version: 66.06
glider: 143
mission: 10
dive: 346
start: 12 20 109 5 44 38
data:
$ID,143
$MISSION,10
$DIVE,346
$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,-42423.211
$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,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
$GPS1,053707,6708.996,-5725.212,30,0.9,30,-37.8
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.6
$GPS2,054420,6708.977,-5725.333,13,1.2,13,-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,150.1,29144,-16.9,-9.167
$D_GRID,732
$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,14,-0.73,-146.0,0.0,0.0,0,133,0.00,0.00,-115.22,0.000,2,0.000,0.000,129,2453,3080,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.1,-4.5,23,164,11.30,3.45,-9.02,0.000,4,0.293,0.100,2446,3919,3397,0,0,4,0,0,0
$GC,406,-0.73,-146.0,34.5,-10.3,71,412,0.00,3.25,0.00,0.000,6,0.000,0.067,2447,2463,3399,0,0,4,0,0,0
$GC,751,-0.73,-146.0,67.6,-9.2,132,757,0.00,3.40,0.00,0.000,4,0.000,0.090,2447,3926,3400,0,0,4,0,0,0
$GC,1011,-0.78,-146.0,94.1,-10.1,178,1017,0.00,3.15,0.00,0.000,6,0.000,0.067,2447,2510,3400,0,0,3,0,0,0
$GC,1345,-0.85,-146.0,127.4,-10.3,214,1350,0.00,3.28,0.00,0.000,4,0.000,0.089,2447,3916,3399,0,0,4,0,0,0
$GC,1599,-0.94,-146.0,151.4,-9.5,236,1605,0.20,3.05,0.00,0.000,6,0.114,0.066,2382,2549,3398,0,0,3,0,0,0
$GC,1923,-0.83,-146.0,188.5,-11.2,266,1929,0.17,3.20,0.00,0.000,4,0.206,0.087,2413,3920,3398,0,0,4,0,0,0
$GC,2080,-0.83,-146.0,203.7,-9.1,279,2086,0.00,3.00,0.00,0.000,6,0.000,0.064,2413,2574,3398,0,0,3,0,0,0
$GC,2405,-0.83,-146.0,231.2,-8.1,310,2410,0.00,3.12,0.00,0.000,4,0.000,0.087,2413,3918,3398,0,0,4,0,0,0
$GC,2663,-0.83,-146.0,253.1,-8.5,332,2669,0.00,2.90,0.00,0.000,6,0.000,0.062,2413,2614,3398,0,0,3,0,0,0
$GC,2987,-0.83,-146.0,283.0,-9.8,363,2992,0.00,3.03,0.00,0.000,4,0.000,0.086,2413,3917,3399,0,0,4,0,0,0
$GC,3183,-0.83,-146.0,302.6,-9.7,380,3188,0.00,2.85,0.00,0.000,6,0.000,0.062,2413,2632,3398,0,0,3,0,0,0
$GC,3508,-0.83,-146.0,332.8,-8.8,410,3513,0.00,2.97,0.00,0.000,4,0.000,0.086,2413,3915,3399,0,0,4,0,0,0
$GC,3675,-0.83,-146.0,348.3,-9.3,424,3681,0.00,2.83,0.00,0.000,6,0.000,0.061,2413,2644,3399,0,0,3,0,0,0
$GC,4000,-0.83,-146.0,377.2,-8.7,455,4005,0.00,2.95,0.00,0.000,4,0.000,0.085,2413,3916,3399,0,0,4,0,0,0
$GC,4254,-0.83,-146.0,400.2,-8.7,477,4259,0.00,2.78,0.00,0.000,6,0.000,0.061,2413,2673,3399,0,0,3,0,0,0
$GC,4578,-0.83,-146.0,428.5,-8.8,507,4583,0.00,2.90,0.00,0.000,4,0.000,0.085,2413,3916,3400,0,0,4,0,0,0
