version: 66.06
glider: 143
mission: 10
dive: 12
start: 10 22 109 6 54 50
data:
$ID,143
$MISSION,10
$DIVE,12
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$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,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$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,1.0275
$MASS,51204
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23179.381
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$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,20
$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,-24.446302
$PRESSURE_SLOPE,0.0001163694
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,064907,6701.919,-5651.438,33,0.9,33,-37.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.7
$GPS2,065431,6701.935,-5651.461,10,1.3,15,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,54.4,3184,-16.9,-9.167
$D_GRID,567
$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,16,-0.98,-146.0,0.0,0.0,0,103,0.00,0.00,-84.82,0.000,2,0.000,0.000,126,2239,3204,0,0,0,0,0,0
$GC,106,-0.98,-146.0,3.4,-6.1,16,128,9.57,2.72,-5.20,0.000,4,0.307,0.097,2107,3845,3400,0,0,0,0,0,0
$GC,382,-0.81,-146.0,48.2,-15.3,65,388,0.22,2.58,0.00,0.000,6,0.210,0.059,2162,2241,3402,0,0,0,0,0,0
$GC,726,-0.81,-146.0,86.4,-9.5,126,732,0.00,2.65,0.00,0.000,4,0.000,0.084,2162,3837,3402,0,0,0,0,0,0
$GC,985,-0.81,-146.0,109.0,-8.1,163,989,0.00,2.50,0.00,0.000,6,0.000,0.059,2163,2259,3401,0,0,0,0,0,0
$GC,1310,-0.87,-146.0,137.6,-8.9,193,1314,0.00,2.60,0.00,0.000,4,0.000,0.083,2163,3838,3401,0,0,0,0,0,0
$GC,1433,-0.94,-146.0,148.7,-8.7,203,1440,0.12,2.50,0.00,0.000,6,0.118,0.059,2122,2257,3400,0,0,0,0,0,0
$GC,1758,-0.86,-146.0,178.1,-8.9,234,1764,0.12,2.60,0.00,0.000,4,0.219,0.081,2140,3838,3400,0,0,0,0,0,0
$GC,1867,-0.86,-146.0,187.3,-8.6,243,1871,0.00,2.47,0.00,0.000,6,0.000,0.059,2140,2266,3400,0,0,0,0,0,0
$GC,2191,-0.86,-146.0,217.1,-9.7,273,2195,0.00,2.58,0.00,0.000,4,0.000,0.083,2140,3841,3401,0,0,0,0,0,0
$GC,2353,-0.86,-146.0,234.1,-10.2,287,2358,0.00,2.47,0.00,0.000,6,0.000,0.059,2140,2266,3400,0,0,0,0,0,0
$GC,2678,-0.86,-146.0,262.8,-7.7,317,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2266,3400,0,0,0,0,0,0
$GC,2997,-0.86,-146.0,287.0,-8.1,347,3002,0.00,2.58,0.00,0.000,4,0.000,0.083,2140,3846,3400,0,0,0,0,0,0
$GC,3187,-0.86,-146.0,304.1,-9.3,363,3193,0.00,2.50,0.00,0.000,6,0.000,0.059,2140,2273,3399,0,0,0,0,0,0
$GC,3513,-0.86,-146.0,333.1,-8.9,394,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2273,3399,0,0,0,0,0,0
$GC,3832,-0.86,-146.0,360.5,-8.3,424,3836,0.00,2.55,0.00,0.000,4,0.000,0.084,2140,3839,3399,0,0,0,0,0,0
$GC,4029,-0.86,-146.0,377.2,-8.5,441,4034,0.00,2.45,0.00,0.000,6,0.000,0.058,2140,2272,3399,0,0,0,0,0,0
$GC,4354,-0.86,-146.0,403.5,-8.7,471,4358,0.00,2.55,0.00,0.000,4,0.000,0.083,2140,3841,3399,0,0,0,0,0,0
$GC,4471,-0.86,-146.0,414.0,-8.6,481,4475,0.00,2.45,0.00,0.000,6,0.000,0.057,2140,2270,3400,0,0,0,0,0,0
$GC,4797,-0.86,-146.0,439.6,-7.9,511,4801,0.00,2.55,0.00,0.000,4,0.000,0.082,2140,3842,3400,0,0,0,0,0,0
$GC,4939,-0.86,-146.0,452.3,-8.7,523,4943,0.00,2.42,0.00,0.000,6,0.000,0.057,2140,2285,3400,0,0,0,0,0,0
$GC,5263,-0.86,-146.0,476.3,-6.8,553,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2285,3400,0,0,0,0,0,0
$GC,5583,-0.86,-146.0,500.6,-7.6,583,5587,0.00,2.53,0.00,0.000,4,0.000,0.081,2140,3846,3401,0,0,0,0,0,0
$GC,5735,-0.86,-146.0,513.0,-8.6,596,5739,0.00,2.42,0.00,0.000,6,0.000,0.056,2140,2284,3401,0,0,0,0,0,0
$GC,6059,-0.86,-146.0,539.5,-8.3,626,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2284,3401,0,0,0,0,0,0
$GC,6381,-0.86,-146.0,564.6,-8.2,656,6386,0.00,2.53,0.00,0.000,4,0.000,0.081,2140,3846,3401,0,0,0,0,0,0
$GC,6421,-1.45,-146.0,565.4,-0.2,659,6426,0.50,2.42,0.00,0.000,6,0.083,0.057,1959,2287,3402,0,0,0,0,0,0
