version: 66.06
glider: 143
mission: 10
dive: 332
start: 12 18 109 0 53 2
data:
$ID,143
$MISSION,10
$DIVE,332
$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,-42211.867
$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,12
$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
$GPS1,004736,6708.299,-5703.433,32,0.9,32,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-65.7
$GPS2,005244,6708.319,-5703.465,10,1.6,10,-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,169.1,14891,-16.9,-9.167
$D_GRID,504
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-115.32,0.000,2,0.000,0.000,127,2465,3181,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.3,-4.7,23,159,11.23,2.30,-5.57,0.000,4,0.293,0.095,2447,849,3397,0,0,0,0,0,0
$GC,227,-0.73,-146.0,17.7,-10.6,39,232,0.00,2.17,0.00,0.000,6,0.000,0.067,2447,2467,3400,0,0,0,0,0,0
$GC,572,-0.73,-146.0,53.2,-11.7,100,578,0.00,3.28,0.00,0.000,4,0.000,0.087,2447,3919,3400,0,0,4,0,0,0
$GC,831,-0.73,-146.0,83.0,-12.0,146,837,0.00,3.12,0.00,0.000,6,0.000,0.063,2447,2480,3400,0,0,3,0,0,0
$GC,1169,-0.77,-146.0,119.6,-9.4,190,1173,0.00,2.22,0.00,0.000,4,0.000,0.085,2447,862,3399,0,0,0,0,0,0
$GC,1428,-0.77,-146.0,143.8,-9.1,213,1432,0.00,2.28,0.00,0.000,6,0.000,0.069,2447,2532,3398,0,0,0,0,0,0
$GC,1753,-0.85,-146.0,171.2,-8.2,243,1758,0.00,3.15,0.00,0.000,4,0.000,0.086,2447,3924,3396,0,0,3,0,0,0
$GC,1792,-0.95,-146.0,174.4,-8.3,246,1798,0.20,3.00,0.00,0.000,6,0.106,0.062,2379,2542,3397,0,0,3,0,0,0
$GC,2117,-0.84,-146.0,207.4,-10.2,276,2123,0.15,3.15,0.00,0.000,4,0.208,0.084,2413,3915,3397,0,0,3,0,0,0
$GC,2285,-0.84,-146.0,222.2,-8.2,290,2291,0.00,2.95,0.00,0.000,6,0.000,0.061,2413,2564,3397,0,0,3,0,0,0
$GC,2610,-0.84,-146.0,250.1,-8.8,321,2615,0.00,3.08,0.00,0.000,4,0.000,0.083,2413,3916,3397,0,0,3,0,0,0
$GC,2823,-0.84,-146.0,269.2,-8.4,339,2828,0.00,2.88,0.00,0.000,6,0.000,0.058,2413,2597,3397,0,0,2,0,0,0
$GC,3147,-0.84,-146.0,294.7,-7.9,370,3152,0.00,3.03,0.00,0.000,4,0.000,0.081,2413,3916,3397,0,0,2,0,0,0
$GC,3359,-0.84,-146.0,312.4,-8.5,388,3365,0.00,2.83,0.00,0.000,6,0.000,0.058,2413,2621,3398,0,0,2,0,0,0
$GC,3684,-0.84,-146.0,339.8,-8.3,419,3689,0.00,2.92,0.00,0.000,4,0.000,0.081,2413,3916,3399,0,0,4,0,0,0
$GC,3892,-0.84,-146.0,357.4,-8.7,437,3897,0.00,2.80,0.00,0.000,6,0.000,0.057,2413,2646,3399,0,0,1,0,0,0
$GC,4216,-0.84,-146.0,383.2,-7.8,467,4221,0.00,2.90,0.00,0.000,4,0.000,0.079,2412,3928,3400,0,0,3,0,0,0
