version: 66.09
glider: 143
mission: 13
dive: 4
start: 10 7 111 20 57 8
data:
$ID,143
$MISSION,13
$DIVE,4
$N_DIVES,5
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$D_ABORT,400
$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,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,4
$CALL_WAIT,20
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80423
$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,2456
$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,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$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
$GPS1,071011,205226,6638.032,-6040.703,19,1.2,19,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.8
$GPS2,071011,205637,6637.965,-6040.715,19,1.4,19,-33.8
$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,108.4,174332,-18.3,-10.000
$D_GRID,446
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-119.18,0.000,2,0.000,0.000,126,2406,2685,0,0,0,0,0,0
$GC,142,-0.77,-146.0,3.9,-8.6,21,173,8.77,2.35,-16.38,0.000,4,0.267,0.084,2203,1012,3346,0,0,1,0,0,0
$GC,337,-0.77,-146.0,39.8,-14.6,55,344,0.00,2.35,0.00,0.000,6,0.000,0.080,2194,2398,3348,0,0,1,0,0,0
$GC,547,-0.77,-146.0,70.6,-14.0,92,554,0.00,2.42,0.00,0.000,4,0.000,0.093,2183,3820,3348,0,0,0,0,0,0
$GC,656,-0.77,-146.0,86.7,-14.6,111,663,0.00,2.22,0.00,0.000,6,0.000,0.047,2183,2417,3349,0,0,1,0,0,0
$GC,867,-0.77,-146.0,116.8,-14.6,138,871,0.00,2.42,0.00,0.000,4,0.000,0.093,2173,3809,3348,0,0,0,0,0,0
$GC,906,-0.77,-146.0,122.9,-14.7,141,911,0.15,2.17,0.00,0.000,6,0.177,0.047,2210,2420,3349,0,0,1,0,0,0
$GC,1126,-0.77,-146.0,151.3,-12.5,161,1131,0.00,2.42,0.00,0.000,4,0.000,0.093,2202,3812,3349,0,0,0,0,0,0
$GC,1212,-0.77,-146.0,162.7,-13.0,168,1216,0.00,2.20,0.00,0.000,6,0.000,0.046,2201,2417,3348,0,0,1,0,0,0
$GC,1431,-0.77,-146.0,189.7,-12.2,188,1435,0.00,2.42,0.00,0.000,4,0.000,0.093,2191,3811,3348,0,0,0,0,0,0
$GC,1496,-0.77,-146.0,197.4,-12.6,193,1504,0.00,2.20,0.00,0.000,6,0.000,0.046,2191,2430,3348,0,0,1,0,0,0
$GC,1716,-0.77,-146.0,226.7,-13.2,214,1720,0.00,2.38,0.00,0.000,4,0.000,0.093,2181,3812,3348,0,0,0,0,0,0
$GC,1737,-0.77,-146.0,229.1,-13.6,215,1744,0.00,2.05,0.00,0.000,6,0.000,0.045,2181,2521,3348,0,0,1,0,0,0
$GC,1956,-0.77,-146.0,260.6,-13.3,236,1960,0.00,2.22,0.00,0.000,4,0.000,0.093,2172,3818,3347,0,0,0,0,0,0
$GC,1978,-0.77,-146.0,263.1,-13.4,237,1985,0.10,1.98,0.00,0.000,6,0.161,0.045,2202,2571,3347,0,0,1,0,0,0
$STATE,2036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2036,begin apogee
$GC,2041,-0.16,0.0,271.1,-11.5,243,2163,0.60,0.00,113.57,1.079,4,0.145,0.000,2394,2287,2748,0,0,0,0,0,0
$STATE,2164,end apogee,CONTROL_FINISHED_OK
$STATE,2164,begin climb
