version: 66.06
glider: 143
mission: 10
dive: 24
start: 10 23 109 17 29 25
data:
$ID,143
$MISSION,10
$DIVE,24
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,200
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23413.906
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2430
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,25
$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,20
$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,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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
$GPS1,172336,6711.636,-5707.689,36,1.0,36,-37.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.6
$GPS2,172908,6711.674,-5707.714,13,1.7,13,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6701.527,-5717.177
$TGT_RADIUS,1852.000
$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,237.8,20000,-16.9,-9.167
$D_GRID,477
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.98,-146.0,0.0,0.0,0,104,0.00,0.00,-84.97,0.000,2,0.000,0.000,122,2512,3206,0,0,0,0,0,0
$GC,106,-0.98,-146.0,3.8,-8.0,17,128,9.73,2.38,-4.90,0.000,4,0.310,0.100,2097,3914,3399,0,0,0,0,0,0
$GC,336,-0.75,-146.0,43.8,-14.9,58,343,0.35,2.28,0.00,0.000,6,0.209,0.060,2183,2496,3401,0,0,0,0,0,0
$GC,681,-0.83,-146.0,76.1,-8.2,119,686,0.00,2.35,0.00,0.000,4,0.000,0.087,2183,3904,3401,0,0,0,0,0,0
$GC,794,-0.91,-146.0,85.1,-8.1,139,800,0.15,2.22,0.00,0.000,6,0.107,0.060,2132,2505,3400,0,0,0,0,0,0
$GC,1133,-0.85,-146.0,119.3,-8.9,183,1137,0.00,2.33,0.00,0.000,4,0.000,0.086,2132,3909,3400,0,0,0,0,0,0
$GC,1206,-0.78,-146.0,126.0,-8.8,189,1210,0.17,2.22,0.00,0.000,6,0.209,0.061,2172,2504,3400,0,0,0,0,0,0
$GC,1530,-0.84,-146.0,148.4,-7.0,219,1534,0.00,2.33,0.00,0.000,4,0.000,0.087,2172,3904,3400,0,0,0,0,0,0
$GC,1789,-0.92,-146.0,169.0,-8.2,242,1794,0.12,2.15,0.00,0.000,6,0.120,0.060,2131,2539,3400,0,0,0,0,0,0
$GC,2115,-0.86,-146.0,204.4,-11.3,272,2119,0.00,2.25,0.00,0.000,4,0.000,0.087,2130,3906,3400,0,0,0,0,0,0
$GC,2373,-0.80,-146.0,232.9,-10.2,294,2379,0.15,2.17,0.00,0.000,6,0.210,0.059,2164,2546,3399,0,0,0,0,0,0
$GC,2698,-0.88,-146.0,258.5,-7.3,325,2702,0.00,2.22,0.00,0.000,4,0.000,0.087,2164,3905,3399,0,0,0,0,0,0
$GC,2955,-0.96,-146.0,277.3,-8.2,347,2962,0.15,2.15,0.00,0.000,6,0.108,0.059,2113,2533,3399,0,0,0,0,0,0
$GC,3280,-0.87,-146.0,306.8,-8.9,378,3285,0.15,2.28,0.00,0.000,4,0.211,0.084,2140,3915,3399,0,0,0,0,0,0
$GC,3291,-0.79,-146.0,307.9,-8.9,378,3297,0.12,2.15,0.00,0.000,6,0.211,0.058,2167,2534,3399,0,0,0,0,0,0
$GC,3615,-0.89,-146.0,328.7,-6.2,409,3619,0.00,2.25,0.00,0.000,4,0.000,0.086,2167,3911,3399,0,0,0,0,0,0
$GC,3626,-0.99,-146.0,329.4,-6.3,409,3632,0.17,2.17,0.00,0.000,6,0.102,0.058,2107,2519,3399,0,0,0,0,0,0
$GC,3950,-0.88,-146.0,357.8,-9.2,440,3955,0.15,2.58,0.00,0.000,4,0.209,0.077,2151,903,3399,0,0,0,0,0,0
$GC,3961,-0.80,-146.0,358.7,-9.1,440,3967,0.00,2.60,0.00,0.000,6,0.000,0.071,2151,2527,3399,0,0,0,0,0,0
$GC,4286,-0.85,-146.0,383.1,-7.5,471,4290,0.00,2.58,0.00,0.000,4,0.000,0.077,2152,911,3400,0,0,0,0,0,0
$GC,4296,-0.89,-146.0,384.1,-7.9,471,4302,0.00,2.58,0.00,0.000,6,0.000,0.070,2151,2530,3399,0,0,0,0,0,0
$GC,4621,-0.95,-146.0,408.5,-7.1,502,4625,0.00,2.58,0.00,0.000,4,0.000,0.077,2151,912,3399,0,0,0,0,0,0
$GC,4642,-0.95,-146.0,410.4,-8.4,503,4647,0.00,2.58,0.00,0.000,6,0.000,0.070,2151,2534,3400,0,0,0,0,0,0
$GC,4967,-1.01,-146.0,436.4,-8.7,534,4972,0.15,2.60,0.00,0.000,4,0.104,0.076,2098,912,3400,0,0,0,0,0,0
$GC,4977,-1.01,-146.0,437.3,-8.7,534,4983,0.00,2.58,0.00,0.000,6,0.000,0.071,2098,2537,3399,0,0,0,0,0,0
