version: 66.06
glider: 143
mission: 10
dive: 338
start: 12 18 109 20 33 38
data:
$ID,143
$MISSION,10
$DIVE,338
$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,-42302.5
$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,15
$R_STBD_OVSHOOT,28
$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
$GPS1,202801,6708.053,-5710.744,40,1.5,40,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.2
$GPS2,203320,6708.048,-5710.783,11,1.3,11,-37.7
$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,157.3,18923,-16.9,-9.167
$D_GRID,599
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-115.47,0.000,2,0.000,0.000,125,2465,3174,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.5,-5.8,23,163,11.02,2.28,-5.85,0.000,4,0.287,0.097,2445,862,3400,0,0,0,0,0,0
$GC,232,-0.73,-146.0,18.9,-11.6,40,237,0.00,2.12,0.00,0.000,6,0.000,0.067,2445,2454,3402,0,0,0,0,0,0
$GC,574,-0.73,-146.0,55.1,-10.2,101,579,0.00,2.17,0.00,0.000,4,0.000,0.085,2445,861,3401,0,0,0,0,0,0
$GC,833,-0.73,-146.0,84.5,-11.4,147,838,0.00,2.22,0.00,0.000,6,0.000,0.069,2445,2504,3402,0,0,0,0,0,0
$GC,1166,-0.73,-146.0,118.1,-9.8,191,1171,0.00,3.25,0.00,0.000,4,0.000,0.089,2445,3929,3401,0,0,3,0,0,0
$GC,1411,-0.73,-146.0,141.9,-9.3,212,1418,0.00,3.05,0.00,0.000,6,0.000,0.064,2445,2534,3400,0,0,3,0,0,0
$GC,1737,-0.81,-146.0,168.2,-8.2,243,1742,0.00,3.17,0.00,0.000,4,0.000,0.087,2445,3917,3398,0,0,3,0,0,0
$GC,1984,-0.90,-146.0,189.6,-8.3,264,1991,0.15,2.95,0.00,0.000,6,0.117,0.064,2396,2578,3398,0,0,3,0,0,0
$GC,2309,-0.83,-146.0,223.4,-10.5,295,2314,0.00,3.08,0.00,0.000,4,0.000,0.085,2396,3920,3397,0,0,4,0,0,0
$GC,2566,-0.76,-146.0,251.0,-9.7,317,2573,0.20,2.88,0.00,0.000,6,0.196,0.061,2444,2617,3397,0,0,2,0,0,0
$GC,2891,-0.85,-146.0,272.7,-6.3,348,2896,0.00,2.97,0.00,0.000,4,0.000,0.083,2444,3924,3398,0,0,4,0,0,0
$GC,3100,-0.95,-146.0,285.8,-6.2,366,3105,0.20,2.80,0.00,0.000,6,0.101,0.059,2373,2636,3398,0,0,3,0,0,0
$GC,3424,-0.82,-146.0,315.4,-9.4,396,3430,0.20,2.92,0.00,0.000,4,0.196,0.079,2413,3924,3399,0,0,4,0,0,0
$GC,3503,-0.82,-146.0,322.2,-8.3,402,3509,0.00,2.78,0.00,0.000,6,0.000,0.057,2413,2644,3399,0,0,3,0,0,0
$GC,3829,-0.82,-146.0,348.4,-8.1,433,3834,0.00,2.92,0.00,0.000,4,0.000,0.081,2413,3926,3400,0,0,3,0,0,0
$GC,3953,-0.82,-146.0,358.9,-8.1,443,3959,0.00,2.78,0.00,0.000,6,0.000,0.057,2413,2651,3400,0,0,3,0,0,0
$GC,4277,-0.82,-146.0,384.1,-7.9,474,4282,0.00,2.92,0.00,0.000,4,0.000,0.080,2413,3927,3401,0,0,3,0,0,0
$GC,4444,-0.82,-146.0,397.6,-8.0,488,4450,0.00,2.75,0.00,0.000,6,0.000,0.056,2414,2666,3401,0,0,3,0,0,0
$GC,4769,-0.82,-146.0,425.5,-9.6,519,4774,0.00,2.90,0.00,0.000,4,0.000,0.080,2413,3924,3402,0,0,2,0,0,0
$GC,4936,-0.82,-146.0,442.3,-10.0,533,4942,0.00,2.72,0.00,0.000,6,0.000,0.055,2414,2680,3401,0,0,3,0,0,0
$GC,5261,-0.82,-146.0,472.6,-9.0,564,5266,0.00,2.88,0.00,0.000,4,0.000,0.080,2413,3918,3402,0,0,2,0,0,0