$GC,4334,-0.84,-146.0,393.2,-8.5,477,4339,0.00,2.75,0.00,0.000,6,0.000,0.056,2413,2656,3400,0,0,3,0,0,0
$GC,4659,-0.84,-146.0,421.4,-8.5,507,4664,0.00,2.88,0.00,0.000,4,0.000,0.079,2413,3921,3401,0,0,3,0,0,0
$GC,4816,-0.84,-146.0,434.9,-8.6,520,4822,0.00,2.72,0.00,0.000,6,0.000,0.055,2413,2661,3401,0,0,3,0,0,0
$GC,5141,-0.84,-146.0,462.2,-8.2,551,5146,0.00,2.90,0.00,0.000,4,0.000,0.079,2413,3930,3401,0,0,2,0,0,0
$GC,5252,-0.84,-146.0,471.7,-8.3,560,5258,0.00,2.72,0.00,0.000,6,0.000,0.055,2413,2675,3402,0,0,3,0,0,0
$STATE,5575,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5575,begin apogee
$GC,5582,-0.16,0.0,498.6,8.2,591,5708,0.75,0.00,120.47,1.030,6,0.172,0.000,2625,1932,2799,0,0,0,0,0,0
$STATE,5709,end apogee,CONTROL_FINISHED_OK
$STATE,5709,begin climb
$GC,5711,0.73,146.0,500.1,0.0,604,5845,0.95,2.17,122.70,0.985,4,0.126,0.084,2922,358,2202,0,0,0,0,0,0
$GC,5891,0.67,146.0,483.6,11.9,621,5895,0.00,2.03,0.00,0.000,6,0.000,0.054,2921,1969,2199,0,0,0,0,0,0
$GC,6221,0.61,146.0,444.9,12.3,652,6227,0.15,3.45,0.00,0.000,4,0.201,0.071,2881,3529,2195,0,0,3,0,0,0
$GC,6366,0.61,146.0,428.2,11.4,664,6373,0.00,3.45,0.00,0.000,6,0.000,0.064,2895,1953,2194,0,0,2,0,0,0
$GC,6691,0.61,146.0,394.2,10.6,695,6697,0.00,3.45,0.00,0.000,4,0.000,0.074,2895,3531,2194,0,0,3,0,0,0
$GC,6787,0.61,146.0,383.0,12.1,703,6792,0.00,3.42,0.00,0.000,6,0.000,0.067,2910,1976,2192,0,0,1,0,0,0
$GC,7111,0.61,146.0,348.4,10.5,733,7116,0.00,3.40,0.00,0.000,4,0.000,0.072,2910,3537,2193,0,0,4,0,0,0
$GC,7218,0.53,146.0,336.0,12.0,742,7224,0.25,3.40,0.00,0.000,6,0.196,0.066,2865,1996,2193,0,0,1,0,0,0
$GC,7542,0.69,183.7,309.7,7.6,772,7583,0.15,3.40,30.23,0.892,4,0.112,0.073,2916,3529,2049,0,0,4,0,0,0
$GC,7712,0.63,183.7,289.5,12.6,787,7719,0.15,3.40,0.00,0.000,6,0.201,0.066,2899,2005,2045,0,0,1,0,0,0
$GC,8037,0.63,183.7,255.1,10.5,818,8042,0.00,3.38,0.00,0.000,4,0.000,0.072,2899,3533,2044,0,0,3,0,0,0
$GC,8166,0.63,183.7,239.7,11.8,829,8171,0.00,3.35,0.00,0.000,6,0.000,0.065,2911,2031,2045,0,0,1,0,0,0
$GC,8492,0.63,183.7,203.3,11.5,859,8497,0.00,3.33,0.00,0.000,4,0.000,0.073,2912,3528,2044,0,0,3,0,0,0
$GC,8602,0.63,183.7,189.5,12.7,868,8610,0.12,3.30,0.00,0.000,6,0.200,0.064,2899,2037,2044,0,0,2,0,0,0
$GC,8928,0.70,183.7,156.4,10.0,899,8933,0.00,3.33,0.00,0.000,4,0.000,0.071,2899,3529,2044,0,0,2,0,0,0
$GC,9080,0.70,183.7,138.5,12.0,912,9085,0.00,3.28,0.00,0.000,6,0.000,0.064,2911,2066,2044,0,0,1,0,0,0