$GC,2166,0.77,146.0,277.4,0.0,254,2299,0.93,2.45,119.45,1.021,4,0.072,0.072,2706,893,2150,0,0,0,0,0,0
$GC,2551,0.80,173.5,263.3,8.7,288,2580,0.00,2.45,21.75,0.994,6,0.000,0.072,2705,2313,2040,0,0,1,0,0,0
$GC,2792,0.81,179.6,239.7,9.7,311,2804,0.00,2.45,5.90,0.849,4,0.000,0.070,2716,897,2014,0,0,0,0,0,0
$GC,3057,0.81,180.5,212.7,10.0,334,3064,0.00,2.40,0.00,0.000,6,0.000,0.072,2716,2306,2013,0,0,1,0,0,0
$GC,3276,0.84,202.1,191.0,9.0,355,3302,0.00,2.47,18.95,0.991,4,0.000,0.072,2726,895,1923,0,0,1,0,0,0
$GC,3557,0.84,202.1,161.8,10.7,380,3561,0.00,2.38,0.00,0.000,6,0.000,0.073,2726,2299,1920,0,0,1,0,0,0
$GC,3777,0.84,203.7,139.6,9.9,400,3781,0.00,2.38,0.00,0.000,4,0.000,0.073,2736,897,1919,0,0,0,0,0,0
$GC,3851,0.84,203.7,131.8,10.4,406,3856,0.00,2.35,0.00,0.000,6,0.000,0.074,2736,2298,1919,0,0,1,0,0,0
$GC,4071,0.84,206.2,109.6,9.9,426,4083,0.00,2.38,4.35,0.690,4,0.000,0.073,2746,895,1906,0,0,1,0,0,0
$GC,4209,0.84,206.2,95.1,10.3,441,4216,0.00,2.22,0.00,0.000,6,0.000,0.073,2746,2218,1906,0,0,1,0,0,0
$GC,4419,0.87,225.1,73.9,9.1,478,4444,0.00,2.28,16.92,0.955,4,0.000,0.074,2755,898,1830,0,0,0,0,0,0
$GC,4496,0.87,225.1,66.1,11.0,491,4503,0.00,2.12,0.00,0.000,6,0.000,0.072,2755,2155,1827,0,0,1,0,0,0
$GC,4706,0.87,225.1,43.8,10.5,528,4713,0.00,2.67,0.00,0.000,4,0.000,0.086,2755,3708,1826,0,0,0,0,0,0
$GC,4759,0.87,225.1,37.7,11.3,537,4767,0.12,2.58,0.00,0.000,6,0.209,0.058,2741,2157,1825,0,0,1,0,0,0
$GC,4970,1.01,345.4,23.5,4.5,574,5042,0.12,2.22,65.47,0.875,4,0.111,0.078,2789,903,1337,0,0,0,0,0,0
$STATE,5142,end climb,SURFACE_DEPTH_REACHED
$STATE,5142,begin surface coast
$FINISH,0.7,1.013912
$STATE,5154,end surface coast,CONTROL_FINISHED_OK
$STATE,5154,begin surface
$SM_CCo,5174,33.00,0.084,0,0,1035,420.20
$SM_GC,1.89,7.68,2.67,33.00,0.066,0.076,0.084,121,2403,1035,-7.25,-0.48,420.20,0,0,1,0,0,0
$RAFOS_CLK,324
$RAFOS,4,1318019586,20.566668,20.551666,72,67,63,0,0,0,204,787,187,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6609.62,-6043.56,071011,202030
$TT8_MAMPS,0.026964,0.026964
$HUMID,69.72
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.10
$XPDR_PINGS,58
$24V_AH,23.6,2.108
$10V_AH,10.3,2.797
$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,18.475,70.750,366.375,33.000,0.000,0.000,0.000,0.000,14.500,0.000,20.961,1393.374,2198.445,509.045,1106.338,94.785,0.000,1135.571,0.000,1076.087,0.000,0.991,0.000
$DEVICE_MAMPS,266.985,93.330,1079.415,84.150,0.000,0.000,0.000,0.000,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.729,411.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150496
$DATA_FILE_SIZE,23418,606
$CAP_FILE_SIZE,90929,0
$CFSIZE,260165632,247463936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,1
$SOUNDSPEED,1445.0
$GPS,071011,222506,6638.247,-6039.660,26,1.7,26,-33.8