version: 66.06
glider: 148
mission: 10
dive: 607
start: 10 1 111 13 14 1
data:
$ID,148
$MISSION,10
$DIVE,607
$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,0
$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,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,-889913.75
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,130628,2239.177,-15809.460,10,99.0,29,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.0
$GPS2,131307,2239.094,-15809.576,31,1.1,31,10.0
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,stn_a
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,0.157
$KALMAN_X,-77209.6,-409.0,-734.2,5308.0,-1009.1
$KALMAN_Y,-41804.3,-155.8,130.3,-11643.6,-920.2
$MHEAD_RNG_PITCHd_Wd,46.2,19677,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-74.70,0.000,2,0.000,0.000,409,1720,3293,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.8,-6.8,10,125,12.38,2.58,-2.55,0.000,4,0.169,0.051,2682,177,3434,0,0,0,0,0,0
$GC,138,0.02,-116.8,15.4,-30.7,14,149,1.35,2.42,0.00,0.000,6,0.078,0.017,2987,1739,3435,0,0,0,0,0,0
$GC,434,-0.87,-116.8,42.4,-10.5,52,448,0.75,2.58,0.00,0.000,4,0.040,0.039,2794,173,3436,0,0,0,0,0,0
$GC,478,-1.43,-116.8,46.8,-9.3,55,483,0.47,2.35,0.00,0.000,6,0.026,0.016,2621,1734,3436,0,0,0,0,0,0
$GC,749,-1.15,-116.8,85.8,-14.3,79,758,0.57,2.38,0.00,0.000,4,0.087,0.021,2737,3265,3436,0,0,0,0,0,0
$GC,765,-0.98,-116.8,89.2,-13.9,80,776,0.12,2.53,0.00,0.000,6,0.064,0.022,2773,1694,3437,0,0,0,0,0,0
$GC,1034,-1.34,-116.8,110.9,-7.3,105,1039,0.28,2.45,0.00,0.000,4,0.034,0.039,2639,177,3437,0,0,0,0,0,0
$GC,1152,-1.25,-116.8,122.2,-10.0,115,1157,0.35,2.22,0.00,0.000,6,0.081,0.016,2718,1664,3437,0,0,0,0,0,0
$GC,1422,-1.37,-116.8,139.3,-7.0,139,1427,0.10,2.50,0.00,0.000,4,0.074,0.023,2646,3252,3438,0,0,0,0,0,0
$GC,1443,-1.37,-116.8,142.0,-9.0,140,1454,0.15,2.55,0.00,0.000,6,0.069,0.024,2687,1667,3438,0,0,0,0,0,0
$GC,1709,-1.37,-116.8,168.4,-10.4,165,1713,0.00,2.40,0.00,0.000,4,0.000,0.041,2687,178,3438,0,0,0,0,0,0
$GC,1768,-1.37,-116.8,175.4,-10.6,170,1774,0.00,2.20,0.00,0.000,6,0.000,0.016,2687,1665,3438,0,0,0,0,0,0
$GC,2031,-1.37,-116.8,197.9,-7.7,195,2035,0.00,2.42,0.00,0.000,4,0.000,0.041,2687,170,3438,0,0,0,0,0,0
$GC,2070,-1.44,-116.8,201.3,-9.1,197,2076,0.00,2.17,0.00,0.000,6,0.000,0.017,2687,1639,3438,0,0,0,0,0,0
$GC,2321,-1.44,-116.8,222.9,-9.2,204,2326,0.00,2.53,0.00,0.000,4,0.000,0.024,2687,3259,3438,0,0,0,0,0,0
$GC,2377,-1.55,-116.8,229.0,-10.6,205,2382,0.15,2.55,0.00,0.000,6,0.054,0.022,2610,1654,3438,0,0,0,0,0,0
$GC,2652,-1.40,-116.8,264.7,-13.2,212,2657,0.30,2.53,0.00,0.000,4,0.084,0.024,2681,3254,3438,0,0,0,0,0,0
$GC,2676,-1.40,-116.8,267.8,-10.5,212,2680,0.00,2.53,0.00,0.000,6,0.000,0.024,2682,1669,3438,0,0,0,0,0,0
$GC,2938,-1.47,-116.8,290.4,-8.8,219,2942,0.00,2.50,0.00,0.000,4,0.000,0.026,2681,3254,3437,0,0,0,0,0,0
$GC,3017,-1.56,-116.8,297.7,-8.5,220,3023,0.10,2.50,0.00,0.000,6,0.029,0.024,2607,1699,3437,0,0,0,0,0,0
$STATE,3068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3068,begin apogee
