version: 66.06
glider: 143
mission: 10
dive: 298
start: 12 13 109 7 13 50
data:
$ID,143
$MISSION,10
$DIVE,298
$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,-41628.383
$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,19
$R_STBD_OVSHOOT,15
$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
$GPS1,060454,6704.862,-5655.497,40,1.1,40,-37.6
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-63.2
$GPS2,071332,6705.299,-5655.803,10,1.5,11,-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,164.7,7063,-16.9,-9.167
$D_GRID,482
$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,15,-0.73,-146.0,0.0,0.0,0,154,0.00,0.00,-134.82,0.000,2,0.000,0.000,125,2446,3131,0,0,0,0,0,0
$GC,157,-0.73,-146.0,3.2,-5.9,27,178,11.32,0.00,-7.45,0.000,6,0.296,0.000,2446,2446,3397,0,0,0,0,0,0
$GC,515,-0.73,-146.0,46.7,-11.8,91,521,0.00,3.25,0.00,0.000,4,0.000,0.094,2445,3917,3402,0,0,1,0,0,0
$GC,763,-0.73,-146.0,72.5,-10.6,135,769,0.00,3.08,0.00,0.000,6,0.000,0.071,2446,2463,3402,0,0,1,0,0,0
$GC,1104,-0.78,-146.0,105.2,-9.2,191,1109,0.00,3.20,0.00,0.000,4,0.000,0.094,2446,3922,3402,0,0,1,0,0,0
$GC,1295,-0.86,-146.0,122.4,-8.4,207,1301,0.00,3.03,0.00,0.000,6,0.000,0.071,2446,2492,3402,0,0,1,0,0,0
$GC,1620,-0.94,-146.0,153.1,-9.6,238,1626,0.17,3.12,0.00,0.000,4,0.111,0.089,2374,3922,3402,0,0,2,0,0,0
$GC,1863,-0.78,-146.0,183.0,-11.7,259,1868,0.25,2.92,0.00,0.000,6,0.208,0.067,2433,2527,3401,0,0,1,0,0,0
$GC,2188,-0.78,-146.0,209.5,-7.6,289,2193,0.00,3.05,0.00,0.000,4,0.000,0.089,2433,3924,3402,0,0,1,0,0,0
$GC,2430,-0.83,-146.0,229.0,-8.4,310,2434,0.00,2.88,0.00,0.000,6,0.000,0.067,2433,2552,3401,0,0,1,0,0,0
$GC,2755,-0.90,-146.0,255.8,-8.7,340,2759,0.00,2.97,0.00,0.000,4,0.000,0.088,2433,3924,3402,0,0,2,0,0,0
$GC,2916,-0.96,-146.0,270.6,-9.8,354,2922,0.17,2.83,0.00,0.000,6,0.109,0.065,2374,2580,3402,0,0,1,0,0,0
$GC,3241,-0.83,-146.0,306.6,-10.9,384,3246,0.17,2.95,0.00,0.000,4,0.206,0.086,2413,3917,3403,0,0,1,0,0,0
$GC,3408,-0.83,-146.0,322.5,-9.3,398,3414,0.00,2.78,0.00,0.000,6,0.000,0.063,2413,2600,3403,0,0,1,0,0,0
$GC,3736,-0.83,-146.0,350.3,-8.6,429,3741,0.00,2.90,0.00,0.000,4,0.000,0.085,2413,3923,3404,0,0,1,0,0,0
$GC,3891,-0.83,-146.0,363.7,-8.2,442,3897,0.00,2.78,0.00,0.000,6,0.000,0.062,2413,2613,3404,0,0,0,0,0,0
$GC,4217,-0.83,-146.0,388.6,-7.4,473,4222,0.00,2.88,0.00,0.000,4,0.000,0.084,2413,3925,3405,0,0,1,0,0,0
$GC,4370,-0.83,-146.0,400.4,-8.1,486,4374,0.00,2.72,0.00,0.000,6,0.000,0.061,2413,2630,3406,0,0,1,0,0,0
