version: 66.06
glider: 143
mission: 10
dive: 343
start: 12 19 109 16 5 50
data:
$ID,143
$MISSION,10
$DIVE,343
$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,-42377.199
$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,22
$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
$GPS1,155945,6709.149,-5720.754,37,2.2,56,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.0
$GPS2,160532,6709.172,-5720.974,13,1.1,13,-37.8
$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,153.4,26413,-16.9,-9.167
$D_GRID,713
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-115.12,0.000,2,0.000,0.000,124,2454,3128,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.4,-5.6,23,163,11.32,2.28,-7.22,0.000,4,0.294,0.100,2448,858,3399,0,0,0,0,0,0
$GC,237,-0.73,-146.0,18.3,-10.6,41,242,0.00,2.15,0.00,0.000,6,0.000,0.069,2448,2460,3401,0,0,0,0,0,0
$GC,579,-0.73,-146.0,53.4,-9.7,102,585,0.00,2.20,0.00,0.000,4,0.000,0.086,2448,864,3401,0,0,0,0,0,0
$GC,837,-0.73,-146.0,80.1,-9.9,148,843,0.00,2.25,0.00,0.000,6,0.000,0.071,2448,2507,3401,0,0,0,0,0,0
$GC,1180,-0.79,-146.0,112.5,-9.4,198,1185,0.00,3.22,0.00,0.000,4,0.000,0.090,2448,3918,3401,0,0,3,0,0,0
$GC,1257,-0.85,-146.0,119.8,-9.3,204,1263,0.00,3.10,0.00,0.000,6,0.000,0.064,2448,2516,3400,0,0,3,0,0,0
$GC,1583,-0.92,-146.0,147.9,-8.2,235,1589,0.17,3.25,0.00,0.000,4,0.116,0.087,2388,3927,3399,0,0,3,0,0,0
$GC,1714,-0.81,-146.0,162.1,-11.2,246,1720,0.17,3.05,0.00,0.000,6,0.209,0.064,2427,2528,3399,0,0,3,0,0,0
$GC,2038,-0.81,-146.0,190.6,-8.2,276,2043,0.00,3.20,0.00,0.000,4,0.000,0.086,2427,3930,3398,0,0,3,0,0,0
$GC,2291,-0.86,-146.0,215.2,-9.9,298,2296,0.00,3.00,0.00,0.000,6,0.000,0.063,2427,2556,3397,0,0,3,0,0,0
$GC,2616,-0.90,-146.0,244.6,-9.0,328,2621,0.00,3.12,0.00,0.000,4,0.000,0.084,2427,3925,3398,0,0,3,0,0,0
$GC,2762,-0.95,-146.0,257.4,-9.1,340,2769,0.15,2.95,0.00,0.000,6,0.114,0.061,2377,2572,3397,0,0,3,0,0,0
$GC,3087,-0.84,-146.0,291.1,-10.0,371,3093,0.17,3.10,0.00,0.000,4,0.203,0.082,2413,3919,3398,0,0,3,0,0,0
$GC,3318,-0.84,-146.0,310.4,-8.0,391,3323,0.00,2.85,0.00,0.000,6,0.000,0.060,2413,2614,3399,0,0,3,0,0,0
$GC,3644,-0.84,-146.0,336.5,-7.8,421,3649,0.00,2.97,0.00,0.000,4,0.000,0.081,2413,3927,3399,0,0,4,0,0,0
$GC,3791,-0.84,-146.0,349.1,-8.5,433,3796,0.00,2.83,0.00,0.000,6,0.000,0.059,2413,2622,3399,0,0,3,0,0,0
$GC,4115,-0.84,-146.0,377.0,-8.6,464,4120,0.00,2.95,0.00,0.000,4,0.000,0.081,2413,3920,3400,0,0,3,0,0,0
$GC,4316,-0.84,-146.0,394.2,-8.3,481,4322,0.00,2.80,0.00,0.000,6,0.000,0.058,2413,2645,3400,0,0,2,0,0,0
