version: 66.08
glider: 185
mission: 2
dive: 13
start: 6 30 111 4 13 35
data:
$ID,185
$MISSION,2
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,50
$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,82
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-336.80264
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,163
$PITCH_MAX,3951
$C_PITCH,1685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3789
$ROLL_DEG,30
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3317
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.844349
$PRESSURE_SLOPE,0.0001165586
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,101
$DEVICE4,35
$DEVICE5,87
$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,0.0043319771
$SEABIRD_T_H,0.00061972893
$SEABIRD_T_I,2.0391248e-05
$SEABIRD_T_J,1.8214913e-06
$SEABIRD_C_G,-9.9888363
$SEABIRD_C_H,1.1040936
$SEABIRD_C_I,-0.0023403035
$SEABIRD_C_J,0.00025686045
$GPS1,300611,040636,4744.366,-12223.543,9,1.6,25,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-69.6
$GPS2,300611,041226,4744.417,-12223.584,17,1.7,17,18.2
$SPEED_LIMITS,0.141,0.249
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.131,0.211
$KALMAN_X,1487.6,387.4,168.5,-1329.4,-123.0
$KALMAN_Y,-7243.4,-1077.7,-563.2,10249.0,-3051.6
$MHEAD_RNG_PITCHd_Wd,135.5,416,-21.5,-8.130
$D_GRID,200
$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,14,begin dive
$GC,15,-0.70,-71.2,0.0,0.0,0,98,0.00,0.00,-73.72,0.000,6,0.000,0.000,151,2497,3607,0,0,0,0,0,0
$GC,100,-0.76,-119.0,3.5,-4.5,9,121,5.45,1.65,-3.88,0.000,4,0.261,0.067,1432,1451,3803,0,0,0,0,0,0
$GC,143,-0.76,-119.0,20.3,-35.3,14,154,0.00,1.73,0.00,0.000,6,0.000,0.062,1425,2505,3803,0,0,0,0,0,0
$GC,210,-0.76,-119.0,35.9,-22.3,23,220,0.00,1.73,0.00,0.000,4,0.000,0.064,1417,3573,3803,0,0,0,0,0,0
$GC,232,-0.76,-119.0,41.6,-21.9,26,243,0.00,1.67,0.00,0.000,6,0.000,0.046,1417,2504,3804,0,0,0,0,0,0
$GC,396,-0.76,-119.0,75.0,-22.6,51,403,0.00,1.62,0.00,0.000,4,0.000,0.049,1417,1457,3804,0,0,0,0,0,0
$GC,489,-0.76,-119.0,93.3,-18.9,65,496,0.12,1.70,0.00,0.000,6,0.205,0.062,1437,2519,3804,0,0,0,0,0,0
$GC,648,-0.76,-119.0,123.0,-17.6,90,658,0.00,1.67,0.00,0.000,4,0.000,0.066,1430,3564,3804,0,0,0,0,0,0
$GC,664,-0.76,-119.0,125.9,-17.7,92,674,0.00,1.65,0.00,0.000,6,0.000,0.047,1430,2505,3804,0,0,0,0,0,0
$STATE,790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,790,begin apogee
$GC,794,-0.14,0.0,146.8,15.6,111,891,0.70,0.00,91.70,1.166,6,0.184,0.000,1633,2584,3317,0,0,0,0,0,0
$STATE,892,end apogee,CONTROL_FINISHED_OK
$STATE,892,begin climb
$GC,893,0.76,119.0,151.9,0.0,124,995,0.90,0.00,95.18,1.141,6,0.098,0.000,1928,2584,2831,0,0,0,0,0,0
$GC,1150,0.76,119.0,114.9,18.5,161,1157,0.00,1.70,0.00,0.000,4,0.000,0.067,1928,3634,2829,0,0,0,0,0,0
$GC,1312,0.76,119.0,82.8,19.9,186,1323,0.00,1.70,0.00,0.000,6,0.000,0.053,1936,2581,2827,0,0,0,0,0,0
$GC,1479,0.76,119.0,54.8,14.0,211,1485,0.00,1.70,0.00,0.000,4,0.000,0.066,1936,3635,2827,0,0,0,0,0,0
$GC,1563,0.76,119.0,39.3,18.5,224,1573,0.00,1.67,0.00,0.000,6,0.000,0.053,1944,2581,2826,0,0,0,0,0,0
$GC,1630,0.76,119.0,29.2,15.5,233,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2581,2826,0,0,0,0,0,0
$GC,1695,0.76,119.0,21.0,11.8,242,1705,0.00,1.75,0.00,0.000,4,0.000,0.070,1944,3632,2826,0,0,0,0,0,0
$GC,1850,0.85,193.0,9.6,2.4,264,1888,0.00,1.67,25.65,0.167,6,0.000,0.050,1952,2575,2525,0,0,0,0,0,0
$GC,1944,0.85,193.0,3.2,8.9,276,1954,0.00,1.65,0.00,0.000,4,0.000,0.054,1960,1528,2522,0,0,0,0,0,0
$STATE,1962,end climb,SURFACE_DEPTH_REACHED
$STATE,1962,begin surface coast
$FINISH,-0.4,1.016068
$STATE,2011,end surface coast,CONTROL_FINISHED_OK
$STATE,2011,begin surface
$SM_CCo,2024,57.45,0.136,0,0,1886,350.04
$SM_GC,0.15,0.00,0.00,57.45,0.000,0.000,0.136,149,2515,1886,-4.80,0.14,350.04
$IRIDIUM_FIX,4732.49,-12221.39,300611,030332
$TT8_MAMPS,0.027713
$HUMID,48.89
$INTERNAL_PRESSURE,9.27109
$TCM_TEMP,16.40
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,100.5,56.0
$24V_AH,23.9,6.001
$10V_AH,10.2,4.091
$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,12.150,27.025,212.525,57.450,0.000,24.781,31.716,207.715,5.000,0.000,20.231,701.930,152.386,311.591,1231.190,65.116,33.309,692.206,0.000,577.760,0.000,5.568,0.000
$DEVICE_MAMPS,260.865,100.215,1165.860,136.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330,WL_BB2F,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,205.169,138.771,423.677,391.446,790.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,323488
$DATA_FILE_SIZE,24147,285
$CAP_FILE_SIZE,42539,0
$CFSIZE,260165632,249602048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,325.7,1
$GPS,300611,044928,4744.322,-12223.479,13,2.6,32,18.2