$GC,5418,-0.82,-146.0,487.4,-9.0,577,5424,0.00,2.70,0.00,0.000,6,0.000,0.055,2413,2702,3402,0,0,2,0,0,0
$GC,5742,-0.82,-146.0,513.1,-7.0,608,5747,0.00,2.85,0.00,0.000,4,0.000,0.078,2413,3929,3403,0,0,2,0,0,0
$GC,5873,-0.82,-146.0,523.2,-7.8,619,5877,0.00,2.67,0.00,0.000,6,0.000,0.055,2413,2714,3403,0,0,3,0,0,0
$GC,6197,-0.82,-146.0,547.0,-7.0,649,6202,0.00,2.80,0.00,0.000,4,0.000,0.080,2413,3918,3403,0,0,3,0,0,0
$GC,6320,-0.82,-146.0,555.8,-6.9,659,6325,0.00,2.62,0.00,0.000,6,0.000,0.054,2413,2736,3403,0,0,3,0,0,0
$GC,6644,-0.82,-146.0,579.1,-7.7,690,6649,0.00,2.78,0.00,0.000,4,0.000,0.080,2413,3922,3403,0,0,3,0,0,0
$GC,6802,-0.82,-146.0,590.9,-7.9,703,6807,0.00,2.58,0.00,0.000,6,0.000,0.054,2413,2756,3403,0,0,3,0,0,0
$STATE,6922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6922,begin apogee
$GC,6928,-0.16,0.0,599.7,7.0,715,7055,0.77,0.00,123.15,1.100,6,0.177,0.000,2629,1941,2800,0,0,0,0,0,0
$STATE,7056,end apogee,CONTROL_FINISHED_OK
$STATE,7056,begin climb
$GC,7058,0.73,146.0,601.3,0.0,720,7191,0.95,0.00,125.45,1.052,6,0.127,0.000,2914,1940,2204,0,0,0,0,0,0
$GC,7508,0.73,146.0,553.0,11.9,761,7514,0.00,3.58,0.00,0.000,4,0.000,0.072,2914,3547,2196,0,0,4,0,0,0
$GC,7650,0.62,146.0,534.4,13.2,773,7656,0.17,3.53,0.00,0.000,6,0.205,0.065,2892,1964,2195,0,0,1,0,0,0
$GC,7974,0.62,146.0,499.9,10.7,803,7979,0.00,3.50,0.00,0.000,4,0.000,0.073,2892,3550,2194,0,0,3,0,0,0
$GC,8074,0.62,146.0,488.5,11.0,811,8080,0.00,3.45,0.00,0.000,6,0.000,0.067,2905,1977,2193,0,0,3,0,0,0
$GC,8399,0.62,146.0,456.4,9.4,842,8404,0.00,3.45,0.00,0.000,4,0.000,0.074,2905,3546,2193,0,0,4,0,0,0
$GC,8524,0.54,146.0,442.9,11.7,852,8531,0.22,3.42,0.00,0.000,6,0.193,0.067,2866,1994,2192,0,0,3,0,0,0
$GC,8849,0.68,185.0,417.8,7.5,883,8891,0.15,3.53,31.50,0.967,4,0.112,0.074,2917,3549,2044,0,0,4,0,0,0
$GC,9015,0.60,185.0,398.6,11.9,898,9021,0.20,3.45,0.00,0.000,6,0.193,0.066,2886,2024,2041,0,0,1,0,0,0
$GC,9340,0.67,185.0,369.0,9.3,928,9345,0.00,3.40,0.00,0.000,4,0.000,0.074,2886,3545,2039,0,0,3,0,0,0
$GC,9463,0.67,185.0,356.1,10.6,938,9469,0.00,3.35,0.00,0.000,6,0.000,0.066,2899,2046,2039,0,0,3,0,0,0
$GC,9787,0.67,185.0,322.6,10.4,969,9792,0.00,3.40,0.00,0.000,4,0.000,0.074,2899,3553,2039,0,0,3,0,0,0
$GC,9916,0.67,185.0,307.6,11.5,980,9921,0.00,3.38,0.00,0.000,6,0.000,0.066,2914,2057,2038,0,0,1,0,0,0
$GC,10240,0.67,185.0,270.7,11.6,1010,10245,0.00,3.35,0.00,0.000,4,0.000,0.073,2913,3549,2038,0,0,3,0,0,0
$GC,10324,0.67,185.0,260.4,12.2,1017,10329,0.00,3.30,0.00,0.000,6,0.000,0.066,2929,2075,2038,0,0,3,0,0,0
$GC,10649,0.67,185.0,220.7,12.6,1047,10655,0.00,3.33,0.00,0.000,4,0.000,0.073,2929,3548,2038,0,0,3,0,0,0
$GC,10711,0.57,185.0,212.5,13.2,1052,10717,0.28,3.28,0.00,0.000,6,0.193,0.064,2875,2083,2038,0,0,3,0,0,0