$GC,4641,-0.84,-146.0,419.9,-7.7,512,4646,0.00,2.92,0.00,0.000,4,0.000,0.081,2413,3927,3401,0,0,3,0,0,0
$GC,4815,-0.84,-146.0,434.3,-8.2,527,4819,0.00,2.75,0.00,0.000,6,0.000,0.058,2413,2665,3401,0,0,3,0,0,0
$GC,5139,-0.84,-146.0,460.8,-8.6,557,5144,0.00,2.90,0.00,0.000,4,0.000,0.081,2413,3920,3402,0,0,2,0,0,0
$GC,5306,-0.84,-146.0,475.5,-8.6,571,5312,0.00,2.72,0.00,0.000,6,0.000,0.057,2413,2684,3402,0,0,2,0,0,0
$GC,5631,-0.84,-146.0,503.0,-8.0,602,5636,0.00,2.88,0.00,0.000,4,0.000,0.081,2413,3926,3403,0,0,2,0,0,0
$GC,5761,-0.84,-146.0,514.1,-8.6,613,5766,0.00,2.70,0.00,0.000,6,0.000,0.057,2414,2696,3402,0,0,3,0,0,0
$GC,6086,-0.84,-146.0,540.7,-7.9,643,6090,0.00,2.85,0.00,0.000,4,0.000,0.081,2412,3920,3402,0,0,2,0,0,0
$GC,6231,-0.84,-146.0,552.6,-8.2,655,6237,0.00,2.65,0.00,0.000,6,0.000,0.057,2413,2722,3403,0,0,3,0,0,0
$GC,6556,-0.84,-146.0,578.6,-7.9,686,6561,0.00,2.83,0.00,0.000,4,0.000,0.081,2413,3928,3403,0,0,2,0,0,0
$GC,6702,-0.84,-146.0,590.9,-8.3,698,6707,0.00,2.62,0.00,0.000,6,0.000,0.057,2413,2742,3403,0,0,3,0,0,0
$GC,7029,-0.84,-146.0,617.5,-8.1,716,7033,0.00,2.78,0.00,0.000,4,0.000,0.081,2413,3932,3403,0,0,3,0,0,0
$GC,7207,-0.84,-146.0,632.4,-8.4,721,7211,0.00,2.58,0.00,0.000,6,0.000,0.057,2413,2759,3403,0,0,3,0,0,0
$GC,7531,-0.84,-146.0,656.7,-8.0,732,7536,0.00,2.75,0.00,0.000,4,0.000,0.082,2413,3928,3403,0,0,2,0,0,0
$GC,7648,-0.89,-146.0,667.4,-9.5,735,7652,0.00,2.58,0.00,0.000,6,0.000,0.057,2413,2766,3403,0,0,2,0,0,0
$GC,7961,-0.89,-146.0,694.8,-8.2,745,7965,0.00,2.70,0.00,0.000,4,0.000,0.081,2413,3919,3403,0,0,3,0,0,0
$GC,8105,-0.89,-146.0,706.5,-7.9,749,8110,0.00,2.58,0.00,0.000,6,0.000,0.057,2413,2774,3403,0,0,1,0,0,0
$STATE,8213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8213,begin apogee
$GC,8220,-0.16,0.0,715.2,7.9,753,8348,0.80,0.00,125.43,1.188,6,0.176,0.000,2630,1940,2800,0,0,0,0,0,0
$STATE,8349,end apogee,CONTROL_FINISHED_OK
$STATE,8349,begin climb
$GC,8351,0.73,146.0,717.7,0.0,757,8486,0.95,0.00,129.38,1.134,6,0.124,0.000,2914,1939,2204,0,0,0,0,0,0
$GC,8779,0.67,146.0,675.7,10.5,771,8785,0.00,3.62,0.00,0.000,4,0.000,0.075,2914,3551,2195,0,0,4,0,0,0
$GC,8891,0.55,146.0,662.3,11.7,774,8897,0.25,3.55,0.00,0.000,6,0.202,0.067,2872,1966,2193,0,0,2,0,0,0
$GC,9212,0.62,146.6,632.2,9.1,785,9218,0.00,3.53,0.00,0.000,4,0.000,0.075,2872,3552,2193,0,0,3,0,0,0
$GC,9351,0.62,146.6,617.0,11.4,789,9357,0.00,3.50,0.00,0.000,6,0.000,0.068,2886,1976,2192,0,0,2,0,0,0
$GC,9672,0.62,146.6,582.0,10.5,809,9677,0.00,3.50,0.00,0.000,4,0.000,0.076,2885,3551,2193,0,0,3,0,0,0
