version: 66.06
glider: 143
mission: 10
dive: 225
start: 12 1 109 18 40 29
data:
$ID,143
$MISSION,10
$DIVE,225
$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,17
$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
$GPS1,162707,6643.116,-5958.951,0,7113.3,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.91
$_SM_ANGLEo,-0.7
$GPS2,162707,6643.116,-5958.951,0,7113.3,0,-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,312.5,19856,-16.9,-9.167
$D_GRID,640
$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,-5.62,0.000,2,0.000,0.000,2731,3535,2654,0,0,0,0,0,0
$GC,26,-0.73,-146.0,8.6,-0.0,1,57,0.82,4.72,-21.52,0.000,4,0.108,0.093,2458,870,3400,0,0,0,0,0,0
$GC,148,-0.65,-146.0,23.6,-14.8,23,153,0.00,2.53,0.00,0.000,6,0.000,0.082,2458,2461,3402,0,0,0,0,0,0
$GC,491,-0.55,-146.0,75.1,-15.2,84,498,0.22,2.75,0.00,0.000,4,0.233,0.095,2499,3912,3402,0,0,0,0,0,0
$GC,667,-0.63,-146.0,95.4,-10.9,115,672,0.00,2.67,0.00,0.000,6,0.000,0.073,2499,2473,3402,0,0,0,0,0,0
$GC,999,-0.70,-146.0,128.3,-10.0,150,1005,0.12,2.83,0.00,0.000,4,0.130,0.099,2456,3916,3402,0,0,0,0,0,0
$GC,1129,-0.70,-146.0,143.9,-12.0,161,1134,0.00,2.67,0.00,0.000,6,0.000,0.074,2456,2472,3402,0,0,0,0,0,0
$GC,1453,-0.70,-146.0,180.0,-10.5,191,1458,0.00,2.80,0.00,0.000,4,0.000,0.100,2456,3913,3402,0,0,0,0,0,0
$GC,1541,-0.70,-146.0,189.5,-10.4,198,1547,0.00,2.62,0.00,0.000,6,0.000,0.074,2456,2497,3401,0,0,0,0,0,0
$GC,1866,-0.70,-146.0,222.9,-10.1,229,1870,0.00,2.78,0.00,0.000,4,0.000,0.101,2456,3919,3401,0,0,0,0,0,0
$GC,1995,-0.70,-146.0,236.6,-10.9,240,1999,0.00,2.62,0.00,0.000,6,0.000,0.075,2456,2509,3401,0,0,0,0,0,0
$GC,2319,-0.70,-146.0,271.9,-11.0,270,2323,0.00,2.75,0.00,0.000,4,0.000,0.101,2457,3921,3401,0,0,0,0,0,0
$GC,2406,-0.70,-146.0,281.8,-10.9,277,2413,0.00,2.62,0.00,0.000,6,0.000,0.074,2456,2507,3401,0,0,0,0,0,0
$GC,2733,-0.70,-146.0,313.3,-8.8,308,2738,0.00,2.75,0.00,0.000,4,0.000,0.101,2456,3914,3401,0,0,0,0,0,0
$GC,2784,-0.70,-146.0,317.7,-9.1,312,2788,0.00,2.60,0.00,0.000,6,0.000,0.075,2456,2517,3401,0,0,0,0,0,0
$GC,3109,-0.75,-146.0,345.0,-8.4,342,3113,0.00,2.72,0.00,0.000,4,0.000,0.100,2456,3912,3401,0,0,0,0,0,0
$GC,3316,-0.80,-146.0,362.4,-8.5,360,3321,0.00,2.58,0.00,0.000,6,0.000,0.075,2456,2532,3400,0,0,0,0,0,0
$GC,3641,-0.84,-146.0,388.9,-8.0,390,3646,0.12,2.72,0.00,0.000,4,0.130,0.100,2413,3913,3400,0,0,0,0,0,0
