version: 66.06
glider: 143
mission: 10
dive: 418
start: 12 29 109 2 58 32
data:
$ID,143
$MISSION,10
$DIVE,418
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44604.062
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$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,2800
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$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
$GPS1,025156,6733.142,-5738.436,31,1.3,31,-38.4
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-62.3
$GPS2,025815,6733.189,-5738.335,36,99.0,55,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.189,-5710.053
$TGT_RADIUS,1852.000
$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,128.4,20000,-16.9,-9.167
$D_GRID,208
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.50,0.000,2,0.000,0.000,121,2798,3090,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.5,-5.0,19,143,11.25,2.85,-8.10,0.000,4,0.292,0.104,2444,3922,3399,0,0,7,0,0,0
$GC,239,-0.77,-146.0,23.7,-13.6,41,245,0.00,2.65,0.00,0.000,6,0.000,0.064,2445,2807,3401,0,0,5,0,0,0
$GC,582,-0.77,-146.0,61.7,-10.4,102,588,0.00,2.80,0.00,0.000,4,0.000,0.093,2444,3922,3402,0,0,6,0,0,0
$GC,791,-0.83,-146.0,79.6,-9.5,139,796,0.00,2.67,0.00,0.000,6,0.000,0.064,2445,2798,3401,0,0,4,0,0,0
$GC,1128,-0.88,-146.0,109.8,-7.4,188,1134,0.12,2.80,0.00,0.000,4,0.127,0.091,2394,3915,3400,0,0,7,0,0,0
$GC,1330,-0.79,-146.0,131.8,-10.8,205,1337,0.17,2.62,0.00,0.000,6,0.216,0.065,2433,2800,3399,0,0,5,0,0,0
$GC,1655,-0.79,-146.0,158.2,-9.0,236,1660,0.00,2.80,0.00,0.000,4,0.000,0.091,2433,3922,3399,0,0,6,0,0,0
$GC,1755,-0.84,-146.0,167.8,-9.3,244,1761,0.00,2.65,0.00,0.000,6,0.000,0.063,2433,2800,3398,0,0,4,0,0,0
$GC,2080,-0.90,-146.0,194.2,-7.7,275,2085,0.00,2.78,0.00,0.000,4,0.000,0.090,2433,3915,3398,0,0,6,0,0,0
$GC,2164,-0.95,-146.0,201.3,-8.5,282,2170,0.15,2.60,0.00,0.000,6,0.118,0.062,2384,2801,3398,0,0,6,0,0,0
$STATE,2232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2232,begin apogee
$GC,2238,-0.16,0.0,208.3,10.3,288,2359,0.90,0.00,116.68,0.888,6,0.195,0.000,2627,2387,2800,0,0,0,0,0,0
$STATE,2360,end apogee,CONTROL_FINISHED_OK
$STATE,2360,begin climb
$GC,2362,0.73,146.0,212.3,0.0,300,2492,0.98,2.08,119.90,0.840,4,0.140,0.085,2924,810,2202,0,0,0,0,0,0
$GC,2515,0.73,149.8,203.1,9.0,314,2526,0.00,2.00,4.35,0.564,6,0.000,0.062,2925,2404,2188,0,0,0,0,0,0
$GC,2844,0.73,149.8,169.8,10.1,345,2853,0.00,3.75,0.00,0.000,4,0.000,0.081,2924,3917,2184,0,0,7,0,0,0
$GC,2881,0.61,149.8,165.5,11.2,348,2888,0.22,3.70,0.00,0.000,6,0.199,0.067,2889,2405,2183,0,0,5,0,0,0
$GC,3206,0.73,165.4,136.6,8.5,379,3228,0.12,3.75,13.73,0.765,4,0.124,0.081,2930,3915,2124,0,0,7,0,0,0
