version: 66.06
glider: 143
mission: 10
dive: 296
start: 12 12 109 23 56 22
data:
$ID,143
$MISSION,10
$DIVE,296
$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,-41598.262
$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,21
$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
$GPS1,233745,6705.529,-5654.319,50,99.0,69,-37.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-59.5
$GPS2,235606,6705.507,-5654.543,12,1.4,28,-37.6
$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,172.1,6625,-16.9,-9.167
$D_GRID,471
$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,-146.0,0.0,0.0,0,145,0.00,0.00,-125.45,0.000,2,0.000,0.000,129,2462,3066,0,0,0,0,0,0
$GC,148,-0.73,-146.0,3.0,-4.8,25,175,11.18,2.38,-9.25,0.000,4,0.292,0.100,2448,858,3397,0,0,0,0,0,0
$GC,417,-0.73,-146.0,41.6,-12.6,73,422,0.00,2.30,0.00,0.000,6,0.000,0.074,2448,2458,3400,0,0,0,0,0,0
$GC,760,-0.73,-146.0,78.8,-9.3,134,767,0.00,3.15,0.00,0.000,4,0.000,0.094,2448,3911,3400,0,0,1,0,0,0
$GC,975,-0.78,-146.0,101.5,-11.2,171,980,0.00,2.92,0.00,0.000,6,0.000,0.068,2448,2516,3400,0,0,1,0,0,0
$GC,1300,-0.84,-146.0,133.3,-8.8,201,1305,0.00,3.08,0.00,0.000,4,0.000,0.092,2448,3924,3400,0,0,1,0,0,0
$GC,1497,-0.93,-146.0,151.9,-9.1,218,1502,0.20,2.90,0.00,0.000,6,0.113,0.069,2383,2534,3399,0,0,1,0,0,0
$GC,1822,-0.82,-146.0,188.0,-10.4,248,1827,0.17,3.05,0.00,0.000,4,0.209,0.092,2423,3918,3398,0,0,1,0,0,0
$GC,1962,-0.82,-146.0,200.4,-8.7,260,1967,0.00,2.85,0.00,0.000,6,0.000,0.067,2423,2559,3398,0,0,1,0,0,0
$GC,2287,-0.82,-146.0,227.8,-8.7,290,2292,0.00,2.95,0.00,0.000,4,0.000,0.091,2423,3914,3398,0,0,2,0,0,0
$GC,2465,-0.82,-146.0,244.2,-8.8,305,2471,0.00,2.80,0.00,0.000,6,0.000,0.066,2423,2584,3397,0,0,1,0,0,0
$GC,2790,-0.82,-146.0,272.6,-8.7,336,2795,0.00,2.92,0.00,0.000,4,0.000,0.087,2423,3920,3397,0,0,1,0,0,0
$GC,2943,-0.82,-146.0,286.2,-8.5,349,2947,0.00,2.78,0.00,0.000,6,0.000,0.064,2423,2597,3398,0,0,1,0,0,0
$GC,3268,-0.86,-146.0,313.5,-8.6,379,3273,0.00,2.90,0.00,0.000,4,0.000,0.086,2423,3924,3398,0,0,1,0,0,0
$GC,3457,-0.86,-146.0,329.9,-8.7,395,3463,0.00,2.72,0.00,0.000,6,0.000,0.061,2423,2632,3398,0,0,0,0,0,0
$GC,3784,-0.86,-146.0,354.8,-7.3,426,3789,0.00,2.83,0.00,0.000,4,0.000,0.084,2423,3916,3400,0,0,1,0,0,0
$GC,3884,-0.91,-146.0,362.5,-7.7,434,3890,0.00,2.67,0.00,0.000,6,0.000,0.061,2423,2645,3400,0,0,1,0,0,0
$GC,4209,-0.97,-146.0,384.7,-6.9,465,4214,0.15,2.83,0.00,0.000,4,0.110,0.081,2361,3922,3401,0,0,1,0,0,0
$GC,4344,-0.80,-146.0,397.6,-9.8,476,4351,0.28,2.65,0.00,0.000,6,0.203,0.059,2427,2666,3401,0,0,1,0,0,0
$GC,4669,-0.86,-146.0,419.8,-6.3,507,4674,0.00,2.78,0.00,0.000,4,0.000,0.083,2427,3921,3402,0,0,1,0,0,0
