version: 66.06
glider: 143
mission: 10
dive: 304
start: 12 14 109 2 33 31
data:
$ID,143
$MISSION,10
$DIVE,304
$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,-41736.125
$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,23
$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
$GPS1,022801,6707.262,-5700.963,38,1.7,38,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.0
$GPS2,023313,6707.275,-5700.996,9,1.3,14,-37.7
$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,167.9,12279,-16.9,-9.167
$D_GRID,502
$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,-146.0,0.0,0.0,0,144,0.00,0.00,-125.00,0.000,2,0.000,0.000,126,2467,3224,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.6,-7.9,25,168,11.10,2.33,-4.28,0.000,4,0.290,0.095,2444,866,3397,0,0,0,0,0,0
$GC,214,-0.73,-146.0,16.7,-11.2,37,220,0.00,2.25,0.00,0.000,6,0.000,0.068,2444,2459,3399,0,0,0,0,0,0
$GC,558,-0.73,-146.0,51.3,-10.1,98,563,0.00,3.17,0.00,0.000,4,0.000,0.088,2444,3921,3399,0,0,1,0,0,0
$GC,818,-0.73,-146.0,77.4,-9.8,144,824,0.00,2.97,0.00,0.000,6,0.000,0.064,2444,2496,3399,0,0,1,0,0,0
$GC,1157,-0.79,-146.0,109.0,-8.9,196,1162,0.00,3.10,0.00,0.000,4,0.000,0.087,2444,3919,3398,0,0,1,0,0,0
$GC,1331,-0.86,-146.0,125.0,-9.4,211,1336,0.00,2.92,0.00,0.000,6,0.000,0.064,2444,2516,3397,0,0,1,0,0,0
$GC,1657,-0.93,-146.0,154.0,-8.7,241,1662,0.17,3.08,0.00,0.000,4,0.110,0.084,2372,3928,3396,0,0,1,0,0,0
$GC,1915,-0.78,-146.0,184.3,-11.9,263,1922,0.25,2.85,0.00,0.000,6,0.203,0.061,2431,2552,3395,0,0,1,0,0,0
$GC,2240,-0.83,-146.0,213.2,-8.2,294,2245,0.00,2.97,0.00,0.000,4,0.000,0.084,2431,3928,3396,0,0,1,0,0,0
$GC,2409,-0.90,-146.0,226.8,-8.4,308,2415,0.00,2.80,0.00,0.000,6,0.000,0.060,2432,2580,3396,0,0,1,0,0,0
$GC,2734,-0.96,-146.0,250.9,-7.5,339,2740,0.15,2.92,0.00,0.000,4,0.117,0.081,2373,3920,3396,0,0,2,0,0,0
$GC,2836,-0.83,-146.0,261.4,-10.8,347,2842,0.20,2.78,0.00,0.000,6,0.200,0.058,2420,2586,3396,0,0,1,0,0,0
$GC,3162,-0.83,-146.0,288.6,-8.3,378,3167,0.00,2.90,0.00,0.000,4,0.000,0.081,2420,3918,3397,0,0,1,0,0,0
$GC,3340,-0.83,-146.0,304.0,-8.9,393,3346,0.00,2.75,0.00,0.000,6,0.000,0.057,2420,2612,3397,0,0,0,0,0,0
$GC,3667,-0.83,-146.0,327.8,-7.3,424,3671,0.00,2.88,0.00,0.000,4,0.000,0.081,2420,3928,3398,0,0,1,0,0,0
$GC,3819,-0.83,-146.0,338.7,-7.3,437,3824,0.00,2.72,0.00,0.000,6,0.000,0.058,2419,2629,3399,0,0,1,0,0,0
$GC,4144,-0.83,-146.0,361.9,-7.2,467,4149,0.00,2.83,0.00,0.000,4,0.000,0.079,2420,3918,3399,0,0,1,0,0,0
$GC,4233,-0.88,-146.0,369.0,-8.4,474,4239,0.00,2.67,0.00,0.000,6,0.000,0.057,2420,2642,3399,0,0,1,0,0,0
$GC,4557,-0.88,-146.0,394.8,-8.2,505,4562,0.00,2.80,0.00,0.000,4,0.000,0.079,2419,3918,3400,0,0,1,0,0,0