$GC,3313,0.64,165.4,124.5,11.9,388,3320,0.20,3.67,0.00,0.000,6,0.195,0.067,2900,2389,2122,0,0,6,0,0,0
$GC,3640,0.78,204.3,97.2,7.5,422,3682,0.12,3.85,33.22,0.775,4,0.123,0.081,2941,3921,1966,0,0,4,0,0,0
$GC,3735,0.68,204.3,87.2,12.3,439,3742,0.20,3.67,0.00,0.000,6,0.194,0.067,2912,2401,1963,0,0,6,0,0,0
$GC,4083,0.85,220.2,56.4,8.5,500,4105,0.15,3.78,14.15,0.729,4,0.117,0.081,2962,3924,1901,0,0,6,0,0,0
$GC,4169,0.73,220.2,47.1,11.6,515,4175,0.20,3.70,0.00,0.000,6,0.193,0.067,2932,2391,1899,0,0,5,0,0,0
$FREEZE,8.92,-1.208,-1.828,0,1,0
$GC,4515,0.87,220.2,8.9,9.5,576,4522,0.12,3.75,0.00,0.000,4,0.121,0.081,2973,3920,1899,0,0,7,0,0,0
$FREEZE,7.47,-1.207,-1.827,0,1,0
$FREEZE,6.86,-1.210,-1.826,0,1,0
$FREEZE,6.28,-1.209,-1.826,0,1,0
$FREEZE,6.00,-1.207,-1.825,0,1,0
$FREEZE,5.93,-1.206,-1.825,0,1,0
$FREEZE,6.12,-1.209,-1.826,0,1,0
$FREEZE,6.07,-1.218,-1.826,0,1,0
$FREEZE,5.61,-1.218,-1.825,0,1,0
$FREEZE,5.04,-1.217,-1.825,0,1,0
$FREEZE,4.53,-1.217,-1.824,0,1,0
$FREEZE,3.84,-1.218,-1.824,0,1,0
$FREEZE,3.07,-1.219,-1.823,0,1,0
$FREEZE,2.28,-1.217,-1.823,0,1,0
$GC,4597,0.73,220.2,2.3,11.6,590,4604,0.25,3.65,0.00,0.000,6,0.187,0.071,2928,2397,1896,0,0,5,0,0,0
$FREEZE,0.64,-1.215,-1.821,0,1,0
$STATE,4609,end climb,SURFACE_DEPTH_REACHED
$STATE,4609,begin surface coast
$FREEZE,0.14,-1.218,-1.821,0,1,0
$FREEZE,0.38,-1.212,-1.819,0,1,0
$FREEZE,0.05,-1.158,-0.977,0,1,0
$FINISH,0.1,1.014436
$STATE,4627,end surface coast,CONTROL_FINISHED_OK
$STATE,4627,begin surface
$SM_CCo,4645,61.00,0.731,0,0,1473,325.02
$SM_GC,0.99,0.00,0.00,61.00,0.000,0.000,0.731,130,2806,1473,-8.00,0.17,325.02
$RAFOS_CLK,293
$RAFOS,1,1262059742,4.166667,4.150556,64,60,59,0,0,0,209,159,233,0,0,0
$RAFOS,0,1262059263,4.033333,4.017500,65,52,52,0,0,0,172,135,207,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6703.95,-5742.96,250399,010135
$TT8_MAMPS,0.027612
$HUMID,46.96
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,18.3
$24V_AH,22.9,73.115
$10V_AH,10.0,38.905
$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,23.425,70.525,302.025,61.000,0.000,28.309,34.773,166.643,1.250,0.000,57.782,985.407,2287.584,453.956,1008.451,354.169,0.000,995.549,0.000,949.553,720.000,2.616,0.000
$DEVICE_MAMPS,292.227,103.545,888.186,730.951,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.307,401.062,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152484
$DATA_FILE_SIZE,22179,595
$CAP_FILE_SIZE,71895,0
$CFSIZE,260165632,218521600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,114,0,0
$SOUNDSPEED,1456.5
$GPS,291209,041844,6732.911,-5736.078,38,2.3,58,-38.4