version: 66.09
glider: 190
mission: 1
dive: 15
start: 2 29 112 10 56 16
data:
$ID,190
$MISSION,1
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,208
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,2
$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,99
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,1.023
$MASS,52000
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,340
$N_FILEKB,8
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8878.6934
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2977
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,30
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3542
$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,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-56.929955
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1024
$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,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$GPS1,290212,104836,4743.430,-12224.412,35,1.8,35,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.4
$GPS2,290212,105520,4743.550,-12224.294,20,2.0,20,16.6
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,-0.216
$KALMAN_X,2407.1,-504.6,411.3,-1988.7,186.7
$KALMAN_Y,4113.3,-1820.7,990.3,-2960.9,591.6
$MHEAD_RNG_PITCHd_Wd,182.8,1696,-12.1,-7.003
$D_GRID,174
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.6,0.0,0.0,0,57,0.00,0.00,-40.00,0.000,2,0.000,0.000,153,2048,3025,0,0,0,0,0,0
$GC,59,-0.73,-146.6,2.1,-3.9,5,117,13.55,2.03,-38.40,0.000,4,0.467,0.148,2732,984,3961,0,0,0,0,0,0
$GC,154,-0.73,-146.6,5.9,-8.6,18,163,0.00,1.98,0.00,0.000,6,0.000,0.100,2727,2051,3962,0,0,0,0,0,0
$GC,235,-0.73,-146.6,14.4,-10.8,31,244,0.00,1.98,0.00,0.000,4,0.000,0.126,2727,3106,3962,0,0,0,0,0,0
$GC,558,-0.73,-146.6,56.2,-12.6,89,565,0.00,1.88,0.00,0.000,6,0.000,0.091,2727,2045,3962,0,0,0,0,0,0
$GC,703,-0.73,-146.6,71.5,-10.0,114,712,0.00,1.98,0.00,0.000,4,0.000,0.122,2727,990,3961,0,0,0,0,0,0
$GC,877,-0.73,-146.6,90.5,-11.7,147,883,0.00,1.92,0.00,0.000,6,0.000,0.100,2727,2055,3962,0,0,0,0,0,0
$GC,1021,-0.73,-146.6,104.9,-8.5,172,1030,0.00,1.95,0.00,0.000,4,0.000,0.125,2727,3109,3962,0,0,0,0,0,0
$GC,1193,-0.73,-146.6,119.8,-8.3,205,1200,0.00,1.88,0.00,0.000,6,0.000,0.090,2727,2042,3962,0,0,0,0,0,0
$GC,1338,-0.73,-146.6,132.3,-8.4,230,1347,0.00,1.95,0.00,0.000,4,0.000,0.122,2727,993,3962,0,0,0,0,0,0
$GC,1575,-0.73,-146.6,153.0,-7.8,276,1584,0.00,1.92,0.00,0.000,6,0.000,0.101,2727,2048,3962,0,0,0,0,0,0
$GC,1726,-0.73,-146.6,165.7,-9.6,301,1732,0.00,1.92,0.00,0.000,4,0.000,0.124,2727,3109,3962,0,0,0,0,0,0
$STATE,1813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1813,begin apogee
$GC,1819,-0.23,0.0,174.0,-9.5,318,1915,0.57,0.00,92.32,0.960,6,0.234,0.000,2894,2046,3540,0,0,0,0,0,0
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1917,0.73,146.6,177.7,0.0,332,2062,1.00,2.08,130.57,0.914,4,0.163,0.122,3202,3106,2936,0,0,0,0,0,0
$GC,2348,0.73,146.6,147.2,9.3,410,2357,0.00,1.92,0.00,0.000,6,0.000,0.092,3209,2048,2932,0,0,0,0,0,0
$GC,2497,0.73,146.6,133.7,9.2,435,2504,0.00,1.98,0.00,0.000,4,0.000,0.126,3217,990,2933,0,0,0,0,0,0
$GC,2774,0.73,146.6,105.5,10.8,489,2780,0.00,1.92,0.00,0.000,6,0.000,0.097,3217,2058,2932,0,0,0,0,0,0
$GC,2918,0.73,146.6,90.1,11.0,514,2927,0.00,2.00,0.00,0.000,4,0.000,0.123,3224,994,2932,0,0,0,0,0,0
$GC,2933,0.73,146.6,88.6,10.2,516,2942,0.00,1.92,0.00,0.000,6,0.000,0.099,3225,2046,2932,0,0,0,0,0,0
$GC,3083,0.73,146.6,72.8,10.4,541,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2046,2932,0,0,0,0,0,0
$GC,3226,0.73,146.6,58.7,9.4,566,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2046,2933,0,0,0,0,0,0
$GC,3374,0.73,146.6,46.8,7.1,591,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2046,2932,0,0,0,0,0,0
$GC,3520,0.79,199.4,36.9,5.3,616,3553,0.00,0.00,23.92,0.266,6,0.000,0.000,3225,2046,2730,0,0,0,0,0,0
$GC,3626,0.79,199.9,30.2,7.0,632,3635,0.00,1.98,1.60,0.226,4,0.000,0.119,3232,992,2728,0,0,0,0,0,0
$GC,3779,0.82,221.3,19.1,6.3,657,3797,0.00,1.92,11.82,0.216,6,0.000,0.095,3232,2051,2637,0,0,0,0,0,0
$GC,3869,0.82,221.3,12.4,7.9,671,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2050,2647,0,0,0,0,0,0
$GC,3950,0.82,221.3,5.1,8.3,684,3959,0.00,1.92,1.33,0.217,4,0.000,0.117,3232,3100,2638,0,0,0,0,0,0
$STATE,3978,end climb,SURFACE_DEPTH_REACHED
$STATE,3978,begin surface coast
$FINISH,2.6,1.021021
$STATE,3986,end surface coast,CONTROL_FINISHED_OK
$STATE,3986,begin surface
$SM_CCo,4004,54.58,0.159,0,0,2153,340.23
$SM_GC,1.88,0.00,0.00,54.58,0.000,0.000,0.159,148,2045,2153,-8.84,-0.14,340.23,0,0,0,0,0,0
$IRIDIUM_FIX,4726.11,-12223.37,290212,090951
$TT8_MAMPS,0.024717,0.024717
$HUMID,29.32
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,11.00
$XPDR_PINGS,3
$24V_AH,13.8,1.957
$10V_AH,13.5,1.678
$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,24.875,42.825,261.575,54.575,0.000,25.450,31.812,257.449,0.750,0.000,21.529,1541.804,289.779,376.425,2192.464,73.304,33.208,1017.957,0.000,1872.274,0.000,0.535,0.000
$DEVICE_MAMPS,467.415,147.645,960.075,159.120,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.804,1472.316,1374.715,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323432
$DATA_FILE_SIZE,50357,689
$CAP_FILE_SIZE,70917,0
$CFSIZE,259252224,255508480
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290212,120505,4743.196,-12224.545,37,1.3,37,16.6