version: 66.06
glider: 143
mission: 10
dive: 162
start: 11 19 109 11 59 3
data:
$ID,143
$MISSION,10
$DIVE,162
$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,-31609.594
$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,2600
$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,23
$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
$GPS1,114906,6703.822,-5709.092,28,1.4,28,-37.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.7
$GPS2,115843,6703.808,-5709.134,9,1.8,14,-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,124.1,15335,-16.9,-9.167
$D_GRID,688
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-104.82,0.000,2,0.000,0.000,124,2475,3068,0,0,0,0,0,0
$GC,126,-0.73,-146.0,3.3,-6.0,20,153,10.73,2.67,-8.48,0.000,4,0.298,0.091,2358,875,3399,0,0,0,0,0,0
$GC,305,-0.73,-146.0,40.4,-17.8,52,310,0.00,2.55,0.00,0.000,6,0.000,0.073,2358,2455,3401,0,0,0,0,0,0
$GC,648,-0.73,-146.0,97.6,-16.4,113,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2455,3401,0,0,0,0,0,0
$GC,975,-0.73,-146.0,148.1,-16.1,145,979,0.00,2.53,0.00,0.000,4,0.000,0.091,2358,3921,3401,0,0,0,0,0,0
$GC,1092,-0.73,-146.0,166.5,-14.8,155,1097,0.00,2.42,0.00,0.000,6,0.000,0.064,2358,2449,3401,0,0,0,0,0,0
$GC,1416,-0.73,-146.0,212.6,-13.4,185,1421,0.00,2.53,0.00,0.000,4,0.000,0.088,2359,3921,3400,0,0,0,0,0,0
$GC,1589,-0.73,-146.0,235.7,-12.3,200,1594,0.00,2.40,0.00,0.000,6,0.000,0.063,2359,2457,3400,0,0,0,0,0,0
$GC,1914,-0.73,-146.0,276.1,-13.0,230,1918,0.00,2.50,0.00,0.000,4,0.000,0.087,2359,3914,3400,0,0,0,0,0,0
$GC,2020,-0.73,-146.0,289.7,-13.0,239,2024,0.00,2.35,0.00,0.000,6,0.000,0.062,2359,2475,3400,0,0,0,0,0,0
$GC,2345,-0.73,-146.0,331.1,-12.6,269,2349,0.00,2.45,0.00,0.000,4,0.000,0.086,2359,3914,3401,0,0,0,0,0,0
$GC,2411,-0.73,-146.0,340.0,-12.9,274,2417,0.00,2.35,0.00,0.000,6,0.000,0.061,2359,2473,3401,0,0,0,0,0,0
$GC,2735,-0.73,-146.0,381.8,-12.8,305,2740,0.00,2.47,0.00,0.000,4,0.000,0.086,2359,3922,3401,0,0,0,0,0,0
$GC,2785,-0.73,-146.0,388.5,-13.6,309,2790,0.00,2.35,0.00,0.000,6,0.000,0.061,2359,2479,3401,0,0,0,0,0,0
$GC,3109,-0.73,-146.0,427.9,-11.9,339,3114,0.00,2.45,0.00,0.000,4,0.000,0.085,2359,3923,3401,0,0,0,0,0,0
$GC,3153,-0.73,-146.0,433.5,-12.5,342,3159,0.00,2.38,0.00,0.000,6,0.000,0.060,2359,2482,3402,0,0,0,0,0,0
$GC,3478,-0.73,-146.0,472.2,-12.1,373,3482,0.00,2.42,0.00,0.000,4,0.000,0.084,2359,3912,3402,0,0,0,0,0,0
$GC,3521,-0.73,-146.0,477.6,-12.5,376,3527,0.00,2.35,0.00,0.000,6,0.000,0.060,2359,2492,3402,0,0,0,0,0,0
$GC,3846,-0.73,-146.0,518.1,-12.5,407,3850,0.00,2.42,0.00,0.000,4,0.000,0.085,2358,3920,3403,0,0,0,0,0,0
$GC,3884,-0.73,-146.0,522.9,-12.6,410,3889,0.00,2.33,0.00,0.000,6,0.000,0.060,2358,2488,3402,0,0,0,0,0,0
$GC,4209,-0.73,-146.0,561.9,-11.8,440,4213,0.00,2.42,0.00,0.000,4,0.000,0.084,2358,3921,3402,0,0,0,0,0,0
