version: 66.06
glider: 143
mission: 8
dive: 62
start: 10 16 109 22 52 6
data:
$ID,143
$MISSION,8
$DIVE,62
$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,-21556.012
$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,20
$R_STBD_OVSHOOT,18
$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
$GPS1,224543,6620.521,-6022.440,24,1.7,30,-37.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.4
$GPS2,225144,6620.558,-6022.566,11,1.8,11,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW
$TGT_LATLONG,6619.000,-5907.000
$TGT_RADIUS,5000.000
$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,95.1,56289,-18.3,-10.000
$D_GRID,444
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.10,0.000,2,0.000,0.000,128,2287,2829,0,0,0,0,0,0
$GC,95,-1.05,-146.0,3.4,-4.9,14,133,10.45,2.85,-17.65,0.000,4,0.330,0.114,2130,3880,3398,0,0,0,0,0,0
$GC,218,-0.76,-146.0,27.7,-20.4,36,225,0.40,2.65,0.00,0.000,6,0.227,0.076,2227,2299,3400,0,0,0,0,0,0
$GC,563,-0.76,-146.0,72.9,-11.1,97,568,0.00,2.75,0.00,0.000,4,0.000,0.101,2227,3886,3402,0,0,0,0,0,0
$GC,591,-0.76,-146.0,76.1,-11.3,102,596,0.00,2.62,0.00,0.000,6,0.000,0.074,2227,2299,3402,0,0,0,0,0,0
$GC,932,-0.82,-146.0,115.8,-11.7,152,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2299,3402,0,0,0,0,0,0
$GC,1252,-0.89,-146.0,149.3,-10.0,182,1256,0.00,2.72,0.00,0.000,4,0.000,0.102,2227,3886,3402,0,0,0,0,0,0
$GC,1268,-0.96,-146.0,151.0,-9.6,183,1274,0.17,2.65,0.00,0.000,6,0.117,0.074,2171,2279,3402,0,0,0,0,0,0
$GC,1593,-0.88,-146.0,193.9,-13.3,213,1598,0.00,2.60,0.00,0.000,4,0.000,0.099,2171,716,3402,0,0,0,0,0,0
$GC,1610,-0.77,-146.0,196.2,-12.4,214,1615,0.25,2.60,0.00,0.000,6,0.232,0.085,2228,2294,3402,0,0,0,0,0,0
$GC,1934,-0.88,-146.0,229.8,-10.0,244,1939,0.00,2.65,0.00,0.000,4,0.000,0.098,2229,711,3402,0,0,0,0,0,0
$GC,1952,-0.97,-146.0,231.5,-10.3,245,1957,0.20,2.60,0.00,0.000,6,0.107,0.084,2162,2295,3402,0,0,0,0,0,0
$GC,2276,-0.86,-146.0,272.3,-12.1,275,2281,0.17,2.70,0.00,0.000,4,0.231,0.101,2190,3886,3401,0,0,0,0,0,0
$GC,2382,-0.86,-146.0,283.1,-10.1,284,2387,0.00,2.55,0.00,0.000,6,0.000,0.077,2190,2327,3401,0,0,0,0,0,0
$GC,2707,-0.86,-146.0,312.4,-9.9,314,2711,0.00,2.65,0.00,0.000,4,0.000,0.104,2190,3886,3400,0,0,0,0,0,0
$GC,2779,-0.86,-146.0,319.9,-10.7,320,2783,0.00,2.53,0.00,0.000,6,0.000,0.077,2190,2339,3400,0,0,0,0,0,0
$GC,3103,-0.86,-146.0,354.8,-11.3,350,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2339,3400,0,0,0,0,0,0
$GC,3422,-0.86,-146.0,387.9,-10.3,380,3427,0.00,2.67,0.00,0.000,4,0.000,0.097,2190,714,3400,0,0,0,0,0,0
$GC,3484,-0.86,-146.0,394.5,-10.8,385,3489,0.00,2.65,0.00,0.000,6,0.000,0.084,2190,2336,3400,0,0,0,0,0,0
$GC,3809,-0.86,-146.0,425.3,-9.1,415,3813,0.00,2.62,0.00,0.000,4,0.000,0.104,2190,3894,3399,0,0,0,0,0,0
$GC,3875,-0.91,-146.0,431.4,-9.4,420,3881,0.00,2.50,0.00,0.000,6,0.000,0.075,2190,2351,3399,0,0,0,0,0,0
$STATE,4017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4017,begin apogee
$GC,4021,-0.24,0.0,444.1,8.8,434,4143,0.75,0.00,117.80,1.085,6,0.201,0.000,2395,2097,2800,0,0,0,0,0,0
