version: 66.06
glider: 143
mission: 10
dive: 151
start: 11 17 109 21 46 45
data:
$ID,143
$MISSION,10
$DIVE,151
$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,225
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,325
$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,-30324.299
$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,31
$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,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,20
$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,20
$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
$GPS1,214125,6700.063,-5720.707,38,1.3,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.0
$GPS2,214626,6700.066,-5720.667,11,1.2,11,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$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,69.6,24209,-16.9,-9.167
$D_GRID,786
$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,15,-0.73,-146.0,0.0,0.0,0,121,0.00,0.00,-103.38,0.000,2,0.000,0.000,123,2461,3176,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.7,-6.6,20,146,10.07,2.65,-5.68,0.000,4,0.311,0.092,2146,865,3398,0,0,0,0,0,0
$GC,264,-0.73,-146.0,48.0,-30.5,45,271,0.00,2.62,0.00,0.000,6,0.000,0.077,2146,2467,3400,0,0,0,0,0,0
$GC,598,-0.73,-146.0,142.6,-26.6,91,603,0.00,2.47,0.00,0.000,4,0.000,0.089,2146,3917,3400,0,0,0,0,0,0
$GC,855,-0.73,-146.0,211.0,-25.7,113,863,0.00,2.45,0.00,0.000,6,0.000,0.067,2146,2460,3400,0,0,0,0,0,0
$GC,1180,-0.73,-146.0,288.1,-22.8,144,1185,0.00,2.53,0.00,0.000,4,0.000,0.091,2146,3917,3400,0,0,0,0,0,0
$GC,1388,-0.73,-146.0,336.2,-23.4,162,1392,0.00,2.38,0.00,0.000,6,0.000,0.067,2146,2475,3399,0,0,0,0,0,0
$GC,1712,-0.73,-146.0,408.1,-21.7,192,1716,0.00,2.45,0.00,0.000,4,0.000,0.090,2147,3908,3400,0,0,0,0,0,0
$GC,1830,-0.73,-146.0,434.0,-21.8,202,1834,0.00,2.35,0.00,0.000,6,0.000,0.067,2146,2479,3399,0,0,0,0,0,0
$GC,2154,-0.73,-146.0,502.3,-20.7,232,2158,0.00,2.45,0.00,0.000,4,0.000,0.089,2147,3916,3400,0,0,0,0,0,0
$GC,2317,-0.73,-146.0,536.3,-21.1,246,2322,0.00,2.35,0.00,0.000,6,0.000,0.066,2147,2481,3400,0,0,0,0,0,0
$GC,2662,-0.73,-146.0,606.3,-19.7,276,2666,0.00,2.42,0.00,0.000,4,0.000,0.088,2146,3910,3400,0,0,0,0,0,0
$GC,2738,-0.73,-146.0,622.9,-21.4,278,2743,0.00,2.35,0.00,0.000,6,0.000,0.065,2146,2496,3400,0,0,0,0,0,0
$GC,3062,-0.73,-146.0,688.6,-20.2,289,3066,0.00,2.40,0.00,0.000,4,0.000,0.088,2146,3910,3400,0,0,0,0,0,0
$GC,3146,-0.73,-146.0,706.5,-20.6,291,3150,0.00,2.30,0.00,0.000,6,0.000,0.066,2146,2503,3400,0,0,0,0,0,0
$GC,3458,-0.73,-146.0,766.4,-19.2,301,3462,0.00,2.40,0.00,0.000,4,0.000,0.089,2146,3916,3400,0,0,0,0,0,0
$STATE,3555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3555,begin apogee
$GC,3563,-0.16,0.0,787.0,20.7,304,3688,0.73,0.00,121.55,1.269,6,0.249,0.000,2324,1948,2800,0,0,0,0,0,0
