version: 66.06
glider: 143
mission: 10
dive: 272
start: 12 10 109 1 1 4
data:
$ID,143
$MISSION,10
$DIVE,272
$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,-3
$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,425
$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,-40199.082
$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,18
$R_STBD_OVSHOOT,19
$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
$GPS1,004507,6658.656,-5657.456,109,2.0,109,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-61.3
$GPS2,010046,6658.468,-5657.306,171,99.0,181,-37.5
$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,76.2,10752,-16.9,-9.167
$D_GRID,677
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.73,-146.0,0.0,0.0,0,144,0.00,0.00,-125.35,0.000,2,0.000,0.000,123,2478,3139,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.3,-5.6,25,173,11.30,3.10,-6.97,0.000,4,0.298,0.105,2445,3916,3399,0,0,0,0,0,0
$GC,428,-0.73,-146.0,40.7,-10.2,75,434,0.00,2.97,0.00,0.000,6,0.000,0.069,2445,2464,3401,0,0,0,0,0,0
$GC,772,-0.73,-146.0,77.3,-9.6,136,778,0.00,3.08,0.00,0.000,4,0.000,0.094,2446,3909,3402,0,0,1,0,0,0
$GC,963,-0.73,-146.0,99.9,-11.7,170,969,0.00,2.95,0.00,0.000,6,0.000,0.070,2446,2463,3401,0,0,1,0,0,0
$GC,1287,-0.73,-146.0,131.7,-10.6,201,1292,0.00,3.08,0.00,0.000,4,0.000,0.093,2445,3911,3401,0,0,1,0,0,0
$GC,1450,-0.77,-146.0,148.9,-10.2,215,1455,0.00,2.90,0.00,0.000,6,0.000,0.070,2446,2482,3401,0,0,1,0,0,0
$GC,1774,-0.83,-146.0,180.6,-9.7,245,1779,0.00,3.05,0.00,0.000,4,0.000,0.093,2445,3922,3400,0,0,1,0,0,0
$GC,1943,-0.89,-146.0,195.8,-8.6,259,1949,0.15,2.90,0.00,0.000,6,0.121,0.068,2398,2488,3400,0,0,1,0,0,0
$GC,2267,-0.80,-146.0,230.8,-11.1,290,2273,0.12,3.05,0.00,0.000,4,0.210,0.091,2424,3918,3400,0,0,1,0,0,0
$GC,2480,-0.80,-146.0,251.5,-9.0,308,2486,0.00,2.88,0.00,0.000,6,0.000,0.067,2424,2495,3400,0,0,1,0,0,0
$GC,2805,-0.80,-146.0,277.2,-7.2,339,2810,0.00,3.00,0.00,0.000,4,0.000,0.091,2425,3911,3400,0,0,1,0,0,0
$GC,2990,-0.80,-146.0,291.7,-8.5,355,2995,0.00,2.83,0.00,0.000,6,0.000,0.067,2425,2524,3401,0,0,1,0,0,0
$GC,3314,-0.80,-146.0,320.8,-9.8,385,3319,0.00,2.97,0.00,0.000,4,0.000,0.090,2424,3921,3401,0,0,0,0,0,0
$GC,3455,-0.80,-146.0,334.5,-10.1,397,3460,0.00,2.83,0.00,0.000,6,0.000,0.066,2424,2523,3401,0,0,1,0,0,0
$GC,3779,-0.80,-146.0,364.8,-8.6,427,3784,0.00,2.97,0.00,0.000,4,0.000,0.090,2424,3920,3402,0,0,0,0,0,0
$GC,3898,-0.80,-146.0,374.8,-8.4,437,3902,0.00,2.80,0.00,0.000,6,0.000,0.065,2424,2535,3401,0,0,1,0,0,0
