version: 66.06
glider: 143
mission: 10
dive: 185
start: 11 23 109 14 55 30
data:
$ID,143
$MISSION,10
$DIVE,185
$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,-33442.289
$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,19
$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,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
$GPS1,144001,6701.939,-5656.219,70,1.7,70,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.1
$GPS2,145514,6701.924,-5656.160,19,99.0,38,-37.5
$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,108.8,6220,-16.9,-9.167
$D_GRID,628
$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,-0.73,-146.0,0.0,0.0,0,110,0.00,0.00,-90.75,0.000,2,0.000,0.000,116,2470,3051,0,0,0,0,0,0
$GC,113,-0.73,-146.0,3.2,-5.1,18,140,10.95,2.62,-9.73,0.000,4,0.288,0.091,2445,870,3397,0,0,0,0,0,0
$GC,276,-0.60,-146.0,30.8,-14.6,47,283,0.20,2.55,0.00,0.000,6,0.207,0.073,2494,2454,3400,0,0,0,0,0,0
$GC,621,-0.67,-146.0,67.2,-8.8,108,627,0.00,2.55,0.00,0.000,4,0.000,0.090,2494,3912,3400,0,0,0,0,0,0
$GC,807,-0.77,-146.0,83.0,-7.5,141,813,0.17,2.40,0.00,0.000,6,0.102,0.062,2433,2478,3400,0,0,0,0,0,0
$GC,1146,-0.68,-146.0,120.6,-11.5,186,1148,0.15,0.00,0.00,0.000,6,0.205,0.000,2467,2478,3400,0,0,0,0,0,0
$GC,1466,-0.68,-146.0,152.9,-8.9,216,1470,0.00,2.53,0.00,0.000,4,0.000,0.088,2467,3920,3400,0,0,0,0,0,0
$GC,1567,-0.75,-146.0,162.1,-8.9,224,1573,0.00,2.40,0.00,0.000,6,0.000,0.063,2467,2485,3400,0,0,0,0,0,0
$GC,1892,-0.81,-146.0,188.5,-8.4,255,1897,0.12,2.50,0.00,0.000,4,0.110,0.085,2413,3912,3400,0,0,0,0,0,0
$GC,1970,-0.69,-146.0,197.2,-11.3,261,1976,0.20,2.38,0.00,0.000,6,0.206,0.061,2460,2481,3400,0,0,0,0,0,0
$GC,2294,-0.69,-146.0,226.1,-8.4,292,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2482,3400,0,0,0,0,0,0
$GC,2614,-0.74,-146.0,252.3,-8.1,322,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2481,3400,0,0,0,0,0,0
$GC,2933,-0.79,-146.0,277.4,-7.9,352,2937,0.00,2.47,0.00,0.000,4,0.000,0.085,2460,3912,3401,0,0,0,0,0,0
$GC,2989,-0.85,-146.0,282.2,-8.3,356,2995,0.15,2.35,0.00,0.000,6,0.108,0.060,2409,2488,3401,0,0,0,0,0,0
$GC,3313,-0.75,-146.0,315.3,-10.3,387,3315,0.15,0.00,0.00,0.000,6,0.209,0.000,2443,2489,3401,0,0,0,0,0,0
$GC,3632,-0.75,-146.0,343.9,-8.9,417,3636,0.00,2.47,0.00,0.000,4,0.000,0.084,2443,3919,3401,0,0,0,0,0,0
$GC,3742,-0.75,-146.0,353.9,-8.5,426,3748,0.00,2.35,0.00,0.000,6,0.000,0.059,2443,2492,3401,0,0,0,0,0,0
$GC,4067,-0.75,-146.0,381.3,-8.3,457,4071,0.00,2.47,0.00,0.000,4,0.000,0.084,2443,3924,3402,0,0,0,0,0,0
$GC,4129,-0.75,-146.0,386.6,-8.3,462,4133,0.00,2.35,0.00,0.000,6,0.000,0.058,2443,2496,3402,0,0,0,0,0,0
$GC,4454,-0.75,-146.0,413.3,-8.5,492,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2497,3402,0,0,0,0,0,0
$GC,4773,-0.75,-146.0,439.1,-8.0,522,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2498,3403,0,0,0,0,0,0
$GC,5092,-0.75,-146.0,464.3,-7.8,552,5096,0.00,2.45,0.00,0.000,4,0.000,0.083,2443,3912,3403,0,0,0,0,0,0
$GC,5226,-0.75,-146.0,474.8,-7.9,563,5232,0.00,2.30,0.00,0.000,6,0.000,0.058,2443,2509,3403,0,0,0,0,0,0
