version: 66.06
glider: 143
mission: 8
dive: 38
start: 10 14 109 11 31 47
data:
$ID,143
$MISSION,8
$DIVE,38
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,400
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20850.021
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2300
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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,20
$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,-23.246302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,112552,6628.404,-6035.754,14,99.0,33,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.3
$GPS2,113126,6628.403,-6035.797,14,1.4,14,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD1_WB
$TGT_LATLONG,6647.000,-5956.000
$TGT_RADIUS,10000.000
$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,51.1,45060,-18.3,-10.000
$D_GRID,440
$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,-1.05,-146.0,0.0,0.0,0,95,0.00,0.00,-77.35,0.000,2,0.000,0.000,129,2314,2818,0,0,0,0,0,0
$GC,98,-1.05,-146.0,3.1,-3.1,15,130,10.40,0.00,-18.25,0.000,6,0.328,0.000,2135,2314,3398,0,0,0,0,0,0
$GC,469,-0.78,-146.0,73.3,-17.5,81,475,0.35,2.72,0.00,0.000,4,0.236,0.100,2214,3886,3402,0,0,0,0,0,0
$GC,571,-0.78,-146.0,87.2,-12.7,99,577,0.00,2.65,0.00,0.000,6,0.000,0.074,2213,2288,3403,0,0,0,0,0,0
$GC,906,-0.78,-146.0,130.3,-13.0,139,911,0.00,2.65,0.00,0.000,4,0.000,0.099,2214,714,3403,0,0,0,0,0,0
$GC,949,-0.78,-146.0,136.1,-13.4,142,956,0.00,2.65,0.00,0.000,6,0.000,0.086,2214,2309,3403,0,0,0,0,0,0
$GC,1274,-0.78,-146.0,177.0,-12.9,173,1279,0.00,2.70,0.00,0.000,4,0.000,0.104,2214,3885,3403,0,0,0,0,0,0
$GC,1441,-0.78,-146.0,197.2,-11.2,187,1448,0.00,2.65,0.00,0.000,6,0.000,0.076,2214,2275,3403,0,0,0,0,0,0
$GC,1766,-0.78,-146.0,230.0,-9.1,218,1771,0.00,2.78,0.00,0.000,4,0.000,0.104,2214,3890,3403,0,0,0,0,0,0
$GC,1900,-0.85,-146.0,243.5,-10.2,229,1906,0.00,2.60,0.00,0.000,6,0.000,0.075,2214,2306,3402,0,0,0,0,0,0
$GC,2227,-0.90,-146.0,275.1,-9.7,260,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2306,3402,0,0,0,0,0,0
$GC,2546,-0.96,-146.0,304.4,-9.0,290,2551,0.12,2.67,0.00,0.000,4,0.124,0.100,2172,708,3402,0,0,0,0,0,0
$GC,2634,-0.87,-146.0,315.3,-12.6,297,2640,0.00,2.65,0.00,0.000,6,0.000,0.088,2172,2314,3402,0,0,0,0,0,0
$GC,2960,-0.82,-146.0,351.9,-11.5,328,2965,0.17,2.67,0.00,0.000,4,0.235,0.103,2203,3885,3401,0,0,0,0,0,0
$GC,3056,-0.86,-146.0,361.7,-10.3,336,3060,0.00,2.55,0.00,0.000,6,0.000,0.076,2202,2319,3401,0,0,0,0,0,0
$GC,3381,-0.92,-146.0,393.5,-9.4,366,3385,0.00,2.65,0.00,0.000,4,0.000,0.098,2203,715,3401,0,0,0,0,0,0
$GC,3480,-0.92,-146.0,403.6,-10.1,374,3486,0.00,2.62,0.00,0.000,6,0.000,0.084,2203,2324,3401,0,0,0,0,0,0
$GC,3805,-1.01,-146.0,433.4,-9.1,405,3807,0.15,0.00,0.00,0.000,6,0.112,0.000,2149,2324,3401,0,0,0,0,0,0
$STATE,3866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3867,begin apogee
$GC,3872,-0.24,0.0,440.5,11.7,411,3994,0.93,0.00,118.10,1.094,6,0.209,0.000,2399,2096,2800,0,0,0,0,0,0
$STATE,3994,end apogee,CONTROL_FINISHED_OK
$STATE,3995,begin climb
$GC,3997,1.05,146.0,444.0,0.0,423,4124,1.40,0.00,122.22,1.030,6,0.137,0.000,2807,2096,2204,0,0,0,0,0,0
