version: 66.06
glider: 143
mission: 10
dive: 53
start: 10 28 109 1 37 49
data:
$ID,143
$MISSION,10
$DIVE,53
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,200
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23907.67
$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,2390
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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,20
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,013055,6712.396,-5804.945,72,1.4,72,-38.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.3
$GPS2,013732,6712.292,-5804.909,11,1.4,11,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6702.144,-5814.376
$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,238.1,20000,-16.9,-9.167
$D_GRID,924
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.74,-146.0,0.0,0.0,0,103,0.00,0.00,-83.80,0.000,2,0.000,0.000,129,2402,3106,0,0,0,0,0,0
$GC,105,-0.74,-146.0,3.5,-7.0,17,132,9.88,2.65,-7.78,0.000,4,0.308,0.108,2143,3907,3398,0,0,0,0,0,0
$GC,368,-0.74,-146.0,44.8,-14.3,64,374,0.00,2.47,0.00,0.000,6,0.000,0.065,2143,2390,3400,0,0,0,0,0,0
$GC,545,-0.74,-146.0,66.3,-10.5,95,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2390,3401,0,0,0,0,0,0
$GC,719,-0.74,-146.0,86.8,-11.7,126,724,0.00,2.60,0.00,0.000,4,0.000,0.094,2143,3923,3401,0,0,0,0,0,0
$GC,764,-0.74,-146.0,92.2,-11.6,134,769,0.00,2.45,0.00,0.000,6,0.000,0.066,2143,2409,3401,0,0,0,0,0,0
$GC,933,-0.74,-146.0,110.4,-10.5,156,937,0.00,2.55,0.00,0.000,4,0.000,0.094,2142,3917,3401,0,0,0,0,0,0
$GC,976,-0.74,-146.0,115.2,-10.5,159,982,0.00,2.47,0.00,0.000,6,0.000,0.065,2143,2410,3400,0,0,0,0,0,0
$GC,1428,-0.74,-146.0,162.4,-10.1,202,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2410,3401,0,0,0,0,0,0
$GC,1874,-0.74,-146.0,205.7,-8.5,244,1879,0.00,2.53,0.00,0.000,4,0.000,0.094,2143,3912,3400,0,0,0,0,0,0
$GC,1948,-0.74,-146.0,212.2,-8.7,250,1952,0.00,2.40,0.00,0.000,6,0.000,0.067,2143,2418,3400,0,0,0,0,0,0
$GC,2400,-0.74,-146.0,251.3,-8.6,292,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2418,3400,0,0,0,0,0,0
$GC,2845,-0.74,-146.0,292.2,-9.3,334,2849,0.00,2.50,0.00,0.000,4,0.000,0.093,2143,3917,3400,0,0,0,0,0,0
$GC,3024,-0.74,-146.0,308.9,-8.8,350,3028,0.00,2.40,0.00,0.000,6,0.000,0.065,2143,2409,3399,0,0,0,0,0,0
$GC,3476,-0.74,-146.0,347.8,-8.6,392,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2409,3400,0,0,0,0,0,0
$GC,3922,-0.74,-146.0,385.6,-8.7,434,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2410,3401,0,0,0,0,0,0
$GC,4369,-0.74,-146.0,427.7,-9.6,476,4374,0.00,2.50,0.00,0.000,4,0.000,0.092,2143,3920,3401,0,0,0,0,0,0
$GC,4453,-0.74,-146.0,436.1,-10.1,483,4457,0.00,2.38,0.00,0.000,6,0.000,0.064,2143,2421,3401,0,0,0,0,0,0
$GC,4905,-0.74,-146.0,477.4,-8.7,525,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2421,3401,0,0,0,0,0,0
$GC,5351,-0.74,-146.0,513.4,-7.5,567,5355,0.00,2.47,0.00,0.000,4,0.000,0.092,2143,3918,3401,0,0,0,0,0,0
$GC,5412,-0.74,-146.0,518.2,-7.8,572,5417,0.00,2.38,0.00,0.000,6,0.000,0.064,2143,2415,3401,0,0,0,0,0,0
$GC,5864,-0.74,-146.0,554.9,-8.4,614,5868,0.00,2.58,0.00,0.000,4,0.000,0.085,2143,806,3401,0,0,0,0,0,0
$GC,5907,-0.74,-146.0,558.8,-8.6,617,5913,0.00,2.60,0.00,0.000,6,0.000,0.076,2143,2431,3401,0,0,0,0,0,0
