version: 66.06
glider: 143
mission: 10
dive: 459
start: 12 31 109 13 13 35
data:
$ID,143
$MISSION,10
$DIVE,459
$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,-45618.133
$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,15
$R_STBD_OVSHOOT,19
$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
$GPS1,125927,6738.107,-5703.771,8,1.4,10,-38.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-64.5
$GPS2,131316,6738.459,-5703.828,12,3.9,31,-38.4
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6738.459,-5635.440
$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,199
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.53,0.000,2,0.000,0.000,125,2789,3003,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.3,-6.9,19,147,11.50,2.50,-11.60,0.000,4,0.298,0.099,2453,1197,3398,0,0,1,0,0,0
$GC,299,-0.73,-146.0,28.9,-8.4,52,305,0.00,2.42,0.00,0.000,6,0.000,0.075,2452,2795,3400,0,0,0,0,0,0
$GC,642,-0.73,-146.0,63.7,-9.0,113,648,0.00,2.95,0.00,0.000,4,0.000,0.095,2453,3923,3400,0,0,6,0,0,0
$GC,873,-0.78,-146.0,87.2,-10.1,154,879,0.00,2.80,0.00,0.000,6,0.000,0.068,2453,2790,3400,0,0,6,0,0,0
$GC,1206,-0.85,-146.0,118.4,-8.8,196,1212,0.12,2.95,0.00,0.000,4,0.119,0.091,2400,3925,3400,0,0,7,0,0,0
$GC,1342,-0.76,-146.0,135.1,-11.4,207,1349,0.17,2.78,0.00,0.000,6,0.213,0.066,2439,2790,3399,0,0,6,0,0,0
$GC,1667,-0.81,-146.0,162.3,-7.8,238,1672,0.00,2.90,0.00,0.000,4,0.000,0.091,2439,3923,3398,0,0,8,0,0,0
$GC,1926,-0.89,-146.0,182.0,-7.8,260,1932,0.12,2.75,0.00,0.000,6,0.127,0.065,2400,2796,3398,0,0,6,0,0,0
$STATE,2110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2110,begin apogee
$GC,2116,-0.16,0.0,199.5,10.5,278,2237,0.85,0.00,116.88,0.893,6,0.196,0.000,2630,2398,2800,0,0,0,0,0,0
$STATE,2237,end apogee,CONTROL_FINISHED_OK
$STATE,2237,begin climb
$GC,2240,0.73,146.0,202.0,0.0,290,2369,0.95,2.08,120.10,0.844,4,0.140,0.089,2919,792,2202,0,0,0,0,0,0
$GC,2488,0.73,146.0,179.8,12.2,312,2494,0.00,1.85,0.00,0.000,6,0.000,0.063,2919,2406,2198,0,0,0,0,0,0
$GC,2814,0.73,146.0,146.5,9.3,343,2824,0.00,3.92,0.00,0.000,4,0.000,0.083,2919,3928,2195,0,0,7,0,0,0
$GC,2908,0.62,146.0,135.9,11.3,351,2915,0.20,3.85,0.00,0.000,6,0.199,0.071,2890,2404,2195,0,0,6,0,0,0
$GC,3233,0.78,173.9,108.1,8.0,382,3265,0.15,3.92,22.85,0.785,4,0.117,0.083,2941,3907,2090,0,0,6,0,0,0
$GC,3361,0.67,173.9,93.2,12.7,398,3367,0.20,3.85,0.00,0.000,6,0.197,0.071,2912,2394,2087,0,0,6,0,0,0
$GC,3707,0.81,187.4,58.5,8.6,459,3730,0.12,3.95,12.57,0.742,4,0.127,0.083,2953,3926,2034,0,0,6,0,0,0
$GC,3831,0.73,187.4,41.5,14.9,481,3838,0.17,3.85,0.00,0.000,6,0.199,0.070,2931,2397,2032,0,0,6,0,0,0
$GC,4178,0.86,256.9,14.0,6.2,542,4246,0.12,4.03,58.60,0.751,4,0.121,0.083,2972,3922,1751,0,0,7,0,0,0
$FREEZE,7.80,-0.457,-1.833,0,1,0
$FREEZE,7.26,-0.458,-1.832,0,1,0
$FREEZE,6.77,-0.458,-1.832,0,1,0
$FREEZE,6.21,-0.460,-1.831,0,1,0
$FREEZE,5.77,-0.461,-1.831,0,1,0
$FREEZE,5.42,-0.462,-1.831,0,1,0
$FREEZE,4.79,-0.462,-1.830,0,1,0
$FREEZE,4.05,-0.460,-1.830,0,1,0
$GC,4292,0.79,256.9,4.1,9.3,563,4298,0.17,3.90,0.00,0.000,6,0.187,0.071,2949,2401,1746,0,0,6,0,0,0
$FREEZE,2.32,-0.462,-1.828,0,1,0
$FREEZE,1.88,-0.463,-1.828,0,1,0
$STATE,4308,end climb,SURFACE_DEPTH_REACHED
$STATE,4309,begin surface coast
$FREEZE,1.61,-0.466,-1.828,0,1,0
$FREEZE,0.92,-0.463,-1.828,0,1,0
$FREEZE,0.38,-0.454,-1.827,0,1,0
$FINISH,0.4,1.026773
$STATE,4326,end surface coast,CONTROL_FINISHED_OK
$STATE,4326,begin surface
$SM_CCo,4345,52.30,0.709,1,0,1474,325.02
$SM_GC,0.84,0.00,0.00,52.30,0.000,0.000,0.709,128,2799,1474,-8.01,-0.06,325.02
$RAFOS_CLK,305
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5708.76,270399,131305
$TT8_MAMPS,0.027612
$HUMID,47.28
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.7
$24V_AH,22.7,77.367
$10V_AH,10.0,40.463
$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,23.225,59.325,331.000,52.300,0.000,82.598,105.593,366.138,0.750,0.000,35.572,912.116,2198.071,465.117,958.757,701.925,0.000,995.138,0.000,926.871,0.000,2.620,0.000
$DEVICE_MAMPS,298.363,98.943,892.788,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.857,382.922,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152592
$DATA_FILE_SIZE,22181,569
$CAP_FILE_SIZE,73172,0
$CFSIZE,260165632,216952832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,90,1,0
$SOUNDSPEED,1454.9
$GPS,311209,142930,6739.287,-5703.491,106,0.9,107,-38.4