version: 66.06
glider: 143
mission: 10
dive: 308
start: 12 14 109 16 3 37
data:
$ID,143
$MISSION,10
$DIVE,308
$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,-41806.227
$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,18
$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
$GPS1,155737,6707.601,-5707.337,40,1.0,40,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.2
$GPS2,160319,6707.625,-5707.345,11,1.2,16,-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,159.2,16386,-16.9,-9.167
$D_GRID,562
$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,-125.03,0.000,2,0.000,0.000,124,2460,3169,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.1,-5.7,25,173,11.45,3.28,-6.07,0.000,4,0.298,0.100,2446,3911,3398,0,0,3,0,0,0
$GC,325,-0.73,-146.0,26.9,-10.5,57,332,0.00,3.05,0.00,0.000,6,0.000,0.064,2446,2468,3401,0,0,2,0,0,0
$GC,669,-0.73,-146.0,61.9,-10.2,118,675,0.00,3.20,0.00,0.000,4,0.000,0.087,2446,3913,3401,0,0,2,0,0,0
$GC,916,-0.73,-146.0,86.2,-9.7,162,922,0.00,3.03,0.00,0.000,6,0.000,0.064,2446,2496,3401,0,0,1,0,0,0
$GC,1255,-0.78,-146.0,118.2,-9.4,206,1260,0.00,3.12,0.00,0.000,4,0.000,0.087,2446,3915,3400,0,0,3,0,0,0
$GC,1479,-0.88,-146.0,139.0,-9.0,225,1485,0.12,2.95,0.00,0.000,6,0.127,0.064,2407,2533,3399,0,0,1,0,0,0
$GC,1803,-0.88,-146.0,170.2,-9.4,256,1808,0.00,3.08,0.00,0.000,4,0.000,0.087,2407,3912,3398,0,0,1,0,0,0
$GC,2011,-0.83,-146.0,190.7,-9.7,274,2016,0.00,2.88,0.00,0.000,6,0.000,0.063,2407,2564,3398,0,0,1,0,0,0
$GC,2335,-0.83,-146.0,220.9,-9.6,304,2340,0.00,3.00,0.00,0.000,4,0.000,0.086,2407,3918,3398,0,0,2,0,0,0
$GC,2520,-0.83,-146.0,238.7,-9.1,320,2524,0.00,2.83,0.00,0.000,6,0.000,0.062,2407,2588,3398,0,0,1,0,0,0
$GC,2844,-0.83,-146.0,269.0,-9.5,350,2849,0.00,2.95,0.00,0.000,4,0.000,0.085,2407,3918,3398,0,0,2,0,0,0
$GC,2985,-0.83,-146.0,282.4,-9.1,362,2989,0.00,2.80,0.00,0.000,6,0.000,0.061,2407,2604,3399,0,0,1,0,0,0
$GC,3309,-0.83,-146.0,312.0,-9.3,392,3314,0.00,2.92,0.00,0.000,4,0.000,0.084,2407,3922,3399,0,0,2,0,0,0
$GC,3375,-0.83,-146.0,318.1,-9.1,397,3381,0.00,2.78,0.00,0.000,6,0.000,0.060,2407,2620,3399,0,0,1,0,0,0
$GC,3700,-0.83,-146.0,343.7,-7.5,428,3704,0.00,2.90,0.00,0.000,4,0.000,0.084,2406,3922,3400,0,0,2,0,0,0
$GC,3885,-0.83,-146.0,358.3,-7.8,444,3890,0.00,2.75,0.00,0.000,6,0.000,0.060,2407,2638,3400,0,0,1,0,0,0
$GC,4209,-0.83,-146.0,382.9,-7.0,474,4214,0.00,2.90,0.00,0.000,4,0.000,0.083,2407,3927,3399,0,0,1,0,0,0
$GC,4344,-0.83,-146.0,393.2,-7.8,485,4350,0.00,2.72,0.00,0.000,6,0.000,0.059,2407,2656,3400,0,0,1,0,0,0
$GC,4669,-0.83,-146.0,417.5,-7.6,516,4673,0.00,2.85,0.00,0.000,4,0.000,0.082,2407,3920,3400,0,0,1,0,0,0
$GC,4831,-0.83,-146.0,430.3,-7.6,530,4836,0.00,2.70,0.00,0.000,6,0.000,0.058,2407,2665,3400,0,0,1,0,0,0
