version: 66.06
glider: 143
mission: 10
dive: 491
start: 1 2 110 7 19 34
data:
$ID,143
$MISSION,10
$DIVE,491
$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,-46470.371
$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,13
$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
$GPS1,071237,6739.622,-5637.428,34,1.5,35,-38.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.6
$GPS2,071916,6739.610,-5637.280,14,2.6,33,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6734.210,-5612.769
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.90,0.000,2,0.000,0.000,130,2797,3284,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.7,-7.2,20,143,11.48,0.00,-2.67,0.000,6,0.297,0.000,2445,2796,3399,0,0,0,0,0,0
$GC,481,-0.73,-146.0,46.3,-10.7,84,487,0.00,2.83,0.00,0.000,4,0.000,0.092,2445,3933,3402,0,0,7,0,0,0
$GC,678,-0.73,-146.0,68.6,-11.1,119,684,0.00,2.65,0.00,0.000,6,0.000,0.063,2445,2807,3402,0,0,5,0,0,0
$GC,1026,-0.78,-146.0,103.2,-8.7,178,1030,0.00,2.78,0.00,0.000,4,0.000,0.091,2445,3928,3401,0,0,7,0,0,0
$GC,1284,-0.85,-146.0,125.1,-8.5,200,1290,0.00,2.67,0.00,0.000,6,0.000,0.064,2445,2798,3400,0,0,5,0,0,0
$GC,1609,-0.93,-146.0,151.9,-8.4,231,1615,0.17,2.83,0.00,0.000,4,0.110,0.087,2373,3924,3400,0,0,6,0,0,0
$GC,1755,-0.78,-146.0,169.5,-12.8,243,1761,0.25,2.65,0.00,0.000,6,0.208,0.061,2432,2799,3399,0,0,5,0,0,0
$STATE,1939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1939,begin apogee
$GC,1946,-0.16,0.0,186.0,8.8,261,2067,0.70,0.00,116.90,0.868,6,0.188,0.000,2627,2395,2800,0,0,0,0,0,0
$STATE,2068,end apogee,CONTROL_FINISHED_OK
$STATE,2068,begin climb
$GC,2070,0.73,146.0,189.9,0.0,273,2200,0.98,2.00,119.22,0.824,4,0.144,0.087,2922,796,2203,0,0,0,0,0,0
$GC,2272,0.73,146.0,175.5,10.2,291,2278,0.00,1.92,0.00,0.000,6,0.000,0.061,2922,2406,2200,0,0,0,0,0,0
$GC,2598,0.73,146.0,144.1,9.6,322,2607,0.00,3.90,0.00,0.000,4,0.000,0.081,2922,3916,2197,0,0,6,0,0,0
$GC,2680,0.62,146.0,134.7,11.7,329,2687,0.20,3.85,0.00,0.000,6,0.199,0.069,2894,2400,2196,0,0,5,0,0,0
$GC,3005,0.71,146.0,104.1,9.4,360,3014,0.00,3.90,0.00,0.000,4,0.000,0.081,2893,3921,2195,0,0,6,0,0,0
$GC,3082,0.71,146.0,95.3,11.4,370,3088,0.00,3.85,0.00,0.000,6,0.000,0.069,2909,2390,2196,0,0,5,0,0,0
$GC,3427,0.82,171.6,64.0,8.1,431,3455,0.15,3.92,21.15,0.757,4,0.101,0.081,2965,3926,2098,0,0,6,0,0,0
$GC,3557,0.65,171.6,48.2,12.8,454,3567,0.32,3.85,0.00,0.000,6,0.198,0.068,2904,2403,2097,0,0,5,0,0,0
$GC,3906,0.78,172.5,19.1,9.1,516,3912,0.12,3.92,0.00,0.000,4,0.124,0.081,2945,3929,2097,0,0,6,0,0,0
$FREEZE,8.86,0.790,-1.849,0,1,0
$FREEZE,8.15,0.789,-1.849,0,1,0
$FREEZE,7.41,0.790,-1.848,0,1,0
$GC,4005,0.68,172.5,7.4,12.7,533,4012,0.20,3.85,0.00,0.000,6,0.198,0.069,2915,2395,2096,0,0,5,0,0,0
$FREEZE,5.46,0.790,-1.847,0,1,0
$FREEZE,4.80,0.790,-1.846,0,1,0
$FREEZE,4.30,0.790,-1.846,0,1,0
$FREEZE,3.66,0.791,-1.845,0,1,0
$FREEZE,3.14,0.791,-1.845,0,1,0
$FREEZE,2.61,0.791,-1.845,0,1,0
$FREEZE,2.03,0.793,-1.844,0,1,0
$FREEZE,1.48,0.792,-1.844,0,1,0
$STATE,4056,end climb,SURFACE_DEPTH_REACHED
$STATE,4056,begin surface coast
$FREEZE,0.86,0.794,-1.843,0,1,0
$FREEZE,0.62,0.797,-1.843,0,1,0
$FREEZE,0.49,0.799,-1.819,0,1,0
$FINISH,0.5,1.026606
$STATE,4074,end surface coast,CONTROL_FINISHED_OK
$STATE,4074,begin surface
$SM_CCo,4092,86.88,0.724,0,0,1474,325.02
$SM_GC,1.28,0.00,0.00,86.88,0.000,0.000,0.724,128,2795,1474,-8.01,-0.14,325.02
$RAFOS_CLK,260
$RAFOS,2,1262420225,8.300000,8.284722,65,62,59,0,0,0,216,199,118,0,0,0
$RAFOS,1,1262419744,8.166667,8.151111,60,59,55,0,0,0,218,160,201,0,0,0
$RAFOS,0,1262419263,8.033334,8.017500,67,59,54,0,0,0,220,207,164,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5632.72,290399,060656
$TT8_MAMPS,0.029913
$HUMID,48.26
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,22.9,80.518
$10V_AH,10.0,41.597
$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,22.800,53.575,257.275,86.875,0.000,31.311,32.710,202.388,1.000,0.000,35.974,895.550,1943.131,437.227,918.097,388.092,0.000,933.189,0.000,883.103,1440.000,3.884,0.000
$DEVICE_MAMPS,296.829,92.040,868.244,724.048,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.011,367.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152572
$DATA_FILE_SIZE,19049,545
$CAP_FILE_SIZE,63021,0
$CFSIZE,260165632,215785472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,79,0,0
$SOUNDSPEED,1459.0
$GPS,020110,083008,6739.018,-5636.003,8,1.9,9,-38.2