version: 66.06
glider: 143
mission: 10
dive: 190
start: 11 24 109 7 36 1
data:
$ID,143
$MISSION,10
$DIVE,190
$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,-33522.793
$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,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,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
$GPS1,072953,6703.483,-5657.111,23,1.8,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.6
$GPS2,073543,6703.470,-5657.200,9,1.3,14,-37.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,294.3,156949,-16.9,-9.167
$D_GRID,592
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.28,0.000,2,0.000,0.000,125,2468,3191,0,0,0,0,0,0
$GC,115,-0.73,-146.0,3.6,-6.7,19,137,11.20,2.55,-5.12,0.000,4,0.296,0.098,2445,3906,3398,0,0,0,0,0,0
$GC,391,-0.64,-146.0,44.1,-12.6,68,397,0.15,2.45,0.00,0.000,6,0.207,0.060,2481,2445,3400,0,0,0,0,0,0
$GC,736,-0.70,-146.0,79.6,-10.2,129,741,0.00,2.58,0.00,0.000,4,0.000,0.086,2481,3913,3401,0,0,0,0,0,0
$GC,921,-0.78,-146.0,97.9,-9.3,162,927,0.15,2.42,0.00,0.000,6,0.107,0.061,2429,2464,3399,0,0,0,0,0,0
$GC,1253,-0.68,-146.0,135.9,-11.5,195,1258,0.17,2.55,0.00,0.000,4,0.207,0.084,2460,3919,3399,0,0,0,0,0,0
$GC,1393,-0.68,-146.0,150.6,-10.3,207,1397,0.00,2.38,0.00,0.000,6,0.000,0.060,2460,2490,3399,0,0,0,0,0,0
$GC,1718,-0.68,-146.0,180.9,-8.6,237,1722,0.00,2.47,0.00,0.000,4,0.000,0.085,2460,3911,3398,0,0,0,0,0,0
$GC,1739,-0.68,-146.0,182.8,-8.6,238,1744,0.00,2.35,0.00,0.000,6,0.000,0.059,2460,2491,3399,0,0,0,0,0,0
$GC,2065,-0.68,-146.0,209.9,-8.2,269,2069,0.00,2.47,0.00,0.000,4,0.000,0.085,2460,3913,3399,0,0,0,0,0,0
$GC,2142,-0.73,-146.0,216.7,-9.0,275,2148,0.00,2.33,0.00,0.000,6,0.000,0.059,2460,2510,3399,0,0,0,0,0,0
$GC,2470,-0.77,-146.0,244.4,-8.7,306,2474,0.00,2.60,0.00,0.000,4,0.000,0.077,2460,869,3399,0,0,0,0,0,0
$GC,2497,-0.77,-146.0,247.4,-9.8,308,2502,0.00,2.60,0.00,0.000,6,0.000,0.069,2460,2514,3399,0,0,0,0,0,0
$GC,2822,-0.83,-146.0,276.8,-8.9,338,2827,0.12,2.42,0.00,0.000,4,0.112,0.084,2413,3912,3399,0,0,0,0,0,0
$GC,2907,-0.74,-146.0,286.1,-11.8,345,2912,0.15,2.30,0.00,0.000,6,0.211,0.060,2446,2520,3399,0,0,0,0,0,0
$GC,3232,-0.74,-146.0,316.5,-9.1,375,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2521,3400,0,0,0,0,0,0
$GC,3550,-0.74,-146.0,344.6,-8.3,405,3554,0.00,2.42,0.00,0.000,4,0.000,0.084,2446,3920,3400,0,0,0,0,0,0
$GC,3634,-0.78,-146.0,351.7,-8.3,412,3638,0.00,2.30,0.00,0.000,6,0.000,0.058,2446,2528,3400,0,0,0,0,0,0
$GC,3959,-0.78,-146.0,379.1,-8.3,442,3963,0.00,2.40,0.00,0.000,4,0.000,0.084,2446,3913,3400,0,0,0,0,0,0
$GC,3976,-0.78,-146.0,380.5,-7.9,443,3980,0.00,2.28,0.00,0.000,6,0.000,0.058,2446,2535,3400,0,0,0,0,0,0
$GC,4300,-0.78,-146.0,406.5,-7.7,473,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2536,3401,0,0,0,0,0,0
$GC,4620,-0.78,-146.0,429.1,-6.7,503,4624,0.00,2.38,0.00,0.000,4,0.000,0.084,2446,3908,3401,0,0,0,0,0,0
$GC,4650,-0.78,-146.0,431.2,-7.7,505,4654,0.00,2.25,0.00,0.000,6,0.000,0.058,2446,2542,3401,0,0,0,0,0,0
$GC,4974,-0.83,-146.0,454.3,-7.1,535,4979,0.00,2.38,0.00,0.000,4,0.000,0.084,2446,3913,3401,0,0,0,0,0,0