$GC,4281,-0.73,-146.0,571.0,-12.2,446,4285,0.00,2.30,0.00,0.000,6,0.000,0.060,2359,2501,3402,0,0,0,0,0,0
$GC,4604,-0.73,-146.0,607.4,-11.1,472,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2502,3403,0,0,0,0,0,0
$GC,4909,-0.73,-146.0,640.3,-10.6,482,4914,0.00,2.40,0.00,0.000,4,0.000,0.084,2359,3916,3403,0,0,0,0,0,0
$GC,5032,-0.73,-146.0,654.1,-11.5,485,5039,0.00,2.33,0.00,0.000,6,0.000,0.058,2358,2509,3403,0,0,0,0,0,0
$GC,5345,-0.73,-146.0,687.4,-10.8,496,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2510,3403,0,0,0,0,0,0
$STATE,5373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5373,begin apogee
$GC,5378,-0.16,0.0,690.9,10.8,497,5502,0.68,0.00,119.93,1.185,6,0.200,0.000,2540,1944,2800,0,0,0,0,0,0
$STATE,5502,end apogee,CONTROL_FINISHED_OK
$STATE,5503,begin climb
$GC,5504,0.73,146.0,696.5,0.0,501,5637,1.00,2.85,123.28,1.136,4,0.156,0.084,2835,365,2203,0,0,0,0,0,0
$GC,5665,0.78,187.3,687.4,7.4,506,5710,0.00,2.67,36.75,1.087,6,0.000,0.058,2835,1953,2035,0,0,0,0,0,0
$GC,6029,0.81,217.0,660.0,7.9,518,6060,0.00,2.78,25.42,1.085,4,0.000,0.075,2835,3546,1914,0,0,0,0,0,0
$GC,6104,0.81,217.0,653.1,9.6,520,6109,0.00,2.72,0.00,0.000,6,0.000,0.065,2847,1948,1912,0,0,0,0,0,0
$GC,6434,0.83,234.9,625.0,8.4,531,6457,0.00,2.72,16.17,1.057,4,0.000,0.076,2847,3538,1841,0,0,0,0,0,0
$GC,6497,0.83,234.9,619.2,9.7,533,6502,0.00,2.65,0.00,0.000,6,0.000,0.066,2858,1961,1839,0,0,0,0,0,0
$GC,6814,0.87,267.0,592.0,7.8,548,6848,0.00,2.78,28.55,1.083,4,0.000,0.078,2858,3538,1710,0,0,0,0,0,0
$GC,6881,0.87,267.0,586.0,9.7,554,6887,0.00,2.65,0.00,0.000,6,0.000,0.066,2869,1966,1709,0,0,0,0,0,0
$GC,7206,0.89,276.7,556.9,8.8,585,7217,0.00,0.00,9.45,0.978,6,0.000,0.000,2869,1966,1670,0,0,0,0,0,0
$GC,7535,0.90,286.3,527.8,8.8,616,7546,0.00,0.00,9.27,0.967,6,0.000,0.000,2869,1967,1632,0,0,0,0,0,0
$GC,7863,0.90,286.3,497.1,9.6,647,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1967,1629,0,0,0,0,0,0
$GC,8183,0.90,286.3,466.0,10.1,677,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1967,1629,0,0,0,0,0,0
$GC,8502,0.90,286.3,433.4,10.6,707,8506,0.00,2.62,0.00,0.000,4,0.000,0.080,2869,3539,1629,0,0,0,0,0,0
$GC,8522,0.90,286.3,430.9,10.7,708,8529,0.00,2.60,0.00,0.000,6,0.000,0.067,2881,1956,1629,0,0,0,0,0,0
$GC,8847,0.90,286.3,397.4,10.1,739,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1956,1629,0,0,0,0,0,0
$GC,9167,0.90,286.3,365.5,9.6,769,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1956,1629,0,0,0,0,0,0
$GC,9486,0.90,286.3,334.5,10.2,799,9490,0.00,2.62,0.00,0.000,4,0.000,0.080,2881,3537,1629,0,0,0,0,0,0
$GC,9506,0.90,286.3,332.3,9.8,800,9513,0.00,2.58,0.00,0.000,6,0.000,0.067,2892,1963,1629,0,0,0,0,0,0
$GC,9832,0.90,286.3,296.9,10.5,831,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1964,1629,0,0,0,0,0,0
