version: 66.06
glider: 143
mission: 10
dive: 154
start: 11 18 109 8 26 53
data:
$ID,143
$MISSION,10
$DIVE,154
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,325
$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,-31428.836
$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,2390
$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
$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,21
$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,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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
$GPS1,081724,6701.570,-5718.517,41,1.2,41,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.2
$GPS2,082634,6701.539,-5718.478,16,99.0,35,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$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,75.6,22175,-16.9,-9.167
$D_GRID,778
$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,-146.0,0.0,0.0,0,119,0.00,0.00,-100.78,0.000,2,0.000,0.000,128,2467,3147,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.4,-6.3,19,145,9.82,2.65,-6.57,0.000,4,0.303,0.091,2150,865,3398,0,0,0,0,0,0
$GC,196,-0.73,-146.0,25.8,-29.9,32,202,0.00,2.60,0.00,0.000,6,0.000,0.074,2150,2456,3399,0,0,0,0,0,0
$GC,534,-0.73,-146.0,123.3,-26.6,85,538,0.00,2.50,0.00,0.000,4,0.000,0.090,2150,3915,3400,0,0,0,0,0,0
$GC,791,-0.73,-146.0,190.0,-24.2,107,798,0.00,2.40,0.00,0.000,6,0.000,0.066,2150,2483,3399,0,0,0,0,0,0
$GC,1115,-0.73,-146.0,261.5,-20.9,138,1120,0.00,2.45,0.00,0.000,4,0.000,0.090,2150,3913,3399,0,0,0,0,0,0
$GC,1312,-0.73,-146.0,304.4,-21.4,155,1316,0.00,2.35,0.00,0.000,6,0.000,0.066,2150,2485,3399,0,0,0,0,0,0
$GC,1636,-0.73,-146.0,370.8,-20.0,185,1640,0.00,2.45,0.00,0.000,4,0.000,0.089,2150,3913,3399,0,0,0,0,0,0
$GC,1753,-0.73,-146.0,396.2,-22.2,195,1757,0.00,2.35,0.00,0.000,6,0.000,0.065,2150,2480,3399,0,0,0,0,0,0
$GC,2077,-0.73,-146.0,463.9,-20.8,225,2081,0.00,2.45,0.00,0.000,4,0.000,0.088,2150,3920,3399,0,0,0,0,0,0
$GC,2210,-0.73,-146.0,493.0,-22.4,236,2216,0.00,2.33,0.00,0.000,6,0.000,0.064,2150,2494,3399,0,0,0,0,0,0
$GC,2536,-0.73,-146.0,559.7,-20.7,267,2540,0.00,2.42,0.00,0.000,4,0.000,0.087,2150,3922,3400,0,0,0,0,0,0
$GC,2602,-0.73,-146.0,574.7,-22.6,272,2608,0.00,2.33,0.00,0.000,6,0.000,0.064,2150,2495,3400,0,0,0,0,0,0
$GC,2920,-0.73,-146.0,638.3,-19.9,291,2924,0.00,2.42,0.00,0.000,4,0.000,0.087,2150,3923,3399,0,0,0,0,0,0
$GC,3097,-0.73,-146.0,675.2,-20.9,296,3101,0.00,2.35,0.00,0.000,6,0.000,0.064,2150,2507,3400,0,0,0,0,0,0
$GC,3421,-0.73,-146.0,739.4,-19.3,307,3425,0.00,2.40,0.00,0.000,4,0.000,0.087,2150,3924,3400,0,0,0,0,0,0
$GC,3537,-0.73,-146.0,762.6,-19.5,310,3541,0.00,2.33,0.00,0.000,6,0.000,0.063,2150,2521,3400,0,0,0,0,0,0
$STATE,3639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3639,begin apogee