$GC,11036,0.73,204.6,183.5,8.3,1082,11061,0.15,3.38,16.65,0.802,4,0.111,0.072,2928,3550,1964,0,0,3,0,0,0
$GC,11150,0.68,204.6,169.7,12.4,1092,11156,0.15,3.30,0.00,0.000,6,0.199,0.065,2910,2102,1962,0,0,2,0,0,0
$GC,11475,0.75,213.2,138.6,8.8,1123,11489,0.00,3.30,8.38,0.724,4,0.000,0.072,2910,3546,1929,0,0,3,0,0,0
$GC,11545,0.75,213.2,131.7,10.2,1129,11551,0.00,3.28,0.00,0.000,6,0.000,0.064,2922,2101,1928,0,0,4,0,0,0
$GC,11870,0.86,237.7,105.0,8.1,1160,11902,0.12,3.33,21.27,0.769,4,0.106,0.071,2972,3550,1830,0,0,3,0,0,0
$GC,12003,0.78,237.7,89.8,12.2,1179,12010,0.17,3.30,0.00,0.000,6,0.197,0.064,2947,2122,1829,0,0,1,0,0,0
$GC,12348,0.84,237.7,56.5,9.7,1240,12354,0.00,3.28,0.00,0.000,4,0.000,0.074,2947,3547,1829,0,0,3,0,0,0
$GC,12463,0.84,237.7,43.7,11.6,1260,12468,0.00,3.25,0.00,0.000,6,0.000,0.066,2959,2132,1828,0,0,2,0,0,0
$FREEZE,8.85,-0.203,-1.831,0,1,0
$FREEZE,8.22,-0.201,-1.830,0,1,0
$FREEZE,7.63,-0.203,-1.830,0,1,0
$FREEZE,6.93,-0.201,-1.830,0,1,0
$FREEZE,6.39,-0.206,-1.829,0,1,0
$FREEZE,5.75,-0.199,-1.828,0,1,0
$FREEZE,5.21,-0.202,-1.828,0,1,0
$GC,12806,0.84,237.7,5.2,10.6,1321,12812,0.00,3.28,0.00,0.000,4,0.000,0.076,2959,3549,1828,0,0,3,0,0,0
$FREEZE,3.71,-0.211,-1.827,0,1,0
$FREEZE,3.14,-0.211,-1.827,0,1,0
$FREEZE,2.48,-0.212,-1.826,0,1,0
$FREEZE,1.76,-0.218,-1.826,0,1,0
$STATE,12835,end climb,SURFACE_DEPTH_REACHED
$STATE,12835,begin surface coast
$FREEZE,1.02,-0.207,-1.825,0,1,0
$FREEZE,0.57,-0.219,-1.824,0,1,0
$FREEZE,0.61,-0.202,-1.074,0,1,0
$FINISH,0.6,1.015870
$STATE,12851,end surface coast,CONTROL_FINISHED_OK
$STATE,12853,begin surface
$SM_CCo,12871,115.80,0.726,0,0,1066,425.10
$SM_GC,1.47,0.00,0.00,115.80,0.000,0.000,0.726,125,2469,1066,-8.02,0.25,425.10
$RAFOS_CLK,788
$RAFOS,0,1261180866,0.033333,0.018333,59,58,54,0,0,0,213,140,222,0,0,0
$RAFOS,6,1261169345,20.833334,20.818056,67,65,59,0,0,0,209,772,232,0,0,0
$RAFOS,5,1261168866,20.700001,20.684999,99,66,63,0,0,0,607,215,190,0,0,0
$RAFOS,4,1261168438,20.566668,20.566111,60,57,57,0,0,0,192,180,124,0,0,0
$RAFOS_FIX,6707.912598,-5712.275879,181209,161656,2,91,0.38
$IRIDIUM_FIX,6641.98,-5710.89,140399,171706
$TT8_MAMPS,0.027612
$HUMID,46.92
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.9,19.9
$ALTIM_BOTTOM_PING,500.4,140.6
$24V_AH,22.6,63.413
$10V_AH,10.1,33.589
$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,23.400,165.950,326.400,115.800,0.000,30.144,32.548,136.169,2.750,0.000,12.907,2225.438,7630.053,631.358,2392.092,419.302,0.000,1841.923,0.000,2345.667,1440.000,14.504,0.000
$DEVICE_MAMPS,286.858,97.409,1099.878,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.228,906.591,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,50307,1329
$CAP_FILE_SIZE,152895,0
$CFSIZE,260165632,223817728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,141,0,0
$SOUNDSPEED,1469.0
$GPS,191209,001131,6707.655,-5709.618,38,1.2,38,-37.7