$GC,9405,0.76,183.7,103.4,9.6,942,9410,0.00,3.28,0.00,0.000,4,0.000,0.072,2911,3529,2044,0,0,3,0,0,0
$GC,9443,0.76,183.7,99.3,10.6,945,9449,0.00,3.28,0.00,0.000,6,0.000,0.064,2926,2063,2044,0,0,1,0,0,0
$GC,9787,0.89,209.3,69.1,8.1,1006,9819,0.15,3.33,21.50,0.744,4,0.100,0.072,2981,3523,1945,0,0,3,0,0,0
$GC,9943,0.75,209.3,50.6,12.3,1034,9950,0.25,3.25,0.00,0.000,6,0.194,0.065,2935,2082,1943,0,0,2,0,0,0
$GC,10289,0.83,210.2,17.4,9.1,1095,10295,0.00,3.28,0.00,0.000,4,0.000,0.074,2934,3526,1942,0,0,3,0,0,0
$FREEZE,8.99,0.028,-1.832,0,1,0
$FREEZE,8.58,0.028,-1.832,0,1,0
$FREEZE,7.99,0.028,-1.831,0,1,0
$FREEZE,7.36,0.027,-1.831,0,1,0
$FREEZE,6.73,0.028,-1.830,0,1,0
$FREEZE,6.24,0.028,-1.830,0,1,0
$FREEZE,5.62,0.028,-1.829,0,1,0
$GC,10410,0.83,210.2,5.6,10.7,1116,10416,0.00,3.25,0.00,0.000,6,0.000,0.067,2948,2103,1942,0,0,1,0,0,0
$FREEZE,4.42,0.029,-1.828,0,1,0
$FREEZE,3.84,0.029,-1.828,0,1,0
$FREEZE,3.36,0.030,-1.828,0,1,0
$FREEZE,2.72,0.029,-1.827,0,1,0
$FREEZE,2.10,0.027,-1.827,0,1,0
$FREEZE,1.46,0.026,-1.826,0,1,0
$STATE,10449,end climb,SURFACE_DEPTH_REACHED
$STATE,10449,begin surface coast
$FREEZE,0.66,0.026,-1.826,0,1,0
$FREEZE,0.53,0.047,-1.824,0,1,0
$FREEZE,0.49,0.037,-1.822,0,1,0
$FINISH,0.5,1.026680
$STATE,10468,end surface coast,CONTROL_FINISHED_OK
$STATE,10468,begin surface
$SM_CCo,10485,124.78,0.712,0,0,1065,425.10
$SM_GC,1.39,0.00,0.00,124.78,0.000,0.000,0.712,122,2456,1065,-8.03,-0.11,425.10
$RAFOS_CLK,642
$RAFOS,5,1261096864,0.700000,0.684444,80,59,59,0,0,0,646,210,132,0,0,0
$RAFOS_FIX,6709.177246,-5710.703613,171209,202056,2,104,0.34
$IRIDIUM_FIX,6641.98,-5701.58,130399,212145
$TT8_MAMPS,0.027612
$HUMID,46.57
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,400.1,113.1
$24V_AH,22.8,62.663
$10V_AH,10.2,33.154
$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,22.800,135.050,294.900,124.775,0.000,23.899,30.281,138.543,1.500,0.000,11.872,1924.134,6037.342,576.827,1993.796,380.994,0.000,1600.904,0.000,1959.208,0.000,10.894,0.000
$DEVICE_MAMPS,292.994,95.108,1030.081,711.776,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.600,766.255,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,44155,1126
$CAP_FILE_SIZE,127596,0
$CFSIZE,260165632,224280576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,94,0,0
$SOUNDSPEED,1468.3
$GPS,181209,035107,6708.590,-5703.938,29,1.0,29,-37.7