$GC,3644,-0.16,0.0,782.2,19.2,314,3769,0.73,0.00,121.03,1.242,6,0.238,0.000,2329,1947,2800,0,0,0,0,0,0
$STATE,3770,end apogee,CONTROL_FINISHED_OK
$STATE,3770,begin climb
$GC,3771,0.73,146.0,787.7,0.0,318,3908,1.08,2.90,125.75,1.190,4,0.187,0.086,2611,375,2203,0,0,0,0,0,0
$GC,4043,0.78,191.3,771.0,7.3,326,4090,0.00,2.62,39.62,1.148,6,0.000,0.061,2611,1965,2019,0,0,0,0,0,0
$GC,4397,0.80,210.7,742.8,8.3,338,4422,0.12,2.78,17.48,1.103,4,0.163,0.087,2644,368,1939,0,0,0,0,0,0
$GC,4443,0.82,225.9,738.8,8.5,339,4464,0.00,2.58,14.38,1.075,6,0.000,0.060,2644,1961,1879,0,0,0,0,0,0
$GC,4799,0.82,225.9,704.3,10.5,351,4804,0.00,2.65,0.00,0.000,4,0.000,0.079,2644,3535,1876,0,0,0,0,0,0
$GC,4977,0.82,225.9,685.9,9.9,356,4982,0.00,2.60,0.00,0.000,6,0.000,0.065,2644,1989,1874,0,0,0,0,0,0
$GC,5301,0.82,225.9,653.2,10.3,367,5306,0.00,2.62,0.00,0.000,4,0.000,0.087,2644,362,1874,0,0,0,0,0,0
$GC,5396,0.82,225.9,644.1,9.6,370,5400,0.00,2.55,0.00,0.000,6,0.000,0.061,2644,1998,1874,0,0,0,0,0,0
$GC,5730,0.82,225.9,611.2,10.4,381,5734,0.00,2.65,0.00,0.000,4,0.000,0.087,2644,362,1873,0,0,0,0,0,0
$GC,5818,0.83,230.8,602.6,9.0,383,5828,0.00,2.62,4.93,0.821,6,0.000,0.062,2644,2052,1858,0,0,0,0,0,0
$GC,6154,0.83,230.8,571.1,9.5,413,6159,0.00,2.75,0.00,0.000,4,0.000,0.087,2644,358,1858,0,0,0,0,0,0
$GC,6411,0.85,250.6,549.2,8.3,435,6438,0.00,2.70,18.88,1.052,6,0.000,0.062,2644,2099,1776,0,0,0,0,0,0
$GC,6756,0.85,250.6,519.3,9.7,468,6760,0.00,2.85,0.00,0.000,4,0.000,0.087,2644,357,1772,0,0,0,0,0,0
$GC,7009,0.86,254.2,496.0,9.0,490,7020,0.00,2.72,3.88,0.686,6,0.000,0.064,2644,2096,1762,0,0,0,0,0,0
$GC,7338,0.89,277.8,469.1,8.2,521,7370,0.00,2.92,22.05,1.014,4,0.000,0.086,2644,361,1665,0,0,0,0,0,0
$GC,7622,0.89,277.8,443.2,9.5,546,7628,0.00,2.85,0.00,0.000,6,0.000,0.063,2644,2174,1662,0,0,0,0,0,0
$GC,7947,0.89,277.8,411.9,10.8,577,7951,0.00,2.95,0.00,0.000,4,0.000,0.084,2644,360,1662,0,0,0,0,0,0
$GC,8147,0.89,277.8,390.6,9.9,594,8153,0.00,2.80,0.00,0.000,6,0.000,0.061,2644,2154,1661,0,0,0,0,0,0
$GC,8472,0.89,277.8,357.4,10.9,625,8477,0.00,2.90,0.00,0.000,4,0.000,0.085,2644,362,1661,0,0,0,0,0,0
$GC,8533,0.89,277.8,350.7,11.2,630,8538,0.00,3.00,0.00,0.000,6,0.000,0.062,2644,2284,1661,0,0,0,0,0,0
$GC,8857,0.89,277.8,317.2,10.0,660,8862,0.00,3.10,0.00,0.000,4,0.000,0.084,2644,362,1661,0,0,0,0,0,0
$GC,8923,0.89,277.8,310.9,9.6,665,8931,0.00,3.00,0.00,0.000,6,0.000,0.062,2644,2288,1661,0,0,0,0,0,0
$GC,9247,0.89,279.6,281.8,9.1,696,9252,0.00,3.10,0.00,0.000,4,0.000,0.083,2644,361,1661,0,0,0,0,0,0
$GC,9287,0.89,279.6,278.1,10.0,699,9292,0.00,3.03,0.00,0.000,6,0.000,0.061,2644,2307,1661,0,0,0,0,0,0
$GC,9612,0.89,279.6,247.9,9.7,729,9617,0.00,3.12,0.00,0.000,4,0.000,0.082,2644,362,1661,0,0,0,0,0,0
