version: 66.06
glider: 143
mission: 10
dive: 474
start: 1 1 110 9 25 55
data:
$ID,143
$MISSION,10
$DIVE,474
$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,120
$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,-46096.016
$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,14
$R_STBD_OVSHOOT,20
$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
$GPS1,091707,6737.632,-5648.517,31,1.0,32,-38.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.3
$GPS2,092537,6737.624,-5648.538,11,1.1,11,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6732.224,-5624.061
$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,158.3,20000,-16.9,-9.167
$D_GRID,186
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,120,0.00,0.00,-100.03,0.000,2,0.000,0.000,130,2808,3240,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.5,-6.1,20,146,11.75,2.92,-3.95,0.000,4,0.305,0.103,2449,3926,3397,0,0,7,0,0,0
$GC,240,-0.73,-146.0,21.3,-9.7,40,245,0.00,2.78,0.00,0.000,6,0.000,0.064,2450,2796,3400,0,0,6,0,0,0
$GC,584,-0.73,-146.0,52.0,-8.2,101,590,0.00,2.90,0.00,0.000,4,0.000,0.091,2449,3914,3400,0,0,6,0,0,0
$GC,675,-0.73,-146.0,59.5,-7.7,117,680,0.00,2.72,0.00,0.000,6,0.000,0.065,2450,2800,3400,0,0,6,0,0,0
$GC,1020,-0.79,-146.0,86.7,-8.2,178,1026,0.00,2.90,0.00,0.000,4,0.000,0.091,2449,3921,3399,0,0,6,0,0,0
$GC,1163,-0.86,-146.0,99.1,-8.8,203,1169,0.12,2.75,0.00,0.000,6,0.125,0.065,2410,2796,3399,0,0,6,0,0,0
$GC,1494,-0.86,-146.0,136.3,-11.3,235,1499,0.00,2.95,0.00,0.000,4,0.000,0.091,2410,3929,3398,0,0,6,0,0,0
$GC,1623,-0.86,-146.0,151.6,-11.7,246,1628,0.00,2.75,0.00,0.000,6,0.000,0.064,2410,2798,3397,0,0,5,0,0,0
$STATE,1935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1935,begin apogee
$GC,1941,-0.16,0.0,186.2,10.7,275,2061,0.77,0.00,116.43,0.874,6,0.189,0.000,2625,2394,2799,0,0,0,0,0,0
$STATE,2062,end apogee,CONTROL_FINISHED_OK
$STATE,2062,begin climb
$GC,2065,0.73,146.0,190.5,0.0,287,2194,0.98,1.98,119.70,0.828,4,0.142,0.087,2921,797,2202,0,0,0,0,0,0
$GC,2296,0.73,146.0,174.4,9.9,308,2300,0.00,1.88,0.00,0.000,6,0.000,0.062,2921,2395,2199,0,0,0,0,0,0
$GC,2626,0.73,149.7,143.0,9.0,339,2635,0.00,3.90,0.00,0.000,4,0.000,0.081,2921,3914,2196,0,0,7,0,0,0
$GC,2731,0.64,149.7,132.1,10.8,348,2738,0.17,3.83,0.00,0.000,6,0.200,0.070,2899,2401,2194,0,0,6,0,0,0
$GC,3057,0.75,173.9,106.2,8.1,379,3088,0.00,3.95,22.73,0.772,4,0.000,0.082,2899,3919,2090,0,0,6,0,0,0
$GC,3145,0.75,173.9,98.2,9.8,388,3151,0.00,3.85,0.00,0.000,6,0.000,0.069,2914,2398,2088,0,0,6,0,0,0
$GC,3488,0.91,216.8,70.0,7.4,449,3535,0.20,4.00,36.38,0.760,4,0.094,0.082,2985,3912,1914,0,0,7,0,0,0
$GC,3579,0.74,216.8,59.8,13.8,465,3585,0.30,3.88,0.00,0.000,6,0.193,0.069,2929,2395,1913,0,0,6,0,0,0
$GC,3924,0.86,216.8,27.1,9.2,526,3931,0.12,3.95,0.00,0.000,4,0.122,0.082,2970,3924,1912,0,0,6,0,0,0
$GC,4039,0.73,216.8,12.2,12.9,546,4046,0.22,3.85,0.00,0.000,6,0.191,0.071,2933,2392,1912,0,0,6,0,0,0
$FREEZE,8.84,-0.165,-1.836,0,1,0
$FREEZE,8.30,-0.178,-1.836,0,1,0
$FREEZE,7.78,-0.177,-1.835,0,1,0
$FREEZE,7.36,-0.163,-1.835,0,1,0
$FREEZE,6.90,-0.162,-1.834,0,1,0
$FREEZE,6.27,-0.168,-1.834,0,1,0
$FREEZE,5.87,-0.156,-1.834,0,1,0
$FREEZE,5.38,-0.156,-1.833,0,1,0
$FREEZE,4.85,-0.153,-1.833,0,1,0
$FREEZE,4.16,-0.154,-1.832,0,1,0
$FREEZE,3.55,-0.164,-1.832,0,1,0
$FREEZE,3.18,-0.183,-1.832,0,1,0
$FREEZE,2.67,-0.183,-1.832,0,1,0
$FREEZE,2.06,-0.173,-1.831,0,1,0
$FREEZE,1.60,-0.162,-1.831,0,1,0
$STATE,4146,end climb,SURFACE_DEPTH_REACHED
$STATE,4146,begin surface coast
$FREEZE,1.11,-0.160,-1.830,0,1,0
$FREEZE,0.47,-0.162,-1.830,0,1,0
$FREEZE,0.37,-0.166,-1.152,0,1,0
$FREEZE,0.36,-0.239,-1.031,0,1,0
$FINISH,0.4,1.015245
$STATE,4170,end surface coast,CONTROL_FINISHED_OK
$STATE,4170,begin surface
$SM_CCo,4188,62.80,0.727,0,0,1475,325.02
$SM_GC,1.18,0.00,0.00,62.80,0.000,0.000,0.727,126,2805,1475,-8.01,0.14,325.02
$RAFOS_CLK,267
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5656.20,280399,090939
$TT8_MAMPS,0.028379
$HUMID,47.87
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,22.9,78.936
$10V_AH,10.0,41.015
$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,22.925,59.850,295.225,62.800,0.000,47.770,84.334,200.934,1.000,0.000,12.996,923.883,2034.651,439.919,902.707,464.064,0.000,946.260,0.000,892.673,0.000,2.617,0.000
$DEVICE_MAMPS,305.266,102.778,874.380,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.753,383.105,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152580
$DATA_FILE_SIZE,22196,569
$CAP_FILE_SIZE,65505,0
$CFSIZE,260165632,216403968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,98,0,0
$SOUNDSPEED,1457.1
$GPS,010110,103801,6737.604,-5647.625,10,1.5,29,-38.3