version: 66.06
glider: 143
mission: 10
dive: 232
start: 12 2 109 17 37 33
data:
$ID,143
$MISSION,10
$DIVE,232
$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,-35700.973
$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,17
$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
$GPS1,162725,6647.012,-6015.568,0,7106.0,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.61
$_SM_ANGLEo,-0.4
$GPS2,162725,6647.012,-6015.568,0,7106.0,0,-37.8
$SPEED_LIMITS,0.159,0.253
$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,116.6,152791,-16.9,-9.167
$D_GRID,557
$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,-146.0,0.0,0.0,0,22,0.00,0.00,-4.82,0.000,2,0.000,0.000,2733,357,2622,0,0,0,0,0,0
$GC,25,-0.73,-146.0,7.8,-0.0,1,61,0.85,6.18,-23.75,0.000,4,0.120,0.097,2457,3909,3398,0,0,0,0,0,0
$GC,264,-0.63,-146.0,40.3,-13.5,44,269,0.00,2.75,0.00,0.000,6,0.000,0.075,2457,2452,3400,0,0,0,0,0,0
$GC,608,-0.54,-146.0,90.4,-13.3,105,614,0.22,2.88,0.00,0.000,4,0.229,0.097,2499,3911,3400,0,0,0,0,0,0
$GC,811,-0.62,-146.0,112.0,-10.0,131,815,0.00,2.70,0.00,0.000,6,0.000,0.074,2498,2476,3400,0,0,0,0,0,0
$GC,1135,-0.72,-146.0,144.4,-9.4,161,1141,0.12,2.85,0.00,0.000,4,0.133,0.099,2456,3913,3400,0,0,0,0,0,0
$GC,1287,-0.72,-146.0,161.9,-11.4,174,1291,0.00,2.70,0.00,0.000,6,0.000,0.075,2456,2483,3400,0,0,0,0,0,0
$GC,1611,-0.72,-146.0,199.8,-11.2,204,1615,0.00,2.83,0.00,0.000,4,0.000,0.100,2456,3912,3400,0,0,0,0,0,0
$GC,1717,-0.72,-146.0,211.6,-11.0,213,1721,0.00,2.67,0.00,0.000,6,0.000,0.076,2456,2495,3400,0,0,0,0,0,0
$GC,2041,-0.72,-146.0,246.3,-9.5,243,2046,0.00,2.80,0.00,0.000,4,0.000,0.100,2456,3910,3400,0,0,0,0,0,0
$GC,2158,-0.72,-146.0,258.2,-10.0,253,2163,0.00,2.65,0.00,0.000,6,0.000,0.075,2456,2507,3399,0,0,0,0,0,0
$GC,2482,-0.72,-146.0,289.0,-9.3,283,2487,0.00,2.78,0.00,0.000,4,0.000,0.100,2456,3909,3399,0,0,0,0,0,0
$GC,2644,-0.72,-146.0,304.7,-9.6,297,2649,0.00,2.62,0.00,0.000,6,0.000,0.076,2456,2520,3399,0,0,0,0,0,0
$GC,2969,-0.72,-146.0,335.2,-10.0,327,2973,0.00,2.78,0.00,0.000,4,0.000,0.101,2456,3921,3399,0,0,0,0,0,0
$GC,3086,-0.72,-146.0,347.0,-10.5,337,3090,0.00,2.62,0.00,0.000,6,0.000,0.076,2456,2535,3399,0,0,0,0,0,0
$GC,3410,-0.76,-146.0,379.3,-9.6,367,3415,0.00,2.75,0.00,0.000,4,0.000,0.102,2456,3918,3399,0,0,0,0,0,0
$GC,3551,-0.82,-146.0,392.6,-9.7,379,3555,0.00,2.60,0.00,0.000,6,0.000,0.075,2456,2543,3399,0,0,0,0,0,0
$GC,3876,-0.89,-146.0,423.9,-9.1,409,3881,0.15,2.75,0.00,0.000,4,0.120,0.100,2400,3918,3398,0,0,0,0,0,0
$GC,4017,-0.74,-146.0,440.1,-11.1,421,4022,0.20,2.60,0.00,0.000,6,0.222,0.075,2443,2546,3398,0,0,0,0,0,0
