version: 66.06
glider: 143
mission: 10
dive: 255
start: 12 6 109 21 51 1
data:
$ID,143
$MISSION,10
$DIVE,255
$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,-37075.062
$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,16
$R_STBD_OVSHOOT,18
$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
$GPS1,204344,6648.349,-5818.250,0,3089.3,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,1.5
$GPS2,204344,6648.349,-5818.250,0,3089.3,0,-37.6
$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,105.0,70597,-16.9,-9.167
$D_GRID,747
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-61.75,0.000,6,0.000,0.000,2717,1943,3395,0,0,0,0,0,0
$GC,84,-0.73,-146.0,1.4,-3.4,13,90,0.77,1.62,0.00,0.000,4,0.100,0.094,2457,863,3396,0,0,0,0,0,0
$GC,182,-0.73,-146.0,15.6,-10.9,30,188,0.00,2.47,0.00,0.000,6,0.000,0.079,2457,2459,3397,0,0,0,0,0,0
$GC,526,-0.73,-146.0,54.5,-11.4,91,531,0.00,3.00,0.00,0.000,4,0.000,0.099,2457,3920,3397,0,0,0,0,0,0
$GC,695,-0.73,-146.0,72.8,-10.1,121,701,0.00,2.88,0.00,0.000,6,0.000,0.073,2457,2462,3397,0,0,0,0,0,0
$GC,1039,-0.73,-146.0,108.2,-10.4,176,1044,0.00,3.00,0.00,0.000,4,0.000,0.098,2457,3921,3397,0,0,0,0,0,0
$GC,1191,-0.73,-146.0,124.8,-12.0,189,1196,0.00,2.85,0.00,0.000,6,0.000,0.073,2457,2471,3397,0,0,0,0,0,0
$GC,1515,-0.73,-146.0,160.4,-10.0,219,1520,0.00,2.97,0.00,0.000,4,0.000,0.098,2457,3920,3397,0,0,0,0,0,0
$GC,1682,-0.77,-146.0,176.7,-9.4,233,1688,0.00,2.83,0.00,0.000,6,0.000,0.074,2457,2483,3397,0,0,0,0,0,0
$GC,2007,-0.77,-146.0,205.9,-8.5,264,2011,0.00,2.95,0.00,0.000,4,0.000,0.099,2457,3914,3397,0,0,0,0,0,0
$GC,2073,-0.84,-146.0,211.6,-8.5,269,2080,0.12,2.80,0.00,0.000,6,0.133,0.074,2418,2496,3396,0,0,0,0,0,0
$GC,2399,-0.77,-146.0,243.5,-10.5,300,2404,0.00,2.92,0.00,0.000,4,0.000,0.098,2418,3914,3396,0,0,0,0,0,0
$GC,2535,-0.70,-146.0,258.3,-10.9,311,2542,0.17,2.78,0.00,0.000,6,0.219,0.073,2456,2510,3396,0,0,0,0,0,0
$GC,2862,-0.79,-146.0,287.5,-8.9,342,2867,0.00,2.90,0.00,0.000,4,0.000,0.098,2456,3914,3396,0,0,0,0,0,0
$GC,2957,-0.88,-146.0,296.1,-8.6,350,2963,0.15,2.78,0.00,0.000,6,0.126,0.072,2411,2508,3395,0,0,0,0,0,0
$GC,3282,-0.81,-146.0,330.8,-10.9,380,3286,0.00,2.90,0.00,0.000,4,0.000,0.096,2410,3915,3395,0,0,0,0,0,0
$GC,3399,-0.74,-146.0,343.8,-11.1,390,3405,0.15,2.75,0.00,0.000,6,0.216,0.071,2442,2521,3396,0,0,0,0,0,0
$GC,3724,-0.79,-146.0,372.1,-8.7,420,3729,0.00,2.88,0.00,0.000,4,0.000,0.096,2442,3914,3396,0,0,0,0,0,0
$GC,3859,-0.84,-146.0,383.8,-8.8,431,3865,0.00,2.72,0.00,0.000,6,0.000,0.070,2442,2536,3396,0,0,0,0,0,0