$GC,10151,0.90,286.3,262.1,10.6,861,10155,0.00,2.58,0.00,0.000,4,0.000,0.087,2903,354,1629,0,0,0,0,0,0
$GC,10182,0.90,286.3,258.2,12.0,863,10189,0.00,2.53,0.00,0.000,6,0.000,0.062,2903,1967,1629,0,0,0,0,0,0
$GC,10508,0.90,286.3,220.1,12.1,894,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1967,1627,0,0,0,0,0,0
$GC,10827,0.90,286.3,181.4,11.2,924,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1967,1628,0,0,0,0,0,0
$GC,11148,0.90,286.3,146.9,10.8,954,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1967,1628,0,0,0,0,0,0
$GC,11465,0.90,286.3,111.7,11.2,984,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1967,1628,0,0,0,0,0,0
$GC,11795,0.90,286.3,73.7,10.0,1034,11801,0.00,2.58,0.00,0.000,4,0.000,0.087,2915,364,1628,0,0,0,0,0,0
$GC,11835,0.90,286.3,69.4,10.7,1041,11841,0.00,2.47,0.00,0.000,6,0.000,0.063,2915,1972,1628,0,0,0,0,0,0
$GC,12181,0.90,286.9,36.2,9.1,1102,12186,0.00,2.58,0.00,0.000,4,0.000,0.079,2915,3538,1628,0,0,0,0,0,0
$GC,12214,0.90,286.9,32.6,9.4,1108,12221,0.15,2.55,0.00,0.000,6,0.180,0.067,2889,1973,1628,0,0,0,0,0,0
$GC,12559,1.01,379.7,8.3,5.3,1169,12646,0.12,2.72,75.45,0.744,4,0.120,0.087,2945,367,1249,0,0,0,0,0,0
$STATE,12661,end climb,SURFACE_DEPTH_REACHED
$STATE,12661,begin surface coast
$FINISH,0.8,1.026475
$STATE,12674,end surface coast,CONTROL_FINISHED_OK
$STATE,12674,begin surface
$SM_CCo,12754,0.00,0.000,0,0,1239,382.67
$SM_GC,1.02,8.35,0.00,0.00,0.082,0.000,0.000,124,2456,1239,-7.70,-0.08,382.67
$RAFOS_CLK,800
$RAFOS,6,1258634944,12.833333,12.817778,67,56,53,0,0,0,793,185,209,0,0,0
$RAFOS,5,1258634464,12.700000,12.684444,75,65,61,0,0,0,616,168,200,0,0,0
$RAFOS,4,1258633987,12.566667,12.551945,105,72,56,0,0,0,825,215,198,0,0,0
$RAFOS,3,1258633505,12.433333,12.418056,64,58,57,0,0,0,206,163,147,0,0,0
$RAFOS,2,1258633022,12.300000,12.283889,54,53,52,0,0,0,198,170,216,0,0,0
$RAFOS,1,1258632544,12.166667,12.151111,59,53,51,0,0,0,203,165,154,0,0,0
$RAFOS,0,1258632062,12.033333,12.017222,65,58,58,0,0,0,199,158,225,0,0,0
$RAFOS_FIX,6703.666016,-5712.000000,191109,121244,3,82,0.77
$IRIDIUM_FIX,6636.54,-5715.22,130299,121241
$TT8_MAMPS,0.026845
$HUMID,47.36
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,19.9
$24V_AH,23.0,38.802
$10V_AH,10.2,19.764
$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,21.025,107.950,444.275,0.000,0.000,60.104,73.262,259.475,1.500,0.000,16.165,2104.659,8120.142,554.536,1965.719,589.642,0.000,1599.482,0.000,1938.002,2520.000,2.625,0.000
$DEVICE_MAMPS,297.596,90.506,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.002,814.384,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188040
$DATA_FILE_SIZE,47368,1190
$CAP_FILE_SIZE,134234,0
$CFSIZE,260165632,237428736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.3
$CURRENT,0.285,312.0,1
$GPS,191109,153325,6705.143,-5707.558,54,1.3,54,-37.7