version: 66.09
glider: 143
mission: 13
dive: 12
start: 10 8 111 8 23 11
data:
$ID,143
$MISSION,13
$DIVE,12
$N_DIVES,12
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$D_ABORT,400
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,90
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80433.016
$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,2415
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,20
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2748
$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,-1
$PRESSURE_YINT,-22.40402
$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,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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,081011,081806,6634.856,-6032.506,30,1.9,30,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.9
$GPS2,081011,082240,6634.770,-6032.440,19,2.0,19,-33.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$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,105.8,170302,-18.3,-10.000
$D_GRID,476
$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,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-146.0,0.0,0.0,0,105,0.00,0.00,-87.00,0.000,2,0.000,0.000,120,2402,2228,0,0,0,0,0,0
$GC,108,-0.77,-146.0,3.3,-4.7,15,157,8.88,1.20,-32.97,0.000,4,0.271,0.090,2160,1693,3344,0,0,0,0,0,0
$GC,405,-0.77,-146.0,49.7,-13.4,67,412,0.00,1.27,0.00,0.000,6,0.000,0.076,2157,2405,3347,0,0,0,0,0,0
$GC,614,-0.77,-146.0,77.3,-13.0,104,621,0.00,1.17,0.00,0.000,4,0.000,0.087,2151,3102,3347,0,0,0,0,0,0
$GC,763,-0.77,-146.0,96.6,-13.4,130,769,0.00,1.15,0.00,0.000,6,0.000,0.054,2151,2413,3347,0,0,0,0,0,0
$GC,964,-0.77,-146.0,123.3,-13.0,151,968,0.00,1.23,0.00,0.000,4,0.000,0.086,2146,3106,3346,0,0,0,0,0,0
$GC,1092,-0.77,-146.0,139.5,-12.7,162,1099,0.00,1.17,0.00,0.000,6,0.000,0.056,2147,2406,3346,0,0,0,0,0,0
$GC,1311,-0.77,-146.0,167.2,-12.2,183,1315,0.00,1.23,0.00,0.000,4,0.000,0.086,2142,3102,3346,0,0,0,0,0,0
$GC,1506,-0.77,-146.0,192.0,-13.3,200,1514,0.00,1.15,0.00,0.000,6,0.000,0.055,2142,2414,3346,0,0,0,0,0,0
$GC,1726,-0.77,-146.0,222.9,-13.9,221,1729,0.00,1.23,0.00,0.000,4,0.000,0.087,2137,3108,3346,0,0,0,0,0,0
$GC,1865,-0.77,-146.0,242.2,-14.3,233,1872,0.00,1.15,0.00,0.000,6,0.000,0.056,2137,2421,3346,0,0,0,0,0,0
$STATE,2061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2061,begin apogee
$GC,2067,-0.16,0.0,270.2,-13.3,252,2190,0.70,0.10,114.80,1.077,4,0.148,0.090,2355,2310,2748,0,0,0,0,0,0
$STATE,2191,end apogee,CONTROL_FINISHED_OK
$STATE,2191,begin climb
$GC,2193,0.77,146.0,277.8,0.0,263,2326,0.88,1.30,121.53,1.017,4,0.066,0.068,2666,1609,2151,0,0,0,0,0,0
$GC,2361,1.11,427.7,288.6,-2.9,278,2606,0.30,1.27,234.40,0.977,6,0.067,0.071,2773,2288,1004,0,0,0,0,0,0
$GC,2825,1.11,427.7,194.4,25.5,321,2829,0.00,1.25,0.00,0.000,4,0.000,0.069,2777,1605,997,0,0,0,0,0,0
$GC,3009,1.11,427.7,148.9,25.5,337,3016,0.00,1.25,0.00,0.000,6,0.000,0.070,2778,2290,996,0,0,0,0,0,0
$GC,3230,1.11,427.7,92.6,25.5,360,3236,0.00,1.23,0.00,0.000,4,0.000,0.068,2783,1606,996,0,0,0,0,0,0
$GC,3373,1.11,427.7,58.2,25.0,385,3379,0.00,1.12,0.00,0.000,6,0.000,0.071,2783,2231,995,0,0,0,0,0,0
$GC,3582,1.11,427.7,13.7,19.3,422,3589,0.00,1.10,0.00,0.000,4,0.000,0.072,2787,1610,995,0,0,0,0,0,0
$STATE,3639,end climb,SURFACE_DEPTH_REACHED
$STATE,3639,begin surface coast
$FINISH,0.7,1.014188
$STATE,3646,end surface coast,CONTROL_FINISHED_OK
$STATE,3646,begin surface
$SM_CCo,3724,0.00,0.000,0,0,991,430.75
$SM_GC,1.71,7.68,1.42,0.00,0.073,0.069,0.000,127,2403,991,-7.11,-0.54,430.75,0,0,0,0,0,0
$RAFOS_CLK,230
$RAFOS,6,1318063745,8.833333,8.818055,67,59,59,0,0,0,907,218,199,0,0,0
$RAFOS,5,1318063266,8.700000,8.685000,60,59,54,0,0,0,188,213,117,0,0,0
$RAFOS,4,1318062781,8.566667,8.550278,75,64,58,0,0,0,793,144,212,0,0,0
$RAFOS,3,1318062304,8.433333,8.417778,67,61,59,0,0,0,769,206,190,0,0,0
$RAFOS_FIX,6635.218750,-6026.218750,081011,080856,4,74,9.44
$IRIDIUM_FIX,6609.62,-6029.40,081011,070734
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.20
$XPDR_PINGS,15
$24V_AH,23.0,3.056
$10V_AH,10.3,3.180
$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,18.425,22.225,470.725,0.000,0.000,0.000,0.000,179.075,3.750,0.000,20.998,992.936,1467.655,502.525,971.607,94.538,0.000,1177.693,0.000,786.027,1440.000,0.990,0.000
$DEVICE_MAMPS,270.810,89.505,1077.120,0.000,0.000,0.000,0.000,234.451,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.016,292.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150392
$DATA_FILE_SIZE,16798,433
$CAP_FILE_SIZE,55739,0
$CFSIZE,260165632,247189504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1446.9
$GPS,081011,092633,6634.621,-6031.058,20,0.8,21,-33.7