$GC,4800,-0.93,-146.0,428.6,-7.1,518,4805,0.12,2.62,0.00,0.000,6,0.119,0.059,2387,2680,3402,0,0,1,0,0,0
$GC,5125,-0.86,-146.0,456.0,-8.5,548,5130,0.00,2.75,0.00,0.000,4,0.000,0.083,2386,3928,3403,0,0,1,0,0,0
$GC,5284,-0.79,-146.0,470.6,-9.0,561,5290,0.20,2.60,0.00,0.000,6,0.197,0.058,2433,2691,3404,0,0,1,0,0,0
$STATE,5298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5298,begin apogee
$GC,5305,-0.16,0.0,472.4,9.3,563,5431,0.68,0.00,120.12,1.029,6,0.173,0.000,2628,1949,2799,0,0,0,0,0,0
$STATE,5432,end apogee,CONTROL_FINISHED_OK
$STATE,5432,begin climb
$GC,5434,0.73,146.0,475.3,0.0,576,5567,0.95,0.00,123.00,0.982,6,0.131,0.000,2913,1949,2203,0,0,0,0,0,0
$GC,5883,0.73,146.0,431.6,10.3,619,5889,0.00,3.40,0.00,0.000,4,0.000,0.075,2913,3542,2195,0,0,2,0,0,0
$GC,6014,0.63,146.0,416.1,12.1,630,6020,0.15,3.33,0.00,0.000,6,0.205,0.068,2895,1969,2193,0,0,0,0,0,0
$GC,6338,0.63,146.0,381.6,10.4,660,6343,0.00,3.33,0.00,0.000,4,0.000,0.077,2895,3545,2193,0,0,1,0,0,0
$GC,6449,0.63,146.0,369.1,11.2,669,6455,0.00,3.28,0.00,0.000,6,0.000,0.070,2907,1972,2192,0,0,1,0,0,0
$GC,6774,0.63,146.0,334.0,11.5,700,6779,0.00,3.30,0.00,0.000,4,0.000,0.077,2908,3543,2192,0,0,1,0,0,0
$GC,6863,0.56,146.0,322.6,13.2,707,6870,0.20,3.22,0.00,0.000,6,0.190,0.069,2874,1989,2191,0,0,0,0,0,0
$GC,7188,0.66,154.8,292.6,8.8,738,7202,0.00,3.33,6.53,0.760,4,0.000,0.076,2874,3546,2168,0,0,1,0,0,0
$GC,7316,0.71,154.8,279.4,10.9,749,7322,0.10,3.22,0.00,0.000,6,0.123,0.067,2920,2005,2168,0,0,0,0,0,0
$GC,7640,0.71,154.8,240.9,11.9,780,7645,0.00,3.25,0.00,0.000,4,0.000,0.077,2920,3547,2168,0,0,1,0,0,0
$GC,7735,0.61,154.8,228.3,13.6,788,7741,0.17,3.22,0.00,0.000,6,0.195,0.068,2893,2014,2168,0,0,0,0,0,0
$GC,8060,0.67,154.8,195.2,10.2,818,8065,0.00,3.22,0.00,0.000,4,0.000,0.075,2893,3546,2168,0,0,1,0,0,0
$GC,8137,0.67,154.8,186.8,10.7,824,8143,0.00,3.17,0.00,0.000,6,0.000,0.067,2905,2028,2168,0,0,1,0,0,0
$GC,8464,0.72,154.8,154.0,10.1,855,8469,0.00,3.20,0.00,0.000,4,0.000,0.076,2905,3539,2168,0,0,1,0,0,0
$GC,8552,0.72,154.8,144.1,11.0,862,8559,0.00,3.15,0.00,0.000,6,0.000,0.067,2919,2036,2168,0,0,1,0,0,0
$GC,8879,0.74,169.1,113.7,8.6,893,8900,0.00,3.20,13.65,0.762,4,0.000,0.077,2919,3539,2109,0,0,1,0,0,0
$GC,8972,0.74,169.1,104.8,9.2,901,8978,0.00,3.15,0.00,0.000,6,0.000,0.067,2933,2040,2108,0,0,1,0,0,0
$GC,9313,0.79,174.7,75.3,8.9,957,9329,0.00,3.25,6.53,0.676,4,0.000,0.076,2933,3539,2085,0,0,1,0,0,0
$GC,9397,0.79,174.7,67.3,10.0,972,9403,0.00,3.17,0.00,0.000,6,0.000,0.068,2947,2046,2084,0,0,0,0,0,0
$GC,9743,0.79,174.7,37.1,10.3,1033,9748,0.00,3.22,0.00,0.000,4,0.000,0.076,2947,3546,2084,0,0,0,0,0,0
$GC,9788,0.73,174.7,32.2,10.1,1041,9795,0.15,3.17,0.00,0.000,6,0.199,0.070,2927,2064,2084,0,0,0,0,0,0