$STATE,3689,end apogee,CONTROL_FINISHED_OK
$STATE,3689,begin climb
$GC,3691,0.73,146.0,800.7,0.0,308,3826,1.17,2.90,127.65,1.213,4,0.221,0.089,2609,366,2204,0,0,0,0,0,0
$GC,3927,0.79,202.3,787.7,6.8,315,3983,0.12,2.67,49.75,1.178,6,0.194,0.064,2637,1955,1975,0,0,0,0,0,0
$GC,4306,0.79,202.3,756.1,9.2,328,4311,0.00,2.75,0.00,0.000,4,0.000,0.082,2637,3545,1968,0,0,0,0,0,0
$GC,4368,0.82,222.0,750.7,8.3,330,4392,0.00,2.67,17.15,1.128,6,0.000,0.067,2638,1968,1894,0,0,0,0,0,0
$GC,4706,0.82,222.0,719.9,9.6,341,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1968,1891,0,0,0,0,0,0
$GC,5011,0.82,222.0,689.6,10.0,351,5016,0.00,2.65,0.00,0.000,4,0.000,0.083,2638,3536,1889,0,0,0,0,0,0
$GC,5128,0.82,222.0,678.3,9.4,354,5133,0.00,2.60,0.00,0.000,6,0.000,0.070,2638,1994,1889,0,0,0,0,0,0
$GC,5447,0.85,245.6,651.9,8.2,365,5477,0.00,2.67,21.33,1.136,4,0.000,0.084,2638,3543,1796,0,0,0,0,0,0
$GC,5516,0.85,248.8,645.9,9.0,367,5525,0.00,2.78,4.07,0.755,6,0.000,0.070,2638,1891,1784,0,0,0,0,0,0
$GC,5850,0.86,255.0,616.4,8.9,378,5864,0.00,2.88,6.82,0.965,4,0.000,0.083,2638,3543,1759,0,0,0,0,0,0
$GC,5977,0.87,261.5,605.0,8.9,381,5991,0.00,2.92,7.53,0.983,6,0.000,0.072,2638,1791,1733,0,0,0,0,0,0
$GC,6312,0.89,277.0,576.4,8.5,409,6334,0.12,2.38,15.35,1.081,4,0.166,0.091,2672,359,1669,0,0,0,0,0,0
$GC,6415,0.89,282.8,567.2,8.9,418,6427,0.00,2.53,6.10,0.909,6,0.000,0.065,2672,1946,1646,0,0,0,0,0,0
$GC,6746,0.89,282.8,533.2,11.0,449,6750,0.00,2.62,0.00,0.000,4,0.000,0.092,2672,357,1644,0,0,0,0,0,0
$GC,6818,0.90,285.7,525.6,9.0,455,6822,0.00,2.53,0.00,0.000,6,0.000,0.067,2672,1952,1642,0,0,0,0,0,0
$GC,7142,0.90,285.7,493.3,11.4,485,7146,0.00,2.65,0.00,0.000,4,0.000,0.086,2673,3535,1642,0,0,0,0,0,0
$GC,7270,0.90,285.7,478.9,10.7,496,7275,0.00,2.58,0.00,0.000,6,0.000,0.071,2672,1978,1642,0,0,0,0,0,0
$GC,7595,0.90,285.7,441.9,11.9,526,7600,0.00,2.62,0.00,0.000,4,0.000,0.084,2672,3541,1642,0,0,0,0,0,0
$GC,7769,0.90,285.7,422.2,11.7,541,7774,0.00,2.58,0.00,0.000,6,0.000,0.071,2672,1982,1642,0,0,0,0,0,0
$GC,8094,0.90,285.7,384.0,12.8,571,8099,0.00,2.60,0.00,0.000,4,0.000,0.084,2672,3534,1642,0,0,0,0,0,0
$GC,8223,0.90,285.7,368.3,12.2,582,8227,0.00,2.55,0.00,0.000,6,0.000,0.071,2672,1986,1642,0,0,0,0,0,0
$GC,8548,0.90,285.7,328.5,12.2,612,8553,0.00,2.60,0.00,0.000,4,0.000,0.084,2672,3536,1642,0,0,0,0,0,0
$GC,8666,0.90,285.7,314.6,11.8,622,8670,0.00,2.53,0.00,0.000,6,0.000,0.071,2672,2002,1642,0,0,0,0,0,0
$GC,8991,0.90,285.7,278.7,11.0,652,8996,0.00,2.58,0.00,0.000,4,0.000,0.084,2672,3542,1642,0,0,0,0,0,0
$GC,9023,0.90,285.7,275.3,9.8,654,9029,0.00,2.53,0.00,0.000,6,0.000,0.071,2672,2004,1642,0,0,0,0,0,0
$GC,9348,0.90,285.7,244.0,9.6,685,9352,0.00,2.65,0.00,0.000,4,0.000,0.091,2672,362,1642,0,0,0,0,0,0
$GC,9402,0.90,285.7,238.6,9.4,689,9409,0.00,2.58,0.00,0.000,6,0.000,0.066,2672,2014,1642,0,0,0,0,0,0