$GC,4741,-0.83,-146.0,443.0,-9.1,521,4746,0.00,2.78,0.00,0.000,6,0.000,0.061,2413,2686,3400,0,0,2,0,0,0
$GC,5065,-0.83,-146.0,472.5,-9.0,551,5070,0.00,2.92,0.00,0.000,4,0.000,0.085,2413,3923,3401,0,0,2,0,0,0
$GC,5232,-0.83,-146.0,488.4,-9.1,565,5239,0.00,2.75,0.00,0.000,6,0.000,0.061,2413,2706,3400,0,0,2,0,0,0
$GC,5557,-0.83,-146.0,517.0,-8.9,596,5562,0.00,2.88,0.00,0.000,4,0.000,0.086,2413,3915,3401,0,0,3,0,0,0
$GC,5758,-0.83,-146.0,535.0,-9.3,613,5764,0.00,2.65,0.00,0.000,6,0.000,0.061,2413,2746,3401,0,0,3,0,0,0
$GC,6083,-0.83,-146.0,563.4,-8.7,644,6088,0.00,2.80,0.00,0.000,4,0.000,0.086,2413,3919,3401,0,0,4,0,0,0
$GC,6261,-0.83,-146.0,578.9,-7.7,659,6267,0.00,2.60,0.00,0.000,6,0.000,0.061,2413,2773,3401,0,0,3,0,0,0
$GC,6596,-0.83,-146.0,605.2,-7.8,687,6601,0.00,2.75,0.00,0.000,4,0.000,0.087,2413,3915,3401,0,0,3,0,0,0
$GC,6774,-0.83,-146.0,620.0,-8.1,692,6778,0.00,2.55,0.00,0.000,6,0.000,0.061,2413,2788,3401,0,0,3,0,0,0
$GC,7097,-0.83,-146.0,645.7,-8.1,703,7102,0.00,2.72,0.00,0.000,4,0.000,0.088,2413,3924,3401,0,0,4,0,0,0
$GC,7215,-0.83,-146.0,655.7,-8.9,706,7219,0.00,2.55,0.00,0.000,6,0.000,0.061,2413,2795,3401,0,0,3,0,0,0
$GC,7527,-0.83,-146.0,680.9,-8.2,716,7531,0.00,2.67,0.00,0.000,4,0.000,0.087,2413,3915,3401,0,0,4,0,0,0
$GC,7662,-0.83,-146.0,692.3,-8.2,720,7667,0.00,2.53,0.00,0.000,6,0.000,0.061,2413,2803,3401,0,0,3,0,0,0
$GC,7991,-0.87,-146.0,718.2,-8.0,731,7995,0.00,2.67,0.00,0.000,4,0.000,0.087,2413,3925,3401,0,0,4,0,0,0
$GC,8102,-0.87,-146.0,727.8,-9.1,734,8107,0.00,2.53,0.00,0.000,6,0.000,0.062,2413,2810,3401,0,0,3,0,0,0
$STATE,8173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8173,begin apogee
$GC,8179,-0.16,0.0,734.1,8.8,737,8308,0.82,0.00,125.85,1.222,6,0.182,0.000,2633,1942,2800,0,0,0,0,0,0
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8311,0.73,146.0,736.3,0.0,741,8449,0.95,0.00,131.43,1.166,6,0.133,0.000,2911,1942,2203,0,0,0,0,0,0
$GC,8738,0.73,146.0,693.9,10.8,755,8744,0.00,3.72,0.00,0.000,4,0.000,0.079,2911,3542,2195,0,0,4,0,0,0
$GC,8835,0.62,146.0,682.4,12.1,758,8843,0.15,3.62,0.00,0.000,6,0.209,0.071,2896,1959,2192,0,0,3,0,0,0
$GC,9175,0.62,146.0,648.9,9.8,769,9180,0.00,3.60,0.00,0.000,4,0.000,0.079,2895,3543,2192,0,0,4,0,0,0
$GC,9311,0.58,146.0,634.2,11.9,773,9317,0.12,3.55,0.00,0.000,6,0.206,0.072,2883,1970,2192,0,0,4,0,0,0
$GC,9645,0.63,147.5,603.5,9.1,784,9650,0.00,3.58,0.00,0.000,4,0.000,0.081,2883,3543,2192,0,0,4,0,0,0
$GC,9779,0.63,147.5,589.2,10.1,792,9785,0.00,3.53,0.00,0.000,6,0.000,0.073,2896,1997,2192,0,0,4,0,0,0