$GC,5019,-0.87,-146.0,457.7,-7.2,538,5025,0.12,2.25,0.00,0.000,6,0.117,0.058,2404,2548,3401,0,0,0,0,0,0
$GC,5344,-0.78,-146.0,486.4,-8.8,569,5349,0.12,2.38,0.00,0.000,4,0.210,0.081,2426,3909,3401,0,0,0,0,0,0
$GC,5360,-0.71,-146.0,488.0,-9.4,570,5365,0.15,2.25,0.00,0.000,6,0.204,0.058,2460,2548,3401,0,0,0,0,0,0
$GC,5690,-0.81,-146.0,510.8,-6.8,601,5695,0.00,2.65,0.00,0.000,4,0.000,0.075,2460,870,3401,0,0,0,0,0,0
$GC,5718,-0.87,-146.0,512.9,-7.2,603,5723,0.15,2.65,0.00,0.000,6,0.105,0.067,2406,2550,3401,0,0,0,0,0,0
$GC,6042,-0.79,-146.0,542.0,-9.2,633,6047,0.00,2.35,0.00,0.000,4,0.000,0.084,2405,3916,3401,0,0,0,0,0,0
$GC,6098,-0.70,-146.0,547.1,-9.0,637,6104,0.22,2.25,0.00,0.000,6,0.201,0.058,2460,2549,3401,0,0,0,0,0,0
$GC,6423,-0.81,-146.0,570.1,-7.3,668,6427,0.00,2.35,0.00,0.000,4,0.000,0.083,2460,3908,3401,0,0,0,0,0,0
$GC,6446,-0.90,-146.0,571.8,-7.3,669,6452,0.20,2.22,0.00,0.000,6,0.097,0.058,2390,2560,3401,0,0,0,0,0,0
$STATE,6651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6651,begin apogee
$GC,6657,-0.16,0.0,592.2,10.2,689,6783,0.88,0.00,118.72,1.109,6,0.193,0.000,2630,1949,2799,0,0,0,0,0,0
$STATE,6784,end apogee,CONTROL_FINISHED_OK
$STATE,6784,begin climb
$GC,6786,0.73,146.0,595.6,0.0,702,6914,0.93,0.00,122.28,1.066,6,0.130,0.000,2911,1949,2204,0,0,0,0,0,0
$GC,7228,0.73,146.0,555.0,10.5,744,7233,0.00,2.78,0.00,0.000,4,0.000,0.076,2911,3538,2196,0,0,0,0,0,0
$GC,7301,0.66,146.0,546.9,11.1,750,7306,0.00,2.67,0.00,0.000,6,0.000,0.064,2924,1973,2195,0,0,0,0,0,0
$GC,7626,0.62,146.0,511.2,10.9,780,7631,0.15,2.60,0.00,0.000,4,0.198,0.084,2898,353,2193,0,0,0,0,0,0
$GC,7653,0.62,146.0,508.3,9.8,782,7658,0.00,2.53,0.00,0.000,6,0.000,0.060,2898,1977,2194,0,0,0,0,0,0
$GC,7978,0.62,146.0,476.3,9.2,812,7982,0.00,2.65,0.00,0.000,4,0.000,0.077,2899,3547,2193,0,0,0,0,0,0
$GC,8010,0.62,146.0,472.7,10.8,814,8016,0.00,2.65,0.00,0.000,6,0.000,0.065,2911,1965,2193,0,0,0,0,0,0
$GC,8334,0.62,146.0,439.1,10.5,845,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1966,2192,0,0,0,0,0,0
$GC,8654,0.62,146.0,405.6,10.6,875,8659,0.00,2.67,0.00,0.000,4,0.000,0.077,2911,3541,2192,0,0,0,0,0,0
$GC,8698,0.56,146.0,400.3,12.7,878,8704,0.20,2.62,0.00,0.000,6,0.189,0.066,2874,1969,2191,0,0,0,0,0,0
$GC,9023,0.68,147.7,370.8,9.1,909,9025,0.12,0.00,0.00,0.000,6,0.114,0.000,2919,1970,2191,0,0,0,0,0,0
$GC,9341,0.68,147.7,335.8,10.9,939,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1970,2191,0,0,0,0,0,0
$GC,9661,0.68,147.7,302.3,10.3,969,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1970,2191,0,0,0,0,0,0
$GC,9980,0.68,147.7,271.0,9.8,999,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1970,2191,0,0,0,0,0,0
$GC,10299,0.68,147.7,238.8,10.2,1029,10304,0.00,2.55,0.00,0.000,4,0.000,0.085,2930,362,2191,0,0,0,0,0,0
$GC,10320,0.68,147.7,236.1,11.1,1030,10326,0.00,2.50,0.00,0.000,6,0.000,0.061,2930,1990,2192,0,0,0,0,0,0
$GC,10645,0.63,147.7,202.4,10.3,1061,10647,0.15,0.00,0.00,0.000,6,0.198,0.000,2895,1990,2191,0,0,0,0,0,0
$GC,10964,0.73,158.4,175.8,8.7,1091,10978,0.00,2.60,9.30,0.767,4,0.000,0.077,2895,3540,2154,0,0,0,0,0,0