$GC,3765,-0.77,-146.0,400.9,-10.5,400,3771,0.12,2.58,0.00,0.000,6,0.225,0.074,2438,2534,3400,0,0,0,0,0,0
$GC,4091,-0.77,-146.0,427.5,-8.1,431,4095,0.00,2.70,0.00,0.000,4,0.000,0.100,2438,3913,3400,0,0,0,0,0,0
$GC,4134,-0.77,-146.0,431.2,-8.8,434,4140,0.00,2.58,0.00,0.000,6,0.000,0.074,2438,2534,3400,0,0,0,0,0,0
$GC,4459,-0.77,-146.0,457.4,-8.5,465,4464,0.00,2.70,0.00,0.000,4,0.000,0.100,2438,3912,3400,0,0,0,0,0,0
$GC,4509,-0.77,-146.0,461.9,-9.0,469,4513,0.00,2.58,0.00,0.000,6,0.000,0.074,2438,2530,3400,0,0,0,0,0,0
$GC,4834,-0.77,-146.0,490.8,-8.8,499,4839,0.00,2.67,0.00,0.000,4,0.000,0.099,2438,3910,3400,0,0,0,0,0,0
$GC,4963,-0.77,-146.0,502.1,-9.3,510,4968,0.00,2.53,0.00,0.000,6,0.000,0.074,2438,2556,3400,0,0,0,0,0,0
$GC,5287,-0.77,-146.0,528.7,-8.2,541,5292,0.00,2.65,0.00,0.000,4,0.000,0.098,2438,3913,3400,0,0,0,0,0,0
$GC,5348,-0.77,-146.0,533.7,-8.4,546,5352,0.00,2.53,0.00,0.000,6,0.000,0.072,2438,2558,3401,0,0,0,0,0,0
$GC,5672,-0.77,-146.0,558.8,-7.6,576,5676,0.00,2.65,0.00,0.000,4,0.000,0.097,2438,3914,3401,0,0,0,0,0,0
$GC,5733,-0.77,-146.0,563.7,-7.7,581,5737,0.00,2.50,0.00,0.000,6,0.000,0.071,2438,2569,3401,0,0,0,0,0,0
$GC,6057,-0.77,-146.0,587.0,-7.9,611,6062,0.00,2.62,0.00,0.000,4,0.000,0.097,2437,3912,3401,0,0,0,0,0,0
$GC,6208,-0.77,-146.0,599.0,-9.4,624,6212,0.00,2.47,0.00,0.000,6,0.000,0.070,2438,2582,3402,0,0,0,0,0,0
$STATE,6498,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6498,begin apogee
$GC,6504,-0.16,0.0,622.8,8.1,634,6629,0.73,0.00,121.95,1.177,6,0.193,0.000,2630,1949,2800,0,0,0,0,0,0
$STATE,6630,end apogee,CONTROL_FINISHED_OK
$STATE,6630,begin climb
$GC,6632,0.73,146.0,624.1,0.0,638,6768,0.98,2.78,127.45,1.121,4,0.134,0.096,2925,362,2203,0,0,0,0,0,0
$GC,6930,0.65,146.0,601.3,11.8,647,6935,0.00,2.53,0.00,0.000,6,0.000,0.071,2925,1952,2197,0,0,0,0,0,0
$GC,7262,0.57,146.0,565.8,10.8,677,7267,0.20,3.03,0.00,0.000,4,0.190,0.086,2878,3537,2194,0,0,0,0,0,0
$GC,7313,0.57,146.0,560.8,9.6,681,7318,0.00,3.00,0.00,0.000,6,0.000,0.078,2889,1954,2193,0,0,0,0,0,0
$GC,7637,0.64,146.0,530.0,9.6,711,7642,0.00,3.00,0.00,0.000,4,0.000,0.087,2889,3539,2193,0,0,0,0,0,0
$GC,7675,0.64,146.0,526.1,10.6,714,7680,0.00,2.92,0.00,0.000,6,0.000,0.078,2901,1976,2192,0,0,0,0,0,0
$GC,7999,0.64,146.0,494.8,9.3,744,8004,0.00,2.95,0.00,0.000,4,0.000,0.087,2902,3541,2191,0,0,0,0,0,0
