version: 66.06
glider: 143
mission: 10
dive: 483
start: 1 1 110 20 51 24
data:
$ID,143
$MISSION,10
$DIVE,483
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$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,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,120
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-46297.121
$T_RSLEEP,60
$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,45
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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
$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
$GPS1,204619,6738.498,-5645.659,6,1.5,12,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.9
$GPS2,205106,6738.445,-5645.696,12,1.4,28,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6733.045,-5621.205
$TGT_RADIUS,1852.000
$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,158.3,20000,-16.9,-9.167
$D_GRID,188
$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,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.93,0.000,2,0.000,0.000,128,2803,3152,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.0,-4.3,19,144,11.65,2.55,-6.55,0.000,4,0.302,0.097,2451,1192,3398,0,0,1,0,0,0
$GC,357,-0.73,-146.0,32.6,-11.3,62,362,0.00,2.42,0.00,0.000,6,0.000,0.073,2451,2799,3400,0,0,0,0,0,0
$GC,700,-0.77,-146.0,65.1,-9.2,123,705,0.00,2.92,0.00,0.000,4,0.000,0.094,2451,3923,3400,0,0,6,0,0,0
$GC,930,-0.86,-146.0,87.8,-9.7,164,937,0.12,2.78,0.00,0.000,6,0.123,0.065,2412,2794,3400,0,0,6,0,0,0
$GC,1267,-0.86,-146.0,123.6,-9.8,205,1272,0.00,2.90,0.00,0.000,4,0.000,0.091,2411,3925,3399,0,0,8,0,0,0
$GC,1421,-0.86,-146.0,138.7,-9.8,218,1425,0.00,2.78,0.00,0.000,6,0.000,0.064,2411,2792,3398,0,0,6,0,0,0
$GC,1745,-0.86,-146.0,169.6,-9.7,248,1750,0.00,2.92,0.00,0.000,4,0.000,0.089,2411,3925,3398,0,0,6,0,0,0
$GC,1912,-0.86,-146.0,186.0,-9.6,262,1918,0.00,2.75,0.00,0.000,6,0.000,0.062,2411,2796,3397,0,0,6,0,0,0
$STATE,1937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1937,begin apogee
$GC,1944,-0.16,0.0,188.5,9.8,265,2065,0.80,0.00,116.50,0.874,6,0.193,0.000,2628,2400,2799,0,0,0,0,0,0
$STATE,2065,end apogee,CONTROL_FINISHED_OK
$STATE,2065,begin climb
$GC,2068,0.73,146.0,192.1,0.0,277,2197,0.95,1.98,119.57,0.825,4,0.141,0.086,2917,799,2202,0,0,0,0,0,0
$GC,2225,0.73,146.0,182.1,9.9,291,2231,0.00,1.92,0.00,0.000,6,0.000,0.061,2918,2406,2200,0,0,0,0,0,0
$GC,2549,0.73,146.0,150.9,9.5,322,2559,0.00,3.92,0.00,0.000,4,0.000,0.081,2918,3923,2195,0,0,7,0,0,0
$GC,2617,0.63,146.0,143.6,11.7,328,2627,0.17,3.88,0.00,0.000,6,0.202,0.068,2897,2400,2195,0,0,6,0,0,0
$GC,2947,0.75,172.7,115.8,8.0,359,2978,0.12,4.00,21.67,0.777,4,0.126,0.081,2937,3917,2096,0,0,7,0,0,0
$GC,3062,0.64,172.7,102.1,12.7,369,3069,0.22,3.85,0.00,0.000,6,0.197,0.068,2902,2398,2094,0,0,5,0,0,0
$GC,3406,0.83,223.7,72.6,7.0,428,3458,0.17,4.05,43.05,0.764,4,0.110,0.081,2962,3929,1887,0,0,6,0,0,0
$GC,3514,0.72,223.7,59.7,14.0,448,3524,0.22,3.88,0.00,0.000,6,0.188,0.068,2926,2403,1884,0,0,6,0,0,0
$GC,3864,0.84,223.7,27.3,9.6,510,3871,0.12,3.92,0.00,0.000,4,0.124,0.081,2967,3933,1882,0,0,7,0,0,0
$GC,3957,0.73,223.7,15.5,13.4,526,3964,0.22,3.83,0.00,0.000,6,0.194,0.067,2930,2398,1882,0,0,6,0,0,0
$FREEZE,8.85,-0.322,-1.835,0,1,0
$FREEZE,8.36,-0.320,-1.835,0,1,0
$FREEZE,7.84,-0.319,-1.835,0,1,0
$FREEZE,7.35,-0.321,-1.834,0,1,0
$FREEZE,6.75,-0.320,-1.834,0,1,0
$FREEZE,6.29,-0.318,-1.834,0,1,0
$FREEZE,5.70,-0.310,-1.833,0,1,0
$FREEZE,5.23,-0.317,-1.833,0,1,0
$FREEZE,4.67,-0.315,-1.832,0,1,0
$FREEZE,4.15,-0.320,-1.832,0,1,0
$FREEZE,3.59,-0.320,-1.832,0,1,0
$FREEZE,3.05,-0.319,-1.831,0,1,0
$FREEZE,2.39,-0.319,-1.831,0,1,0
$FREEZE,1.75,-0.308,-1.830,0,1,0
$STATE,4092,end climb,SURFACE_DEPTH_REACHED
$STATE,4093,begin surface coast
$FREEZE,1.30,-0.315,-1.830,0,1,0
$FREEZE,0.61,-0.312,-1.829,0,1,0
$FREEZE,0.45,-0.318,-0.954,0,1,0
$FINISH,0.5,1.014102
$STATE,4111,end surface coast,CONTROL_FINISHED_OK
$STATE,4111,begin surface
$SM_CCo,4129,60.72,0.726,0,0,1474,325.02
$SM_GC,1.38,0.00,0.00,60.72,0.000,0.000,0.726,125,2804,1474,-8.01,0.11,325.02
$RAFOS_CLK,257
$RAFOS,5,1262378464,20.700001,20.684444,70,61,61,0,0,0,152,196,208,0,0,0
$RAFOS_FIX,6728.032227,-5800.452148,271209,161644,2,78,0.00
$IRIDIUM_FIX,6709.50,-5645.28,280399,191943
$TT8_MAMPS,0.027612
$HUMID,47.67
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,22.9,79.765
$10V_AH,10.1,41.318
$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,23.000,59.325,300.800,60.725,0.000,22.063,32.514,109.093,1.000,0.000,29.533,877.530,1953.232,447.264,914.402,289.459,0.000,954.811,0.000,886.915,0.000,2.619,0.000
$DEVICE_MAMPS,302.198,97.409,873.613,725.582,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.770,371.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152584
$DATA_FILE_SIZE,22174,553
$CAP_FILE_SIZE,62148,0
$CFSIZE,260165632,216076288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,89,0,0
$SOUNDSPEED,1457.6
$GPS,010110,220214,6738.076,-5645.242,13,1.9,14,-38.3