version: 66.06
glider: 143
mission: 10
dive: 317
start: 12 15 109 22 37 2
data:
$ID,143
$MISSION,10
$DIVE,317
$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,425
$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,-41967.281
$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,20
$R_STBD_OVSHOOT,17
$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
$GPS1,223107,6708.731,-5707.870,28,1.6,28,-37.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-59.5
$GPS2,223644,6708.772,-5707.794,14,1.7,14,-37.8
$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,164.6,17850,-16.9,-9.167
$D_GRID,545
$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,-146.0,0.0,0.0,0,144,0.00,0.00,-124.80,0.000,2,0.000,0.000,123,2455,3229,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.7,-7.8,25,173,11.60,3.28,-4.15,0.000,4,0.303,0.096,2449,3915,3398,0,0,3,0,0,0
$GC,358,-0.73,-146.0,32.7,-11.1,63,364,0.00,3.10,0.00,0.000,6,0.000,0.063,2449,2462,3399,0,0,2,0,0,0
$GC,702,-0.73,-146.0,70.0,-10.7,124,707,0.00,3.25,0.00,0.000,4,0.000,0.087,2449,3917,3399,0,0,2,0,0,0
$GC,949,-0.79,-146.0,96.0,-10.5,168,955,0.00,3.05,0.00,0.000,6,0.000,0.064,2449,2494,3399,0,0,2,0,0,0
$GC,1276,-0.85,-146.0,126.8,-8.3,202,1281,0.00,3.20,0.00,0.000,4,0.000,0.087,2449,3925,3398,0,0,2,0,0,0
$GC,1489,-0.94,-146.0,144.3,-8.3,220,1496,0.20,2.97,0.00,0.000,6,0.107,0.064,2382,2540,3396,0,0,2,0,0,0
$GC,1814,-0.83,-146.0,177.9,-10.5,251,1819,0.15,3.10,0.00,0.000,4,0.206,0.085,2413,3917,3395,0,0,3,0,0,0
$GC,2072,-0.83,-146.0,199.9,-7.9,273,2078,0.00,2.88,0.00,0.000,6,0.000,0.061,2413,2579,3396,0,0,2,0,0,0
$GC,2397,-0.83,-146.0,227.1,-9.1,304,2402,0.00,3.00,0.00,0.000,4,0.000,0.084,2413,3916,3396,0,0,2,0,0,0
$GC,2586,-0.83,-146.0,245.1,-9.4,320,2593,0.00,2.83,0.00,0.000,6,0.000,0.060,2413,2599,3396,0,0,2,0,0,0
$GC,2911,-0.83,-146.0,274.9,-9.4,351,2916,0.00,2.95,0.00,0.000,4,0.000,0.082,2413,3916,3396,0,0,2,0,0,0
$GC,3035,-0.83,-146.0,286.5,-9.9,361,3040,0.00,2.80,0.00,0.000,6,0.000,0.059,2413,2606,3397,0,0,2,0,0,0
$GC,3360,-0.83,-146.0,316.6,-9.6,392,3365,0.00,2.92,0.00,0.000,4,0.000,0.081,2413,3917,3398,0,0,2,0,0,0
$GC,3534,-0.83,-146.0,332.8,-9.5,407,3538,0.00,2.75,0.00,0.000,6,0.000,0.058,2413,2633,3398,0,0,2,0,0,0
$GC,3858,-0.83,-146.0,360.6,-8.6,437,3863,0.00,2.90,0.00,0.000,4,0.000,0.081,2413,3926,3399,0,0,2,0,0,0
$GC,4104,-0.83,-146.0,382.5,-9.0,458,4110,0.00,2.72,0.00,0.000,6,0.000,0.057,2413,2660,3400,0,0,2,0,0,0
$GC,4429,-0.83,-146.0,410.2,-8.4,489,4434,0.00,2.85,0.00,0.000,4,0.000,0.081,2413,3920,3400,0,0,2,0,0,0
$GC,4614,-0.83,-146.0,426.3,-8.5,505,4619,0.00,2.67,0.00,0.000,6,0.000,0.058,2413,2685,3400,0,0,2,0,0,0
$GC,4941,-0.83,-146.0,450.2,-6.9,535,4946,0.00,2.80,0.00,0.000,4,0.000,0.081,2413,3916,3400,0,0,2,0,0,0
$GC,5052,-0.83,-146.0,458.1,-6.8,544,5058,0.00,2.65,0.00,0.000,6,0.000,0.057,2413,2697,3400,0,0,2,0,0,0