$GC,4694,-0.83,-146.0,426.3,-7.9,516,4699,0.00,2.83,0.00,0.000,4,0.000,0.083,2413,3917,3407,0,0,1,0,0,0
$GC,4878,-0.83,-146.0,441.7,-8.6,532,4883,0.00,2.62,0.00,0.000,6,0.000,0.060,2413,2669,3407,0,0,1,0,0,0
$GC,5203,-0.83,-146.0,467.5,-7.8,562,5208,0.00,2.78,0.00,0.000,4,0.000,0.084,2413,3928,3408,0,0,1,0,0,0
$GC,5376,-0.83,-146.0,481.9,-8.2,577,5380,0.00,2.08,0.00,0.000,3,0.000,0.059,2413,2913,3408,0,0,0,0,0,0
$STATE,5381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5381,begin apogee
$GC,5389,-0.16,0.0,482.4,8.3,577,5515,0.77,0.00,120.93,1.033,6,0.179,0.000,2628,1933,2800,0,0,0,0,0,0
$STATE,5516,end apogee,CONTROL_FINISHED_OK
$STATE,5516,begin climb
$GC,5518,0.73,146.0,484.3,0.0,590,5651,0.95,0.00,123.15,0.988,6,0.130,0.000,2913,1933,2203,0,0,0,0,0,0
$GC,5968,0.73,146.0,440.1,11.3,633,5974,0.00,3.45,0.00,0.000,4,0.000,0.075,2913,3548,2196,0,0,1,0,0,0
$GC,6076,0.63,146.0,426.5,12.8,642,6082,0.15,3.38,0.00,0.000,6,0.207,0.068,2897,1952,2195,0,0,0,0,0,0
$GC,6400,0.63,146.0,391.2,10.9,672,6405,0.00,3.35,0.00,0.000,4,0.000,0.076,2897,3547,2194,0,0,1,0,0,0
$GC,6518,0.63,146.0,377.4,11.4,682,6524,0.00,3.28,0.00,0.000,6,0.000,0.070,2909,1980,2193,0,0,1,0,0,0
$GC,6842,0.63,146.0,340.1,10.9,712,6847,0.00,3.28,0.00,0.000,4,0.000,0.076,2909,3539,2193,0,0,1,0,0,0
$GC,6943,0.55,146.0,327.6,12.8,720,6949,0.20,3.28,0.00,0.000,6,0.196,0.069,2875,1976,2193,0,0,0,0,0,0
$GC,7268,0.65,151.7,296.6,8.9,751,7279,0.00,3.28,4.53,0.650,4,0.000,0.075,2875,3542,2181,0,0,1,0,0,0
$GC,7374,0.65,151.7,286.2,9.9,760,7380,0.00,3.22,0.00,0.000,6,0.000,0.068,2887,1991,2181,0,0,1,0,0,0
$GC,7699,0.72,151.7,257.3,9.3,791,7705,0.10,3.28,0.00,0.000,4,0.123,0.075,2925,3548,2180,0,0,1,0,0,0
$GC,7808,0.61,151.7,244.0,13.4,800,7814,0.20,3.22,0.00,0.000,6,0.201,0.068,2891,2003,2180,0,0,1,0,0,0
$GC,8133,0.67,151.7,209.7,10.4,830,8138,0.00,3.22,0.00,0.000,4,0.000,0.075,2891,3542,2180,0,0,1,0,0,0
$GC,8239,0.67,151.7,197.4,11.7,839,8244,0.00,3.17,0.00,0.000,6,0.000,0.068,2902,2023,2180,0,0,1,0,0,0
$GC,8563,0.68,159.9,165.9,8.8,869,8578,0.00,3.20,8.48,0.739,4,0.000,0.076,2902,3543,2148,0,0,1,0,0,0
$GC,8667,0.68,159.9,155.3,10.1,878,8674,0.00,3.15,0.00,0.000,6,0.000,0.067,2916,2037,2147,0,0,1,0,0,0
$GC,8992,0.68,159.9,124.4,9.7,909,8997,0.00,3.20,0.00,0.000,4,0.000,0.075,2916,3542,2147,0,0,0,0,0,0
$GC,9081,0.68,159.9,114.4,11.8,916,9087,0.00,3.15,0.00,0.000,6,0.000,0.067,2930,2034,2147,0,0,1,0,0,0
$GC,9416,0.68,159.9,81.2,9.7,964,9421,0.00,3.20,0.00,0.000,4,0.000,0.075,2930,3540,2147,0,0,0,0,0,0