$GC,8031,0.64,146.0,491.6,9.8,746,8037,0.00,2.90,0.00,0.000,6,0.000,0.078,2914,1986,2191,0,0,0,0,0,0
$GC,8356,0.66,163.0,461.8,8.4,777,8377,0.00,2.95,13.85,1.010,4,0.000,0.089,2914,3544,2134,0,0,0,0,0,0
$GC,8405,0.59,163.0,457.4,9.2,781,8411,0.17,2.90,0.00,0.000,6,0.192,0.077,2886,1985,2133,0,0,0,0,0,0
$GC,8730,0.74,193.7,433.5,7.9,812,8761,0.12,0.00,27.10,1.030,6,0.123,0.000,2927,1987,2009,0,0,0,0,0,0
$GC,9079,0.74,193.7,397.0,10.2,845,9084,0.00,2.95,0.00,0.000,4,0.000,0.087,2927,3543,2005,0,0,0,0,0,0
$GC,9129,0.67,193.7,391.4,11.3,849,9134,0.15,2.90,0.00,0.000,6,0.196,0.077,2906,1990,2003,0,0,0,0,0,0
$GC,9454,0.79,214.0,362.1,8.3,879,9475,0.12,0.00,17.75,0.976,6,0.121,0.000,2947,1991,1927,0,0,0,0,0,0
$GC,9793,0.79,214.0,326.5,10.5,911,9798,0.00,2.92,0.00,0.000,4,0.000,0.088,2947,3538,1925,0,0,0,0,0,0
$GC,9836,0.70,214.0,321.4,11.6,914,9843,0.17,2.88,0.00,0.000,6,0.193,0.077,2919,1994,1923,0,0,0,0,0,0
$GC,10162,0.80,214.0,291.3,9.4,945,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1995,1923,0,0,0,0,0,0
$GC,10481,0.92,214.0,262.3,9.4,975,10486,0.20,2.92,0.00,0.000,4,0.105,0.088,2986,3542,1923,0,0,0,0,0,0
$GC,10521,0.73,214.0,257.2,13.0,978,10526,0.30,2.85,0.00,0.000,6,0.198,0.078,2924,2005,1923,0,0,0,0,0,0
$GC,10845,0.84,214.0,226.1,9.8,1008,10851,0.12,2.90,0.00,0.000,4,0.123,0.089,2966,3538,1922,0,0,0,0,0,0
$GC,10879,0.75,214.0,222.2,12.3,1010,10885,0.17,2.83,0.00,0.000,6,0.196,0.078,2937,2013,1922,0,0,0,0,0,0
$GC,11203,0.84,224.5,192.4,8.7,1041,11219,0.00,2.88,9.90,0.882,4,0.000,0.091,2938,3538,1883,0,0,0,0,0,0
$GC,11257,0.84,224.5,186.9,10.5,1045,11263,0.00,2.83,0.00,0.000,6,0.000,0.079,2948,2019,1882,0,0,0,0,0,0
$GC,11583,0.95,258.3,158.9,7.7,1076,11619,0.15,2.65,30.50,0.908,4,0.105,0.100,3011,350,1745,0,0,0,0,0,0
$GC,11648,0.85,258.3,152.1,11.6,1081,11654,0.17,2.58,0.00,0.000,6,0.188,0.076,2971,2030,1742,0,0,0,0,0,0
$GC,11973,0.91,258.3,118.9,10.5,1112,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2030,1739,0,0,0,0,0,0
$GC,12300,0.99,263.0,85.9,9.0,1155,12311,0.12,2.85,4.15,0.659,4,0.122,0.093,3010,3538,1727,0,0,0,0,0,0
$GC,12392,0.89,263.0,75.4,11.9,1171,12398,0.17,2.83,0.00,0.000,6,0.193,0.083,2983,2041,1726,0,0,0,0,0,0
$GC,12738,0.97,263.0,43.9,9.3,1232,12743,0.00,2.65,0.00,0.000,4,0.000,0.102,2992,349,1725,0,0,0,0,0,0