$GC,4224,-0.80,-146.0,399.4,-6.8,467,4228,0.00,2.92,0.00,0.000,4,0.000,0.088,2425,3911,3402,0,0,0,0,0,0
$GC,4331,-0.80,-146.0,407.4,-7.4,476,4335,0.00,2.78,0.00,0.000,6,0.000,0.064,2424,2541,3402,0,0,1,0,0,0
$GC,4655,-0.80,-146.0,432.0,-8.3,506,4660,0.00,2.90,0.00,0.000,4,0.000,0.087,2424,3913,3402,0,0,1,0,0,0
$GC,4797,-0.80,-146.0,443.5,-8.6,518,4801,0.00,2.75,0.00,0.000,6,0.000,0.064,2424,2555,3403,0,0,1,0,0,0
$GC,5121,-0.80,-146.0,470.9,-8.4,548,5126,0.00,2.88,0.00,0.000,4,0.000,0.087,2424,3912,3403,0,0,1,0,0,0
$GC,5228,-0.80,-146.0,479.8,-7.9,557,5233,0.00,2.75,0.00,0.000,6,0.000,0.064,2424,2563,3403,0,0,1,0,0,0
$GC,5553,-0.80,-146.0,505.3,-7.8,587,5558,0.00,2.88,0.00,0.000,4,0.000,0.087,2424,3912,3404,0,0,1,0,0,0
$GC,5676,-0.85,-146.0,515.4,-8.3,597,5682,0.00,2.72,0.00,0.000,6,0.000,0.063,2425,2571,3404,0,0,1,0,0,0
$GC,6001,-0.85,-146.0,540.2,-7.3,628,6006,0.00,2.85,0.00,0.000,4,0.000,0.087,2425,3912,3404,0,0,1,0,0,0
$GC,6120,-0.85,-146.0,548.7,-6.7,638,6124,0.00,2.70,0.00,0.000,6,0.000,0.063,2424,2585,3404,0,0,1,0,0,0
$GC,6444,-0.85,-146.0,572.5,-7.3,668,6449,0.00,2.88,0.00,0.000,4,0.000,0.086,2424,3921,3405,0,0,0,0,0,0
$GC,6556,-0.90,-146.0,581.3,-8.1,677,6561,0.00,2.70,0.00,0.000,6,0.000,0.063,2424,2592,3405,0,0,1,0,0,0
$GC,6878,-0.94,-146.0,608.0,-8.7,702,6884,0.12,2.83,0.00,0.000,4,0.120,0.084,2369,3913,3405,0,0,1,0,0,0
$GC,6945,-0.81,-146.0,615.6,-11.0,704,6951,0.25,2.70,0.00,0.000,6,0.214,0.062,2426,2596,3405,0,0,1,0,0,0
$GC,7275,-0.88,-146.0,641.1,-7.5,715,7280,0.00,2.83,0.00,0.000,4,0.000,0.087,2426,3919,3405,0,0,1,0,0,0
$GC,7407,-0.94,-146.0,651.1,-7.8,719,7412,0.12,2.67,0.00,0.000,6,0.124,0.063,2387,2607,3404,0,0,1,0,0,0
$STATE,7678,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7678,begin apogee
$GC,7685,-0.16,0.0,674.4,8.5,728,7812,0.82,0.00,123.90,1.174,6,0.142,0.000,2633,1954,2800,0,0,0,0,0,0
$STATE,7813,end apogee,CONTROL_FINISHED_OK
$STATE,7813,begin climb
$GC,7815,0.73,146.0,674.4,0.0,732,7954,0.95,3.65,128.07,1.121,4,0.114,0.078,2920,3541,2203,0,0,0,0,0,0
$GC,7993,0.56,146.0,659.7,13.3,738,7999,0.28,3.47,0.00,0.000,6,0.210,0.070,2876,1956,2199,0,0,1,0,0,0
$GC,8324,0.60,146.0,627.8,9.5,749,8329,0.00,3.30,0.00,0.000,4,0.000,0.079,2876,3536,2196,0,0,1,0,0,0
$GC,8434,0.60,146.0,614.6,11.7,752,8440,0.00,3.25,0.00,0.000,6,0.000,0.072,2889,1957,2194,0,0,1,0,0,0
$GC,8759,0.60,146.0,580.9,10.1,773,8764,0.00,3.25,0.00,0.000,4,0.000,0.081,2888,3538,2194,0,0,1,0,0,0