$GC,9805,0.62,146.6,566.5,11.6,820,9812,0.00,3.45,0.00,0.000,6,0.000,0.069,2901,1998,2192,0,0,2,0,0,0
$GC,10130,0.62,146.6,530.8,10.9,851,10136,0.00,3.45,0.00,0.000,4,0.000,0.077,2901,3551,2192,0,0,4,0,0,0
$GC,10261,0.56,146.6,514.8,12.4,862,10267,0.17,3.42,0.00,0.000,6,0.201,0.069,2876,2030,2192,0,0,1,0,0,0
$GC,10585,0.65,146.6,482.5,10.0,892,10590,0.00,3.42,0.00,0.000,4,0.000,0.077,2876,3551,2192,0,0,3,0,0,0
$GC,10720,0.65,146.6,467.5,11.3,903,10726,0.00,3.40,0.00,0.000,6,0.000,0.068,2889,2045,2192,0,0,1,0,0,0
$GC,11044,0.65,146.6,432.4,10.4,934,11049,0.00,3.40,0.00,0.000,4,0.000,0.077,2888,3548,2192,0,0,3,0,0,0
$GC,11163,0.65,146.6,418.6,11.7,944,11168,0.00,3.35,0.00,0.000,6,0.000,0.068,2903,2066,2192,0,0,2,0,0,0
$GC,11488,0.65,146.6,381.9,10.9,974,11494,0.00,3.38,0.00,0.000,4,0.000,0.076,2903,3546,2192,0,0,2,0,0,0
$GC,11585,0.57,146.6,370.3,12.4,982,11591,0.17,3.33,0.00,0.000,6,0.199,0.068,2878,2081,2191,0,0,2,0,0,0
$GC,11909,0.65,146.6,339.2,9.6,1012,11914,0.00,3.35,0.00,0.000,4,0.000,0.076,2878,3547,2191,0,0,3,0,0,0
$GC,12044,0.65,146.6,324.6,11.4,1023,12050,0.00,3.33,0.00,0.000,6,0.000,0.067,2891,2086,2191,0,0,2,0,0,0
$GC,12369,0.70,146.6,291.9,9.8,1054,12374,0.00,3.35,0.00,0.000,4,0.000,0.076,2891,3548,2191,0,0,3,0,0,0
$GC,12480,0.70,146.6,280.2,10.5,1063,12486,0.00,3.30,0.00,0.000,6,0.000,0.067,2906,2108,2191,0,0,2,0,0,0
$GC,12805,0.72,163.3,251.1,8.5,1094,12826,0.00,3.33,13.48,0.843,4,0.000,0.076,2906,3546,2134,0,0,2,0,0,0
$GC,12900,0.68,163.3,242.0,10.9,1102,12906,0.00,3.28,0.00,0.000,6,0.000,0.067,2920,2130,2132,0,0,1,0,0,0
$GC,13224,0.68,163.3,212.3,9.5,1133,13229,0.00,3.30,0.00,0.000,4,0.000,0.075,2920,3552,2132,0,0,3,0,0,0
$GC,13335,0.61,163.3,199.8,11.1,1142,13342,0.20,3.25,0.00,0.000,6,0.196,0.067,2887,2146,2132,0,0,2,0,0,0
$GC,13660,0.71,163.3,169.6,9.9,1173,13665,0.00,3.28,0.00,0.000,4,0.000,0.075,2887,3545,2132,0,0,2,0,0,0
$GC,13756,0.71,163.3,159.3,11.0,1181,13761,0.00,3.22,0.00,0.000,6,0.000,0.067,2899,2156,2131,0,0,2,0,0,0
$GC,14081,0.81,177.1,128.8,8.6,1211,14102,0.15,3.25,12.98,0.785,4,0.100,0.077,2956,3548,2075,0,0,3,0,0,0
$GC,14220,0.70,177.1,111.3,12.2,1223,14226,0.22,3.22,0.00,0.000,6,0.202,0.068,2917,2169,2074,0,0,2,0,0,0
$GC,14557,0.83,205.2,83.5,8.0,1272,14587,0.12,0.00,23.98,0.783,6,0.123,0.000,2960,2170,1962,0,0,0,0,0,0
$GC,14924,0.83,205.2,45.8,10.2,1338,14930,0.00,3.28,0.00,0.000,4,0.000,0.078,2960,3547,1959,0,0,2,0,0,0