$GC,12771,0.97,263.0,40.4,9.8,1238,12777,0.00,2.60,0.00,0.000,6,0.000,0.077,2992,2062,1725,0,0,0,0,0,0
$FREEZE,8.90,-1.777,-1.761,2,20,2
$FREEZE,8.37,-1.777,-1.761,2,20,2
$FREEZE,7.83,-1.776,-1.760,2,20,2
$FREEZE,7.25,-1.775,-1.760,2,20,2
$GC,13116,0.98,268.3,7.8,8.9,1299,13128,0.00,2.80,5.75,0.744,4,0.000,0.093,2992,3545,1705,0,0,0,0,0,0
$FREEZE,6.03,-1.775,-1.759,2,20,2
$FREEZE,5.37,-1.775,-1.758,2,20,2
$FREEZE,4.63,-1.776,-1.758,2,20,2
$FREEZE,3.89,-1.776,-1.757,2,20,2
$FREEZE,3.10,-1.775,-1.757,2,20,2
$FREEZE,2.42,-1.774,-1.756,2,20,2
$FREEZE,1.72,-1.775,-1.755,2,20,2
$STATE,13169,end climb,SURFACE_DEPTH_REACHED
$STATE,13169,begin surface coast
$FREEZE,1.26,-1.775,-1.755,2,20,2
$FREEZE,1.15,-1.728,-1.752,2,20,2
$FREEZE,1.07,-1.745,-1.753,2,20,2
$FINISH,1.1,1.025760
$STATE,13185,end surface coast,CONTROL_FINISHED_OK
$STATE,13185,begin surface
$SM_CCo,13203,46.10,0.831,0,0,1474,325.02
$SM_GC,2.24,0.00,0.00,46.10,0.000,0.000,0.831,123,2452,1474,-8.02,-0.23,325.02
$RAFOS_CLK,926
$RAFOS,6,1259700550,20.833334,20.819445,104,69,59,0,0,0,794,181,217,0,0,0
$RAFOS,5,1259700067,20.700001,20.685278,83,64,61,0,0,0,917,209,161,0,0,0
$RAFOS,4,1259699587,20.566668,20.551945,139,70,59,0,0,0,677,147,198,0,0,0
$RAFOS,3,1259699112,20.433332,20.420000,99,57,56,0,0,0,697,195,167,0,0,0
$RAFOS,2,1259698629,20.299999,20.285833,146,57,57,0,0,0,582,196,147,0,0,0
$RAFOS,1,1259698141,20.166666,20.150278,107,58,58,0,0,0,562,217,135,0,0,0
$RAFOS,0,1259697666,20.033333,20.018333,83,61,58,0,0,0,615,198,212,0,0,0
$RAFOS_FIX,6641.806641,-6002.562500,011209,202034,7,109,0.25
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.026845
$HUMID,49.40
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,500.4,136.8
$24V_AH,22.5,48.179
$10V_AH,10.1,25.079
$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,13.925,161.475,358.400,46.100,0.000,0.000,0.000,0.000,3.750,0.000,0.000,2251.149,8177.604,495.800,2225.727,174.496,0.000,1643.162,0.000,2198.066,2520.000,14.474,0.000
$DEVICE_MAMPS,233.168,102.011,1177.345,830.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.008,911.809,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,50417,1311
$CAP_FILE_SIZE,151404,0
$CFSIZE,260165632,232148992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$GPS,011209,202734,6641.807,-6002.562,0,7108.7,0,-37.8