$GC,4677,-0.92,-146.0,404.8,-8.4,515,4681,0.00,2.65,0.00,0.000,6,0.000,0.057,2420,2660,3400,0,0,1,0,0,0
$GC,5002,-0.97,-146.0,431.2,-8.1,545,5008,0.12,2.80,0.00,0.000,4,0.120,0.077,2364,3924,3400,0,0,1,0,0,0
$GC,5159,-0.83,-146.0,447.8,-10.2,558,5165,0.22,2.60,0.00,0.000,6,0.199,0.055,2417,2683,3400,0,0,1,0,0,0
$GC,5484,-0.83,-146.0,474.1,-8.1,589,5488,0.00,2.75,0.00,0.000,4,0.000,0.080,2417,3925,3401,0,0,1,0,0,0
$GC,5590,-0.83,-146.0,482.6,-7.7,598,5594,0.00,2.60,0.00,0.000,6,0.000,0.055,2417,2694,3401,0,0,1,0,0,0
$STATE,5848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5848,begin apogee
$GC,5854,-0.16,0.0,502.4,7.7,622,5981,0.73,0.00,119.62,1.039,6,0.168,0.000,2628,1938,2799,0,0,0,0,0,0
$STATE,5982,end apogee,CONTROL_FINISHED_OK
$STATE,5982,begin climb
$GC,5984,0.73,146.0,504.4,0.0,635,6117,0.95,2.33,122.03,0.996,4,0.126,0.083,2926,357,2202,0,0,0,0,0,0
$GC,6179,0.65,146.0,486.7,12.2,653,6185,0.00,2.12,0.00,0.000,6,0.000,0.055,2926,1961,2199,0,0,0,0,0,0
$GC,6504,0.57,146.0,449.6,12.0,684,6509,0.20,3.38,0.00,0.000,4,0.196,0.071,2878,3528,2195,0,0,0,0,0,0
$GC,6612,0.57,146.0,438.0,10.4,693,6618,0.00,3.35,0.00,0.000,6,0.000,0.066,2890,1953,2195,0,0,0,0,0,0
$GC,6936,0.57,146.0,406.0,9.7,723,6941,0.00,3.35,0.00,0.000,4,0.000,0.074,2890,3532,2194,0,0,1,0,0,0
$GC,7063,0.57,146.0,392.8,10.7,733,7069,0.12,3.30,0.00,0.000,6,0.202,0.067,2879,1974,2193,0,0,0,0,0,0
$GC,7387,0.65,152.2,363.5,8.9,764,7398,0.00,3.33,4.82,0.696,4,0.000,0.074,2879,3531,2179,0,0,0,0,0,0
$GC,7512,0.65,152.2,350.9,10.6,775,7518,0.00,3.28,0.00,0.000,6,0.000,0.067,2891,1988,2178,0,0,0,0,0,0
$GC,7837,0.65,152.2,318.8,9.9,805,7842,0.00,3.30,0.00,0.000,4,0.000,0.075,2891,3537,2178,0,0,1,0,0,0
$GC,7966,0.65,152.2,304.4,11.7,816,7971,0.00,3.25,0.00,0.000,6,0.000,0.067,2906,2011,2178,0,0,0,0,0,0
$GC,8291,0.65,152.2,267.3,11.9,846,8296,0.00,3.25,0.00,0.000,4,0.000,0.074,2906,3532,2178,0,0,1,0,0,0
$GC,8364,0.60,152.2,257.6,13.6,852,8370,0.15,3.22,0.00,0.000,6,0.200,0.066,2886,2019,2178,0,0,0,0,0,0
$GC,8688,0.67,152.2,223.8,9.8,882,8693,0.00,3.22,0.00,0.000,4,0.000,0.074,2886,3527,2178,0,0,1,0,0,0
$GC,8783,0.67,152.2,213.4,10.8,890,8788,0.00,3.20,0.00,0.000,6,0.000,0.066,2898,2024,2177,0,0,0,0,0,0
$GC,9108,0.72,152.2,180.5,9.9,920,9113,0.00,3.22,0.00,0.000,4,0.000,0.074,2898,3532,2178,0,0,1,0,0,0
$GC,9196,0.72,152.2,170.5,11.5,927,9203,0.00,3.15,0.00,0.000,6,0.000,0.064,2912,2042,2178,0,0,1,0,0,0
$GC,9521,0.72,152.2,138.0,9.6,958,9526,0.00,3.20,0.00,0.000,4,0.000,0.074,2912,3531,2178,0,0,1,0,0,0
$GC,9583,0.66,152.2,131.3,10.7,963,9588,0.00,3.17,0.00,0.000,6,0.000,0.064,2926,2043,2178,0,0,0,0,0,0
$GC,9908,0.69,177.7,100.7,8.1,993,9939,0.00,3.25,21.98,0.765,4,0.000,0.074,2926,3528,2073,0,0,1,0,0,0