$GC,10106,0.63,148.5,557.9,9.1,823,10111,0.00,3.53,0.00,0.000,4,0.000,0.081,2896,3547,2192,0,0,4,0,0,0
$GC,10230,0.57,148.5,544.7,10.5,833,10236,0.15,3.50,0.00,0.000,6,0.201,0.072,2878,2014,2192,0,0,3,0,0,0
$GC,10555,0.67,160.4,516.1,8.7,864,10576,0.00,3.53,11.00,1.006,4,0.000,0.081,2879,3548,2147,0,0,4,0,0,0
$GC,10699,0.67,160.4,502.3,9.9,877,10705,0.00,3.50,0.00,0.000,6,0.000,0.074,2892,2029,2145,0,0,4,0,0,0
$GC,11024,0.73,160.4,472.3,9.4,907,11029,0.00,3.50,0.00,0.000,4,0.000,0.081,2892,3541,2146,0,0,4,0,0,0
$GC,11142,0.73,160.4,459.4,11.3,917,11148,0.00,3.45,0.00,0.000,6,0.000,0.073,2907,2038,2145,0,0,4,0,0,0
$GC,11466,0.73,160.4,426.3,10.2,947,11472,0.00,3.50,0.00,0.000,4,0.000,0.082,2907,3542,2145,0,0,4,0,0,0
$GC,11567,0.67,160.4,414.8,11.2,955,11573,0.00,3.45,0.00,0.000,6,0.000,0.073,2922,2065,2144,0,0,2,0,0,0
$GC,11892,0.61,160.4,379.6,11.1,986,11898,0.15,3.47,0.00,0.000,4,0.209,0.080,2881,3543,2144,0,0,4,0,0,0
$GC,11988,0.61,160.4,369.4,11.0,994,11994,0.00,3.40,0.00,0.000,6,0.000,0.073,2894,2064,2144,0,0,4,0,0,0
$GC,12314,0.67,162.5,338.9,9.1,1024,12319,0.00,3.45,0.00,0.000,4,0.000,0.081,2894,3545,2144,0,0,4,0,0,0
$GC,12432,0.67,162.5,327.2,10.1,1034,12437,0.00,3.40,0.00,0.000,6,0.000,0.072,2909,2081,2142,0,0,2,0,0,0
$GC,12756,0.67,162.5,297.1,9.6,1064,12761,0.00,3.42,0.00,0.000,4,0.000,0.081,2908,3546,2142,0,0,3,0,0,0
$GC,12867,0.62,162.5,285.1,11.4,1073,12874,0.15,3.35,0.00,0.000,6,0.205,0.071,2890,2107,2143,0,0,2,0,0,0
$GC,13192,0.75,212.4,259.9,7.1,1104,13245,0.12,3.42,44.08,0.916,4,0.126,0.079,2931,3540,1932,0,0,3,0,0,0
$GC,13336,0.68,212.4,244.7,11.6,1117,13342,0.15,3.40,0.00,0.000,6,0.205,0.071,2914,2117,1928,0,0,1,0,0,0
$GC,13660,0.73,212.4,216.2,9.3,1147,13665,0.00,3.38,0.00,0.000,4,0.000,0.080,2914,3539,1927,0,0,3,0,0,0
$GC,13727,0.73,212.4,209.4,9.8,1152,13733,0.00,3.33,0.00,0.000,6,0.000,0.071,2926,2142,1926,0,0,3,0,0,0
$GC,14051,0.73,212.4,172.1,12.2,1183,14056,0.00,3.35,0.00,0.000,4,0.000,0.080,2926,3548,1926,0,0,3,0,0,0
$GC,14169,0.73,212.4,156.7,12.8,1193,14175,0.00,3.30,0.00,0.000,6,0.000,0.071,2940,2159,1926,0,0,1,0,0,0
$GC,14495,0.73,212.4,114.7,12.8,1223,14500,0.00,3.30,0.00,0.000,4,0.000,0.079,2941,3543,1926,0,0,3,0,0,0
$GC,14525,0.73,212.4,110.8,13.2,1225,14530,0.00,3.30,0.00,0.000,6,0.000,0.070,2955,2153,1926,0,0,1,0,0,0
$GC,14863,0.73,212.4,69.1,11.9,1277,14869,0.00,3.33,0.00,0.000,4,0.000,0.081,2955,3541,1926,0,0,3,0,0,0
$GC,14931,0.68,212.4,60.2,13.5,1289,14938,0.25,3.28,0.00,0.000,6,0.195,0.071,2910,2164,1926,0,0,2,0,0,0
