version: 66.06
glider: 143
mission: 10
dive: 356
start: 12 22 109 2 56 55
data:
$ID,143
$MISSION,10
$DIVE,356
$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,-42571.215
$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,18
$R_STBD_OVSHOOT,18
$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
$GPS1,025101,6709.638,-5720.689,37,1.4,37,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.9
$GPS2,025637,6709.670,-5720.704,9,1.5,14,-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,155.4,26652,-16.9,-9.167
$D_GRID,690
$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,16,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.28,0.000,2,0.000,0.000,127,2460,3052,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-4.7,19,143,11.65,2.25,-10.15,0.000,4,0.301,0.104,2448,853,3398,0,0,0,0,0,0
$GC,329,-0.73,-146.0,30.4,-11.1,57,334,0.00,2.10,0.00,0.000,6,0.000,0.073,2448,2459,3401,0,0,0,0,0,0
$GC,671,-0.73,-146.0,66.0,-10.5,118,676,0.00,2.15,0.00,0.000,4,0.000,0.091,2448,860,3401,0,0,0,0,0,0
$GC,929,-0.73,-146.0,94.9,-11.2,164,935,0.00,2.08,0.00,0.000,6,0.000,0.074,2448,2461,3401,0,0,0,0,0,0
$GC,1258,-0.79,-146.0,126.4,-8.9,199,1263,0.00,3.50,0.00,0.000,4,0.000,0.094,2448,3918,3400,0,0,6,0,0,0
$GC,1468,-0.87,-146.0,144.4,-8.8,217,1474,0.12,3.35,0.00,0.000,6,0.130,0.069,2409,2461,3398,0,0,4,0,0,0
$GC,1792,-0.87,-146.0,176.8,-10.0,247,1797,0.00,3.50,0.00,0.000,4,0.000,0.090,2409,3926,3399,0,0,4,0,0,0
$GC,1980,-0.81,-146.0,195.1,-9.7,263,1985,0.00,3.35,0.00,0.000,6,0.000,0.067,2409,2461,3399,0,0,4,0,0,0
$GC,2304,-0.76,-146.0,227.3,-10.4,293,2310,0.15,3.50,0.00,0.000,4,0.216,0.087,2429,3922,3400,0,0,4,0,0,0
$GC,2562,-0.76,-146.0,253.7,-10.5,315,2569,0.00,3.38,0.00,0.000,6,0.000,0.066,2429,2456,3400,0,0,4,0,0,0
$GC,2888,-0.76,-146.0,286.5,-9.5,346,2893,0.00,3.50,0.00,0.000,4,0.000,0.088,2429,3931,3400,0,0,5,0,0,0
$GC,3145,-0.76,-146.0,308.5,-8.3,368,3151,0.00,3.35,0.00,0.000,6,0.000,0.067,2429,2461,3400,0,0,4,0,0,0
$GC,3470,-0.76,-146.0,333.0,-7.9,399,3474,0.00,2.12,0.00,0.000,4,0.000,0.088,2429,841,3400,0,0,0,0,0,0
$GC,3728,-0.76,-146.0,356.2,-9.3,422,3732,0.00,2.08,0.00,0.000,6,0.000,0.071,2428,2462,3400,0,0,0,0,0,0
$GC,4057,-0.76,-146.0,383.3,-8.6,453,4063,0.00,3.47,0.00,0.000,4,0.000,0.089,2428,3919,3400,0,0,5,0,0,0
$GC,4193,-0.76,-146.0,394.7,-8.6,464,4199,0.00,3.35,0.00,0.000,6,0.000,0.067,2428,2462,3400,0,0,3,0,0,0
$GC,4518,-0.81,-146.0,421.5,-8.2,495,4524,0.00,3.47,0.00,0.000,4,0.000,0.088,2429,3917,3401,0,0,5,0,0,0
$GC,4776,-0.86,-146.0,443.4,-8.4,517,4782,0.00,3.35,0.00,0.000,6,0.000,0.067,2428,2459,3400,0,0,3,0,0,0
$GC,5103,-0.91,-146.0,468.7,-7.4,548,5108,0.00,3.53,0.00,0.000,4,0.000,0.087,2429,3921,3400,0,0,4,0,0,0
$GC,5360,-0.97,-146.0,487.7,-6.7,570,5367,0.17,3.35,0.00,0.000,6,0.109,0.066,2369,2458,3400,0,0,3,0,0,0
$GC,5685,-0.83,-146.0,515.7,-8.4,601,5691,0.20,3.47,0.00,0.000,4,0.205,0.086,2413,3919,3400,0,0,6,0,0,0