$STATE,6531,end dive,NO_VERTICAL_VELOCITY
$STATE,6531,begin apogee
$GC,6536,-0.24,0.0,565.4,0.0,669,6658,1.25,0.00,117.60,1.088,6,0.142,0.000,2352,2185,2800,0,0,0,0,0,0
$STATE,6659,end apogee,CONTROL_FINISHED_OK
$STATE,6659,begin climb
$GC,6660,0.98,146.0,565.3,0.0,681,6789,1.25,2.83,120.15,1.044,4,0.114,0.076,2740,3795,2202,0,0,0,0,0,0
$GC,6869,0.49,146.0,533.8,21.4,700,6875,0.68,2.67,0.00,0.000,6,0.219,0.060,2592,2206,2196,0,0,0,0,0,0
$GC,7195,0.49,146.0,496.2,11.4,730,7200,0.00,2.67,0.00,0.000,4,0.000,0.080,2592,3794,2193,0,0,0,0,0,0
$GC,7452,0.44,146.0,463.6,12.9,752,7459,0.12,2.55,0.00,0.000,6,0.197,0.060,2575,2215,2193,0,0,0,0,0,0
$GC,7777,0.50,146.0,431.7,9.8,783,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2215,2192,0,0,0,0,0,0
$GC,8096,0.55,146.0,400.0,9.9,813,8102,0.12,2.58,0.00,0.000,4,0.117,0.079,2616,3788,2192,0,0,0,0,0,0
$GC,8354,0.44,146.0,366.7,13.3,835,8361,0.22,2.50,0.00,0.000,6,0.195,0.060,2573,2209,2191,0,0,0,0,0,0
$GC,8679,0.51,153.8,337.7,8.8,866,8688,0.00,0.00,5.57,0.746,6,0.000,0.000,2573,2209,2173,0,0,0,0,0,0
$GC,9007,0.60,153.8,307.0,10.1,897,9013,0.17,2.60,0.00,0.000,4,0.102,0.078,2632,3792,2172,0,0,0,0,0,0
$GC,9265,0.45,153.8,269.9,14.3,919,9272,0.25,2.45,0.00,0.000,6,0.195,0.060,2582,2240,2171,0,0,0,0,0,0
$GC,9591,0.53,164.4,240.4,8.7,950,9603,0.00,0.00,10.35,0.820,6,0.000,0.000,2581,2240,2129,0,0,0,0,0,0
$GC,9919,0.64,181.8,212.3,8.4,981,9941,0.17,2.58,15.75,0.843,4,0.103,0.078,2642,3793,2056,0,0,0,0,0,0
$GC,10193,0.51,181.8,174.8,14.0,1005,10201,0.22,2.50,0.00,0.000,6,0.191,0.061,2598,2227,2053,0,0,0,0,0,0
$GC,10519,0.58,185.0,141.3,9.0,1036,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2227,2053,0,0,0,0,0,0
$GC,10839,0.68,193.0,113.8,8.8,1066,10854,0.17,2.60,9.75,0.767,4,0.104,0.081,2657,3798,2012,0,0,0,0,0,0
$GC,11086,0.54,193.0,80.9,12.6,1100,11092,0.25,2.47,0.00,0.000,6,0.193,0.061,2606,2240,2010,0,0,0,0,0,0
$GC,11431,0.72,234.0,49.0,7.4,1161,11468,0.17,0.00,33.95,0.782,6,0.103,0.000,2666,2240,1844,0,0,0,0,0,0
$GC,11805,0.72,234.0,6.2,12.9,1228,11811,0.00,2.58,0.00,0.000,4,0.000,0.081,2666,3797,1838,0,0,0,0,0,0
$STATE,11838,end climb,SURFACE_DEPTH_REACHED
$STATE,11838,begin surface coast
$FINISH,0.5,1.026413
$STATE,11850,end surface coast,CONTROL_FINISHED_OK
$STATE,11850,begin surface
$SM_CCo,11867,30.65,0.749,0,0,1678,275.23
$SM_GC,1.49,0.00,0.00,30.65,0.000,0.000,0.749,130,2239,1678,-7.19,-0.28,275.23
$RAFOS_CLK,734
$RAFOS,6,1256201345,8.833333,8.818055,65,59,57,0,0,0,198,847,166,0,0,0
$RAFOS,5,1256200865,8.700000,8.684722,91,72,60,0,0,0,650,215,162,0,0,0
$RAFOS,4,1256200387,8.566667,8.551945,75,67,60,0,0,0,867,195,163,0,0,0
$RAFOS,3,1256199910,8.433333,8.419444,60,59,58,0,0,0,195,955,213,0,0,0
$RAFOS,2,1256199424,8.300000,8.284445,67,63,61,0,0,0,1070,198,187,0,0,0
$RAFOS,1,1256198942,8.166667,8.150556,71,64,61,0,0,0,190,223,157,0,0,0
$RAFOS,0,1256198465,8.033334,8.018056,84,67,60,0,0,0,1179,161,178,0,0,0
$RAFOS_FIX,6648.412598,-5655.337402,221009,080840,4,79,4.56
$IRIDIUM_FIX,6636.54,-5658.34,160199,030337
$TT8_MAMPS,0.026845
$HUMID,46.49
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.40
$XPDR_PINGS,5
$24V_AH,23.6,16.372
$10V_AH,10.3,7.181
$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,23.000,91.900,313.125,30.650,0.000,23.308,32.835,159.611,1.250,0.000,16.582,2242.846,7028.359,440.990,2149.439,376.064,0.000,1518.887,0.000,2119.570,2520.000,0.533,0.000
$DEVICE_MAMPS,306.800,102.011,1087.606,748.592,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.090,844.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150216
$DATA_FILE_SIZE,47257,1236
$CAP_FILE_SIZE,133732,0
$CFSIZE,260165632,249851904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.1
$CURRENT,0.284,170.4,1
$GPS,221009,101507,6701.595,-5650.036,55,0.7,55,-37.5