version: 66.06
glider: 143
mission: 10
dive: 349
start: 12 20 109 19 20 26
data:
$ID,143
$MISSION,10
$DIVE,349
$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,-42469.301
$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,11
$R_STBD_OVSHOOT,25
$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
$GPS1,191400,6708.669,-5728.000,36,1.4,36,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.0
$GPS2,192008,6708.688,-5727.965,14,1.4,14,-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,147.9,30723,-16.9,-9.167
$D_GRID,745
$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,-114.10,0.000,2,0.000,0.000,126,2469,3046,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.1,-4.4,23,168,11.38,3.45,-10.15,0.000,4,0.295,0.101,2444,3898,3399,0,0,7,0,0,0
$GC,243,-0.73,-146.0,17.8,-11.6,42,248,0.00,3.30,0.00,0.000,6,0.000,0.067,2444,2460,3400,0,0,3,0,0,0
$GC,586,-0.73,-146.0,53.5,-10.6,103,591,0.00,2.15,0.00,0.000,4,0.000,0.089,2444,862,3401,0,0,0,0,0,0
$GC,843,-0.73,-146.0,81.3,-10.5,149,849,0.00,2.20,0.00,0.000,6,0.000,0.074,2444,2500,3401,0,0,0,0,0,0
$GC,1181,-0.73,-146.0,110.7,-9.3,199,1185,0.00,2.28,0.00,0.000,4,0.000,0.091,2444,842,3401,0,0,0,0,0,0
$GC,1437,-0.73,-146.0,136.4,-10.2,221,1443,0.00,2.40,0.00,0.000,6,0.000,0.074,2444,2567,3400,0,0,0,0,0,0
$GC,1763,-0.79,-146.0,166.5,-8.8,252,1768,0.00,3.22,0.00,0.000,4,0.000,0.091,2445,3926,3399,0,0,3,0,0,0
$GC,1928,-0.86,-146.0,179.7,-7.6,266,1933,0.00,3.05,0.00,0.000,6,0.000,0.067,2445,2583,3399,0,0,3,0,0,0
$GC,2253,-0.93,-146.0,203.6,-6.9,296,2259,0.17,3.20,0.00,0.000,4,0.114,0.087,2373,3926,3399,0,0,3,0,0,0
$GC,2428,-0.77,-146.0,221.2,-10.7,311,2434,0.28,3.00,0.00,0.000,6,0.205,0.064,2438,2596,3399,0,0,3,0,0,0
$GC,2753,-0.83,-146.0,245.1,-7.9,341,2758,0.00,3.15,0.00,0.000,4,0.000,0.088,2438,3921,3400,0,0,3,0,0,0
$GC,3011,-0.89,-146.0,268.0,-9.4,363,3017,0.12,2.92,0.00,0.000,6,0.127,0.064,2399,2633,3400,0,0,4,0,0,0
$GC,3336,-0.83,-146.0,299.6,-9.8,394,3340,0.00,3.03,0.00,0.000,4,0.000,0.091,2399,3913,3400,0,0,4,0,0,0
$GC,3472,-0.78,-146.0,312.3,-9.5,406,3477,0.15,2.88,0.00,0.000,6,0.204,0.063,2432,2644,3401,0,0,3,0,0,0
$GC,3796,-0.83,-146.0,337.5,-7.6,436,3801,0.00,3.03,0.00,0.000,4,0.000,0.088,2432,3921,3401,0,0,4,0,0,0
$GC,3974,-0.89,-146.0,352.4,-9.0,451,3980,0.00,2.88,0.00,0.000,6,0.000,0.063,2432,2651,3401,0,0,3,0,0,0
$GC,4299,-0.95,-146.0,379.6,-8.6,482,4305,0.15,3.03,0.00,0.000,4,0.119,0.086,2373,3927,3402,0,0,4,0,0,0
$GC,4474,-0.80,-146.0,399.4,-11.6,497,4479,0.22,2.85,0.00,0.000,6,0.206,0.064,2424,2671,3401,0,0,3,0,0,0
$GC,4798,-0.80,-146.0,428.4,-8.9,527,4803,0.00,2.97,0.00,0.000,4,0.000,0.087,2424,3929,3402,0,0,4,0,0,0
$GC,4971,-0.80,-146.0,444.6,-9.0,542,4976,0.00,2.83,0.00,0.000,6,0.000,0.064,2425,2688,3401,0,0,3,0,0,0
$GC,5297,-0.85,-146.0,472.0,-7.6,572,5302,0.00,2.95,0.00,0.000,4,0.000,0.088,2425,3924,3402,0,0,4,0,0,0
$GC,5464,-0.90,-146.0,485.4,-7.7,586,5470,0.00,2.78,0.00,0.000,6,0.000,0.063,2425,2711,3402,0,0,3,0,0,0