$GC,11031,0.73,158.4,169.4,10.0,1097,11035,0.00,2.60,0.00,0.000,6,0.000,0.066,2905,1975,2153,0,0,0,0,0,0
$GC,11355,0.81,158.4,137.7,9.2,1127,11360,0.15,2.67,0.00,0.000,4,0.100,0.077,2961,3547,2153,0,0,0,0,0,0
$GC,11383,0.70,158.4,134.2,12.4,1129,11389,0.22,2.60,0.00,0.000,6,0.196,0.066,2918,1988,2152,0,0,0,0,0,0
$GC,11708,0.76,160.8,102.3,9.1,1159,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1989,2152,0,0,0,0,0,0
$GC,12044,0.85,175.2,73.6,8.6,1216,12066,0.15,2.58,15.07,0.759,4,0.107,0.083,2983,364,2084,0,0,0,0,0,0
$GC,12100,0.74,175.2,67.3,12.0,1226,12106,0.20,2.53,0.00,0.000,6,0.190,0.062,2934,2004,2083,0,0,0,0,0,0
$GC,12446,0.84,188.8,38.0,8.6,1287,12467,0.00,2.70,11.80,0.729,4,0.000,0.084,2943,362,2030,0,0,0,0,0,0
$GC,12507,0.91,188.8,32.4,9.8,1298,12513,0.12,2.55,0.00,0.000,6,0.119,0.061,2985,2010,2029,0,0,0,0,0,0
$FREEZE,8.96,0.379,-1.819,0,1,0
$FREEZE,8.38,0.375,-1.819,0,1,0
$FREEZE,7.98,0.374,-1.819,0,1,0
$FREEZE,7.41,0.385,-1.818,0,1,0
$FREEZE,6.88,0.381,-1.818,0,1,0
$FREEZE,6.36,0.374,-1.817,0,1,0
$FREEZE,5.93,0.374,-1.817,0,1,0
$FREEZE,5.22,0.389,-1.816,0,1,0
$FREEZE,4.68,0.382,-1.816,0,1,0
$FREEZE,4.11,0.368,-1.816,0,1,0
$FREEZE,3.56,0.370,-1.815,0,1,0
$FREEZE,3.11,0.373,-1.815,0,1,0
$FREEZE,2.50,0.366,-1.815,0,1,0
$FREEZE,1.99,0.365,-1.814,0,1,0
$STATE,12793,end climb,SURFACE_DEPTH_REACHED
$STATE,12793,begin surface coast
$FREEZE,1.49,0.366,-1.814,0,1,0
$FREEZE,0.96,0.372,-1.813,0,1,0
$FREEZE,0.58,0.362,-1.813,0,1,0
$FREEZE,0.57,0.389,-1.811,0,1,0
$FINISH,0.6,1.026513
$STATE,12817,end surface coast,CONTROL_FINISHED_OK
$STATE,12817,begin surface
$SM_CCo,12834,81.50,0.725,0,0,1474,325.02
$SM_GC,1.18,0.00,0.00,81.50,0.000,0.000,0.725,124,2461,1474,-8.02,0.03,325.02
$RAFOS_CLK,787
$RAFOS,6,1259052544,8.833333,8.817778,75,59,58,0,0,0,815,204,178,0,0,0
$RAFOS,5,1259052065,8.700000,8.684722,91,67,66,0,0,0,626,138,208,0,0,0
$RAFOS,4,1259051581,8.566667,8.550278,82,66,64,0,0,0,874,193,169,0,0,0
$RAFOS,3,1259051103,8.433333,8.417500,60,58,56,0,0,0,203,146,182,0,0,0
$RAFOS,2,1259050626,8.300000,8.285000,64,60,58,0,0,0,205,156,177,0,0,0
$RAFOS,1,1259050148,8.166667,8.152223,67,57,55,0,0,0,206,188,165,0,0,0
$RAFOS,0,1259049664,8.033334,8.017777,59,57,57,0,0,0,174,160,216,0,0,0
$RAFOS_FIX,6703.358887,-5701.216797,241109,080840,3,83,0.72
$IRIDIUM_FIX,6636.54,-5702.96,180299,040447
$TT8_MAMPS,0.027612
$HUMID,47.59
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.90
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,450.5,160.4
$24V_AH,23.1,43.175
$10V_AH,10.2,22.073
$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,24.500,120.975,277.175,81.500,0.000,28.913,33.869,169.810,3.000,0.000,16.234,2270.588,7947.752,499.972,2118.682,433.190,0.000,1586.334,0.000,2085.421,2520.000,15.872,0.000
$DEVICE_MAMPS,296.062,98.176,1109.082,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.099,925.612,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152504
$DATA_FILE_SIZE,53556,1353
$CAP_FILE_SIZE,151901,0
$CFSIZE,260165632,235266048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.0
$GPS,241109,111311,6703.470,-5703.583,39,1.4,55,-37.6