$GC,9490,0.63,159.9,73.9,9.9,977,9496,0.20,3.15,0.00,0.000,6,0.191,0.067,2896,2050,2147,0,0,0,0,0,0
$GC,9837,0.82,193.9,48.3,7.7,1038,9874,0.17,3.20,28.88,0.751,4,0.107,0.076,2957,3540,2008,0,0,1,0,0,0
$GC,10009,0.82,193.9,28.3,10.1,1069,10015,0.00,3.15,0.00,0.000,6,0.000,0.069,2971,2072,2005,0,0,0,0,0,0
$FREEZE,8.84,-0.016,-1.831,0,2,0
$FREEZE,8.40,-0.015,-1.831,0,2,0
$FREEZE,7.72,-0.016,-1.831,0,2,0
$FREEZE,7.02,-0.015,-1.830,0,2,0
$FREEZE,6.43,-0.016,-1.830,0,2,0
$FREEZE,5.74,-0.012,-1.829,0,2,0
$FREEZE,5.23,-0.011,-1.829,0,2,0
$FREEZE,4.36,-0.013,-1.828,0,2,0
$FREEZE,3.76,-0.016,-1.828,0,2,0
$FREEZE,3.02,-0.025,-1.827,0,2,0
$FREEZE,2.33,-0.015,-1.826,0,2,0
$FREEZE,1.64,-0.013,-1.826,0,2,0
$STATE,10250,end climb,SURFACE_DEPTH_REACHED
$STATE,10250,begin surface coast
$FREEZE,0.86,-0.008,-1.825,0,2,0
$FREEZE,0.30,0.006,-1.824,0,2,0
$FREEZE,0.79,-0.007,-1.825,0,2,0
$FINISH,0.8,1.026729
$STATE,10269,end surface coast,CONTROL_FINISHED_OK
$STATE,10269,begin surface
$SM_CCo,10287,124.97,0.711,0,0,1066,425.10
$SM_GC,1.05,0.00,0.00,124.97,0.000,0.000,0.711,127,2476,1066,-8.01,0.45,425.10
$RAFOS_CLK,823
$RAFOS,6,1260694151,8.833333,8.819722,91,66,66,0,0,0,779,223,206,0,0,0
$RAFOS,5,1260693664,8.700000,8.684444,63,59,59,0,0,0,213,199,638,0,0,0
$RAFOS,4,1260693183,8.566667,8.550834,64,59,58,0,0,0,212,188,201,0,0,0
$RAFOS,3,1260692706,8.433333,8.418333,59,59,57,0,0,0,173,205,158,0,0,0
$RAFOS,2,1260692225,8.300000,8.284722,59,58,56,0,0,0,177,154,215,0,0,0
$RAFOS,1,1260691742,8.166667,8.150556,69,60,55,0,0,0,190,209,123,0,0,0
$RAFOS,0,1260691266,8.033334,8.018333,65,65,63,0,0,0,142,221,186,0,0,0
$RAFOS_FIX,6709.466309,-5706.293945,131209,040428,2,75,1.95
$IRIDIUM_FIX,6636.54,-5655.33,090399,060628
$TT8_MAMPS,0.027612
$HUMID,45.39
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,20.0
$ALTIM_BOTTOM_PING,350.3,172.2
$24V_AH,22.8,58.346
$10V_AH,10.1,30.701
$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,23.275,124.900,285.950,124.975,0.000,76.077,126.572,3655.347,1.500,0.000,12.638,1879.615,6016.294,578.207,1974.107,4076.295,0.000,1586.500,0.000,1941.927,2520.000,9.283,0.000
$DEVICE_MAMPS,296.062,93.574,1033.149,711.009,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.238,759.314,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152356
$DATA_FILE_SIZE,44183,1115
$CAP_FILE_SIZE,198451,0
$CFSIZE,260165632,226492416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$SOUNDSPEED,1466.7
$GPS,131209,100837,6705.838,-5657.399,26,1.7,26,-37.6