$GC,5302,-0.85,-146.0,469.7,-11.1,565,5306,0.22,2.22,0.00,0.000,4,0.209,0.082,2147,3919,3401,0,0,0,0,0,0
$GC,5312,-0.74,-146.0,470.8,-11.4,565,5318,0.17,2.05,0.00,0.000,6,0.203,0.057,2189,2594,3400,0,0,0,0,0,0
$STATE,5400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5400,begin apogee
$GC,5406,-0.24,0.0,477.6,7.0,574,5526,0.52,0.00,116.43,1.036,6,0.160,0.000,2347,2291,2799,0,0,0,0,0,0
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5527,begin climb
$GC,5528,0.98,146.0,481.1,0.0,586,5661,1.27,2.75,119.45,0.994,4,0.119,0.077,2750,720,2201,0,0,0,0,0,0
$GC,5914,0.54,146.0,419.4,19.1,621,5920,0.57,2.60,0.00,0.000,6,0.206,0.064,2608,2303,2195,0,0,0,0,0,0
$GC,6238,0.54,146.0,379.4,12.0,652,6242,0.00,2.65,0.00,0.000,4,0.000,0.080,2608,3895,2193,0,0,0,0,0,0
$GC,6281,0.47,146.0,373.7,12.9,655,6288,0.15,2.60,0.00,0.000,6,0.196,0.061,2584,2294,2192,0,0,0,0,0,0
$GC,6606,0.52,146.0,339.9,9.9,686,6610,0.00,2.55,0.00,0.000,4,0.000,0.077,2593,713,2192,0,0,0,0,0,0
$GC,6863,0.52,146.0,312.9,10.4,708,6869,0.00,2.55,0.00,0.000,6,0.000,0.064,2593,2292,2192,0,0,0,0,0,0
$GC,7187,0.52,146.0,280.2,9.8,739,7192,0.00,2.55,0.00,0.000,4,0.000,0.078,2605,713,2192,0,0,0,0,0,0
$GC,7444,0.52,146.0,254.8,9.9,761,7450,0.00,2.58,0.00,0.000,6,0.000,0.064,2605,2314,2192,0,0,0,0,0,0
$GC,7769,0.52,146.0,224.6,9.2,792,7773,0.00,2.55,0.00,0.000,4,0.000,0.081,2605,3886,2191,0,0,0,0,0,0
$GC,7842,0.46,146.0,217.3,10.5,798,7847,0.15,2.50,0.00,0.000,6,0.195,0.061,2581,2310,2191,0,0,0,0,0,0
$GC,8166,0.59,189.6,193.1,7.3,828,8208,0.12,2.62,33.80,0.843,4,0.118,0.078,2634,713,2026,0,0,0,0,0,0
$GC,8460,0.59,189.6,160.8,10.7,854,8466,0.00,2.60,0.00,0.000,6,0.000,0.064,2635,2312,2022,0,0,0,0,0,0
$GC,8785,0.59,189.6,123.6,11.9,885,8789,0.00,2.60,0.00,0.000,4,0.000,0.079,2646,713,2021,0,0,0,0,0,0
$GC,9044,0.59,189.6,93.4,10.6,912,9049,0.00,2.55,0.00,0.000,6,0.000,0.064,2646,2317,2020,0,0,0,0,0,0
$GC,9387,0.59,189.6,56.7,10.5,973,9392,0.00,2.60,0.00,0.000,4,0.000,0.080,2658,707,2019,0,0,0,0,0,0
$GC,9645,0.59,189.6,31.5,9.3,1019,9651,0.15,2.55,0.00,0.000,6,0.189,0.065,2622,2318,2019,0,0,0,0,0,0
$GC,9990,0.75,222.8,3.9,7.8,1080,10016,0.15,0.00,23.80,0.747,2,0.113,0.000,2672,2318,1901,0,0,0,0,0,0
$STATE,10017,end climb,SURFACE_DEPTH_REACHED
$STATE,10017,begin surface coast
$FINISH,0.5,1.026320
$STATE,10045,end surface coast,CONTROL_FINISHED_OK
$STATE,10045,begin surface
$SM_CCo,10060,33.47,0.736,0,0,1677,275.23
$SM_GC,1.49,0.00,0.00,33.47,0.000,0.000,0.736,125,2507,1677,-7.20,0.20,275.23
$RAFOS_CLK,620
$RAFOS,1,1256328541,20.166666,20.150278,61,60,59,0,0,0,175,201,215,0,0,0
$RAFOS,0,1256328063,20.033333,20.017500,65,58,56,0,0,0,1157,218,154,0,0,0
$RAFOS_FIX,6710.319824,-5709.300293,231009,161656,2,90,0.55
$IRIDIUM_FIX,6614.97,-6524.25,170199,141417
$TT8_MAMPS,0.026845
$HUMID,45.86
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,17.50
$XPDR_PINGS,3
$24V_AH,23.7,17.576
$10V_AH,10.3,7.939
$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,22.400,103.000,293.475,33.475,0.000,28.616,32.558,163.864,0.750,0.000,14.811,1805.702,5888.591,439.635,1912.838,376.021,0.000,1422.690,0.000,1883.878,720.000,0.534,0.000
$DEVICE_MAMPS,309.868,100.477,1036.217,735.553,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.174,741.729,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150632
$DATA_FILE_SIZE,40944,1090
$CAP_FILE_SIZE,125392,0
$CFSIZE,260165632,249118720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.6
$GPS,231009,201901,6712.385,-5710.415,37,1.3,37,-37.8