$GC,4442,0.70,146.0,381.8,15.0,466,4447,0.38,2.83,0.00,0.000,4,0.219,0.092,2702,3696,2192,0,0,0,0,0,0
$GC,4700,0.56,146.0,349.7,12.2,488,4706,0.20,2.67,0.00,0.000,6,0.218,0.076,2667,2114,2191,0,0,0,0,0,0
$GC,5026,0.63,148.3,319.5,9.9,519,5031,0.00,2.72,0.00,0.000,4,0.000,0.094,2667,3695,2191,0,0,0,0,0,0
$GC,5047,0.63,148.3,317.1,10.0,520,5053,0.00,2.65,0.00,0.000,6,0.000,0.076,2677,2111,2191,0,0,0,0,0,0
$GC,5372,0.63,148.3,284.9,10.0,551,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2111,2191,0,0,0,0,0,0
$GC,5692,0.69,148.3,253.5,10.3,581,5697,0.00,2.70,0.00,0.000,4,0.000,0.096,2676,3692,2191,0,0,0,0,0,0
$GC,5702,0.75,149.9,252.4,9.9,581,5708,0.00,2.62,0.00,0.000,6,0.000,0.077,2689,2110,2191,0,0,0,0,0,0
$GC,6027,0.80,188.7,223.6,8.2,612,6070,0.15,2.80,33.92,0.933,4,0.110,0.097,2740,3693,2028,0,0,0,0,0,0
$GC,6322,0.64,188.7,188.6,12.0,638,6329,0.25,2.72,0.00,0.000,6,0.213,0.080,2694,2074,2022,0,0,0,0,0,0
$GC,6647,0.77,233.3,162.0,7.9,669,6692,0.12,2.80,36.90,0.905,4,0.131,0.102,2743,515,1846,0,0,0,0,0,0
$GC,6698,0.77,233.3,157.2,10.3,674,6703,0.00,2.67,0.00,0.000,6,0.000,0.078,2744,2086,1845,0,0,0,0,0,0
$GC,7023,0.77,233.3,117.9,12.7,704,7027,0.00,2.75,0.00,0.000,4,0.000,0.097,2743,3687,1840,0,0,0,0,0,0
$GC,7258,0.70,233.3,86.2,13.0,733,7264,0.20,2.65,0.00,0.000,6,0.202,0.082,2709,2115,1839,0,0,0,0,0,0
$GC,7603,0.96,276.5,56.9,8.0,794,7646,0.25,2.80,35.72,0.856,4,0.100,0.097,2798,3694,1671,0,0,0,0,0,0
$GC,7837,0.80,276.5,24.5,15.2,836,7843,0.28,2.62,0.00,0.000,6,0.211,0.082,2745,2153,1664,0,0,0,0,0,0
$STATE,8033,end climb,SURFACE_DEPTH_REACHED
$STATE,8033,begin surface coast
$FINISH,0.9,1.024708
$STATE,8051,end surface coast,CONTROL_FINISHED_OK
$STATE,8051,begin surface
$SM_CCo,8127,0.00,0.000,0,0,1657,280.38
$SM_GC,1.73,7.65,0.00,0.00,0.080,0.000,0.000,126,2302,1657,-7.32,0.06,280.38
$RAFOS_CLK,548
$RAFOS,6,1255524544,12.833333,12.817778,61,43,43,0,0,0,561,294,1928,0,0,0
$RAFOS,5,1255524070,12.700000,12.686111,48,45,42,0,0,0,215,455,341,0,0,0
$RAFOS,4,1255523582,12.566667,12.550555,44,42,41,0,0,0,1485,90,335,0,0,0
$RAFOS,3,1255523104,12.433333,12.417778,45,42,42,0,0,0,276,793,1060,0,0,0
$RAFOS,2,1255522630,12.300000,12.286111,41,39,38,0,0,0,891,509,1802,0,0,0
$RAFOS,1,1255522150,12.166667,12.152778,50,46,41,0,0,0,1720,1475,590,0,0,0
$RAFOS,0,1255521661,12.033333,12.016945,41,41,40,0,0,0,419,1131,1797,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6558.99,-6035.31,080199,090933
$TT8_MAMPS,0.027612
$HUMID,52.79
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,23.3,8.992
$10V_AH,10.3,3.404
$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,23.000,75.925,346.875,0.000,0.000,30.820,35.934,162.806,0.500,0.000,15.867,1541.261,4659.182,446.758,1459.347,356.290,0.000,1211.506,0.000,1441.439,2520.000,0.529,0.000
$DEVICE_MAMPS,327.509,104.312,1093.742,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.616,600.813,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150944
$DATA_FILE_SIZE,34798,874
$CAP_FILE_SIZE,96822,0
$CFSIZE,260165632,248643584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.1
$CURRENT,0.240,163.3,1
$GPS,141009,134836,6628.454,-6034.738,38,0.9,38,-37.7