$GC,5551,-0.75,-146.0,498.6,-7.6,594,5555,0.00,2.42,0.00,0.000,4,0.000,0.084,2443,3914,3403,0,0,0,0,0,0
$GC,5589,-0.75,-146.0,501.6,-7.7,597,5594,0.00,2.33,0.00,0.000,6,0.000,0.058,2443,2503,3403,0,0,0,0,0,0
$GC,5914,-0.80,-146.0,527.3,-8.4,627,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2504,3403,0,0,0,0,0,0
$GC,6236,-0.80,-146.0,552.4,-7.8,657,6240,0.00,2.45,0.00,0.000,4,0.000,0.084,2443,3919,3403,0,0,0,0,0,0
$GC,6287,-0.80,-146.0,556.7,-8.2,661,6291,0.00,2.33,0.00,0.000,6,0.000,0.058,2443,2511,3403,0,0,0,0,0,0
$GC,6612,-0.85,-146.0,581.8,-7.7,691,6616,0.00,2.42,0.00,0.000,4,0.000,0.084,2443,3913,3403,0,0,0,0,0,0
$GC,6674,-0.85,-146.0,586.8,-8.2,696,6678,0.00,2.30,0.00,0.000,6,0.000,0.058,2443,2518,3403,0,0,0,0,0,0
$STATE,6940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6941,begin apogee
$GC,6946,-0.16,0.0,607.6,7.8,715,7069,0.68,0.00,119.70,1.124,6,0.175,0.000,2633,1952,2800,0,0,0,0,0,0
$STATE,7070,end apogee,CONTROL_FINISHED_OK
$STATE,7070,begin climb
$GC,7072,0.73,146.0,610.4,0.0,719,7202,0.93,2.83,122.28,1.075,4,0.126,0.083,2925,361,2203,0,0,0,0,0,0
$GC,7230,0.65,146.0,597.7,12.1,724,7236,0.00,2.67,0.00,0.000,6,0.000,0.060,2926,1957,2199,0,0,0,0,0,0
$GC,7555,0.59,146.0,560.4,11.7,755,7557,0.17,0.00,0.00,0.000,6,0.192,0.000,2885,1957,2195,0,0,0,0,0,0
$GC,7873,0.65,146.0,529.9,9.4,785,7878,0.00,2.70,0.00,0.000,4,0.000,0.076,2885,3546,2194,0,0,0,0,0,0
$GC,7939,0.65,146.0,523.1,10.4,790,7945,0.00,2.67,0.00,0.000,6,0.000,0.065,2895,1957,2193,0,0,0,0,0,0
$GC,8265,0.65,146.0,491.9,9.9,821,8270,0.00,2.70,0.00,0.000,4,0.000,0.077,2895,3546,2193,0,0,0,0,0,0
$GC,8292,0.65,146.0,489.0,10.2,823,8297,0.00,2.67,0.00,0.000,6,0.000,0.065,2908,1953,2193,0,0,0,0,0,0
$GC,8616,0.65,146.0,456.7,9.6,853,8621,0.00,2.70,0.00,0.000,4,0.000,0.077,2908,3546,2193,0,0,0,0,0,0
$GC,8659,0.59,146.0,451.8,11.9,856,8666,0.15,2.65,0.00,0.000,6,0.191,0.066,2885,1954,2192,0,0,0,0,0,0
$GC,8985,0.68,151.7,423.1,8.9,887,8996,0.00,2.67,4.05,0.673,4,0.000,0.077,2885,3538,2181,0,0,0,0,0,0
$GC,9034,0.68,151.7,417.9,10.3,891,9040,0.00,2.62,0.00,0.000,6,0.000,0.065,2895,1960,2181,0,0,0,0,0,0
$GC,9359,0.74,151.7,385.0,10.4,922,9364,0.00,2.67,0.00,0.000,4,0.000,0.077,2895,3542,2181,0,0,0,0,0,0
$GC,9391,0.74,151.7,381.4,11.1,924,9397,0.00,2.62,0.00,0.000,6,0.000,0.066,2907,1965,2181,0,0,0,0,0,0
$GC,9716,0.74,151.7,347.9,9.9,955,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1965,2181,0,0,0,0,0,0
$GC,10036,0.74,151.7,314.8,10.9,985,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1965,2181,0,0,0,0,0,0
$GC,10355,0.74,151.7,281.3,10.5,1015,10359,0.00,2.67,0.00,0.000,4,0.000,0.078,2907,3540,2180,0,0,0,0,0,0
$GC,10382,0.74,151.7,277.9,11.7,1017,10386,0.00,2.60,0.00,0.000,6,0.000,0.066,2919,1968,2181,0,0,0,0,0,0
$GC,10706,0.74,151.7,242.2,11.0,1047,10710,0.00,2.65,0.00,0.000,4,0.000,0.078,2919,3539,2180,0,0,0,0,0,0
$GC,10756,0.68,151.7,236.3,12.4,1051,10760,0.00,2.60,0.00,0.000,6,0.000,0.065,2931,1970,2180,0,0,0,0,0,0
$GC,11080,0.68,151.7,201.5,10.1,1081,11084,0.00,2.55,0.00,0.000,4,0.000,0.084,2943,361,2181,0,0,0,0,0,0
