version: 66.06
glider: 143
mission: 10
dive: 353
start: 12 21 109 13 39 14
data:
$ID,143
$MISSION,10
$DIVE,353
$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,325
$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,-42528.305
$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,16
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,133306,6708.207,-5722.320,30,1.2,30,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.3
$GPS2,133856,6708.224,-5722.360,9,1.2,9,-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,149.1,26633,-16.9,-9.167
$D_GRID,731
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.38,0.000,2,0.000,0.000,124,2455,3103,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-4.3,19,143,11.55,2.17,-8.43,0.000,4,0.299,0.103,2451,863,3399,0,0,0,0,0,0
$GC,328,-0.73,-146.0,30.4,-10.9,57,334,0.00,2.10,0.00,0.000,6,0.000,0.072,2451,2465,3402,0,0,0,0,0,0
$GC,670,-0.73,-146.0,65.6,-10.1,118,676,0.00,2.17,0.00,0.000,4,0.000,0.091,2451,849,3402,0,0,0,0,0,0
$GC,901,-0.73,-146.0,91.5,-11.1,159,907,0.00,2.10,0.00,0.000,6,0.000,0.074,2451,2465,3402,0,0,0,0,0,0
$GC,1232,-0.79,-146.0,123.2,-8.7,197,1236,0.00,2.17,0.00,0.000,4,0.000,0.092,2451,852,3401,0,0,0,0,0,0
$GC,1490,-0.84,-146.0,145.7,-9.1,219,1495,0.00,2.10,0.00,0.000,6,0.000,0.074,2451,2465,3400,0,0,0,0,0,0
$GC,1814,-0.94,-146.0,172.5,-8.7,250,1821,0.20,3.42,0.00,0.000,4,0.108,0.086,2370,3927,3399,0,0,5,0,0,0
$GC,1893,-0.77,-146.0,182.3,-12.8,256,1900,0.28,3.35,0.00,0.000,6,0.208,0.067,2434,2456,3399,0,0,3,0,0,0
$GC,2218,-0.82,-146.0,211.7,-8.8,287,2224,0.00,3.47,0.00,0.000,4,0.000,0.087,2434,3929,3399,0,0,4,0,0,0
$GC,2472,-0.87,-146.0,233.3,-7.7,309,2477,0.00,3.33,0.00,0.000,6,0.000,0.065,2434,2460,3399,0,0,3,0,0,0
$GC,2797,-0.87,-146.0,257.5,-7.3,339,2802,0.00,3.45,0.00,0.000,4,0.000,0.086,2434,3925,3400,0,0,4,0,0,0
$GC,3032,-0.92,-146.0,275.1,-7.7,359,3039,0.15,3.33,0.00,0.000,6,0.117,0.064,2384,2454,3401,0,0,3,0,0,0
$GC,3357,-0.80,-146.0,306.2,-10.3,390,3363,0.17,3.50,0.00,0.000,4,0.200,0.085,2424,3922,3401,0,0,3,0,0,0
$GC,3615,-0.80,-146.0,329.4,-9.1,412,3621,0.00,3.33,0.00,0.000,6,0.000,0.064,2424,2459,3402,0,0,3,0,0,0
$GC,3940,-0.80,-146.0,358.2,-8.7,443,3945,0.00,3.47,0.00,0.000,4,0.000,0.087,2424,3918,3402,0,0,5,0,0,0
$GC,4198,-0.80,-146.0,382.3,-8.9,465,4204,0.00,3.35,0.00,0.000,6,0.000,0.066,2424,2454,3402,0,0,4,0,0,0