$GC,8848,0.54,146.0,571.0,11.3,780,8855,0.15,3.17,0.00,0.000,6,0.211,0.072,2870,1974,2193,0,0,1,0,0,0
$GC,9174,0.65,150.6,541.6,9.0,811,9179,0.00,3.22,0.00,0.000,4,0.000,0.080,2870,3538,2193,0,0,0,0,0,0
$GC,9273,0.65,150.6,531.6,10.5,819,9280,0.00,3.15,0.00,0.000,6,0.000,0.071,2882,2000,2193,0,0,0,0,0,0
$GC,9599,0.71,166.6,502.9,8.5,850,9625,0.12,3.22,16.80,1.027,4,0.111,0.081,2931,3532,2119,0,0,0,0,0,0
$GC,9704,0.54,166.6,490.3,12.6,859,9711,0.32,3.15,0.00,0.000,6,0.211,0.073,2868,2007,2117,0,0,0,0,0,0
$GC,10029,0.66,179.7,462.6,8.6,890,10051,0.12,3.22,11.93,0.977,4,0.127,0.081,2908,3534,2066,0,0,0,0,0,0
$GC,10109,0.56,179.7,453.1,12.8,897,10115,0.20,3.12,0.00,0.000,6,0.206,0.073,2875,2024,2065,0,0,0,0,0,0
$GC,10434,0.65,179.7,420.3,9.8,927,10439,0.00,3.15,0.00,0.000,4,0.000,0.080,2876,3541,2064,0,0,1,0,0,0
$GC,10511,0.65,179.7,411.8,10.7,933,10517,0.00,3.10,0.00,0.000,6,0.000,0.071,2887,2034,2063,0,0,0,0,0,0
$GC,10836,0.71,179.7,377.6,10.8,964,10841,0.00,3.12,0.00,0.000,4,0.000,0.081,2887,3537,2063,0,0,0,0,0,0
$GC,10909,0.71,179.7,368.9,12.4,970,10914,0.00,3.05,0.00,0.000,6,0.000,0.072,2900,2057,2062,0,0,0,0,0,0
$GC,11234,0.71,179.7,332.4,10.3,1000,11239,0.00,3.10,0.00,0.000,4,0.000,0.081,2900,3542,2062,0,0,0,0,0,0
$GC,11311,0.71,179.7,323.2,12.3,1006,11317,0.00,3.05,0.00,0.000,6,0.000,0.072,2914,2065,2062,0,0,0,0,0,0
$GC,11636,0.71,179.7,285.1,11.8,1037,11641,0.00,3.08,0.00,0.000,4,0.000,0.081,2914,3540,2062,0,0,0,0,0,0
$GC,11691,0.62,179.7,277.9,13.3,1041,11697,0.15,3.03,0.00,0.000,6,0.211,0.071,2895,2076,2062,0,0,0,0,0,0
$GC,12015,0.70,179.7,243.7,9.6,1072,12020,0.00,3.05,0.00,0.000,4,0.000,0.079,2894,3539,2062,0,0,0,0,0,0
$GC,12066,0.70,179.7,238.2,11.3,1076,12071,0.00,2.97,0.00,0.000,6,0.000,0.069,2906,2093,2062,0,0,0,0,0,0
$GC,12390,0.70,179.9,206.9,9.2,1106,12395,0.00,3.03,0.00,0.000,4,0.000,0.080,2905,3539,2062,0,0,0,0,0,0
$GC,12452,0.70,179.9,200.8,10.5,1111,12457,0.00,2.97,0.00,0.000,6,0.000,0.071,2918,2100,2062,0,0,0,0,0,0
$GC,12776,0.70,179.9,167.0,10.2,1141,12781,0.00,3.00,0.00,0.000,4,0.000,0.081,2918,3540,2062,0,0,1,0,0,0
$GC,12820,0.64,179.9,162.0,11.8,1144,12826,0.15,2.97,0.00,0.000,6,0.210,0.071,2899,2101,2062,0,0,0,0,0,0
$GC,13145,0.75,194.7,134.0,8.5,1175,13167,0.12,3.00,13.62,0.808,4,0.125,0.080,2939,3544,2005,0,0,1,0,0,0
$GC,13225,0.65,194.7,124.9,12.4,1182,13230,0.20,2.97,0.00,0.000,6,0.206,0.071,2906,2111,2003,0,0,0,0,0,0
$GC,13555,0.72,194.7,92.6,9.6,1218,13560,0.00,3.00,0.00,0.000,4,0.000,0.081,2906,3543,2002,0,0,1,0,0,0