$GC,5379,-0.83,-146.0,479.6,-6.8,575,5383,0.00,2.80,0.00,0.000,4,0.000,0.081,2413,3925,3401,0,0,2,0,0,0
$GC,5467,-0.83,-146.0,485.7,-6.8,582,5473,0.00,2.65,0.00,0.000,6,0.000,0.056,2413,2713,3401,0,0,1,0,0,0
$GC,5792,-0.83,-146.0,506.9,-6.4,613,5796,0.00,2.78,0.00,0.000,4,0.000,0.081,2413,3928,3400,0,0,2,0,0,0
$GC,5898,-0.83,-146.0,514.3,-6.9,622,5903,0.00,2.65,0.00,0.000,6,0.000,0.056,2413,2723,3401,0,0,1,0,0,0
$GC,6223,-0.83,-146.0,538.2,-6.9,652,6227,0.00,2.75,0.00,0.000,4,0.000,0.081,2413,3923,3401,0,0,2,0,0,0
$GC,6312,-0.83,-146.0,544.8,-8.6,659,6317,0.00,2.58,0.00,0.000,6,0.000,0.055,2413,2737,3401,0,0,2,0,0,0
$STATE,6326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6326,begin apogee
$GC,6332,-0.16,0.0,546.0,8.2,661,6459,0.80,0.00,120.93,1.070,6,0.189,0.000,2628,1942,2799,0,0,0,0,0,0
$STATE,6459,end apogee,CONTROL_FINISHED_OK
$STATE,6460,begin climb
$GC,6463,0.73,146.0,547.1,0.0,674,6596,0.95,2.22,124.18,1.022,4,0.127,0.083,2924,351,2201,0,0,0,0,0,0
$GC,6612,0.67,146.0,533.6,10.9,688,6618,0.00,2.15,0.00,0.000,6,0.000,0.057,2924,1976,2199,0,0,0,0,0,0
$GC,6938,0.59,146.0,492.3,13.4,719,6944,0.17,3.40,0.00,0.000,4,0.202,0.072,2881,3532,2195,0,0,3,0,0,0
$GC,7050,0.59,146.0,479.0,12.0,728,7056,0.00,3.40,0.00,0.000,6,0.000,0.066,2893,1957,2193,0,0,2,0,0,0
$GC,7374,0.59,146.0,441.9,11.2,759,7380,0.00,3.40,0.00,0.000,4,0.000,0.075,2894,3536,2193,0,0,3,0,0,0
$GC,7493,0.59,146.0,427.6,12.2,769,7498,0.00,3.35,0.00,0.000,6,0.000,0.067,2909,1981,2192,0,0,2,0,0,0
$GC,7818,0.59,146.0,389.0,12.1,799,7823,0.00,3.35,0.00,0.000,4,0.000,0.075,2908,3527,2192,0,0,2,0,0,0
$GC,7914,0.50,146.0,376.7,13.0,807,7920,0.28,3.33,0.00,0.000,6,0.198,0.067,2856,1993,2192,0,0,1,0,0,0
$GC,8238,0.66,154.0,346.4,8.8,837,8253,0.15,3.33,6.22,0.767,4,0.110,0.074,2909,3529,2170,0,0,2,0,0,0
$GC,8383,0.60,154.0,328.2,13.3,850,8389,0.15,3.30,0.00,0.000,6,0.204,0.067,2891,2012,2170,0,0,1,0,0,0
$GC,8707,0.60,154.0,295.3,9.6,880,8712,0.00,3.33,0.00,0.000,4,0.000,0.074,2891,3534,2170,0,0,2,0,0,0
$GC,8795,0.60,154.0,285.7,10.7,887,8802,0.00,3.28,0.00,0.000,6,0.000,0.066,2903,2022,2170,0,0,2,0,0,0
$GC,9120,0.60,154.0,252.9,10.3,918,9125,0.00,3.30,0.00,0.000,4,0.000,0.074,2903,3529,2170,0,0,2,0,0,0
$GC,9255,0.55,154.0,237.8,11.0,929,9262,0.20,3.25,0.00,0.000,6,0.194,0.067,2870,2043,2169,0,0,1,0,0,0
$GC,9580,0.67,158.7,209.3,9.0,960,9592,0.12,3.25,5.45,0.685,4,0.118,0.073,2913,3528,2152,0,0,2,0,0,0
$GC,9685,0.62,158.7,196.8,12.7,969,9691,0.15,3.22,0.00,0.000,6,0.202,0.067,2895,2051,2151,0,0,2,0,0,0
$GC,10009,0.67,158.7,162.1,10.2,999,10014,0.00,3.25,0.00,0.000,4,0.000,0.074,2895,3527,2151,0,0,2,0,0,0
$GC,10098,0.67,158.7,152.0,11.5,1006,10105,0.00,3.15,0.00,0.000,6,0.000,0.065,2907,2080,2151,0,0,2,0,0,0
$GC,10423,0.70,180.7,119.9,8.2,1037,10448,0.00,3.22,19.17,0.780,4,0.000,0.074,2907,3528,2062,0,0,2,0,0,0
