version: 66.06
glider: 143
mission: 10
dive: 222
start: 12 1 109 6 20 12
data:
$ID,143
$MISSION,10
$DIVE,222
$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,-2
$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,-1
$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,-35332.465
$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,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$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,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
$GPS1,043138,6641.035,-5944.564,0,6102.2,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.50
$_SM_ANGLEo,-2.4
$GPS2,043138,6641.035,-5944.564,0,6102.2,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,318.1,30806,-16.9,-9.167
$D_GRID,764
$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,-0.73,-146.0,0.0,0.0,0,23,0.00,0.00,-5.70,0.000,2,0.000,0.000,2725,361,2674,0,0,0,0,0,0
$GC,26,-0.73,-146.0,9.6,-0.0,1,57,0.80,6.10,-19.55,0.000,4,0.120,0.093,2465,3912,3397,0,0,0,0,0,0
$GC,300,-0.65,-146.0,46.3,-14.7,50,306,0.00,2.70,0.00,0.000,6,0.000,0.074,2465,2453,3399,0,0,0,0,0,0
$GC,645,-0.60,-146.0,94.0,-13.0,111,652,0.12,2.83,0.00,0.000,4,0.239,0.097,2482,3909,3399,0,0,0,0,0,0
$GC,848,-0.60,-146.0,117.5,-11.8,134,853,0.00,2.65,0.00,0.000,6,0.000,0.073,2482,2474,3399,0,0,0,0,0,0
$GC,1172,-0.60,-146.0,153.6,-10.3,164,1177,0.00,2.80,0.00,0.000,4,0.000,0.100,2482,3918,3398,0,0,0,0,0,0
$GC,1261,-0.66,-146.0,163.0,-10.6,171,1267,0.00,2.67,0.00,0.000,6,0.000,0.074,2482,2471,3398,0,0,0,0,0,0
$GC,1585,-0.71,-146.0,194.8,-9.4,202,1590,0.00,2.80,0.00,0.000,4,0.000,0.100,2482,3912,3399,0,0,0,0,0,0
$GC,1692,-0.80,-146.0,205.1,-9.9,211,1697,0.15,2.65,0.00,0.000,6,0.123,0.074,2433,2482,3399,0,0,0,0,0,0
$GC,2017,-0.72,-146.0,240.9,-10.5,241,2021,0.00,2.78,0.00,0.000,4,0.000,0.100,2432,3908,3398,0,0,0,0,0,0
$GC,2112,-0.64,-146.0,251.0,-10.7,249,2117,0.20,2.62,0.00,0.000,6,0.220,0.075,2476,2494,3398,0,0,0,0,0,0
$GC,2437,-0.75,-146.0,279.4,-9.0,279,2441,0.00,2.75,0.00,0.000,4,0.000,0.100,2477,3909,3397,0,0,0,0,0,0
$GC,2571,-0.86,-146.0,292.1,-9.6,290,2578,0.20,2.62,0.00,0.000,6,0.117,0.075,2415,2493,3397,0,0,0,0,0,0
$GC,2896,-0.75,-146.0,329.4,-10.9,321,2902,0.12,2.78,0.00,0.000,4,0.227,0.098,2431,3914,3397,0,0,0,0,0,0
$GC,2959,-0.75,-146.0,336.4,-10.9,326,2964,0.00,2.62,0.00,0.000,6,0.000,0.073,2432,2496,3397,0,0,0,0,0,0
$GC,3285,-0.75,-146.0,370.4,-10.1,356,3289,0.00,2.75,0.00,0.000,4,0.000,0.100,2431,3908,3397,0,0,0,0,0,0
$GC,3406,-0.75,-146.0,383.3,-10.5,366,3413,0.00,2.60,0.00,0.000,6,0.000,0.074,2431,2510,3397,0,0,0,0,0,0