$GC,13594,0.72,194.7,88.3,10.3,1225,13600,0.00,2.95,0.00,0.000,6,0.000,0.071,2917,2126,2001,0,0,0,0,0,0
$GC,13938,0.82,194.7,55.3,9.2,1286,13944,0.10,2.97,0.00,0.000,4,0.127,0.081,2955,3537,2001,0,0,1,0,0,0
$GC,13979,0.71,194.7,50.9,11.4,1293,13985,0.20,2.92,0.00,0.000,6,0.202,0.071,2920,2133,2001,0,0,0,0,0,0
$FREEZE,8.92,-0.164,-1.828,0,37,0
$GC,14325,0.99,342.4,25.4,2.9,1354,14455,0.25,3.08,119.95,0.752,4,0.101,0.081,3010,3536,1401,0,0,1,0,0,0
$FREEZE,6.12,-0.168,-1.826,0,37,0
$FREEZE,4.99,-0.170,-1.825,0,37,0
$FREEZE,4.02,-0.171,-1.825,0,37,0
$GC,14473,0.82,342.4,4.0,19.2,1382,14480,0.28,3.00,0.00,0.000,6,0.215,0.073,2962,2155,1398,0,0,0,0,0,0
$FREEZE,1.25,-0.164,-1.823,0,37,0
$STATE,14484,end climb,SURFACE_DEPTH_REACHED
$STATE,14485,begin surface coast
$FREEZE,0.52,-0.175,-1.821,0,37,0
$FREEZE,0.59,-0.259,-1.061,0,37,0
$FINISH,0.6,1.015674
$STATE,14497,end surface coast,CONTROL_FINISHED_OK
$STATE,14497,begin surface
$SM_CCo,14514,63.85,0.713,0,0,1066,425.10
$SM_GC,1.25,0.00,0.00,63.85,0.000,0.000,0.713,125,2465,1066,-8.02,0.14,425.10
$RAFOS_CLK,958
$RAFOS,6,1260420546,4.833333,4.818333,59,58,57,0,0,0,833,185,219,0,0,0
$RAFOS,5,1260420063,4.700000,4.684166,59,59,58,0,0,0,178,660,145,0,0,0
$RAFOS,4,1260419585,4.566667,4.551389,56,56,55,0,0,0,199,230,215,0,0,0
$RAFOS,3,1260419103,4.433333,4.417500,63,62,58,0,0,0,217,197,188,0,0,0
$RAFOS,2,1260418622,4.300000,4.283889,67,66,63,0,0,0,199,223,187,0,0,0
$RAFOS,1,1260418146,4.166667,4.151667,65,58,57,0,0,0,184,123,196,0,0,0
$RAFOS,0,1260417666,4.033333,4.018333,65,62,61,0,0,0,187,173,222,0,0,0
$RAFOS_FIX,6658.150391,-5712.716309,091209,121256,2,83,0.36
$IRIDIUM_FIX,6625.71,-5623.16,060399,010120
$TT8_MAMPS,0.027612
$HUMID,45.70
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,20.0,19.5
$ALTIM_BOTTOM_PING,500.3,189.1
$24V_AH,22.5,54.543
$10V_AH,10.1,28.897
$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,25.075,199.475,414.275,63.850,0.000,90.476,216.302,153.578,3.000,0.000,182.828,2400.142,9010.450,675.600,2654.774,762.655,0.000,1966.231,0.000,2441.477,2520.000,15.643,0.000
$DEVICE_MAMPS,297.596,105.079,1174.277,713.310,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.926,960.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152308
$DATA_FILE_SIZE,53599,1386
$CAP_FILE_SIZE,171822,0
$CFSIZE,260165632,226963456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$SOUNDSPEED,1463.3
$GPS,101209,050751,6659.083,-5652.871,161,2.1,180,-37.5