$GC,10533,0.70,180.7,110.2,9.3,1046,10539,0.00,3.20,0.00,0.000,6,0.000,0.065,2921,2085,2061,0,0,1,0,0,0
$GC,10870,0.81,180.7,76.9,11.7,1096,10876,0.00,3.22,0.00,0.000,4,0.000,0.074,2921,3528,2061,0,0,1,0,0,0
$GC,10943,0.81,180.7,68.6,11.2,1109,10949,0.00,3.20,0.00,0.000,6,0.000,0.065,2935,2079,2060,0,0,1,0,0,0
$GC,11288,0.89,190.0,34.2,8.8,1170,11305,0.12,3.22,9.20,0.698,4,0.107,0.074,2980,3530,2024,0,0,2,0,0,0
$GC,11411,0.72,190.0,18.0,13.2,1192,11418,0.28,3.20,0.00,0.000,6,0.200,0.067,2928,2089,2023,0,0,1,0,0,0
$FREEZE,8.97,-0.261,-1.830,0,1,0
$FREEZE,8.30,-0.258,-1.830,0,1,0
$FREEZE,7.77,-0.261,-1.830,0,1,0
$FREEZE,7.01,-0.262,-1.829,0,1,0
$FREEZE,6.43,-0.261,-1.828,0,1,0
$FREEZE,6.07,-0.262,-1.828,0,1,0
$FREEZE,5.76,-0.261,-1.828,0,1,0
$FREEZE,5.64,-0.273,-1.828,0,1,0
$FREEZE,5.65,-0.273,-1.828,0,1,0
$FREEZE,5.25,-0.275,-1.828,0,1,0
$FREEZE,4.71,-0.272,-1.827,0,1,0
$FREEZE,3.95,-0.275,-1.827,0,1,0
$FREEZE,3.08,-0.273,-1.826,0,1,0
$FREEZE,2.56,-0.272,-1.825,0,1,0
$FREEZE,1.81,-0.274,-1.825,0,1,0
$STATE,11596,end climb,SURFACE_DEPTH_REACHED
$STATE,11596,begin surface coast
$FREEZE,1.40,-0.275,-1.825,0,1,0
$FREEZE,0.74,-0.277,-1.824,0,1,0
$FREEZE,0.35,-0.283,-1.824,0,1,0
$FINISH,0.3,1.026727
$STATE,11614,end surface coast,CONTROL_FINISHED_OK
$STATE,11614,begin surface
$SM_CCo,11631,130.15,0.716,0,0,1066,425.10
$SM_GC,1.11,0.00,0.00,130.15,0.000,0.000,0.716,125,2460,1066,-8.02,0.00,425.10
$RAFOS_CLK,716
$RAFOS,6,1260924550,0.833333,0.819444,67,66,66,0,0,0,222,182,754,0,0,0
$RAFOS,5,1260924062,0.700000,0.683889,83,59,58,0,0,0,642,118,211,0,0,0
$RAFOS,4,1260923586,0.566667,0.551667,59,57,53,0,0,0,177,161,195,0,0,0
$RAFOS,3,1260923104,0.433333,0.417778,68,56,55,0,0,0,204,148,182,0,0,0
$RAFOS,2,1260922631,0.300000,0.286389,66,63,63,0,0,0,178,118,199,0,0,0
$RAFOS,1,1260922146,0.166667,0.151667,60,54,54,0,0,0,215,198,189,0,0,0
$RAFOS,0,1260921662,0.033333,0.017222,66,65,58,0,0,0,162,218,138,0,0,0
$RAFOS_FIX,6708.132324,-5713.788574,151209,202012,3,79,0.64
$IRIDIUM_FIX,6636.54,-5712.23,110399,191918
$TT8_MAMPS,0.026845
$HUMID,46.02
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,19.6
$ALTIM_BOTTOM_PING,450.2,112.5
$24V_AH,22.7,60.761
$10V_AH,10.1,32.079
$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,23.375,153.350,285.150,130.150,0.000,30.149,30.387,155.484,2.750,0.000,15.846,2075.541,6809.627,594.299,2190.111,422.885,0.000,1714.519,0.000,2146.631,2520.000,18.768,0.000
$DEVICE_MAMPS,302.965,95.875,1069.965,715.611,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.369,837.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152492
$DATA_FILE_SIZE,47298,1228
$CAP_FILE_SIZE,142952,0
$CFSIZE,260165632,225366016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$SOUNDSPEED,1467.8
$GPS,161209,015436,6709.371,-5708.058,38,1.6,43,-37.8