$GC,10019,0.69,177.7,90.6,9.3,1012,10024,0.00,3.17,0.00,0.000,6,0.000,0.065,2940,2052,2071,0,0,0,0,0,0
$GC,10362,0.70,183.6,59.2,8.9,1073,10377,0.00,3.20,6.22,0.647,4,0.000,0.073,2940,3538,2049,0,0,1,0,0,0
$GC,10480,0.70,183.6,47.2,10.4,1094,10487,0.15,3.17,0.00,0.000,6,0.198,0.066,2920,2063,2048,0,0,0,0,0,0
$GC,10827,0.83,214.1,19.6,7.9,1155,10859,0.12,3.17,25.73,0.738,4,0.120,0.074,2964,3528,1926,0,0,2,0,0,0
$FREEZE,8.34,0.095,-1.832,0,1,0
$FREEZE,7.64,0.095,-1.831,0,1,0
$FREEZE,7.04,0.094,-1.831,0,1,0
$FREEZE,6.27,0.094,-1.830,0,1,0
$GC,10945,0.76,214.1,6.3,12.4,1176,10951,0.17,3.17,0.00,0.000,6,0.195,0.067,2937,2075,1922,0,0,0,0,0,0
$FREEZE,4.68,0.095,-1.829,0,1,0
$FREEZE,4.09,0.094,-1.829,0,1,0
$FREEZE,3.52,0.094,-1.828,0,1,0
$FREEZE,3.05,0.094,-1.828,0,1,0
$FREEZE,2.43,0.095,-1.827,0,1,0
$FREEZE,1.93,0.094,-1.827,0,1,0
$STATE,10984,end climb,SURFACE_DEPTH_REACHED
$STATE,10984,begin surface coast
$FREEZE,1.39,0.094,-1.827,0,1,0
$FREEZE,0.73,0.095,-1.826,0,1,0
$FREEZE,0.13,0.094,-1.826,0,1,0
$FREEZE,0.08,0.091,-1.804,0,1,0
$FINISH,0.1,1.026431
$STATE,11009,end surface coast,CONTROL_FINISHED_OK
$STATE,11009,begin surface
$SM_CCo,11027,117.25,0.710,0,0,1066,425.10
$SM_GC,0.88,0.00,0.00,117.25,0.000,0.000,0.710,125,2468,1066,-8.02,0.23,425.10
$RAFOS_CLK,676
$RAFOS,6,1260766150,4.833333,4.819445,91,62,58,0,0,0,778,179,195,0,0,0
$RAFOS,5,1260765665,4.700000,4.684722,73,67,58,0,0,0,637,206,114,0,0,0
$RAFOS,4,1260765183,4.566667,4.550833,62,60,58,0,0,0,212,134,201,0,0,0
$RAFOS,3,1260764701,4.433333,4.416945,60,59,56,0,0,0,174,203,132,0,0,0
$RAFOS,2,1260764225,4.300000,4.284722,60,56,56,0,0,0,202,187,216,0,0,0
$RAFOS,1,1260763742,4.166667,4.150556,57,56,53,0,0,0,188,199,147,0,0,0
$RAFOS,0,1260763269,4.033333,4.019166,65,56,55,0,0,0,206,150,219,0,0,0
$RAFOS_FIX,6706.608398,-5704.352539,141209,040400,2,82,0.34
$IRIDIUM_FIX,6636.54,-5659.96,090399,232306
$TT8_MAMPS,0.026845
$HUMID,46.25
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,350.3,172.7
$24V_AH,22.8,59.133
$10V_AH,10.1,31.131
$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,23.150,144.800,300.400,117.250,0.000,32.170,30.648,129.534,1.500,0.000,16.392,2027.563,6379.988,586.211,2075.040,390.034,0.000,1655.983,0.000,2035.664,2520.000,10.334,0.000
$DEVICE_MAMPS,289.926,95.108,1039.285,710.242,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.503,807.760,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152492
$DATA_FILE_SIZE,44176,1187
$CAP_FILE_SIZE,137019,0
$CFSIZE,260165632,226316288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$SOUNDSPEED,1468.0
$GPS,141209,054037,6706.577,-5701.259,26,1.5,26,-37.7