$FREEZE,8.70,-0.588,-1.830,0,1,0
$FREEZE,8.34,-0.588,-1.830,0,1,0
$FREEZE,8.07,-0.589,-1.830,0,1,0
$FREEZE,7.65,-0.587,-1.829,0,1,0
$FREEZE,7.23,-0.586,-1.829,0,1,0
$FREEZE,6.77,-0.586,-1.829,0,1,0
$FREEZE,6.34,-0.588,-1.828,0,1,0
$FREEZE,6.06,-0.589,-1.828,0,1,0
$FREEZE,5.86,-0.587,-1.828,0,1,0
$FREEZE,5.42,-0.585,-1.828,0,1,0
$FREEZE,5.17,-0.588,-1.828,0,1,0
$FREEZE,4.99,-0.586,-1.827,0,1,0
$FREEZE,4.81,-0.586,-1.827,0,1,0
$FREEZE,4.93,-0.587,-1.827,0,1,0
$FREEZE,4.95,-0.586,-1.827,0,1,0
$FREEZE,4.71,-0.586,-1.827,0,1,0
$FREEZE,4.52,-0.587,-1.827,0,1,0
$FREEZE,4.19,-0.587,-1.827,0,1,0
$FREEZE,3.61,-0.587,-1.826,0,1,0
$FREEZE,3.19,-0.588,-1.826,0,1,0
$FREEZE,2.38,-0.588,-1.825,0,1,0
$FREEZE,1.88,-0.588,-1.825,0,1,0
$GC,10134,0.82,246.3,3.2,6.2,1102,10148,0.00,0.00,11.77,0.736,2,0.000,0.000,2927,2065,2028,0,0,0,0,0,0
$STATE,10149,end climb,SURFACE_DEPTH_REACHED
$STATE,10149,begin surface coast
$FREEZE,1.00,-0.588,-1.824,0,1,0
$FREEZE,0.69,-0.588,-1.824,0,1,0
$FREEZE,0.25,-0.587,-1.824,0,1,0
$FREEZE,0.13,-0.564,-1.822,0,1,0
$FINISH,0.1,1.026719
$STATE,10171,end surface coast,CONTROL_FINISHED_OK
$STATE,10172,begin surface
$SM_CCo,10189,126.60,0.728,0,0,1066,425.10
$SM_GC,0.76,0.00,0.00,126.60,0.000,0.000,0.728,131,2468,1066,-8.00,0.23,425.10
$RAFOS_CLK,676
$RAFOS,6,1260665342,0.833333,0.817222,67,59,59,0,0,0,183,165,148,0,0,0
$RAFOS,5,1260664864,0.700000,0.684444,72,66,58,0,0,0,648,161,196,0,0,0
$RAFOS,4,1260664382,0.566667,0.550556,57,56,56,0,0,0,119,213,223,0,0,0
$RAFOS,3,1260663906,0.433333,0.418333,65,56,56,0,0,0,187,156,204,0,0,0
$RAFOS,2,1260663427,0.300000,0.285278,66,59,52,0,0,0,208,193,116,0,0,0
$RAFOS,1,1260662946,0.166667,0.151667,71,58,56,0,0,0,212,158,173,0,0,0
$RAFOS,0,1260662461,0.033333,0.016944,62,62,58,0,0,0,173,196,132,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5650.71,080399,232324
$TT8_MAMPS,0.026845
$HUMID,47.08
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,20.4
$ALTIM_BOTTOM_PING,300.2,198.3
$24V_AH,22.8,57.846
$10V_AH,10.1,30.512
$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,22.975,128.150,281.600,126.600,0.000,58.002,70.135,768.862,1.500,0.000,30.312,1892.952,5904.635,585.741,1940.919,1085.352,0.000,1573.510,0.000,1891.619,2520.000,8.688,0.000
$DEVICE_MAMPS,292.227,100.477,1029.314,727.883,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.898,756.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152372
$DATA_FILE_SIZE,44187,1108
$CAP_FILE_SIZE,142078,0
$CFSIZE,260165632,226099200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$SOUNDSPEED,1463.7
$GPS,131209,024957,6705.363,-5655.388,32,99.0,51,-37.6