$STATE,4144,end apogee,CONTROL_FINISHED_OK
$STATE,4144,begin climb
$GC,4146,1.05,146.0,446.4,0.0,446,4280,1.40,3.03,121.60,1.027,4,0.137,0.093,2806,3690,2202,0,0,0,0,0,0
$GC,4533,0.60,146.0,384.2,18.9,481,4540,0.60,2.75,0.00,0.000,6,0.229,0.078,2679,2099,2193,0,0,0,0,0,0
$GC,4857,0.60,146.0,349.1,10.2,512,4862,0.00,2.78,0.00,0.000,4,0.000,0.094,2678,3693,2192,0,0,0,0,0,0
$GC,5114,0.55,146.0,321.0,10.6,534,5120,0.12,2.70,0.00,0.000,6,0.207,0.077,2662,2084,2192,0,0,0,0,0,0
$GC,5440,0.68,187.4,293.6,8.1,565,5483,0.12,2.88,33.22,0.954,4,0.123,0.094,2701,3683,2034,0,0,0,0,0,0
$GC,5737,0.63,187.4,257.8,12.1,591,5743,0.12,2.70,0.00,0.000,6,0.205,0.077,2687,2083,2029,0,0,0,0,0,0
$GC,6064,0.71,187.4,223.1,10.6,622,6069,0.00,2.75,0.00,0.000,4,0.000,0.095,2686,3689,2029,0,0,0,0,0,0
$GC,6321,0.71,187.4,193.7,11.2,644,6328,0.00,2.67,0.00,0.000,6,0.000,0.078,2696,2080,2028,0,0,0,0,0,0
$GC,6646,0.79,212.6,164.3,8.8,675,6677,0.12,2.80,21.20,0.900,4,0.119,0.095,2738,3693,1931,0,0,0,0,0,0
$GC,6929,0.69,212.6,128.6,12.7,700,6937,0.20,2.70,0.00,0.000,6,0.205,0.081,2704,2079,1927,0,0,0,0,0,0
$GC,7255,0.82,232.3,100.6,9.1,731,7282,0.12,2.88,17.17,0.872,4,0.127,0.096,2742,3697,1851,0,0,0,0,0,0
$GC,7535,0.77,232.3,62.1,14.1,780,7541,0.00,2.65,0.00,0.000,6,0.000,0.081,2754,2118,1846,0,0,0,0,0,0
$GC,7880,0.78,244.0,27.4,9.5,841,7896,0.00,2.72,10.60,0.821,4,0.000,0.097,2754,3694,1804,0,0,0,0,0,0
$STATE,8104,end climb,SURFACE_DEPTH_REACHED
$STATE,8104,begin surface coast
$FINISH,0.9,1.025783
$STATE,8120,end surface coast,CONTROL_FINISHED_OK
$STATE,8120,begin surface
$SM_CCo,8138,24.33,0.827,0,0,1678,275.23
$SM_GC,1.48,0.00,0.00,24.33,0.000,0.000,0.827,128,2291,1678,-7.35,-0.25,275.23
$RAFOS_CLK,550
$RAFOS,6,1255740544,0.833333,0.817778,40,39,38,0,0,0,1097,820,1677,0,0,0
$RAFOS,5,1255740063,0.700000,0.684167,49,44,44,0,0,0,870,312,1250,0,0,0
$RAFOS,4,1255739585,0.566667,0.551389,42,40,38,0,0,0,759,478,1142,0,0,0
$RAFOS,3,1255739103,0.433333,0.417500,43,42,41,0,0,0,1439,1318,349,0,0,0
$RAFOS,2,1255738622,0.300000,0.283889,37,36,36,0,0,0,690,386,1335,0,0,0
$RAFOS,1,1255738148,0.166667,0.152222,44,43,43,0,0,0,1752,249,1872,0,0,0
$RAFOS,0,1255737663,0.033333,0.017500,42,42,40,0,0,0,264,1526,406,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6553.70,-6023.94,100199,202026
$TT8_MAMPS,0.027612
$HUMID,53.30
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.3,11.815
$10V_AH,10.3,4.724
$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,22.975,86.375,321.600,24.325,0.000,30.833,32.615,192.488,1.000,0.000,12.616,1571.110,4591.854,444.409,1533.882,387.326,0.000,1251.620,0.000,1513.946,2520.000,0.529,0.000
$DEVICE_MAMPS,329.810,113.516,1085.305,826.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.879,609.312,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150748
$DATA_FILE_SIZE,34755,884
$CAP_FILE_SIZE,101290,0
$CFSIZE,260165632,247390208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$CURRENT,0.098,195.5,1
$GPS,171009,010936,6620.892,-6021.849,35,1.2,41,-37.5