version: 66.06
glider: 143
mission: 8
dive: 58
start: 10 16 109 13 0 35
data:
$ID,143
$MISSION,8
$DIVE,58
$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,-21457.068
$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,18
$R_STBD_OVSHOOT,16
$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
$GPS1,125206,6623.476,-6022.441,33,1.0,33,-37.6
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,2
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.9
$GPS2,130013,6623.531,-6022.463,12,1.5,22,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,106.0,171257,-18.3,-10.000
$D_GRID,462
$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,-1.05,-146.0,0.0,0.0,0,90,0.00,0.00,-72.53,0.000,2,0.000,0.000,124,2303,2780,0,0,0,0,0,0
$GC,92,-1.05,-146.0,3.3,-5.4,14,130,10.48,2.75,-19.12,0.000,4,0.327,0.108,2132,709,3399,0,0,0,0,0,0
$GC,299,-0.73,-146.0,43.2,-19.8,51,306,0.45,2.70,0.00,0.000,6,0.235,0.087,2239,2307,3402,0,0,0,0,0,0
$GC,644,-0.79,-146.0,85.4,-10.4,112,650,0.00,2.70,0.00,0.000,4,0.000,0.096,2240,711,3402,0,0,0,0,0,0
$GC,904,-0.87,-146.0,113.4,-10.9,148,909,0.12,2.72,0.00,0.000,6,0.125,0.084,2199,2349,3403,0,0,0,0,0,0
$GC,1228,-0.87,-146.0,152.2,-12.6,178,1232,0.00,2.75,0.00,0.000,4,0.000,0.096,2199,710,3402,0,0,0,0,0,0
$GC,1267,-0.82,-146.0,157.3,-13.4,181,1272,0.00,2.70,0.00,0.000,6,0.000,0.084,2199,2344,3402,0,0,0,0,0,0
$GC,1591,-0.82,-146.0,196.5,-11.5,211,1596,0.00,2.72,0.00,0.000,4,0.000,0.096,2199,713,3403,0,0,0,0,0,0
$GC,1600,-0.82,-146.0,197.6,-11.6,211,1607,0.00,2.67,0.00,0.000,6,0.000,0.084,2199,2342,3403,0,0,0,0,0,0
$GC,1926,-0.82,-146.0,236.3,-11.6,242,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2342,3403,0,0,0,0,0,0
$GC,2245,-0.82,-146.0,272.9,-10.7,272,2249,0.00,2.65,0.00,0.000,4,0.000,0.107,2199,3896,3402,0,0,0,0,0,0
$GC,2277,-0.82,-146.0,276.5,-11.1,274,2283,0.00,2.55,0.00,0.000,6,0.000,0.075,2199,2327,3402,0,0,0,0,0,0
$GC,2603,-0.82,-146.0,308.1,-9.1,305,2607,0.00,2.67,0.00,0.000,4,0.000,0.104,2199,3891,3402,0,0,0,0,0,0
$GC,2612,-0.82,-146.0,309.2,-9.3,305,2618,0.00,2.53,0.00,0.000,6,0.000,0.074,2199,2341,3402,0,0,0,0,0,0
$GC,2937,-0.82,-146.0,338.8,-9.3,336,2942,0.00,2.70,0.00,0.000,4,0.000,0.098,2199,707,3401,0,0,0,0,0,0
$GC,2948,-0.82,-146.0,339.9,-9.3,336,2955,0.00,2.70,0.00,0.000,6,0.000,0.086,2199,2349,3401,0,0,0,0,0,0
$GC,3272,-0.86,-146.0,372.0,-10.0,367,3277,0.00,2.72,0.00,0.000,4,0.000,0.097,2199,716,3401,0,0,0,0,0,0
$GC,3529,-0.86,-146.0,399.0,-9.8,389,3535,0.00,2.67,0.00,0.000,6,0.000,0.085,2199,2350,3400,0,0,0,0,0,0
$GC,3855,-0.93,-146.0,429.3,-9.3,420,3859,0.00,2.72,0.00,0.000,4,0.000,0.096,2199,705,3401,0,0,0,0,0,0
$GC,3961,-0.93,-146.0,439.9,-10.0,429,3966,0.00,2.67,0.00,0.000,6,0.000,0.083,2198,2347,3400,0,0,0,0,0,0
$STATE,4209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4209,begin apogee