$GC,15026,0.76,205.2,34.3,12.0,1356,15032,0.15,3.22,0.00,0.000,6,0.199,0.069,2941,2177,1957,0,0,2,0,0,0
$FREEZE,8.62,-0.434,-1.830,0,1,0
$FREEZE,8.13,-0.428,-1.829,0,1,0
$FREEZE,7.67,-0.426,-1.829,0,1,0
$FREEZE,7.09,-0.424,-1.828,0,1,0
$FREEZE,6.53,-0.423,-1.828,0,1,0
$FREEZE,5.96,-0.423,-1.827,0,1,0
$FREEZE,5.42,-0.423,-1.827,0,1,0
$FREEZE,4.90,-0.424,-1.827,0,1,0
$FREEZE,4.36,-0.421,-1.826,0,1,0
$FREEZE,3.80,-0.440,-1.826,0,1,0
$FREEZE,3.31,-0.438,-1.826,0,1,0
$FREEZE,2.85,-0.435,-1.825,0,1,0
$FREEZE,2.43,-0.435,-1.825,0,1,0
$FREEZE,1.69,-0.436,-1.824,0,1,0
$GC,15371,0.82,209.8,2.4,9.0,1417,15380,0.00,2.47,3.33,0.481,3,0.000,0.076,2941,3226,1944,0,0,2,0,0,0
$STATE,15381,end climb,SURFACE_DEPTH_REACHED
$STATE,15381,begin surface coast
$FREEZE,0.83,-0.433,-1.823,0,1,0
$FREEZE,0.75,-0.446,-1.823,0,1,0
$FREEZE,0.73,-0.461,-1.803,0,1,0
$FREEZE,0.62,-0.447,-1.822,0,1,0
$FINISH,0.6,1.026703
$STATE,15403,end surface coast,CONTROL_FINISHED_OK
$STATE,15403,begin surface
$SM_CCo,15422,128.45,0.734,0,0,1066,425.10
$SM_GC,1.47,0.00,0.00,128.45,0.000,0.000,0.734,129,2470,1066,-8.01,0.28,425.10
$RAFOS_CLK,966
$RAFOS,1,1261253341,20.166666,20.150278,62,59,56,0,0,0,144,212,185,0,0,0
$RAFOS,0,1261252862,20.033333,20.017221,67,64,63,0,0,0,204,159,220,0,0,0
$RAFOS,6,1261241342,16.833334,16.817223,117,69,64,0,0,0,756,197,156,0,0,0
$RAFOS,5,1261240864,16.700001,16.684444,113,57,53,0,0,0,599,215,224,0,0,0
$RAFOS,4,1261240382,16.566668,16.550556,83,56,52,0,0,0,826,203,165,0,0,0
$RAFOS,3,1261239906,16.433332,16.418333,67,60,57,0,0,0,215,170,187,0,0,0
$RAFOS,2,1261239423,16.299999,16.284166,58,56,55,0,0,0,167,222,199,0,0,0
$RAFOS,1,1261238945,16.166666,16.151388,62,61,59,0,0,0,140,182,970,0,0,0
$RAFOS_FIX,6707.909668,-5725.446777,191209,161640,3,104,1.79
$IRIDIUM_FIX,6636.54,-5712.23,150399,111109
$TT8_MAMPS,0.029146
$HUMID,47.16
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,700.2,33.1
$24V_AH,22.3,64.103
$10V_AH,10.1,34.002
$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,23.450,195.150,308.550,128.450,0.000,29.987,34.953,152.858,4.000,0.000,15.451,2486.685,9588.790,655.427,2702.007,463.678,0.000,2010.037,0.000,2647.503,3240.000,21.273,0.000
$DEVICE_MAMPS,293.761,99.710,1188.083,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.330,976.923,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152580
$DATA_FILE_SIZE,56732,1422
$CAP_FILE_SIZE,177103,0
$CFSIZE,260165632,223379456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,151,0,0
$SOUNDSPEED,1466.2
$GPS,191209,202637,6709.118,-5723.893,38,1.7,38,-37.8