$GC,4522,-0.80,-146.0,411.2,-8.7,496,4526,0.00,2.12,0.00,0.000,4,0.000,0.087,2424,849,3402,0,0,0,0,0,0
$GC,4781,-0.80,-146.0,437.0,-10.0,519,4785,0.00,2.08,0.00,0.000,6,0.000,0.070,2424,2462,3402,0,0,0,0,0,0
$GC,5111,-0.80,-146.0,465.9,-8.5,550,5116,0.00,3.45,0.00,0.000,4,0.000,0.087,2424,3920,3402,0,0,4,0,0,0
$GC,5274,-0.85,-146.0,480.9,-9.2,564,5279,0.00,3.35,0.00,0.000,6,0.000,0.066,2424,2451,3402,0,0,3,0,0,0
$GC,5600,-0.85,-146.0,510.0,-8.9,594,5605,0.00,3.47,0.00,0.000,4,0.000,0.087,2424,3919,3402,0,0,5,0,0,0
$GC,5858,-0.90,-146.0,533.3,-8.9,616,5864,0.00,3.35,0.00,0.000,6,0.000,0.066,2424,2453,3402,0,0,3,0,0,0
$GC,6182,-0.90,-146.0,561.3,-8.5,647,6188,0.00,3.47,0.00,0.000,4,0.000,0.087,2424,3919,3402,0,0,5,0,0,0
$GC,6441,-0.90,-146.0,582.8,-8.1,669,6446,0.00,3.35,0.00,0.000,6,0.000,0.066,2424,2451,3402,0,0,3,0,0,0
$GC,6763,-0.95,-146.0,607.5,-7.8,694,6769,0.12,3.50,0.00,0.000,4,0.121,0.085,2373,3921,3401,0,0,4,0,0,0
$GC,7021,-0.82,-146.0,634.0,-10.6,701,7028,0.22,3.33,0.00,0.000,6,0.204,0.066,2424,2460,3402,0,0,3,0,0,0
$GC,7335,-0.87,-146.0,657.9,-7.5,712,7340,0.00,3.47,0.00,0.000,4,0.000,0.087,2424,3922,3402,0,0,4,0,0,0
$GC,7593,-0.94,-146.0,678.0,-8.0,719,7599,0.12,3.35,0.00,0.000,6,0.127,0.065,2385,2456,3402,0,0,3,0,0,0
$GC,7906,-0.87,-146.0,705.7,-9.0,730,7911,0.00,3.47,0.00,0.000,4,0.000,0.087,2384,3924,3402,0,0,4,0,0,0
$GC,8164,-0.80,-146.0,729.9,-10.3,737,8171,0.20,3.35,0.00,0.000,6,0.197,0.066,2430,2457,3402,0,0,3,0,0,0
$STATE,8198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8198,begin apogee
$GC,8204,-0.16,0.0,732.8,8.5,739,8333,0.73,0.00,125.80,1.226,6,0.177,0.000,2630,1947,2800,0,0,0,0,0,0
$STATE,8334,end apogee,CONTROL_FINISHED_OK
$STATE,8334,begin climb
$GC,8336,0.73,146.0,735.7,0.0,743,8477,0.98,2.17,131.32,1.168,4,0.132,0.091,2922,358,2202,0,0,0,0,0,0
$GC,8527,0.62,146.0,718.8,12.9,749,8531,0.08,2.00,0.00,0.000,6,0.189,0.061,2895,1956,2198,0,0,0,0,0,0
$GC,8861,0.62,146.0,683.2,10.5,760,8867,0.00,3.65,0.00,0.000,4,0.000,0.080,2895,3534,2194,0,0,7,0,0,0
$GC,9018,0.55,146.0,664.7,12.2,764,9025,0.17,3.67,0.00,0.000,6,0.205,0.074,2870,1941,2193,0,0,4,0,0,0
$GC,9331,0.64,146.0,635.8,9.3,775,9336,0.00,3.65,0.00,0.000,4,0.000,0.081,2870,3535,2193,0,0,5,0,0,0
$GC,9475,0.64,146.0,620.4,10.7,779,9481,0.00,3.62,0.00,0.000,6,0.000,0.074,2884,1948,2192,0,0,4,0,0,0