$GC,3733,-0.75,-146.0,414.0,-9.4,397,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2510,3397,0,0,0,0,0,0
$GC,4051,-0.75,-146.0,445.9,-10.0,427,4055,0.00,2.75,0.00,0.000,4,0.000,0.100,2431,3919,3397,0,0,0,0,0,0
$GC,4213,-0.75,-146.0,462.7,-9.8,441,4217,0.00,2.62,0.00,0.000,6,0.000,0.074,2431,2502,3397,0,0,0,0,0,0
$GC,4537,-0.75,-146.0,491.5,-8.4,471,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2503,3397,0,0,0,0,0,0
$GC,4857,-0.75,-146.0,517.2,-8.4,501,4861,0.00,2.72,0.00,0.000,4,0.000,0.097,2431,3909,3397,0,0,0,0,0,0
$GC,5020,-0.75,-146.0,531.7,-8.9,515,5025,0.00,2.58,0.00,0.000,6,0.000,0.073,2430,2515,3397,0,0,0,0,0,0
$GC,5346,-0.75,-146.0,559.8,-8.7,545,5351,0.00,2.70,0.00,0.000,4,0.000,0.097,2431,3909,3397,0,0,0,0,0,0
$GC,5453,-0.75,-146.0,569.5,-8.6,554,5457,0.00,2.58,0.00,0.000,6,0.000,0.072,2431,2517,3398,0,0,0,0,0,0
$GC,5777,-0.75,-146.0,597.6,-8.5,584,5782,0.00,2.70,0.00,0.000,4,0.000,0.096,2431,3912,3398,0,0,0,0,0,0
$GC,5860,-0.75,-146.0,605.3,-9.2,587,5865,0.00,2.55,0.00,0.000,6,0.000,0.071,2431,2532,3398,0,0,0,0,0,0
$GC,6178,-0.75,-146.0,632.7,-8.5,598,6183,0.00,2.67,0.00,0.000,4,0.000,0.096,2431,3911,3399,0,0,0,0,0,0
$GC,6246,-0.75,-146.0,638.3,-8.4,600,6250,0.00,2.53,0.00,0.000,6,0.000,0.071,2431,2545,3399,0,0,0,0,0,0
$GC,6574,-0.75,-146.0,665.8,-8.6,611,6579,0.00,2.65,0.00,0.000,4,0.000,0.094,2431,3914,3399,0,0,0,0,0,0
$GC,6703,-0.75,-146.0,676.8,-8.5,615,6708,0.00,2.53,0.00,0.000,6,0.000,0.071,2431,2547,3399,0,0,0,0,0,0
$GC,7038,-0.75,-146.0,701.9,-7.3,626,7043,0.00,2.65,0.00,0.000,4,0.000,0.095,2431,3917,3399,0,0,0,0,0,0
$GC,7104,-0.75,-146.0,707.4,-8.4,628,7109,0.00,2.50,0.00,0.000,6,0.000,0.069,2431,2560,3400,0,0,0,0,0,0
$GC,7434,-0.75,-146.0,736.7,-8.8,639,7438,0.00,2.62,0.00,0.000,4,0.000,0.095,2431,3915,3400,0,0,0,0,0,0
$GC,7522,-0.75,-146.0,744.9,-8.5,641,7528,0.00,2.47,0.00,0.000,6,0.000,0.069,2431,2569,3400,0,0,0,0,0,0
$STATE,7680,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7680,begin apogee
$GC,7686,-0.16,0.0,758.1,8.3,647,7813,0.75,0.00,123.75,1.261,6,0.187,0.000,2630,1950,2800,0,0,0,0,0,0
$STATE,7814,end apogee,CONTROL_FINISHED_OK
$STATE,7814,begin climb
$GC,7815,0.73,146.0,760.8,0.0,651,7957,1.00,2.83,130.75,1.203,4,0.143,0.095,2925,366,2204,0,0,0,0,0,0
$GC,7991,0.64,146.0,747.6,10.7,656,7995,0.00,2.60,0.00,0.000,6,0.000,0.071,2925,1948,2200,0,0,0,0,0,0
$GC,8303,0.55,146.0,714.8,10.3,666,8305,0.22,0.00,0.00,0.000,6,0.189,0.000,2872,1948,2195,0,0,0,0,0,0
$GC,8610,0.67,174.4,689.4,8.0,676,8642,0.12,3.05,24.15,1.156,4,0.127,0.087,2911,3545,2088,0,0,0,0,0,0