$GC,6360,-0.74,-146.0,596.1,-8.6,660,6364,0.00,2.42,0.00,0.000,4,0.000,0.093,2143,3910,3401,0,0,0,0,0,0
$GC,6427,-0.74,-146.0,602.0,-8.7,665,6431,0.00,2.35,0.00,0.000,6,0.000,0.066,2143,2425,3401,0,0,0,0,0,0
$GC,6883,-0.74,-146.0,640.2,-8.6,680,6888,0.00,2.58,0.00,0.000,4,0.000,0.085,2143,813,3401,0,0,0,0,0,0
$GC,6911,-0.74,-146.0,642.8,-9.6,681,6915,0.00,2.60,0.00,0.000,6,0.000,0.077,2143,2434,3402,0,0,0,0,0,0
$GC,7367,-0.74,-146.0,678.7,-7.5,696,7372,0.00,2.42,0.00,0.000,4,0.000,0.094,2143,3910,3401,0,0,0,0,0,0
$GC,7400,-0.74,-146.0,681.6,-8.4,697,7404,0.00,2.35,0.00,0.000,6,0.000,0.064,2143,2421,3401,0,0,0,0,0,0
$GC,7858,-0.74,-146.0,715.4,-7.1,712,7862,0.00,2.47,0.00,0.000,4,0.000,0.094,2143,3913,3401,0,0,0,0,0,0
$GC,7935,-0.74,-146.0,721.4,-7.4,714,7939,0.00,2.35,0.00,0.000,6,0.000,0.065,2143,2427,3401,0,0,0,0,0,0
$GC,8381,-0.74,-146.0,755.6,-8.0,729,8385,0.00,2.60,0.00,0.000,4,0.000,0.086,2143,804,3401,0,0,0,0,0,0
$GC,8408,-0.74,-146.0,758.1,-9.5,730,8413,0.00,2.62,0.00,0.000,6,0.000,0.077,2143,2440,3401,0,0,0,0,0,0
$GC,8865,-0.74,-146.0,798.0,-9.3,745,8870,0.00,2.42,0.00,0.000,4,0.000,0.097,2143,3909,3400,0,0,0,0,0,0
$GC,8937,-0.74,-146.0,804.9,-9.1,747,8942,0.00,2.33,0.00,0.000,6,0.000,0.067,2143,2442,3400,0,0,0,0,0,0
$GC,9389,-0.74,-146.0,842.4,-7.7,762,9394,0.00,2.62,0.00,0.000,4,0.000,0.087,2143,808,3400,0,0,0,0,0,0
$GC,9417,-0.74,-146.0,844.6,-8.5,763,9421,0.00,2.62,0.00,0.000,6,0.000,0.077,2143,2443,3400,0,0,0,0,0,0
$STATE,9749,end dive,NO_VERTICAL_VELOCITY
$STATE,9749,begin apogee
$GC,9755,-0.17,0.0,851.3,0.0,774,9881,0.62,0.00,122.80,1.318,6,0.145,0.000,2338,1993,2800,0,0,0,0,0,0
$STATE,9881,end apogee,CONTROL_FINISHED_OK
$STATE,9882,begin climb
$GC,9883,0.74,146.0,851.1,0.0,778,10020,0.95,2.95,127.85,1.262,4,0.128,0.092,2633,419,2203,0,0,0,0,0,0
$GC,10047,0.74,146.0,837.5,11.9,783,10052,0.00,2.85,0.00,0.000,6,0.000,0.071,2633,1996,2200,0,0,0,0,0,0
$GC,10493,0.74,146.0,783.0,11.8,798,10494,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1996,2193,0,0,0,0,0,0
$GC,10922,0.74,146.0,732.2,11.7,812,10926,0.00,2.70,0.00,0.000,4,0.000,0.094,2645,405,2191,0,0,0,0,0,0
$GC,11004,0.74,146.0,722.0,12.5,814,11009,0.00,2.65,0.00,0.000,6,0.000,0.074,2645,2018,2190,0,0,0,0,0,0
$GC,11444,0.74,146.0,668.1,12.7,829,11449,0.00,2.70,0.00,0.000,4,0.000,0.095,2657,414,2190,0,0,0,0,0,0
$GC,11466,0.74,146.0,665.0,14.0,829,11472,0.00,2.58,0.00,0.000,6,0.000,0.076,2657,1992,2190,0,0,0,0,0,0
$GC,11901,0.74,146.0,606.5,13.7,844,11905,0.00,2.65,0.00,0.000,4,0.000,0.097,2669,404,2189,0,0,0,0,0,0
$GC,11932,0.74,146.0,601.8,13.8,845,11937,0.17,2.58,0.00,0.000,6,0.216,0.075,2630,1991,2189,0,0,0,0,0,0
$GC,12386,0.74,146.0,546.2,12.4,886,12391,0.00,2.62,0.00,0.000,4,0.000,0.095,2639,411,2188,0,0,0,0,0,0
$GC,12448,0.74,146.0,538.2,12.5,891,12452,0.00,2.53,0.00,0.000,6,0.000,0.074,2639,1979,2188,0,0,0,0,0,0
$GC,12899,0.74,146.0,484.7,11.1,933,12904,0.00,2.60,0.00,0.000,4,0.000,0.095,2651,408,2188,0,0,0,0,0,0
$GC,12926,0.74,146.0,481.5,11.6,935,12931,0.00,2.53,0.00,0.000,6,0.000,0.075,2651,1979,2188,0,0,0,0,0,0
$GC,13378,0.74,146.0,427.5,11.8,977,13382,0.00,2.60,0.00,0.000,4,0.000,0.094,2663,407,2187,0,0,0,0,0,0
$GC,13428,0.74,146.0,421.3,13.2,981,13433,0.15,2.50,0.00,0.000,6,0.213,0.073,2629,1968,2187,0,0,0,0,0,0