$GC,5944,-0.83,-146.0,534.6,-7.3,623,5950,0.00,3.35,0.00,0.000,6,0.000,0.066,2413,2461,3401,0,0,3,0,0,0
$GC,6268,-0.83,-146.0,558.4,-7.5,654,6274,0.00,3.47,0.00,0.000,4,0.000,0.087,2413,3920,3401,0,0,5,0,0,0
$GC,6526,-0.83,-146.0,579.0,-8.3,676,6532,0.00,3.35,0.00,0.000,6,0.000,0.065,2413,2461,3401,0,0,3,0,0,0
$GC,6848,-0.83,-146.0,605.4,-8.1,703,6854,0.00,3.47,0.00,0.000,4,0.000,0.086,2413,3921,3401,0,0,5,0,0,0
$GC,7106,-0.83,-146.0,627.3,-8.4,710,7112,0.00,3.35,0.00,0.000,6,0.000,0.065,2413,2460,3401,0,0,3,0,0,0
$GC,7419,-0.83,-146.0,653.6,-8.7,721,7424,0.00,3.47,0.00,0.000,4,0.000,0.085,2413,3918,3401,0,0,6,0,0,0
$GC,7677,-0.83,-146.0,675.7,-8.8,728,7683,0.00,3.35,0.00,0.000,6,0.000,0.065,2413,2460,3401,0,0,3,0,0,0
$STATE,7865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7865,begin apogee
$GC,7870,-0.16,0.0,691.8,8.6,735,8000,0.82,0.00,126.00,1.189,6,0.186,0.000,2631,1940,2800,0,0,0,0,0,0
$STATE,8001,end apogee,CONTROL_FINISHED_OK
$STATE,8001,begin climb
$GC,8002,0.73,146.0,694.9,0.0,739,8143,0.98,2.15,130.95,1.132,4,0.131,0.091,2925,349,2203,0,0,0,0,0,0
$GC,8251,0.62,146.0,670.6,13.1,746,8257,0.15,1.92,0.00,0.000,6,0.197,0.061,2895,1973,2197,0,0,0,0,0,0
$GC,8562,0.62,146.0,637.4,10.6,757,8568,0.00,3.65,0.00,0.000,4,0.000,0.079,2895,3530,2195,0,0,7,0,0,0
$GC,8715,0.55,146.0,619.5,12.0,761,8725,0.17,3.67,0.00,0.000,6,0.206,0.073,2870,1951,2193,0,0,4,0,0,0
$GC,9036,0.64,146.0,589.1,9.2,778,9042,0.00,3.67,0.00,0.000,4,0.000,0.079,2870,3536,2193,0,0,5,0,0,0
$GC,9204,0.64,146.0,571.8,10.5,792,9210,0.00,3.67,0.00,0.000,6,0.000,0.074,2884,1942,2192,0,0,4,0,0,0
$GC,9529,0.64,150.4,541.3,9.0,823,9534,0.00,3.70,0.00,0.000,4,0.000,0.080,2884,3537,2192,0,0,4,0,0,0
$GC,9687,0.60,150.4,524.6,11.3,836,9693,0.00,3.65,0.00,0.000,6,0.000,0.073,2900,1951,2192,0,0,4,0,0,0
$GC,10011,0.60,150.4,490.6,10.3,867,10017,0.00,3.65,0.00,0.000,4,0.000,0.081,2900,3537,2192,0,0,6,0,0,0
$GC,10165,0.51,150.4,472.6,12.3,880,10175,0.25,3.65,0.00,0.000,6,0.199,0.074,2857,1950,2192,0,0,4,0,0,0
$GC,10494,0.70,186.1,445.7,7.7,911,10536,0.17,3.75,32.95,1.027,4,0.111,0.080,2916,3530,2040,0,0,3,0,0,0
$GC,10694,0.61,186.1,420.5,12.9,929,10704,0.20,3.70,0.00,0.000,6,0.199,0.074,2887,1937,2036,0,0,4,0,0,0
$GC,11022,0.68,186.1,387.0,10.2,960,11028,0.00,3.70,0.00,0.000,4,0.000,0.080,2887,3531,2034,0,0,4,0,0,0
$GC,11190,0.68,186.1,367.9,11.4,974,11197,0.00,3.67,0.00,0.000,6,0.000,0.074,2901,1939,2034,0,0,4,0,0,0
$GC,11515,0.68,186.1,333.2,10.7,1005,11521,0.00,3.70,0.00,0.000,4,0.000,0.081,2901,3531,2034,0,0,4,0,0,0
$GC,11672,0.68,186.1,313.8,12.9,1018,11678,0.00,3.67,0.00,0.000,6,0.000,0.074,2918,1936,2034,0,0,4,0,0,0
$GC,11998,0.68,186.1,274.1,11.9,1049,12003,0.00,3.70,0.00,0.000,4,0.000,0.081,2917,3531,2034,0,0,4,0,0,0
$GC,12155,0.61,186.1,253.7,12.8,1062,12161,0.17,3.67,0.00,0.000,6,0.202,0.074,2894,1944,2034,0,0,3,0,0,0
$GC,12479,0.72,186.1,222.5,9.6,1093,12485,0.00,3.70,0.00,0.000,4,0.000,0.081,2893,3536,2034,0,0,4,0,0,0