$GC,4184,-0.89,-146.0,410.3,-8.2,462,4189,0.12,2.88,0.00,0.000,4,0.127,0.094,2400,3916,3396,0,0,0,0,0,0
$GC,4315,-0.79,-146.0,423.6,-10.3,473,4320,0.12,2.72,0.00,0.000,6,0.218,0.070,2425,2536,3396,0,0,0,0,0,0
$GC,4640,-0.79,-146.0,454.0,-9.1,503,4644,0.00,2.85,0.00,0.000,4,0.000,0.094,2425,3915,3396,0,0,0,0,0,0
$GC,4757,-0.79,-146.0,465.4,-9.5,513,4761,0.00,2.70,0.00,0.000,6,0.000,0.069,2425,2548,3396,0,0,0,0,0,0
$GC,5081,-0.79,-146.0,496.1,-9.6,543,5086,0.00,2.83,0.00,0.000,4,0.000,0.093,2425,3919,3396,0,0,0,0,0,0
$GC,5198,-0.79,-146.0,507.6,-10.1,553,5203,0.00,2.67,0.00,0.000,6,0.000,0.067,2425,2563,3396,0,0,0,0,0,0
$GC,5522,-0.79,-146.0,536.0,-8.7,583,5527,0.00,2.80,0.00,0.000,4,0.000,0.093,2425,3916,3396,0,0,0,0,0,0
$GC,5640,-0.79,-146.0,545.8,-8.0,593,5644,0.00,2.65,0.00,0.000,6,0.000,0.067,2425,2571,3396,0,0,0,0,0,0
$GC,5964,-0.79,-146.0,572.1,-8.1,623,5969,0.00,2.78,0.00,0.000,4,0.000,0.092,2425,3915,3396,0,0,0,0,0,0
$GC,6048,-0.79,-146.0,579.0,-8.7,630,6052,0.00,2.65,0.00,0.000,6,0.000,0.067,2425,2572,3396,0,0,0,0,0,0
$GC,6380,-0.79,-146.0,605.1,-7.6,657,6385,0.00,2.78,0.00,0.000,4,0.000,0.093,2425,3914,3397,0,0,0,0,0,0
$GC,6454,-0.79,-146.0,610.6,-7.5,659,6458,0.00,2.62,0.00,0.000,6,0.000,0.067,2425,2581,3397,0,0,0,0,0,0
$GC,6776,-0.79,-146.0,638.4,-9.3,670,6781,0.00,2.78,0.00,0.000,4,0.000,0.093,2425,3922,3397,0,0,0,0,0,0
$GC,6893,-0.79,-146.0,649.1,-8.7,673,6897,0.00,2.62,0.00,0.000,6,0.000,0.067,2425,2581,3397,0,0,0,0,0,0
$GC,7211,-0.79,-146.0,675.6,-7.9,684,7216,0.00,2.78,0.00,0.000,6,0.000,0.093,2425,3919,3397,0,0,0,0,0,0
$STATE,7217,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7217,begin apogee
$GC,7225,-0.16,0.0,676.1,7.9,684,7351,0.75,0.00,122.12,1.205,6,0.193,0.000,2627,1953,2800,0,0,0,0,0,0
$STATE,7351,end apogee,CONTROL_FINISHED_OK
$STATE,7351,begin climb
$GC,7353,0.73,146.0,680.0,0.0,688,7490,1.00,2.62,128.73,1.149,4,0.146,0.094,2922,357,2202,0,0,0,0,0,0
$GC,7592,0.65,146.0,659.6,12.8,695,7596,0.00,2.42,0.00,0.000,6,0.000,0.068,2922,1958,2196,0,0,0,0,0,0
$GC,7904,0.55,146.0,622.9,11.3,705,7910,0.22,3.22,0.00,0.000,4,0.200,0.084,2856,3543,2193,0,0,0,0,0,0
$GC,7971,0.61,147.6,616.2,9.1,707,7976,0.00,3.17,0.00,0.000,6,0.000,0.074,2868,1956,2192,0,0,0,0,0,0
$GC,8296,0.71,147.6,587.2,9.2,725,8301,0.15,3.20,0.00,0.000,4,0.116,0.084,2921,3544,2191,0,0,0,0,0,0
$GC,8374,0.57,147.6,576.8,13.7,731,8380,0.25,3.12,0.00,0.000,6,0.206,0.076,2874,1962,2191,0,0,0,0,0,0
