version: 66.09
glider: 143
mission: 12
dive: 6
start: 9 8 111 1 31 9
data:
$ID,143
$MISSION,12
$DIVE,6
$N_DIVES,6
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$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,1.023
$MASS,50916
$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,0.25
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$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,-80011.086
$T_RSLEEP,2
$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,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2964
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$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,-22.81876
$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,90
$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
$GPS1,080911,012622,4807.791,-12223.788,21,2.7,40,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.8
$GPS2,080911,013036,4807.789,-12223.818,28,1.2,28,16.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$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,128.6,1778,-18.2,-10.000
$D_GRID,105
$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,-0.77,-146.6,0.0,0.0,0,105,0.00,0.00,-87.75,0.000,2,0.000,0.000,120,2412,2980,0,0,0,0,0,0
$GC,108,-0.77,-146.6,3.3,-6.6,15,140,9.60,2.20,-14.40,0.000,4,0.259,0.070,2433,1007,3563,0,0,0,0,0,0
$GC,299,-0.55,-146.6,32.8,-14.9,48,306,0.30,2.20,0.00,0.000,6,0.162,0.054,2510,2395,3564,0,0,0,0,0,0
$GC,444,-0.63,-146.6,47.6,-9.9,73,451,0.00,2.25,0.00,0.000,4,0.000,0.070,2508,3807,3565,0,0,0,0,0,0
$GC,520,-0.72,-146.6,55.4,-10.7,86,528,0.15,2.15,0.00,0.000,6,0.087,0.041,2443,2416,3565,0,0,0,0,0,0
$GC,665,-0.56,-146.6,75.1,-14.1,111,673,0.22,2.28,0.00,0.000,4,0.154,0.069,2506,3807,3565,0,0,0,0,0,0
$GC,691,-0.56,-146.6,78.6,-12.6,115,698,0.00,2.17,0.00,0.000,6,0.000,0.042,2506,2399,3565,0,0,0,0,0,0
$GC,837,-0.66,-146.6,93.0,-10.2,140,844,0.00,2.28,0.00,0.000,4,0.000,0.070,2497,3810,3566,0,0,0,0,0,0
$GC,879,-0.75,-146.6,97.4,-10.3,147,887,0.15,2.17,0.00,0.000,6,0.091,0.041,2435,2399,3566,0,0,0,0,0,0
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,942,-0.16,0.0,105.5,-14.5,157,1053,0.62,0.00,104.95,0.779,6,0.147,0.000,2630,2271,2964,0,0,0,0,0,0
$STATE,1054,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1056,0.77,146.6,111.0,0.0,176,1172,0.90,2.33,107.80,0.746,4,0.096,0.058,2939,901,2366,0,0,0,0,0,0
$GC,1225,0.55,146.6,100.3,12.1,205,1232,0.28,2.30,0.00,0.000,6,0.163,0.049,2868,2311,2363,0,0,0,0,0,0
$GC,1368,0.63,172.9,86.7,8.8,230,1394,0.00,2.35,20.35,0.718,4,0.000,0.058,2875,907,2258,0,0,0,0,0,0
$GC,1441,0.75,187.9,80.2,9.3,242,1461,0.17,2.25,12.32,0.691,6,0.081,0.049,2942,2305,2197,0,0,0,0,0,0
$GC,1597,0.59,187.9,59.3,13.9,269,1604,0.22,0.00,0.00,0.000,6,0.171,0.000,2884,2305,2195,0,0,0,0,0,0
$GC,1742,0.66,187.9,44.4,10.1,294,1749,0.00,2.22,0.00,0.000,4,0.000,0.059,2892,906,2194,0,0,0,0,0,0
$GC,1795,0.72,187.9,39.0,10.0,303,1802,0.00,2.22,0.00,0.000,6,0.000,0.049,2892,2310,2194,0,0,0,0,0,0
$GC,1942,0.79,191.1,24.7,9.9,328,1949,0.15,0.00,1.23,0.136,6,0.087,0.000,2950,2310,2183,0,0,0,0,0,0
$GC,2086,0.65,191.1,6.7,12.0,353,2094,0.20,2.22,0.00,0.000,4,0.168,0.058,2907,902,2184,0,0,0,0,0,0
$STATE,2138,end climb,SURFACE_DEPTH_REACHED
$STATE,2138,begin surface coast
$FINISH,1.5,1.018958
$STATE,2173,end surface coast,CONTROL_FINISHED_OK
$STATE,2174,begin surface
$SM_CCo,2193,109.68,0.059,0,0,1128,450.13
$SM_GC,1.06,0.00,0.00,109.68,0.000,0.000,0.059,118,2402,1128,-8.04,0.06,450.13,0,0,0,0,0,0
$RAFOS_CLK,96
$RAFOS,2,1315446244,1.750000,1.734444,57,57,55,0,0,0,176,219,120,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4748.51,-12224.57,080911,000016
$TT8_MAMPS,0.028462,0.028462
$HUMID,62.01
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,19.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,90.1,31.6
$24V_AH,24.6,0.753
$10V_AH,10.6,1.687
$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,20.750,36.150,246.650,109.675,0.000,0.000,0.000,154.050,1.500,0.000,29.926,835.430,494.689,456.839,703.510,89.708,0.000,952.012,0.000,540.540,780.000,5.512,0.000
$DEVICE_MAMPS,259.335,74.970,778.770,58.905,0.000,0.000,0.000,229.208,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.070,268.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319532
$DATA_FILE_SIZE,13469,368
$CAP_FILE_SIZE,48344,0
$CFSIZE,260165632,253595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.4
$GPS,080911,021053,4807.583,-12223.534,29,0.9,37,16.7