$GC,11119,0.62,151.7,197.4,10.4,1084,11124,0.20,2.50,0.00,0.000,6,0.189,0.063,2894,1987,2180,0,0,0,0,0,0
$GC,11443,0.79,211.1,173.6,6.7,1114,11498,0.15,2.70,48.42,0.833,4,0.109,0.077,2946,3529,1938,0,0,0,0,0,0
$GC,11539,0.73,211.1,164.4,10.6,1123,11544,0.15,2.65,0.00,0.000,6,0.190,0.066,2924,1967,1935,0,0,0,0,0,0
$GC,11863,0.80,216.8,134.8,8.9,1153,11873,0.00,0.00,4.88,0.623,6,0.000,0.000,2924,1968,1917,0,0,0,0,0,0
$GC,12192,0.87,216.8,101.1,11.3,1184,12194,0.15,0.00,0.00,0.000,6,0.104,0.000,2976,1968,1917,0,0,0,0,0,0
$GC,12530,0.81,216.8,52.0,12.1,1243,12536,0.00,2.58,0.00,0.000,4,0.000,0.084,2988,353,1916,0,0,0,0,0,0
$GC,12593,0.73,216.8,44.2,12.1,1254,12599,0.25,2.50,0.00,0.000,6,0.179,0.061,2924,1975,1915,0,0,0,0,0,0
$GC,12938,0.91,244.7,16.6,8.0,1315,12970,0.17,2.65,24.08,0.742,4,0.101,0.077,2986,3535,1801,0,0,0,0,0,0
$GC,12993,0.85,244.7,11.0,10.4,1325,12999,0.15,2.62,0.00,0.000,6,0.197,0.066,2964,1968,1799,0,0,0,0,0,0
$FREEZE,8.89,0.700,-1.823,0,3,0
$FREEZE,8.31,0.705,-1.823,0,3,0
$FREEZE,7.83,0.709,-1.822,0,3,0
$FREEZE,7.15,0.706,-1.822,0,3,0
$FREEZE,6.52,0.719,-1.821,0,3,0
$FREEZE,6.02,0.722,-1.821,0,3,0
$FREEZE,5.41,0.713,-1.821,0,3,0
$FREEZE,4.86,0.719,-1.820,0,3,0
$FREEZE,4.19,0.713,-1.820,0,3,0
$FREEZE,3.74,0.710,-1.820,0,3,0
$FREEZE,3.01,0.717,-1.819,0,3,0
$FREEZE,2.55,0.706,-1.819,0,3,0
$FREEZE,1.88,0.700,-1.818,0,3,0
$STATE,13079,end climb,SURFACE_DEPTH_REACHED
$STATE,13079,begin surface coast
$FREEZE,1.33,0.703,-1.818,0,3,0
$FREEZE,0.71,0.703,-1.817,0,3,0
$FREEZE,0.44,0.520,-1.828,0,3,0
$FINISH,0.4,1.026745
$STATE,13096,end surface coast,CONTROL_FINISHED_OK
$STATE,13096,begin surface
$SM_CCo,13114,55.53,0.725,0,0,1474,325.02
$SM_GC,1.19,0.00,0.00,55.53,0.000,0.000,0.725,126,2466,1474,-8.01,0.17,325.02
$RAFOS_CLK,842
$RAFOS,6,1258994945,16.833334,16.818056,61,57,55,0,0,0,170,203,123,0,0,0
$RAFOS,5,1258994463,16.700001,16.684166,115,62,60,0,0,0,654,192,168,0,0,0
$RAFOS,4,1258993988,16.566668,16.552221,75,59,56,0,0,0,853,205,220,0,0,0
$RAFOS,3,1258993508,16.433332,16.418888,64,57,56,0,0,0,198,115,170,0,0,0
$RAFOS,2,1258993027,16.299999,16.285278,65,62,62,0,0,0,198,185,207,0,0,0
$RAFOS,1,1258992549,16.166666,16.152500,63,54,52,0,0,0,191,162,119,0,0,0
$RAFOS,0,1258992067,16.033333,16.018612,58,57,52,0,0,0,212,135,118,0,0,0
$RAFOS_FIX,6658.044434,-5656.740234,231109,161628,2,95,1.15
$IRIDIUM_FIX,6631.12,-5658.34,170299,141402
$TT8_MAMPS,0.027612
$HUMID,46.88
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,450.1,172.2
$24V_AH,23.0,42.598
$10V_AH,10.2,21.735
$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,23.575,118.600,323.400,55.525,0.000,98.074,148.270,268.425,2.500,0.000,41.208,2247.969,8295.573,512.535,2172.814,853.024,0.000,1616.877,0.000,2114.001,2520.000,12.816,0.000
$DEVICE_MAMPS,288.392,91.273,1123.655,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,992.486,919.601,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152456
$DATA_FILE_SIZE,50409,1343
$CAP_FILE_SIZE,158149,0
$CFSIZE,260165632,235565056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.5
$GPS,231109,183637,6703.054,-5654.293,39,1.1,39,-37.6