$GC,8676,0.57,174.4,682.4,11.7,678,8682,0.20,3.03,0.00,0.000,6,0.190,0.077,2877,1940,2086,0,0,0,0,0,0
$GC,9012,0.70,183.0,651.8,8.8,689,9027,0.12,3.00,8.45,1.029,4,0.121,0.087,2917,3539,2053,0,0,0,0,0,0
$GC,9078,0.60,183.0,643.8,12.4,691,9084,0.20,2.92,0.00,0.000,6,0.198,0.077,2884,1971,2052,0,0,0,0,0,0
$GC,9415,0.69,183.0,612.5,9.5,702,9420,0.00,2.92,0.00,0.000,4,0.000,0.086,2884,3540,2051,0,0,0,0,0,0
$GC,9476,0.69,183.0,605.7,10.9,704,9481,0.00,2.88,0.00,0.000,6,0.000,0.077,2894,1988,2050,0,0,0,0,0,0
$GC,9800,0.75,183.0,573.5,9.3,731,9805,0.12,2.92,0.00,0.000,4,0.112,0.087,2938,3539,2050,0,0,0,0,0,0
$GC,9851,0.59,183.0,567.4,13.2,735,9856,0.28,2.85,0.00,0.000,6,0.195,0.077,2883,2003,2050,0,0,0,0,0,0
$GC,10175,0.69,183.0,537.0,9.4,765,10180,0.00,2.88,0.00,0.000,4,0.000,0.087,2883,3543,2049,0,0,0,0,0,0
$GC,10203,0.75,183.0,534.3,10.5,767,10208,0.12,2.83,0.00,0.000,6,0.121,0.077,2935,2012,2050,0,0,0,0,0,0
$GC,10527,0.68,183.0,495.8,11.7,797,10531,0.00,2.58,0.00,0.000,4,0.000,0.096,2946,360,2050,0,0,0,0,0,0
$GC,10543,0.60,183.0,493.8,11.8,798,10549,0.25,2.53,0.00,0.000,6,0.186,0.072,2883,2037,2049,0,0,0,0,0,0
$GC,10868,0.76,211.8,467.4,8.0,828,10900,0.15,2.83,25.38,1.060,4,0.111,0.087,2934,3541,1935,0,0,0,0,0,0
$GC,10963,0.65,211.8,456.5,13.0,836,10969,0.17,2.83,0.00,0.000,6,0.194,0.077,2906,2032,1932,0,0,0,0,0,0
$GC,11287,0.71,211.8,423.9,10.2,867,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2033,1931,0,0,0,0,0,0
$GC,11607,0.79,211.8,390.7,11.0,897,11613,0.12,2.85,0.00,0.000,4,0.119,0.088,2948,3540,1930,0,0,0,0,0,0
$GC,11636,0.73,211.8,386.8,13.2,899,11641,0.15,2.78,0.00,0.000,6,0.197,0.077,2926,2046,1929,0,0,0,0,0,0
$GC,11960,0.73,211.8,349.3,11.0,929,11964,0.00,2.62,0.00,0.000,4,0.000,0.096,2936,359,1929,0,0,0,0,0,0
$GC,11998,0.73,211.8,344.8,11.7,932,12002,0.00,2.58,0.00,0.000,6,0.000,0.073,2936,2065,1930,0,0,0,0,0,0
$GC,12322,0.73,211.8,310.4,9.9,962,12326,0.00,2.75,0.00,0.000,4,0.000,0.088,2936,3541,1929,0,0,0,0,0,0
$GC,12376,0.67,211.8,304.4,10.5,966,12383,0.17,2.72,0.00,0.000,6,0.187,0.077,2906,2063,1929,0,0,0,0,0,0
$GC,12702,0.83,233.0,276.9,8.3,997,12723,0.15,0.00,18.48,0.953,6,0.113,0.000,2957,2064,1850,0,0,0,0,0,0
$GC,13041,0.83,233.0,242.5,10.2,1029,13046,0.00,2.80,0.00,0.000,4,0.000,0.090,2957,3540,1847,0,0,0,0,0,0
$GC,13079,0.83,233.0,238.1,11.8,1032,13084,0.00,2.75,0.00,0.000,6,0.000,0.078,2969,2069,1847,0,0,0,0,0,0
$GC,13403,0.83,233.0,204.1,10.6,1062,13408,0.00,2.80,0.00,0.000,4,0.000,0.090,2969,3546,1846,0,0,0,0,0,0
$GC,13447,0.74,233.0,199.0,11.5,1065,13454,0.20,2.72,0.00,0.000,6,0.189,0.080,2933,2090,1846,0,0,0,0,0,0
