0.00,0.000,6,0.054,0.016,2661,1705,3435,0,0,0,0,0,0
$GC,1121,-1.25,-116.8,123.3,-10.3,105,1126,0.25,2.45,0.00,0.000,4,0.087,0.025,2721,3278,3436,0,0,0,0,0,0
$GC,1180,-1.44,-116.8,128.3,-7.4,110,1186,0.17,2.47,0.00,0.000,6,0.049,0.021,2639,1694,3436,0,0,0,0,0,0
$GC,1443,-1.31,-116.8,155.6,-11.7,134,1449,0.28,2.50,0.00,0.000,4,0.085,0.039,2704,174,3436,0,0,0,0,0,0
$GC,1471,-1.31,-116.8,159.0,-11.3,136,1477,0.00,2.33,0.00,0.000,6,0.000,0.017,2704,1706,3437,0,0,0,0,0,0
$GC,1734,-1.38,-116.8,182.9,-8.5,161,1739,0.00,2.45,0.00,0.000,4,0.000,0.024,2704,3274,3436,0,0,0,0,0,0
$GC,1767,-1.49,-116.8,185.1,-8.3,163,1772,0.17,2.47,0.00,0.000,6,0.049,0.022,2621,1696,3436,0,0,0,0,0,0
$GC,2035,-1.33,-116.8,213.4,-10.7,179,2041,0.32,2.50,0.00,0.000,4,0.083,0.039,2699,180,3436,0,0,0,0,0,0
$GC,2075,-1.44,-116.8,217.7,-9.9,179,2081,0.08,2.33,0.00,0.000,6,0.035,0.017,2641,1697,3436,0,0,0,0,0,0
$GC,2332,-1.35,-116.8,244.5,-10.2,186,2337,0.25,2.47,0.00,0.000,4,0.084,0.024,2702,3279,3436,0,0,0,0,0,0
$GC,2361,-1.48,-116.8,247.0,-7.3,186,2366,0.15,2.53,0.00,0.000,6,0.054,0.023,2622,1691,3436,0,0,0,0,0,0
$GC,2620,-1.35,-116.8,271.1,-9.2,193,2622,0.32,0.00,0.00,0.000,6,0.081,0.000,2693,1690,3436,0,0,0,0,0,0
$GC,2861,-1.43,-116.8,287.1,-6.4,199,2865,0.00,2.53,0.00,0.000,4,0.000,0.026,2694,3273,3435,0,0,0,0,0,0
$GC,2906,-1.58,-116.8,290.0,-7.1,200,2911,0.20,2.50,0.00,0.000,6,0.044,0.025,2604,1704,3435,0,0,0,0,0,0
$STATE,3029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3029,begin apogee
$GC,3034,-0.31,0.0,302.4,10.3,203,3131,1.40,0.00,92.93,0.658,6,0.076,0.000,2922,1704,2955,0,0,0,0,0,0
$STATE,3132,end apogee,CONTROL_FINISHED_OK
$STATE,3132,begin climb
$GC,3134,1.38,116.8,305.8,0.0,205,3234,1.48,0.00,95.10,0.650,6,0.024,0.000,3320,1704,2478,0,0,0,0,0,0
$GC,3466,1.10,155.5,292.8,7.8,213,3508,0.40,2.62,32.55,0.629,4,0.101,0.057,3232,183,2319,0,0,0,0,0,0
$GC,3548,0.95,162.5,285.7,9.6,214,3561,0.12,2.38,7.15,0.518,6,0.088,0.021,3200,1664,2291,0,0,0,0,0,0
$GC,3853,1.02,221.2,263.8,6.6,222,3909,0.00,2.78,49.47,0.630,4,0.000,0.046,3200,3266,2052,0,0,0,0,0,0
$GC,4013,1.14,258.1,251.4,7.9,225,4054,0.15,2.55,33.08,0.613,6,0.057,0.028,3260,1705,1902,0,0,0,0,0,0
$GC,4317,1.14,258.1,218.9,10.7,233,4323,0.10,2.62,0.00,0.000,4,0.122,0.038,3239,3271,1896,0,0,0,0,0,0
$GC,4341,1.14,259.5,216.2,9.9,233,4346,0.00,2.58,0.00,0.000,6,0.000,0.028,3239,1696,1894,0,0,0,0,0,0
$GC,4604,1.14,259.5,188.1,10.7,246,4609,0.00,2.60,0.00,0.000,4,0.000,0.034,3239,3271,1893,0,0,0,0,0,0
$GC,4656,1.14,259.5,182.5,10.7,250,4662,0.00,2.55,0.00,0.000,6,0.000,0.029,3239,1706,1892,0,0,0,0,0,0
$GC,4919,1.17,279.8,158.3,8.8,275,4946,0.00,2.65,18.35,0.548,4,0.000,0.035,3239,3272,1812,0,0,0,0,0,0
$GC,5006,1.26,279.8,149.3,10.9,283,5011,0.10,2.53,0.00,0.000,6,0.077,0.028,3287,1718,1809,0,0,0,0,0,0
$GC,5272,1.26,279.8,116.9,10.7,307,5277,0.10,0.00,0.00,0.000,6,0.121,0.000,3265,1718,1808,0,0,0,0,0,0
$GC,5536,1.31,317.9,95.1,7.8,332,5576,0.00,2.65,33.50,0.518,4,0.000,0.039,3265,3284,1657,0,0,0,0,0,0
$GC,5675,1.42,325.8,81.7,9.5,344,5689,0.10,2.55,7.80,0.434,6,0.032,0.028,3322,1733,1625,0,0,0,0,0,0
$GC,5957,1.42,325.8,50.8,10.3,370,5962,0.12,2.60,0.00,0.000,4,0.109,0.045,3294,174,1623,0,0,0,0,0,0
$GC,5979,1.42,325.8,47.5,11.0,371,5989,0.00,2.50,0.00,0.000,6,0.000,0.021,3294,1741,1623,0,0,0,0,0,0
$GC,6264,1.42,325.8,18.0,10.3,404,6275,0.00,2.50,0.00,0.000,4,0.000,0.033,3294,3280,1622,0,0,0,0,0,0
$GC,6346,1.48,325.8,9.1,10.9,415,6356,0.00,2.47,0.00,0.000,6,0.000,0.026,3294,1753,1620,0,0,0,0,0,0
$STATE,6396,end climb,SURFACE_DEPTH_REACHED
$STATE,6396,begin surface coast
$FINISH,0.6,1.002167
$STATE,6444,end surface coast,CONTROL_FINISHED_OK
$STATE,6444,begin surface
$SM_CCo,6467,49.40,0.439,0,0,1323,400.08
$SM_GC,1.44,0.00,0.00,49.40,0.000,0.000,0.439,412,1747,1323,-11.86,0.76,400.08
$IRIDIUM_FIX,2244.02,-15743.68,231200,141448
$TT8_MAMPS,0.027612
$HUMID,65.63
$INTERNAL_PRESSURE,9.43782
$TCM_TEMP,20.10
$XPDR_PINGS,3
$24V_AH,23.7,52.592
$10V_AH,10.0,61.120
$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,29.875,85.675,369.925,49.400,0.000,27.890,36.399,163.889,0.750,0.000,14.229,916.955,3195.111,435.545,1475.324,870.736,33.328,1061.269,0.000,1814.343,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,56.758,658.086,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.689,489.398,569.134,583.856,1089.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,35178,428
$CAP_FILE_SIZE,84751,0
$CFSIZE,260165632,105345024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,249.3,1
$GPS,290911,181004,2250.798,-15749.582,10,2.1,30,10.1