version: 66.09
glider: 143
mission: 12
dive: 12
start: 9 8 111 6 3 9
data:
$ID,143
$MISSION,12
$DIVE,12
$N_DIVES,30
$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,44
$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,-80018.648
$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,50
$R_STBD_OVSHOOT,32
$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
$GPS1,080911,055852,4806.440,-12222.194,18,1.2,37,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.0
$GPS2,080911,060236,4806.433,-12222.190,16,1.4,16,16.7
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$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,146.9,835,-16.8,-9.091
$D_GRID,108
$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,-0.72,-146.6,0.0,0.0,0,110,0.00,0.00,-92.22,0.000,2,0.000,0.000,123,2412,3038,0,0,0,0,0,0
$GC,113,-0.72,-146.6,3.1,-5.6,16,144,9.60,2.25,-12.98,0.000,4,0.255,0.073,2453,1000,3563,0,0,0,0,0,0
$GC,375,-0.54,-146.6,42.4,-14.3,62,382,0.25,2.22,0.00,0.000,6,0.151,0.052,2516,2402,3565,0,0,0,0,0,0
$GC,520,-0.54,-146.6,57.2,-9.6,87,527,0.00,2.25,0.00,0.000,4,0.000,0.067,2507,3818,3566,0,0,0,0,0,0
$GC,567,-0.54,-146.6,62.2,-10.4,95,574,0.00,2.17,0.00,0.000,6,0.000,0.040,2507,2416,3566,0,0,0,0,0,0
$GC,711,-0.54,-146.6,76.7,-9.8,120,717,0.00,2.25,0.00,0.000,4,0.000,0.068,2497,3806,3566,0,0,0,0,0,0
$GC,741,-0.54,-146.6,79.9,-10.7,125,748,0.00,2.20,0.00,0.000,6,0.000,0.041,2497,2384,3566,0,0,0,0,0,0
$GC,888,-0.54,-146.6,95.3,-10.2,150,895,0.00,2.30,0.00,0.000,4,0.000,0.067,2487,3808,3565,0,0,0,0,0,0
$GC,946,-0.54,-146.6,102.1,-11.3,160,953,0.00,2.17,0.00,0.000,6,0.000,0.041,2487,2405,3566,0,0,0,0,0,0
$STATE,997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,998,begin apogee
$GC,1004,-0.16,0.0,108.0,-11.8,169,1117,0.45,0.00,105.35,0.780,6,0.130,0.000,2634,2278,2964,0,0,0,0,0,0
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1120,0.72,146.6,112.9,0.0,188,1241,0.85,2.33,108.22,0.749,4,0.089,0.058,2930,898,2366,0,0,0,0,0,0
$GC,1326,0.47,146.6,99.1,11.6,223,1334,0.32,2.30,0.00,0.000,6,0.153,0.047,2842,2307,2363,0,0,0,0,0,0
$GC,1473,0.60,182.7,87.7,7.6,248,1504,0.12,0.00,27.27,0.731,6,0.090,0.000,2893,2307,2220,0,0,0,0,0,0
$GC,1640,0.55,182.7,70.3,10.2,277,1647,0.00,2.25,0.00,0.000,4,0.000,0.057,2903,899,2217,0,0,0,0,0,0
$GC,1721,0.49,182.7,61.3,11.6,291,1729,0.20,2.25,0.00,0.000,6,0.155,0.048,2851,2305,2217,0,0,0,0,0,0
$GC,1865,0.63,192.7,49.0,8.7,316,1880,0.15,2.33,8.65,0.666,4,0.083,0.057,2922,897,2178,0,0,0,0,0,0
$GC,1921,0.53,192.7,42.9,12.2,325,1928,0.22,2.25,0.00,0.000,6,0.158,0.048,2862,2306,2177,0,0,0,0,0,0
$GC,2067,0.64,196.3,30.1,8.9,350,2075,0.12,0.00,2.97,0.412,6,0.090,0.000,2915,2305,2163,0,0,0,0,0,0
$GC,2214,0.54,196.3,14.3,11.1,375,2221,0.17,2.20,0.00,0.000,4,0.158,0.056,2878,905,2163,0,0,0,0,0,0
$GC,2302,0.72,238.6,6.5,7.3,390,2328,0.12,2.20,18.27,0.069,6,0.090,0.048,2934,2299,1991,0,0,0,0,0,0
$STATE,2355,end climb,SURFACE_DEPTH_REACHED
$STATE,2355,begin surface coast
$FINISH,0.8,1.018732
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2403,90.45,0.059,0,0,1129,450.13
$SM_GC,1.27,0.00,0.00,90.45,0.000,0.000,0.059,126,2418,1129,-8.01,0.48,450.13,0,0,0,0,0,0
$RAFOS_CLK,109
$RAFOS,1,1315463046,6.416667,6.401667,60,58,52,0,0,0,208,220,149,0,0,0
$RAFOS,0,1315461845,6.083333,6.068056,61,59,59,0,0,0,213,193,224,0,0,0
$RAFOS_FIX,4741.090820,-12146.910156,070911,232357,3,122,0.00
$IRIDIUM_FIX,4748.51,-12219.12,080911,050506
$TT8_MAMPS,0.026215,0.026215
$HUMID,60.31
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,33.9
$24V_AH,24.4,1.091
$10V_AH,10.6,1.891
$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,20.375,36.250,270.750,90.450,0.000,0.000,0.000,135.650,1.000,0.000,17.242,901.374,562.001,459.659,723.358,93.173,0.000,965.440,0.000,591.293,780.000,5.517,0.000
$DEVICE_MAMPS,254.745,81.855,780.300,58.905,0.000,0.000,0.000,226.961,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,271.203,296.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319484
$DATA_FILE_SIZE,13452,404
$CAP_FILE_SIZE,50827,0
$CFSIZE,260165632,253394944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.8
$GPS,080911,064542,4806.219,-12221.993,16,1.5,16,16.7