$GC,12647,0.72,186.1,204.9,10.0,1107,12653,0.00,3.65,0.00,0.000,6,0.000,0.074,2908,1949,2034,0,0,4,0,0,0
$GC,12972,0.79,186.1,172.6,9.9,1138,12982,0.10,3.72,0.00,0.000,4,0.128,0.081,2948,3537,2034,0,0,4,0,0,0
$GC,13152,0.67,186.1,149.0,13.2,1154,13162,0.22,3.67,0.00,0.000,6,0.202,0.074,2912,1945,2032,0,0,4,0,0,0
$GC,13481,0.76,203.1,118.5,8.5,1185,13502,0.00,3.70,14.65,0.823,4,0.000,0.081,2912,3539,1971,0,0,4,0,0,0
$GC,13649,0.77,213.3,103.3,8.7,1200,13669,0.00,3.70,10.15,0.795,6,0.000,0.075,2926,1939,1929,0,0,4,0,0,0
$GC,14005,0.85,213.3,71.0,9.6,1260,14012,0.12,3.75,0.00,0.000,4,0.116,0.082,2974,3530,1927,0,0,4,0,0,0
$GC,14144,0.71,213.3,54.0,11.8,1284,14150,0.28,3.67,0.00,0.000,6,0.193,0.076,2924,1951,1925,0,0,4,0,0,0
$GC,14490,0.86,238.6,24.3,8.1,1345,14522,0.15,3.75,22.00,0.796,4,0.120,0.084,2974,3521,1826,0,0,4,0,0,0
$FREEZE,8.66,-1.719,-1.819,0,1,0
$FREEZE,7.95,-1.707,-1.818,0,1,0
$FREEZE,7.30,-1.704,-1.817,0,1,0
$FREEZE,6.54,-1.707,-1.817,0,1,0
$FREEZE,5.83,-1.708,-1.816,0,1,0
$FREEZE,5.10,-1.708,-1.816,0,1,0
$FREEZE,4.44,-1.717,-1.815,0,1,0
$FREEZE,3.72,-1.711,-1.814,0,1,0
$FREEZE,3.11,-1.711,-1.814,0,1,0
$FREEZE,2.39,-1.708,-1.813,0,1,0
$FREEZE,1.59,-1.703,-1.813,0,1,0
$STATE,14678,end climb,SURFACE_DEPTH_REACHED
$STATE,14678,begin surface coast
$FREEZE,0.89,-1.716,-1.812,0,1,0
$FREEZE,0.58,-1.618,-1.807,0,1,0
$FREEZE,0.53,-1.702,-1.789,0,1,0
$FINISH,0.5,1.026271
$STATE,14696,end surface coast,CONTROL_FINISHED_OK
$STATE,14696,begin surface
$SM_CCo,14716,69.40,0.771,0,0,1474,325.02
$SM_GC,1.35,0.00,0.00,69.40,0.000,0.000,0.771,130,2464,1474,-8.00,0.11,325.02
$RAFOS_CLK,952
$RAFOS,6,1261457347,4.833333,4.818611,59,54,51,0,0,0,728,219,123,0,0,0
$RAFOS,5,1261456870,4.700000,4.686111,137,60,58,0,0,0,573,187,161,0,0,0
$RAFOS,4,1261456383,4.566667,4.550833,67,59,58,0,0,0,208,824,181,0,0,0
$RAFOS,3,1261455906,4.433333,4.418334,61,55,52,0,0,0,215,204,169,0,0,0
$RAFOS,2,1261455427,4.300000,4.285278,76,65,55,0,0,0,206,163,173,0,0,0
$RAFOS,1,1261454949,4.166667,4.152500,64,59,58,0,0,0,213,160,185,0,0,0
$RAFOS,0,1261454468,4.033333,4.018889,64,61,58,0,0,0,645,159,126,0,0,0
$RAFOS_FIX,6507.532715,-5835.958496,221209,040428,2,100,44.86
$IRIDIUM_FIX,6641.98,-5729.18,170399,222213
$TT8_MAMPS,0.027612
$HUMID,48.26
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,651.0,71.2
$24V_AH,22.1,65.947
$10V_AH,10.1,35.158
$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,24.700,188.050,336.700,69.400,0.000,24.967,31.395,149.858,3.500,0.000,15.791,2480.980,8845.265,607.578,2753.484,449.794,0.000,1974.373,0.000,2693.788,2520.000,19.599,0.000
$DEVICE_MAMPS,301.431,104.312,1188.850,770.835,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.951,962.841,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152488
$DATA_FILE_SIZE,53595,1382
$CAP_FILE_SIZE,167452,0
$CFSIZE,260165632,222261248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,200,0,0
$SOUNDSPEED,1459.2
$GPS,221209,070507,6710.714,-5721.844,30,1.0,30,-37.9