$GC,5156,-0.83,-146.0,455.0,-7.9,560,5160,0.00,2.83,0.00,0.000,4,0.000,0.082,2407,3915,3400,0,0,1,0,0,0
$GC,5301,-0.83,-146.0,467.0,-8.0,572,5307,0.00,2.65,0.00,0.000,6,0.000,0.058,2407,2689,3401,0,0,1,0,0,0
$GC,5625,-0.83,-146.0,492.4,-7.6,603,5630,0.00,2.78,0.00,0.000,4,0.000,0.082,2407,3919,3401,0,0,2,0,0,0
$GC,5782,-0.83,-146.0,504.2,-7.8,616,5788,0.00,2.60,0.00,0.000,6,0.000,0.058,2407,2711,3402,0,0,1,0,0,0
$GC,6107,-0.83,-146.0,526.9,-7.0,647,6111,0.00,2.72,0.00,0.000,4,0.000,0.081,2407,3915,3402,0,0,2,0,0,0
$GC,6303,-0.83,-146.0,542.4,-8.1,664,6308,0.00,2.58,0.00,0.000,6,0.000,0.058,2407,2722,3402,0,0,1,0,0,0
$STATE,6563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6563,begin apogee
$GC,6569,-0.16,0.0,562.6,8.3,688,6695,0.80,0.00,121.40,1.078,6,0.179,0.000,2628,1936,2800,0,0,0,0,0,0
$STATE,6696,end apogee,CONTROL_FINISHED_OK
$STATE,6696,begin climb
$GC,6699,0.73,146.0,564.8,0.0,701,6832,0.95,2.15,124.43,1.033,4,0.129,0.084,2923,341,2203,0,0,0,0,0,0
$GC,6856,0.66,146.0,552.5,11.8,716,6860,0.00,2.15,0.00,0.000,6,0.000,0.057,2923,1958,2200,0,0,0,0,0,0
$GC,7180,0.60,146.0,512.3,12.8,746,7186,0.17,3.40,0.00,0.000,4,0.200,0.074,2880,3537,2196,0,0,3,0,0,0
$GC,7277,0.60,146.0,500.9,11.6,754,7282,0.00,3.40,0.00,0.000,6,0.000,0.067,2893,1959,2194,0,0,1,0,0,0
$GC,7601,0.60,146.0,464.4,11.5,784,7606,0.00,3.38,0.00,0.000,4,0.000,0.076,2893,3539,2194,0,0,3,0,0,0
$GC,7712,0.60,146.0,450.2,12.7,793,7718,0.00,3.33,0.00,0.000,6,0.000,0.068,2908,1971,2193,0,0,2,0,0,0
$GC,8037,0.60,146.0,408.5,12.8,824,8042,0.00,3.35,0.00,0.000,4,0.000,0.075,2908,3534,2193,0,0,2,0,0,0
$GC,8137,0.52,146.0,394.4,13.9,832,8144,0.25,3.33,0.00,0.000,6,0.196,0.068,2862,1978,2193,0,0,1,0,0,0
$GC,8462,0.65,146.0,360.5,9.5,863,8468,0.12,3.33,0.00,0.000,4,0.119,0.074,2906,3532,2193,0,0,2,0,0,0
$GC,8615,0.59,146.0,340.7,13.0,876,8621,0.17,3.30,0.00,0.000,6,0.196,0.067,2880,1998,2193,0,0,0,0,0,0
$GC,8939,0.67,146.0,308.0,9.6,906,8944,0.00,3.33,0.00,0.000,4,0.000,0.074,2880,3536,2193,0,0,1,0,0,0
$GC,9085,0.67,146.0,293.6,10.5,918,9090,0.00,3.28,0.00,0.000,6,0.000,0.067,2891,2021,2192,0,0,0,0,0,0
$GC,9410,0.75,159.9,264.6,8.6,949,9431,0.12,3.28,11.23,0.823,4,0.108,0.074,2942,3530,2147,0,0,1,0,0,0
$GC,9512,0.60,159.9,252.6,12.5,958,9518,0.28,3.22,0.00,0.000,6,0.201,0.067,2890,2048,2145,0,0,0,0,0,0
$GC,9837,0.69,164.0,224.1,9.0,988,9848,0.00,3.22,5.00,0.669,4,0.000,0.075,2890,3531,2130,0,0,2,0,0,0
$GC,9967,0.69,164.0,211.5,9.7,999,9973,0.00,3.20,0.00,0.000,6,0.000,0.066,2901,2065,2129,0,0,0,0,0,0
$GC,10292,0.76,164.0,180.7,9.9,1030,10297,0.00,3.22,0.00,0.000,4,0.000,0.075,2902,3532,2129,0,0,1,0,0,0
$GC,10358,0.76,164.0,173.1,11.6,1035,10364,0.00,3.15,0.00,0.000,6,0.000,0.066,2916,2069,2129,0,0,2,0,0,0
$GC,10682,0.76,164.0,136.8,11.1,1066,10687,0.00,3.22,0.00,0.000,4,0.000,0.075,2916,3535,2129,0,0,1,0,0,0