$GC,3073,-0.31,0.0,303.0,10.2,222,3171,1.38,0.00,93.38,0.653,6,0.072,0.000,2923,1699,2954,0,0,0,0,0,0
$STATE,3171,end apogee,CONTROL_FINISHED_OK
$STATE,3172,begin climb
$GC,3175,1.38,116.8,306.7,0.0,224,3281,1.50,2.67,94.60,0.647,4,0.025,0.058,3322,177,2477,0,0,0,0,0,0
$GC,3289,1.13,227.4,309.9,3.6,227,3392,0.40,2.35,92.07,0.642,6,0.098,0.020,3237,1652,2027,0,0,0,0,0,0
$GC,3647,1.07,227.4,274.0,11.1,236,3652,0.00,2.72,0.00,0.000,4,0.000,0.048,3237,3270,2021,0,0,0,0,0,0
$GC,3746,1.07,227.4,262.7,11.6,238,3750,0.00,2.53,0.00,0.000,6,0.000,0.029,3237,1712,2018,0,0,0,0,0,0
$GC,4023,1.07,227.4,231.4,10.9,245,4028,0.00,2.62,0.00,0.000,4,0.000,0.060,3237,174,2017,0,0,0,0,0,0
$GC,4061,0.99,227.4,227.1,11.7,245,4068,0.15,2.40,0.00,0.000,6,0.107,0.020,3205,1713,2017,0,0,0,0,0,0
$GC,4313,1.14,272.6,207.6,7.4,252,4359,0.12,2.70,39.50,0.591,4,0.064,0.050,3267,171,1843,0,0,0,0,0,0
$GC,4370,1.08,276.9,202.6,9.8,253,4382,0.20,2.42,5.55,0.447,6,0.092,0.021,3223,1703,1825,0,0,0,0,0,0
$GC,4645,1.19,293.4,180.0,9.1,274,4668,0.10,2.65,14.73,0.540,4,0.075,0.038,3278,3266,1756,0,0,0,0,0,0
$GC,4731,1.19,293.4,169.6,12.7,282,4740,0.10,2.58,0.00,0.000,6,0.075,0.035,3251,1708,1752,0,0,0,0,0,0
$GC,4998,1.19,293.4,139.0,10.5,307,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1709,1751,0,0,0,0,0,0
$GC,5260,1.26,352.5,116.0,6.6,332,5318,0.00,2.60,51.38,0.531,4,0.000,0.045,3250,171,1517,0,0,0,0,0,0
$GC,5367,1.35,352.5,107.1,10.4,341,5372,0.15,2.42,0.00,0.000,6,0.055,0.021,3324,1713,1516,0,0,0,0,0,0
$GC,5636,1.35,352.5,74.2,11.4,365,5641,0.17,2.53,0.00,0.000,4,0.103,0.033,3286,3274,1513,0,0,0,0,0,0
$GC,5684,1.47,352.5,68.2,10.0,368,5695,0.08,2.58,0.00,0.000,6,0.035,0.028,3342,1706,1509,0,0,0,0,0,0
$GC,5955,1.40,352.5,37.7,11.4,393,5960,0.22,2.53,0.00,0.000,4,0.091,0.042,3292,167,1509,0,0,0,0,0,0
$GC,5976,1.40,352.5,34.8,11.4,394,5980,0.00,2.42,0.00,0.000,6,0.000,0.020,3292,1726,1509,0,0,0,0,0,0
$GC,6279,1.40,352.5,4.0,11.3,438,6289,0.00,2.50,0.00,0.000,4,0.000,0.031,3292,3272,1508,0,0,0,0,0,0
$STATE,6298,end climb,SURFACE_DEPTH_REACHED
$STATE,6298,begin surface coast
$FINISH,0.6,1.013425
$STATE,6359,end surface coast,CONTROL_FINISHED_OK
$STATE,6359,begin surface
$SM_CCo,6383,34.53,0.432,0,0,1324,400.08
$SM_GC,1.38,0.00,0.00,34.53,0.000,0.000,0.432,408,1709,1324,-11.88,-0.31,400.08
$IRIDIUM_FIX,2239.35,-15809.75,251200,111137
$TT8_MAMPS,0.027612
$HUMID,64.92
$INTERNAL_PRESSURE,9.46712
$TCM_TEMP,20.80
$XPDR_PINGS,1
$24V_AH,23.7,54.546
$10V_AH,10.0,63.587
$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,33.175,94.625,391.200,34.525,0.000,22.380,42.869,166.814,0.250,0.000,33.432,875.009,2999.020,443.639,1608.443,893.233,33.331,1114.345,0.000,1933.978,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,59.826,652.717,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,302.272,509.940,597.329,633.192,1179.404,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,35450,449
$CAP_FILE_SIZE,86877,0
$CFSIZE,260165632,104345600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011011,150206,2238.620,-15810.023,11,1.6,22,10.0