$GC,8699,0.67,154.0,548.1,8.9,762,8711,0.00,3.12,6.00,0.900,4,0.000,0.085,2875,3535,2171,0,0,0,0,0,0
$GC,8768,0.67,154.0,541.7,9.7,768,8773,0.00,3.08,0.00,0.000,6,0.000,0.077,2886,1980,2171,0,0,0,0,0,0
$GC,9093,0.75,164.7,513.6,8.7,798,9114,0.15,3.12,10.82,1.015,4,0.106,0.085,2941,3542,2127,0,0,0,0,0,0
$GC,9177,0.57,164.7,503.6,12.4,805,9183,0.32,3.10,0.00,0.000,6,0.209,0.077,2877,1981,2126,0,0,0,0,0,0
$GC,9501,0.72,204.5,477.2,7.5,836,9543,0.15,3.20,34.75,1.070,4,0.123,0.087,2924,3539,1965,0,0,0,0,0,0
$GC,9616,0.63,204.5,464.2,12.8,846,9622,0.17,3.10,0.00,0.000,6,0.207,0.077,2899,2001,1961,0,0,0,0,0,0
$GC,9941,0.68,204.5,432.1,9.9,877,9946,0.00,3.10,0.00,0.000,4,0.000,0.086,2899,3538,1959,0,0,0,0,0,0
$GC,9991,0.68,204.5,426.7,11.6,881,9996,0.00,3.05,0.00,0.000,6,0.000,0.076,2909,2008,1958,0,0,0,0,0,0
$GC,10315,0.68,204.5,395.0,9.6,911,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2009,1957,0,0,0,0,0,0
$GC,10633,0.68,204.5,364.0,10.2,941,10638,0.00,3.08,0.00,0.000,4,0.000,0.086,2909,3544,1957,0,0,0,0,0,0
$GC,10710,0.68,204.5,355.5,11.3,947,10716,0.00,3.03,0.00,0.000,6,0.000,0.077,2922,2018,1956,0,0,0,0,0,0
$GC,11036,0.68,204.5,322.9,10.0,978,11041,0.00,3.05,0.00,0.000,4,0.000,0.085,2921,3541,1957,0,0,0,0,0,0
$GC,11087,0.61,204.5,317.1,12.0,982,11092,0.17,3.00,0.00,0.000,6,0.205,0.076,2895,2025,1957,0,0,0,0,0,0
$GC,11411,0.75,229.3,287.0,8.1,1012,11442,0.12,3.05,20.92,0.943,4,0.130,0.085,2935,3537,1863,0,0,0,0,0,0
$GC,11466,0.70,229.3,281.3,11.3,1017,11471,0.12,3.00,0.00,0.000,6,0.207,0.076,2922,2034,1862,0,0,0,0,0,0
$GC,11790,0.71,238.6,251.5,8.8,1047,11805,0.00,3.05,9.07,0.864,4,0.000,0.087,2922,3542,1826,0,0,0,0,0,0
$GC,11850,0.71,238.6,245.2,11.0,1052,11855,0.00,3.00,0.00,0.000,6,0.000,0.076,2933,2041,1825,0,0,0,0,0,0
$GC,12174,0.71,238.6,207.6,12.5,1082,12179,0.00,3.03,0.00,0.000,4,0.000,0.086,2933,3536,1824,0,0,0,0,0,0
$GC,12229,0.71,238.6,200.1,13.5,1086,12235,0.00,2.97,0.00,0.000,6,0.000,0.076,2945,2046,1824,0,0,0,0,0,0
$GC,12554,0.71,238.6,162.0,10.4,1117,12559,0.00,3.03,0.00,0.000,4,0.000,0.086,2945,3542,1823,0,0,0,0,0,0
$GC,12620,0.71,238.6,154.3,12.8,1122,12626,0.15,2.97,0.00,0.000,6,0.206,0.077,2925,2052,1823,0,0,0,0,0,0
$GC,12945,0.84,248.8,125.1,8.7,1153,12958,0.10,0.00,10.10,0.834,6,0.141,0.000,2956,2053,1785,0,0,0,0,0,0
$GC,13278,0.90,266.4,91.2,8.4,1192,13304,0.00,3.10,16.48,0.848,4,0.000,0.088,2956,3543,1712,0,0,0,0,0,0
$GC,13338,0.90,266.4,85.4,10.4,1203,13344,0.00,3.00,0.00,0.000,6,0.000,0.078,2969,2051,1711,0,0,0,0,0,0