$GC,9667,0.89,279.6,242.3,10.4,733,9673,0.00,3.03,0.00,0.000,6,0.000,0.062,2644,2315,1661,0,0,0,0,0,0
$GC,9993,0.89,279.6,209.9,9.8,764,9998,0.00,3.15,0.00,0.000,4,0.000,0.082,2644,350,1661,0,0,0,0,0,0
$GC,10077,0.89,283.7,202.1,9.0,771,10088,0.00,3.03,5.28,0.688,6,0.000,0.061,2644,2304,1643,0,0,0,0,0,0
$GC,10406,0.89,283.7,172.9,9.5,802,10410,0.10,2.05,0.00,0.000,4,0.172,0.081,2671,3537,1642,0,0,0,0,0,0
$GC,10443,0.89,283.7,169.0,11.1,805,10449,0.00,2.05,0.00,0.000,6,0.000,0.062,2671,2295,1642,0,0,0,0,0,0
$GC,10769,0.89,283.7,131.0,11.6,836,10773,0.00,2.05,0.00,0.000,4,0.000,0.077,2672,3537,1642,0,0,0,0,0,0
$GC,10828,0.89,283.7,125.0,9.6,841,10835,0.00,2.10,0.00,0.000,6,0.000,0.062,2672,2264,1642,0,0,0,0,0,0
$GC,11154,0.93,316.0,98.8,7.8,873,11188,0.00,2.22,28.10,0.784,4,0.000,0.081,2672,3537,1510,0,0,0,0,0,0
$GC,11394,0.93,316.0,76.0,9.4,916,11402,0.00,2.08,0.00,0.000,6,0.000,0.062,2672,2267,1504,0,0,0,0,0,0
$GC,11738,0.95,329.2,45.2,8.6,977,11755,0.00,2.20,11.60,0.732,4,0.000,0.078,2672,3536,1456,0,0,0,0,0,0
$GC,11839,0.95,329.2,35.6,9.4,995,11845,0.00,2.12,0.00,0.000,6,0.000,0.063,2672,2240,1454,0,0,0,0,0,0
$GC,12183,0.97,348.2,5.0,8.4,1056,12204,0.00,2.20,16.15,0.730,4,0.000,0.077,2672,3539,1379,0,0,0,0,0,0
$STATE,12214,end climb,SURFACE_DEPTH_REACHED
$STATE,12214,begin surface coast
$FINISH,0.4,1.001573
$STATE,12237,end surface coast,CONTROL_FINISHED_OK
$STATE,12237,begin surface
$SM_CCo,12315,0.00,0.000,0,0,1373,349.80
$SM_GC,1.19,7.30,0.00,0.00,0.075,0.000,0.000,124,2450,1373,-7.04,-0.28,349.80
$RAFOS_CLK,771
$RAFOS,6,1258534149,8.833333,8.819167,106,80,71,0,0,0,755,188,147,0,0,0
$RAFOS,5,1258533661,8.700000,8.683611,123,66,60,0,0,0,608,212,142,0,0,0
$RAFOS,4,1258533183,8.566667,8.550834,91,66,66,0,0,0,826,229,212,0,0,0
$RAFOS,1,1258531741,8.166667,8.150278,66,60,57,0,0,0,195,224,169,0,0,0
$RAFOS_FIX,6701.324219,-5720.243652,181109,080840,3,107,1.39
$IRIDIUM_FIX,6636.54,-5718.20,120299,080857
$TT8_MAMPS,0.026845
$HUMID,47.08
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,17.90
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.9,19.6
$24V_AH,22.9,37.615
$10V_AH,10.2,19.226
$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,19.150,140.200,429.100,0.000,0.000,57.501,60.422,216.439,2.750,0.000,37.943,2082.617,7565.626,558.872,2129.671,532.758,0.000,1662.528,0.000,2067.209,1080.000,2.625,0.000
$DEVICE_MAMPS,302.965,91.273,1241.773,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.984,742.671,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188044
$DATA_FILE_SIZE,44175,1066
$CAP_FILE_SIZE,137941,0
$CFSIZE,260165632,237981696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.7
$CURRENT,0.116,270.7,1
$GPS,181109,115337,6701.855,-5717.356,36,1.1,36,-37.6