$GC,15277,0.87,233.3,29.9,8.3,1350,15304,0.17,3.33,17.77,0.765,4,0.110,0.081,2970,3536,1846,0,0,3,0,0,0
$GC,15372,0.79,233.3,18.5,13.1,1367,15378,0.17,3.25,0.00,0.000,6,0.202,0.071,2945,2180,1845,0,0,2,0,0,0
$FREEZE,8.58,-0.210,-1.832,0,1,0
$FREEZE,8.09,-0.220,-1.832,0,1,0
$FREEZE,7.58,-0.206,-1.831,0,1,0
$FREEZE,6.96,-0.223,-1.831,0,1,0
$FREEZE,6.54,-0.215,-1.830,0,1,0
$FREEZE,6.00,-0.179,-1.830,0,1,0
$FREEZE,5.38,-0.199,-1.830,0,1,0
$FREEZE,4.81,-0.190,-1.829,0,1,0
$FREEZE,4.28,-0.200,-1.829,0,1,0
$FREEZE,3.74,-0.195,-1.829,0,1,0
$FREEZE,3.21,-0.201,-1.828,0,1,0
$FREEZE,2.59,-0.201,-1.828,0,1,0
$FREEZE,2.14,-0.201,-1.827,0,1,0
$FREEZE,1.60,-0.210,-1.827,0,1,0
$STATE,15540,end climb,SURFACE_DEPTH_REACHED
$STATE,15540,begin surface coast
$FREEZE,1.06,-0.206,-1.827,0,1,0
$FREEZE,0.59,-0.211,-1.826,0,1,0
$FREEZE,0.63,-0.235,-1.828,0,1,0
$FREEZE,0.67,-0.221,-1.782,0,1,0
$FINISH,0.7,1.026127
$STATE,15565,end surface coast,CONTROL_FINISHED_OK
$STATE,15566,begin surface
$SM_CCo,15583,116.72,0.739,0,0,1066,425.10
$SM_GC,1.44,0.00,0.00,116.72,0.000,0.000,0.739,126,2467,1066,-8.01,0.20,425.10
$RAFOS_CLK,998
$RAFOS,6,1261298945,8.833333,8.818055,113,61,61,0,0,0,731,212,188,0,0,0
$RAFOS,5,1261298463,8.700000,8.684167,123,67,59,0,0,0,596,189,166,0,0,0
$RAFOS,4,1261297988,8.566667,8.552222,75,72,67,0,0,0,779,117,212,0,0,0
$RAFOS,3,1261297516,8.433333,8.421111,62,54,51,0,0,0,207,176,189,0,0,0
$RAFOS,2,1261297048,8.300000,8.291111,66,64,59,0,0,0,181,143,152,0,0,0
$RAFOS,1,1261296553,8.166667,8.153611,58,52,52,0,0,0,112,172,190,0,0,0
$RAFOS,0,1261296081,8.033334,8.022500,64,57,56,0,0,0,200,188,154,0,0,0
$RAFOS_FIX,6707.976074,-5731.062500,201209,080822,3,104,0.42
$IRIDIUM_FIX,6636.54,-5716.88,160399,010140
$TT8_MAMPS,0.026845
$HUMID,47.16
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,650.4,107.0
$24V_AH,22.2,64.548
$10V_AH,10.1,34.270
$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,23.400,204.550,330.125,116.725,0.000,23.356,36.844,238.752,3.250,0.000,14.773,2506.543,9690.545,660.531,2712.014,558.839,0.000,2028.659,0.000,2654.465,2520.000,21.377,0.000
$DEVICE_MAMPS,292.994,99.710,1221.831,738.621,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.810,978.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152468
$DATA_FILE_SIZE,56726,1401
$CAP_FILE_SIZE,178924,0
$CFSIZE,260165632,223117312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,206,0,0
$SOUNDSPEED,1463.1
$GPS,201209,100755,6708.051,-5726.121,37,1.4,37,-37.8