$GC,9728,0.90,285.7,210.1,9.2,720,9733,0.00,2.53,0.00,0.000,4,0.000,0.084,2673,3538,1642,0,0,0,0,0,0
$GC,9960,0.90,285.7,186.1,11.5,740,9964,0.00,2.53,0.00,0.000,6,0.000,0.071,2672,1998,1641,0,0,0,0,0,0
$GC,10286,0.90,285.7,151.6,10.3,770,10291,0.00,2.55,0.00,0.000,4,0.000,0.082,2672,3535,1642,0,0,0,0,0,0
$GC,10471,0.91,296.4,133.5,8.7,786,10492,0.00,2.50,12.18,0.801,6,0.000,0.070,2672,2007,1590,0,0,0,0,0,0
$GC,10811,0.91,296.4,102.2,9.4,818,10816,0.00,2.58,0.00,0.000,4,0.000,0.084,2672,3539,1588,0,0,0,0,0,0
$GC,10895,0.92,306.2,94.5,8.8,830,10911,0.00,2.28,9.52,0.761,6,0.000,0.067,2672,2151,1551,0,0,0,0,0,0
$GC,11248,0.96,339.1,65.0,7.8,893,11284,0.00,2.42,28.45,0.784,4,0.000,0.084,2672,3534,1417,0,0,0,0,0,0
$GC,11302,0.96,339.1,60.1,9.3,903,11308,0.00,2.60,0.00,0.000,6,0.000,0.069,2672,1949,1414,0,0,0,0,0,0
$GC,11644,0.96,340.5,28.2,9.1,964,11649,0.00,2.70,0.00,0.000,4,0.000,0.083,2672,3534,1411,0,0,0,0,0,0
$GC,11660,0.96,340.5,26.5,9.3,967,11666,0.00,2.40,0.00,0.000,6,0.000,0.066,2673,2082,1411,0,0,0,0,0,0
$STATE,11939,end climb,SURFACE_DEPTH_REACHED
$STATE,11939,begin surface coast
$FINISH,0.5,1.005235
$STATE,11958,end surface coast,CONTROL_FINISHED_OK
$STATE,11958,begin surface
$SM_CCo,12033,0.00,0.000,0,0,1408,341.46
$SM_GC,1.38,7.15,0.00,0.00,0.067,0.000,0.000,126,2473,1408,-7.03,0.37,341.46
$RAFOS_CLK,762
$RAFOS,6,1258505342,0.833333,0.817222,122,59,52,0,0,0,778,209,158,0,0,0
$RAFOS,5,1258504863,0.700000,0.684167,147,62,56,0,0,0,583,204,215,0,0,0
$RAFOS,4,1258504389,0.566667,0.552500,123,59,58,0,0,0,777,542,205,0,0,0
$RAFOS,3,1258503907,0.433333,0.418611,103,58,57,0,0,0,916,191,174,0,0,0
$RAFOS,2,1258503422,0.300000,0.283889,122,64,60,0,0,0,1008,220,135,0,0,0
$RAFOS,1,1258502950,0.166667,0.152778,99,60,58,0,0,0,943,210,221,0,0,0
$RAFOS,0,1258502464,0.033333,0.017778,60,58,58,0,0,0,117,163,188,0,0,0
$RAFOS_FIX,6657.195312,-5726.711914,181109,000017,6,119,0.70
$IRIDIUM_FIX,6636.54,-5814.88,110299,181815
$TT8_MAMPS,0.026845
$HUMID,48.70
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.70
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.9,19.6
$24V_AH,22.8,37.156
$10V_AH,10.2,18.997
$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,19.375,134.150,427.450,0.000,0.000,22.438,32.346,136.131,3.500,0.000,13.279,1995.012,7454.145,556.573,1982.030,363.034,0.000,1595.995,0.000,1946.959,2520.000,2.623,0.000
$DEVICE_MAMPS,311.402,92.040,1268.618,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.441,727.573,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188008
$DATA_FILE_SIZE,44107,1020
$CAP_FILE_SIZE,130085,0
$CFSIZE,260165632,238194688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$CURRENT,1.467,216.6,1
$GPS,181109,003117,6657.195,-5726.712,0,6119.3,0,-37.6