$GC,9797,0.70,146.0,588.3,10.0,796,9803,0.00,3.65,0.00,0.000,4,0.000,0.081,2884,3535,2191,0,0,4,0,0,0
$GC,9953,0.70,146.0,570.3,11.6,809,9960,0.00,3.65,0.00,0.000,6,0.000,0.074,2900,1940,2191,0,0,3,0,0,0
$GC,10279,0.70,146.0,534.6,10.9,840,10285,0.00,3.62,0.00,0.000,4,0.000,0.081,2900,3537,2191,0,0,6,0,0,0
$GC,10420,0.62,146.0,517.4,13.1,852,10426,0.00,3.65,0.00,0.000,6,0.000,0.074,2917,1941,2191,0,0,3,0,0,0
$GC,10744,0.62,146.0,481.6,10.7,882,10750,0.00,3.62,0.00,0.000,4,0.000,0.081,2917,3537,2191,0,0,6,0,0,0
$GC,10885,0.50,146.0,464.7,12.3,894,10896,0.32,3.65,0.00,0.000,6,0.199,0.074,2853,1945,2191,0,0,3,0,0,0
$GC,11215,0.72,188.4,439.5,7.4,925,11257,0.20,3.72,34.33,1.035,4,0.105,0.081,2921,3537,2031,0,0,4,0,0,0
$GC,11419,0.62,188.4,414.8,12.6,943,11426,0.20,3.72,0.00,0.000,6,0.200,0.074,2892,1940,2027,0,0,2,0,0,0
$GC,11744,0.69,188.4,383.5,9.6,974,11749,0.00,3.62,0.00,0.000,4,0.000,0.080,2892,3535,2025,0,0,7,0,0,0
$GC,11889,0.69,188.4,367.8,11.2,986,11895,0.00,3.65,0.00,0.000,6,0.000,0.074,2906,1944,2025,0,0,4,0,0,0
$GC,12214,0.69,188.4,336.5,9.2,1017,12219,0.00,3.65,0.00,0.000,4,0.000,0.081,2906,3534,2025,0,0,5,0,0,0
$GC,12376,0.69,188.4,319.3,11.1,1031,12382,0.00,3.65,0.00,0.000,6,0.000,0.075,2921,1940,2025,0,0,4,0,0,0
$GC,12700,0.69,188.4,284.4,11.1,1061,12706,0.00,3.62,0.00,0.000,4,0.000,0.082,2922,3534,2025,0,0,7,0,0,0
$GC,12824,0.61,188.4,268.3,12.3,1071,12831,0.20,3.67,0.00,0.000,6,0.199,0.075,2891,1936,2025,0,0,3,0,0,0
$GC,13149,0.71,188.4,234.5,9.7,1102,13154,0.00,3.65,0.00,0.000,4,0.000,0.081,2891,3538,2025,0,0,6,0,0,0
$GC,13290,0.71,188.4,219.4,10.4,1114,13296,0.00,3.67,0.00,0.000,6,0.000,0.075,2905,1940,2024,0,0,3,0,0,0
$GC,13614,0.71,188.4,186.1,10.9,1144,13620,0.00,3.65,0.00,0.000,4,0.000,0.081,2904,3537,2023,0,0,6,0,0,0
$GC,13770,0.71,188.4,167.4,12.4,1157,13777,0.00,3.65,0.00,0.000,6,0.000,0.075,2921,1942,2023,0,0,4,0,0,0
$GC,14095,0.71,188.4,133.1,10.3,1188,14101,0.00,3.65,0.00,0.000,4,0.000,0.081,2921,3540,2023,0,0,6,0,0,0
$GC,14221,0.65,188.4,119.0,11.6,1198,14228,0.15,3.67,0.00,0.000,6,0.203,0.074,2904,1945,2022,0,0,3,0,0,0
$GC,14553,0.82,216.6,90.7,8.0,1239,14585,0.15,3.67,23.48,0.805,4,0.117,0.081,2954,3541,1916,0,0,5,0,0,0
$GC,14716,0.74,216.6,71.6,12.2,1268,14722,0.17,3.70,0.00,0.000,6,0.201,0.074,2932,1938,1914,0,0,3,0,0,0