$GC,4341,-0.74,-146.0,467.2,-7.7,451,4346,0.00,2.72,0.00,0.000,4,0.000,0.100,2444,3919,3398,0,0,0,0,0,0
$GC,4448,-0.74,-146.0,475.8,-8.2,460,4452,0.00,2.58,0.00,0.000,6,0.000,0.074,2444,2559,3398,0,0,0,0,0,0
$GC,4772,-0.80,-146.0,502.8,-8.4,490,4777,0.00,2.67,0.00,0.000,4,0.000,0.094,2444,872,3398,0,0,0,0,0,0
$GC,4805,-0.80,-146.0,505.9,-8.7,492,4811,0.00,2.67,0.00,0.000,6,0.000,0.083,2444,2569,3398,0,0,0,0,0,0
$GC,5130,-0.86,-146.0,531.6,-7.7,523,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2569,3399,0,0,0,0,0,0
$STATE,5448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5448,begin apogee
$GC,5453,-0.16,0.0,557.2,7.8,553,5580,0.68,0.00,120.47,1.142,6,0.196,0.000,2627,1949,2799,0,0,0,0,0,0
$STATE,5580,end apogee,CONTROL_FINISHED_OK
$STATE,5581,begin climb
$GC,5583,0.73,146.0,560.1,0.0,566,5719,1.00,2.80,126.90,1.085,4,0.144,0.099,2923,367,2202,0,0,0,0,0,0
$GC,5775,0.67,146.0,546.2,10.8,584,5781,0.00,2.55,0.00,0.000,6,0.000,0.073,2924,1948,2198,0,0,0,0,0,0
$GC,6099,0.61,146.0,511.8,10.4,615,6101,0.15,0.00,0.00,0.000,6,0.201,0.000,2891,1948,2194,0,0,0,0,0,0
$GC,6418,0.69,146.0,483.3,9.3,645,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1948,2193,0,0,0,0,0,0
$GC,6738,0.76,146.0,452.7,10.0,675,6743,0.15,3.03,0.00,0.000,4,0.120,0.089,2935,3544,2192,0,0,0,0,0,0
$GC,6823,0.62,146.0,442.2,12.2,682,6829,0.22,2.97,0.00,0.000,6,0.206,0.079,2895,1961,2191,0,0,0,0,0,0
$GC,7148,0.72,164.7,413.4,8.4,712,7169,0.00,3.03,14.90,0.990,4,0.000,0.089,2895,3544,2127,0,0,0,0,0,0
$GC,7219,0.72,164.7,406.9,9.7,718,7225,0.00,2.97,0.00,0.000,6,0.000,0.078,2905,1965,2126,0,0,0,0,0,0
$GC,7544,0.80,183.6,380.9,8.4,749,7569,0.12,3.08,17.45,0.988,4,0.112,0.088,2950,3543,2050,0,0,0,0,0,0
$GC,7602,0.66,183.6,374.4,12.9,754,7609,0.22,2.97,0.00,0.000,6,0.202,0.079,2910,1969,2049,0,0,0,0,0,0
$GC,7927,0.73,183.6,343.4,9.4,785,7932,0.00,3.00,0.00,0.000,4,0.000,0.088,2910,3543,2048,0,0,0,0,0,0
$GC,7977,0.73,183.6,338.5,9.9,789,7982,0.00,2.95,0.00,0.000,6,0.000,0.079,2920,1976,2048,0,0,0,0,0,0
$GC,8302,0.83,214.7,310.8,7.9,819,8337,0.12,3.08,27.33,0.971,4,0.118,0.088,2964,3542,1923,0,0,0,0,0,0
$GC,8382,0.71,214.7,301.7,12.6,826,8388,0.22,3.00,0.00,0.000,6,0.199,0.078,2924,1966,1921,0,0,0,0,0,0
$GC,8707,0.84,238.0,271.7,8.2,857,8738,0.12,3.05,21.10,0.944,4,0.127,0.088,2963,3545,1828,0,0,0,0,0,0
$GC,8796,0.76,238.0,262.4,11.4,865,8801,0.17,3.00,0.00,0.000,6,0.200,0.079,2937,1973,1826,0,0,0,0,0,0
$GC,9120,0.86,238.0,231.1,9.5,895,9125,0.00,3.00,0.00,0.000,4,0.000,0.090,2936,3540,1824,0,0,0,0,0,0
