version: 66.06
glider: 143
mission: 10
dive: 528
start: 1 3 110 23 27 24
data:
$ID,143
$MISSION,10
$DIVE,528
$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,220
$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,-47192.324
$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,11
$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
$GPS1,232146,6739.135,-5625.759,8,99.0,28,-38.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.5
$GPS2,232706,6739.107,-5625.735,39,1.4,44,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6730.834,-5643.885
$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,258.2,20000,-16.9,-9.167
$D_GRID,141
$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,-99.72,0.000,2,0.000,0.000,125,2793,3289,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.7,-7.2,20,144,11.45,2.85,-2.62,0.000,4,0.296,0.100,2437,3924,3400,0,0,8,0,0,0
$GC,191,-0.73,-146.0,17.5,-11.6,32,197,0.00,2.70,0.00,0.000,6,0.000,0.061,2437,2809,3402,0,0,4,0,0,0
$GC,536,-0.73,-146.0,50.5,-8.5,93,541,0.00,2.80,0.00,0.000,4,0.000,0.090,2437,3929,3402,0,0,7,0,0,0
$GC,654,-0.73,-146.0,61.4,-9.3,114,660,0.00,2.72,0.00,0.000,6,0.000,0.062,2436,2796,3402,0,0,4,0,0,0
$GC,998,-0.73,-146.0,90.4,-8.7,175,1003,0.00,2.83,0.00,0.000,4,0.000,0.090,2437,3922,3401,0,0,7,0,0,0
$GC,1256,-0.73,-146.0,114.9,-9.0,207,1261,0.00,2.70,0.00,0.000,6,0.000,0.063,2437,2802,3401,0,0,4,0,0,0
$STATE,1547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1547,begin apogee
$GC,1554,-0.16,0.0,141.8,10.0,234,1674,0.70,0.00,116.30,0.839,6,0.189,0.000,2628,2391,2799,0,0,0,0,0,0
$STATE,1675,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1678,0.73,146.0,145.8,0.0,246,1806,0.95,2.00,118.80,0.793,4,0.143,0.087,2918,792,2202,0,0,0,0,0,0
$GC,1920,0.74,155.6,129.8,8.8,268,1934,0.00,1.88,8.88,0.700,6,0.000,0.063,2918,2408,2164,0,0,0,0,0,0
$GC,2254,0.74,155.6,99.5,9.7,300,2260,0.00,3.85,0.00,0.000,4,0.000,0.083,2918,3918,2161,0,0,8,0,0,0
$GC,2339,0.66,155.6,89.7,11.8,315,2346,0.12,3.83,0.00,0.000,6,0.210,0.068,2910,2402,2159,0,0,5,0,0,0
$GC,2686,0.76,174.8,58.9,8.4,376,2712,0.00,3.90,16.45,0.740,4,0.000,0.082,2910,3910,2087,0,0,8,0,0,0
$GC,2819,0.76,174.8,44.2,11.1,400,2825,0.00,3.80,0.00,0.000,6,0.000,0.070,2925,2392,2085,0,0,7,0,0,0
$GC,3165,0.81,176.6,15.2,9.1,461,3170,0.00,3.90,0.00,0.000,4,0.000,0.083,2925,3917,2084,0,0,6,0,0,0
$FREEZE,8.99,1.033,-1.854,0,1,0
$FREEZE,8.48,1.212,-1.853,0,1,0
$FREEZE,8.07,1.214,-1.853,0,1,0
$FREEZE,7.64,1.201,-1.854,0,1,0
$FREEZE,7.18,1.198,-1.853,0,1,0
$FREEZE,6.78,1.213,-1.853,0,1,0
$FREEZE,6.31,1.207,-1.853,0,1,0
$FREEZE,5.92,1.198,-1.853,0,1,0
$FREEZE,5.49,1.200,-1.853,0,1,0
$FREEZE,5.27,1.202,-1.852,0,1,0
$FREEZE,4.85,1.202,-1.852,0,1,0
$GC,3267,0.85,205.6,6.8,7.9,479,3302,0.00,3.75,26.73,0.733,6,0.000,0.069,2942,2398,1960,0,0,8,0,0,0
$FREEZE,4.02,1.190,-1.852,0,1,0
$FREEZE,3.51,1.194,-1.851,0,1,0
$FREEZE,2.92,1.096,-1.851,0,1,0
$FREEZE,2.31,0.939,-1.850,0,1,0
$FREEZE,1.57,0.923,-1.848,0,1,0
$STATE,3332,end climb,SURFACE_DEPTH_REACHED
$STATE,3332,begin surface coast
$FREEZE,1.02,0.833,-1.848,0,1,0
$FREEZE,0.53,1.166,-1.845,0,1,0
$FREEZE,0.43,1.001,-1.074,0,1,0
$FREEZE,0.59,1.186,-1.741,0,1,0
$FINISH,0.6,1.025470
$STATE,3354,end surface coast,CONTROL_FINISHED_OK
$STATE,3354,begin surface
$SM_CCo,3372,67.25,0.718,0,0,1475,325.02
$SM_GC,1.30,0.00,0.00,67.25,0.000,0.000,0.718,126,2799,1475,-8.02,-0.03,325.02
$RAFOS_CLK,214
$RAFOS,2,1262564224,0.300000,0.284444,56,55,55,0,0,0,175,162,204,0,0,0
$RAFOS,1,1262563745,0.166667,0.151389,59,56,51,0,0,0,202,190,106,0,0,0
$RAFOS,0,1262563267,0.033333,0.018611,56,56,55,0,0,0,197,210,114,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5628.00,300399,222215
$TT8_MAMPS,0.027612
$HUMID,49.09
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,23.0,83.805
$10V_AH,10.1,42.727
$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,21.625,45.700,287.150,67.250,0.000,25.597,34.081,120.714,1.000,0.000,47.658,784.766,1452.123,424.945,811.774,292.976,0.000,867.034,0.000,767.866,1080.000,2.618,0.000
$DEVICE_MAMPS,296.062,100.477,839.098,717.912,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.895,331.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,19039,494
$CAP_FILE_SIZE,53739,0
$CFSIZE,260165632,214556672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,76,0,0
$SOUNDSPEED,1458.2
$GPS,040110,002558,6739.053,-5626.100,7,3.1,27,-38.2