$GC,13683,0.90,266.4,45.5,12.2,1264,13688,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2053,1708,0,0,0,0,0,0
$FREEZE,8.81,-1.779,-1.807,2,20,2
$FREEZE,8.11,-1.782,-1.807,2,20,2
$FREEZE,7.37,-1.778,-1.806,2,20,2
$FREEZE,6.82,-1.782,-1.806,2,20,2
$FREEZE,6.39,-1.785,-1.806,2,20,2
$GC,14027,0.90,266.4,6.4,11.5,1325,14032,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2053,1707,0,0,0,0,0,0
$FREEZE,4.87,-1.784,-1.804,2,20,2
$FREEZE,4.68,-1.787,-1.804,2,20,2
$FREEZE,4.25,-1.787,-1.804,2,20,2
$FREEZE,3.65,-1.786,-1.803,2,20,2
$FREEZE,3.07,-1.781,-1.803,2,20,2
$FREEZE,2.39,-1.785,-1.803,2,20,2
$FREEZE,2.23,-1.788,-1.803,2,20,2
$FREEZE,1.29,-1.779,-1.802,2,20,2
$STATE,14076,end climb,SURFACE_DEPTH_REACHED
$STATE,14076,begin surface coast
$FREEZE,0.46,-1.779,-1.801,2,20,2
$FREEZE,0.39,-1.875,-1.805,2,20,2
$FREEZE,0.59,-1.846,-1.804,2,20,2
$FREEZE,0.63,-1.786,-1.801,2,20,2
$FINISH,0.6,1.026446
$STATE,14100,end surface coast,CONTROL_FINISHED_OK
$STATE,14100,begin surface
$SM_CCo,14117,47.30,0.815,0,0,1474,325.02
$SM_GC,1.25,0.00,0.00,47.30,0.000,0.000,0.815,128,2464,1474,-8.00,0.11,325.02
$RAFOS_CLK,970
$RAFOS,6,1260146942,0.833333,0.817222,128,64,60,0,0,0,762,159,177,0,0,0
$RAFOS,5,1260146468,0.700000,0.685556,108,65,60,0,0,0,615,199,213,0,0,0
$RAFOS,4,1260145987,0.566667,0.551944,99,58,55,0,0,0,662,139,216,0,0,0
$RAFOS,3,1260145505,0.433333,0.418056,60,51,51,0,0,0,201,171,189,0,0,0
$RAFOS,2,1260145026,0.300000,0.285000,74,59,56,0,0,0,201,815,159,0,0,0
$RAFOS,1,1260144542,0.166667,0.150556,58,57,57,0,0,0,170,128,218,0,0,0
$RAFOS,0,1260144070,0.033333,0.019444,57,57,51,0,0,0,177,214,975,0,0,0
$RAFOS_FIX,6647.394043,-5811.248535,071209,000022,3,112,0.38
$IRIDIUM_FIX,6614.97,-5838.87,020399,000019
$TT8_MAMPS,0.026845
$HUMID,49.01
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.30
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,600.4,90.3
$24V_AH,22.5,51.948
$10V_AH,10.1,27.355
$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,13.925,180.575,359.000,47.300,0.000,0.000,0.000,0.000,4.250,0.000,0.000,2335.507,8808.646,536.259,2375.312,178.555,0.000,1761.632,0.000,2338.134,2520.000,19.282,0.000
$DEVICE_MAMPS,219.362,98.943,1204.957,815.321,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.088,942.274,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152524
$DATA_FILE_SIZE,53606,1338
$CAP_FILE_SIZE,160782,0
$CFSIZE,260165632,229629952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,071209,014837,6644.341,-5806.466,32,1.2,32,-37.5