$GC,15061,0.86,239.3,41.1,8.2,1329,15092,0.10,3.70,20.30,0.769,4,0.137,0.078,2964,3542,1822,0,0,4,0,0,0
$GC,15223,0.79,239.3,21.6,12.2,1358,15229,0.15,3.70,0.00,0.000,6,0.198,0.074,2947,1944,1820,0,0,3,0,0,0
$FREEZE,8.34,-0.402,-1.832,0,1,0
$FREEZE,8.01,-0.393,-1.831,0,1,0
$FREEZE,7.45,-0.404,-1.831,0,1,0
$FREEZE,6.88,-0.396,-1.830,0,1,0
$FREEZE,6.25,-0.360,-1.829,0,1,0
$FREEZE,5.71,-0.297,-1.828,0,1,0
$FREEZE,5.10,-0.399,-1.828,0,1,0
$FREEZE,4.55,-0.398,-1.828,0,1,0
$FREEZE,3.86,-0.397,-1.827,0,1,0
$FREEZE,3.40,-0.399,-1.827,0,1,0
$FREEZE,2.78,-0.400,-1.826,0,1,0
$FREEZE,2.19,-0.398,-1.826,0,1,0
$FREEZE,1.61,-0.404,-1.825,0,1,0
$STATE,15414,end climb,SURFACE_DEPTH_REACHED
$STATE,15414,begin surface coast
$FREEZE,1.04,-0.411,-1.825,0,1,0
$FREEZE,0.65,-0.422,-1.773,0,1,0
$FREEZE,0.62,-0.502,-1.558,0,1,0
$FINISH,0.6,1.022936
$STATE,15434,end surface coast,CONTROL_FINISHED_OK
$STATE,15434,begin surface
$SM_CCo,15451,58.42,0.745,0,0,1474,325.02
$SM_GC,1.55,0.00,0.00,58.42,0.000,0.000,0.745,130,2454,1474,-8.00,-0.17,325.02
$RAFOS_CLK,987
$RAFOS,6,1261414144,16.833334,16.817778,131,67,61,0,0,0,740,206,220,0,0,0
$RAFOS,5,1261413668,16.700001,16.685556,107,64,59,0,0,0,577,176,193,0,0,0
$RAFOS,4,1261413188,16.566668,16.552221,106,60,57,0,0,0,790,210,200,0,0,0
$RAFOS,3,1261412701,16.433332,16.416945,65,65,58,0,0,0,185,217,208,0,0,0
$RAFOS,2,1261412223,16.299999,16.284166,73,63,55,0,0,0,182,198,213,0,0,0
$RAFOS,1,1261411743,16.166666,16.150833,72,57,55,0,0,0,213,230,153,0,0,0
$RAFOS,0,1261411263,16.033333,16.017500,69,59,53,0,0,0,121,191,177,0,0,0
$RAFOS_FIX,6708.284180,-5729.153809,211209,161622,3,115,0.44
$IRIDIUM_FIX,6636.54,-5729.18,170399,090925
$TT8_MAMPS,0.028379
$HUMID,47.87
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,22.1,65.547
$10V_AH,10.1,34.894
$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,24.925,200.275,335.225,58.425,0.000,27.095,32.970,158.816,4.000,0.000,11.226,2484.553,9490.462,591.790,2821.867,468.397,0.000,1994.947,0.000,2763.987,2520.000,24.327,0.000
$DEVICE_MAMPS,299.130,102.778,1226.433,744.757,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.944,974.195,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,53541,1395
$CAP_FILE_SIZE,175878,0
$CFSIZE,260165632,222507008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,205,0,0
$SOUNDSPEED,1461.4
$GPS,211209,175924,6709.483,-5723.938,23,1.2,40,-37.8