$GC,13879,0.74,146.0,369.7,11.7,1023,13880,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1968,2187,0,0,0,0,0,0
$GC,14325,0.74,146.0,318.6,10.9,1065,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1968,2187,0,0,0,0,0,0
$GC,14771,0.74,146.0,269.1,10.4,1107,14775,0.00,2.55,0.00,0.000,4,0.000,0.094,2639,415,2187,0,0,0,0,0,0
$GC,14815,0.74,146.0,264.2,11.5,1111,14820,0.00,2.47,0.00,0.000,6,0.000,0.072,2638,1969,2187,0,0,0,0,0,0
$GC,15267,0.74,146.0,214.0,11.5,1153,15271,0.00,2.62,0.00,0.000,4,0.000,0.088,2638,3589,2187,0,0,0,0,0,0
$GC,15299,0.74,146.0,209.9,12.8,1155,15305,0.00,2.62,0.00,0.000,6,0.000,0.074,2650,1961,2187,0,0,0,0,0,0
$GC,15751,0.74,146.0,160.1,10.9,1198,15756,0.00,2.70,0.00,0.000,4,0.000,0.088,2651,3597,2187,0,0,0,0,0,0
$GC,15801,0.74,146.0,154.2,11.6,1202,15806,0.15,2.62,0.00,0.000,6,0.212,0.075,2630,1966,2186,0,0,0,0,0,0
$GC,16253,0.74,146.9,113.1,9.1,1244,16257,0.00,2.53,0.00,0.000,4,0.000,0.093,2639,408,2187,0,0,0,0,0,0
$GC,16291,0.74,147.0,109.5,9.2,1247,16296,0.00,2.47,0.00,0.000,6,0.000,0.071,2639,1970,2188,0,0,0,0,0,0
$GC,16763,0.76,162.8,68.2,8.5,1322,16785,0.00,2.72,12.20,0.786,4,0.000,0.089,2639,3587,2135,0,0,0,0,0,0
$GC,16824,0.76,162.8,62.1,10.4,1333,16830,0.00,2.62,0.00,0.000,6,0.000,0.077,2651,1971,2134,0,0,0,0,0,0
$GC,16998,0.76,163.0,44.1,9.2,1364,17003,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1971,2134,0,0,0,0,0,0
$GC,17173,0.81,200.3,29.8,7.6,1395,17209,0.00,0.00,31.30,0.791,6,0.000,0.000,2651,1970,1982,0,0,0,0,0,0
$GC,17378,0.81,200.3,13.1,10.6,1432,17383,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1971,1976,0,0,0,0,0,0
$STATE,17532,end climb,SURFACE_DEPTH_REACHED
$STATE,17533,begin surface coast
$FINISH,0.4,1.014585
$STATE,17561,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
$SM_CCo,17578,53.67,0.769,0,0,1677,275.23
$SM_GC,1.24,0.00,0.00,53.67,0.000,0.000,0.769,128,2400,1677,-7.07,0.00,275.23
$RAFOS_CLK,1155
$RAFOS,6,1256705369,4.833333,4.824722,121,65,61,0,0,0,496,191,173,0,0,0
$RAFOS,5,1256704861,4.700000,4.683611,60,60,55,0,0,0,147,194,206,0,0,0
$RAFOS,4,1256704391,4.566667,4.553056,66,62,58,0,0,0,157,169,213,0,0,0
$RAFOS,3,1256703904,4.433333,4.417778,67,59,56,0,0,0,200,220,184,0,0,0
$RAFOS,2,1256703434,4.300000,4.287222,60,60,59,0,0,0,116,215,193,0,0,0
$RAFOS,1,1256702950,4.166667,4.152778,57,55,54,0,0,0,206,162,194,0,0,0
$RAFOS,0,1256702486,4.033333,4.023889,69,66,56,0,0,0,210,186,198,0,0,0
$RAFOS_FIX,6711.594238,-5805.788086,271009,202000,2,109,8.29
$IRIDIUM_FIX,6647.44,-5752.61,210199,202017
$TT8_MAMPS,0.026845
$HUMID,49.09
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.80
$XPDR_PINGS,4
$24V_AH,22.8,20.912
$10V_AH,10.2,10.043
$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,19.325,139.175,294.150,53.675,0.000,24.763,32.061,220.308,1.000,0.000,13.185,2484.994,12155.440,489.715,2416.777,472.020,0.000,1722.611,0.000,2379.755,2520.000,0.533,0.000
$DEVICE_MAMPS,308.334,108.147,1317.706,769.301,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.723,1031.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150592
$DATA_FILE_SIZE,56769,1465
$CAP_FILE_SIZE,160609,0
$CFSIZE,260165632,247025664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.1
$GPS,281009,063307,6709.794,-5806.844,40,1.0,40,-38.1