$GC,10760,0.76,164.0,127.2,12.9,1072,10766,0.00,3.17,0.00,0.000,6,0.000,0.067,2930,2073,2129,0,0,1,0,0,0
$GC,11089,0.80,194.5,94.6,7.9,1109,11121,0.00,3.20,25.75,0.784,4,0.000,0.074,2930,3529,2007,0,0,2,0,0,0
$GC,11201,0.80,194.5,84.5,10.0,1129,11206,0.00,3.20,0.00,0.000,6,0.000,0.066,2944,2079,2004,0,0,0,0,0,0
$GC,11545,0.86,204.1,56.0,8.8,1190,11561,0.00,3.22,9.27,0.723,4,0.000,0.076,2944,3532,1966,0,0,1,0,0,0
$GC,11630,0.87,211.5,48.3,8.9,1205,11646,0.00,3.17,7.40,0.690,6,0.000,0.067,2957,2085,1937,0,0,1,0,0,0
$GC,11983,0.87,211.5,14.1,10.9,1268,11988,0.00,3.22,0.00,0.000,4,0.000,0.077,2958,3539,1935,0,0,1,0,0,0
$FREEZE,8.98,0.030,-1.832,0,1,0
$FREEZE,8.20,0.029,-1.832,0,1,0
$FREEZE,7.46,0.033,-1.831,0,1,0
$FREEZE,6.69,0.036,-1.830,0,1,0
$GC,12040,0.78,211.5,6.7,13.6,1278,12046,0.00,3.17,0.00,0.000,6,0.000,0.071,2972,2104,1934,0,0,1,0,0,0
$FREEZE,4.98,0.037,-1.829,0,1,0
$FREEZE,4.21,0.036,-1.829,0,1,0
$FREEZE,3.41,0.036,-1.828,0,1,0
$FREEZE,2.78,0.035,-1.828,0,1,0
$FREEZE,1.76,0.038,-1.827,0,1,0
$STATE,12073,end climb,SURFACE_DEPTH_REACHED
$STATE,12073,begin surface coast
$FREEZE,1.10,0.035,-1.826,0,1,0
$FREEZE,0.30,0.037,-1.826,0,1,0
$FINISH,0.3,1.026738
$STATE,12085,end surface coast,CONTROL_FINISHED_OK
$STATE,12086,begin surface
$SM_CCo,12103,122.22,0.723,0,0,1065,425.10
$SM_GC,1.02,0.00,0.00,122.22,0.000,0.000,0.723,124,2455,1065,-8.02,-0.14,425.10
$RAFOS_CLK,752
$RAFOS,6,1260809342,16.833334,16.817223,59,58,57,0,0,0,800,215,193,0,0,0
$RAFOS,5,1260808865,16.700001,16.684723,107,63,61,0,0,0,614,169,156,0,0,0
$RAFOS,4,1260808386,16.566668,16.551666,57,53,51,0,0,0,175,144,163,0,0,0
$RAFOS,3,1260807903,16.433332,16.417500,68,62,62,0,0,0,134,122,214,0,0,0
$RAFOS,2,1260807425,16.299999,16.284721,67,59,56,0,0,0,216,145,199,0,0,0
$RAFOS,1,1260806946,16.166666,16.151667,58,57,54,0,0,0,217,201,182,0,0,0
$RAFOS_FIX,6706.608398,-5704.352539,141209,040400,2,82,0.34
$IRIDIUM_FIX,6636.54,-5707.59,100399,121245
$TT8_MAMPS,0.027612
$HUMID,47.08
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,19.4
$ALTIM_BOTTOM_PING,400.7,189.8
$24V_AH,22.7,59.629
$10V_AH,10.1,31.425
$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,22.800,159.375,304.475,122.225,0.000,30.749,49.885,138.213,2.000,0.000,17.564,2130.003,7116.264,604.737,2269.781,438.499,0.000,1765.708,0.000,2230.350,2160.000,11.093,0.000
$DEVICE_MAMPS,298.363,100.477,1077.635,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.463,877.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152500
$DATA_FILE_SIZE,50365,1286
$CAP_FILE_SIZE,146149,0
$CFSIZE,260165632,226013184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,67,0,0
$SOUNDSPEED,1466.7
$GPS,141209,192837,6707.042,-5706.213,28,1.1,28,-37.7