$GC,13772,0.88,233.0,167.4,10.1,1096,13778,0.12,2.78,0.00,0.000,4,0.123,0.091,2974,3540,1846,0,0,0,0,0,0
$GC,13827,0.79,233.0,160.1,14.4,1100,13834,0.17,2.67,0.00,0.000,6,0.193,0.079,2945,2112,1846,0,0,0,0,0,0
$GC,14153,0.94,274.6,130.4,7.4,1131,14198,0.15,2.88,36.42,0.897,4,0.116,0.100,3005,351,1678,0,0,0,0,0,0
$GC,14254,0.88,274.6,120.0,11.4,1140,14260,0.00,2.70,0.00,0.000,6,0.000,0.076,3005,2103,1675,0,0,0,0,0,0
$GC,14586,0.88,274.6,85.7,9.8,1183,14591,0.00,2.75,0.00,0.000,4,0.000,0.092,3005,3544,1671,0,0,0,0,0,0
$GC,14631,0.81,274.6,80.7,11.3,1191,14637,0.28,2.72,0.00,0.000,6,0.189,0.081,2950,2098,1672,0,0,0,0,0,0
$GC,14977,1.08,344.0,55.8,6.2,1252,15044,0.25,2.88,57.80,0.841,4,0.104,0.103,3051,360,1395,0,0,0,0,0,0
$GC,15062,1.01,344.0,46.3,11.8,1268,15069,0.15,2.72,0.00,0.000,6,0.202,0.078,3018,2100,1391,0,0,0,0,0,0
$STATE,15348,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,15348,begin subsurface finish
$FINISH1,9.5,1.025815,82
$GC,15354,0.10,81.8,9.5,-13.1,1319,15402,1.02,2.60,-36.17,0.000,4,0.173,0.114,2728,359,2471,0,0,0,0,0,0
$FINISH2,7.4
$STATE,15403,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15403,begin surface
$RAFOS_CLK,1067
$RAFOS,6,1259657359,8.833333,8.821944,90,65,59,0,0,0,717,213,235,0,0,0
$RAFOS,5,1259656866,8.700000,8.685000,83,59,57,0,0,0,879,218,164,0,0,0
$RAFOS,4,1259656385,8.566667,8.551389,113,63,62,0,0,0,658,192,211,0,0,0
$RAFOS,3,1259655905,8.433333,8.418056,115,59,57,0,0,0,709,215,184,0,0,0
$RAFOS,2,1259655447,8.300000,8.290833,88,62,61,0,0,0,482,162,198,0,0,0
$RAFOS,1,1259654953,8.166667,8.153611,75,60,56,0,0,0,513,197,219,0,0,0
$RAFOS,0,1259654466,8.033334,8.018333,98,62,58,0,0,0,660,204,174,0,0,0
$RAFOS_FIX,6640.610840,-5949.682129,011209,080825,7,95,0.27
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.026845
$HUMID,50.19
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.8,14.7
$ALTIM_BOTTOM_PING,600.0,172.3
$24V_AH,22.5,47.810
$10V_AH,10.1,24.865
$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,8.275,187.375,425.175,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,2359.194,10014.133,541.258,2374.858,186.066,0.000,1785.185,0.000,2342.588,2520.000,18.097,0.000
$DEVICE_MAMPS,239.304,113.516,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.066,931.168,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152612
$DATA_FILE_SIZE,53654,1328
$CAP_FILE_SIZE,168577,0
$CFSIZE,260165632,232370176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.1
$GPS,011209,082725,6640.611,-5949.682,0,7094.6,0,-37.8