$GC,9174,0.86,238.0,225.4,10.8,899,9181,0.00,2.95,0.00,0.000,6,0.000,0.080,2946,1982,1824,0,0,0,0,0,0
$GC,9500,0.93,238.0,195.3,9.9,930,9502,0.12,0.00,0.00,0.000,6,0.118,0.000,2990,1983,1822,0,0,0,0,0,0
$GC,9818,0.93,238.0,156.1,11.7,960,9823,0.00,2.97,0.00,0.000,4,0.000,0.091,2990,3540,1822,0,0,0,0,0,0
$GC,9857,0.82,238.0,151.4,12.5,963,9862,0.20,2.92,0.00,0.000,6,0.205,0.081,2957,1988,1822,0,0,0,0,0,0
$GC,10181,0.90,241.5,122.2,9.0,993,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1990,1821,0,0,0,0,0,0
$GC,10502,1.07,297.9,96.6,6.8,1027,10560,0.25,3.05,50.72,0.875,4,0.107,0.092,3045,3541,1583,0,0,0,0,0,0
$GC,10589,0.89,297.9,86.3,14.0,1043,10595,0.32,3.00,0.00,0.000,6,0.206,0.082,2980,1987,1580,0,0,0,0,0,0
$GC,10934,1.01,297.9,51.8,9.8,1104,10940,0.12,3.00,0.00,0.000,4,0.130,0.092,3018,3540,1575,0,0,0,0,0,0
$GC,10968,1.01,297.9,47.5,12.3,1110,10974,0.00,2.90,0.00,0.000,6,0.000,0.082,3030,1992,1574,0,0,0,0,0,0
$FREEZE,8.26,-1.772,-1.763,2,27,0
$STATE,11283,end climb,FINISH_DEPTH_REACHED
$STATE,11283,begin subsurface finish
$FINISH1,8.3,1.025818,82
$GC,11291,0.10,81.7,8.3,-13.6,1166,11332,1.08,2.47,-33.10,0.000,4,0.179,0.114,2729,354,2469,0,0,0,0,0,0
$FINISH2,6.6
$STATE,11333,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11333,begin surface
$RAFOS_CLK,797
$RAFOS,4,1259785984,20.566668,20.551111,96,63,57,0,0,0,695,196,211,0,0,0
$RAFOS,3,1259785504,20.433332,20.417778,70,61,60,0,0,0,777,220,204,0,0,0
$RAFOS,2,1259785025,20.299999,20.284721,118,71,63,0,0,0,650,219,157,0,0,0
$RAFOS,1,1259784550,20.166666,20.152779,154,62,58,0,0,0,506,146,197,0,0,0
$RAFOS,0,1259784062,20.033333,20.017221,91,64,59,0,0,0,633,217,188,0,0,0
$RAFOS_FIX,6645.516602,-6011.295410,021209,202024,5,106,0.30
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.029146
$HUMID,50.23
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.10
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,500.2,89.3
$24V_AH,22.5,48.979
$10V_AH,10.1,25.527
$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,6.850,132.050,378.875,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,1945.444,6901.970,443.943,1964.071,146.851,0.000,1473.334,0.000,1941.867,2160.000,17.410,0.000
$DEVICE_MAMPS,229.333,146.497,1142.063,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.075,810.690,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152608
$DATA_FILE_SIZE,44181,1174
$CAP_FILE_SIZE,129828,0
$CFSIZE,260165632,231682048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$GPS,021209,201924,6645.517,-6011.295,0,5105.8,0,-37.8