$GC,4215,-0.24,0.0,462.7,9.4,452,4341,0.70,0.00,118.35,1.095,6,0.196,0.000,2395,2104,2799,0,0,0,0,0,0
$STATE,4342,end apogee,CONTROL_FINISHED_OK
$STATE,4342,begin climb
$GC,4344,1.05,146.0,465.5,0.0,465,4479,1.40,3.00,121.45,1.039,4,0.140,0.093,2805,3685,2202,0,0,0,0,0,0
$GC,4731,0.61,146.0,407.2,17.9,500,4739,0.57,2.72,0.00,0.000,6,0.226,0.077,2682,2105,2193,0,0,0,0,0,0
$GC,5056,0.62,148.1,373.5,9.9,531,5060,0.00,2.78,0.00,0.000,4,0.000,0.096,2682,3697,2192,0,0,0,0,0,0
$GC,5312,0.54,148.1,345.8,10.2,553,5319,0.15,2.70,0.00,0.000,6,0.205,0.077,2659,2087,2191,0,0,0,0,0,0
$GC,5637,0.66,166.5,317.4,9.2,584,5659,0.00,2.80,16.20,0.946,4,0.000,0.094,2659,3690,2121,0,0,0,0,0,0
$GC,5911,0.66,166.5,288.2,10.5,608,5918,0.00,2.67,0.00,0.000,6,0.000,0.077,2668,2091,2117,0,0,0,0,0,0
$GC,6237,0.78,189.2,257.1,9.0,639,6263,0.17,2.80,19.98,0.933,4,0.101,0.097,2729,3692,2027,0,0,0,0,0,0
$GC,6515,0.66,189.2,222.5,12.2,663,6522,0.20,2.67,0.00,0.000,6,0.209,0.078,2696,2092,2023,0,0,0,0,0,0
$GC,6840,0.69,219.9,193.6,8.6,694,6873,0.00,2.80,26.27,0.914,4,0.000,0.094,2695,3692,1902,0,0,0,0,0,0
$GC,7125,0.69,219.9,163.3,12.0,719,7131,0.00,2.70,0.00,0.000,6,0.000,0.079,2706,2083,1896,0,0,0,0,0,0
$GC,7450,0.79,223.0,131.1,9.9,750,7455,0.00,2.75,0.00,0.000,4,0.000,0.097,2705,3689,1895,0,0,0,0,0,0
$GC,7706,0.79,223.0,104.6,10.3,772,7714,0.00,2.67,0.00,0.000,6,0.000,0.080,2717,2083,1893,0,0,0,0,0,0
$GC,8048,0.89,231.7,73.6,9.6,828,8065,0.15,2.78,9.85,0.838,4,0.113,0.098,2767,3690,1855,0,0,0,0,0,0
$GC,8318,0.81,231.7,41.1,11.4,876,8325,0.15,2.70,0.00,0.000,6,0.212,0.081,2747,2071,1853,0,0,0,0,0,0
$GC,8664,0.87,278.2,8.4,7.9,937,8710,0.00,2.88,39.83,0.834,4,0.000,0.099,2747,3694,1664,0,0,0,0,0,0
$STATE,8727,end climb,SURFACE_DEPTH_REACHED
$STATE,8727,begin surface coast
$FINISH,0.9,1.025729
$STATE,8745,end surface coast,CONTROL_FINISHED_OK
$STATE,8745,begin surface
$SM_CCo,8823,0.00,0.000,0,0,1656,280.62
$SM_GC,1.79,7.75,0.00,0.00,0.081,0.000,0.000,126,2298,1656,-7.32,-0.08,280.62
$RAFOS_CLK,594
$RAFOS,6,1255697344,12.833333,12.817778,41,40,40,0,0,0,986,815,961,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6025.96,100199,101030
$TT8_MAMPS,0.026845
$HUMID,53.26
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,11.359
$10V_AH,10.3,4.507
$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,22.300,92.600,351.925,0.000,0.000,23.617,49.119,298.381,1.000,0.000,24.061,1674.046,4974.559,451.010,1700.663,512.231,0.000,1330.899,0.000,1667.652,0.000,0.530,0.000
$DEVICE_MAMPS,326.742,108.147,1094.509,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,696.592,655.833,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150772
$DATA_FILE_SIZE,37883,952
$CAP_FILE_SIZE,107510,0
$CFSIZE,260165632,247590912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$CURRENT,0.189,178.5,1
$GPS,161009,152834,6623.398,-6022.470,13,1.5,13,-37.6