$GC,5789,-0.95,-146.0,509.0,-7.5,617,5795,0.12,2.90,0.00,0.000,4,0.127,0.086,2372,3930,3401,0,0,6,0,0,0
$GC,5925,-0.82,-146.0,522.4,-10.1,628,5932,0.22,2.75,0.00,0.000,6,0.206,0.062,2424,2726,3402,0,0,3,0,0,0
$GC,6250,-0.87,-146.0,547.4,-7.6,659,6255,0.00,2.90,0.00,0.000,4,0.000,0.088,2423,3928,3401,0,0,4,0,0,0
$GC,6414,-0.93,-146.0,560.7,-8.3,673,6419,0.00,2.75,0.00,0.000,6,0.000,0.063,2423,2735,3402,0,0,3,0,0,0
$GC,6740,-0.98,-146.0,586.1,-7.5,703,6745,0.15,2.92,0.00,0.000,4,0.118,0.086,2361,3926,3401,0,0,2,0,0,0
$GC,6853,-0.81,-146.0,598.1,-10.7,712,6859,0.28,2.70,0.00,0.000,6,0.211,0.062,2425,2756,3401,0,0,3,0,0,0
$GC,7188,-0.87,-146.0,623.7,-7.4,725,7193,0.00,2.88,0.00,0.000,4,0.000,0.088,2425,3929,3402,0,0,3,0,0,0
$GC,7334,-0.94,-146.0,635.1,-7.8,729,7339,0.12,2.67,0.00,0.000,6,0.127,0.063,2387,2777,3401,0,0,3,0,0,0
$GC,7652,-0.87,-146.0,663.6,-9.2,740,7657,0.00,2.80,0.00,0.000,4,0.000,0.089,2386,3919,3401,0,0,4,0,0,0
$GC,7747,-0.81,-146.0,672.6,-9.4,743,7752,0.17,2.62,0.00,0.000,6,0.206,0.063,2426,2787,3401,0,0,3,0,0,0
$GC,8085,-0.87,-146.0,697.0,-7.1,754,8090,0.00,2.78,0.00,0.000,4,0.000,0.088,2426,3924,3401,0,0,4,0,0,0
$GC,8203,-0.95,-146.0,705.8,-7.0,757,8208,0.12,2.65,0.00,0.000,6,0.121,0.062,2387,2792,3402,0,0,2,0,0,0
$GC,8517,-0.90,-146.0,733.9,-9.1,767,8522,0.00,2.72,0.00,0.000,4,0.000,0.089,2386,3919,3402,0,0,6,0,0,0
$STATE,8632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8632,begin apogee
$GC,8641,-0.16,0.0,745.0,9.5,770,8772,0.93,0.00,126.53,1.231,6,0.194,0.000,2629,1940,2800,0,0,0,0,0,0
$STATE,8773,end apogee,CONTROL_FINISHED_OK
$STATE,8773,begin climb
$GC,8775,0.73,146.0,748.4,0.0,775,8912,0.98,0.00,131.98,1.175,6,0.133,0.000,2912,1940,2203,0,0,0,0,0,0
$GC,9230,0.73,146.0,704.1,11.4,790,9238,0.00,3.75,0.00,0.000,4,0.000,0.081,2913,3544,2195,0,0,5,0,0,0
$GC,9346,0.61,146.0,689.7,12.3,793,9352,0.17,3.67,0.00,0.000,6,0.214,0.072,2891,1947,2194,0,0,3,0,0,0
$GC,9664,0.61,146.0,657.6,9.9,804,9670,0.00,3.65,0.00,0.000,4,0.000,0.079,2892,3544,2193,0,0,4,0,0,0
$GC,9806,0.56,146.0,641.7,11.9,808,9814,0.15,3.62,0.00,0.000,6,0.206,0.074,2873,1966,2192,0,0,2,0,0,0
$GC,10134,0.65,146.0,610.7,9.5,819,10139,0.00,3.60,0.00,0.000,4,0.000,0.081,2873,3542,2192,0,0,4,0,0,0
$GC,10276,0.65,146.0,595.3,11.2,824,10282,0.00,3.55,0.00,0.000,6,0.000,0.074,2886,1993,2191,0,0,3,0,0,0
$GC,10602,0.70,146.0,562.3,9.7,854,10607,0.00,3.58,0.00,0.000,4,0.000,0.080,2887,3545,2191,0,0,4,0,0,0
$GC,10743,0.70,146.0,546.0,12.2,866,10748,0.00,3.53,0.00,0.000,6,0.000,0.074,2902,2006,2191,0,0,4,0,0,0
$GC,11067,0.70,146.0,510.7,11.0,896,11072,0.00,3.55,0.00,0.000,4,0.000,0.081,2902,3542,2191,0,0,4,0,0,0
$GC,11186,0.62,146.0,496.5,12.4,906,11192,0.00,3.53,0.00,0.000,6,0.000,0.074,2917,2024,2191,0,0,3,0,0,0
$GC,11510,0.62,146.0,460.5,10.4,936,11516,0.00,3.53,0.00,0.000,4,0.000,0.082,2917,3546,2191,0,0,5,0,0,0
$GC,11617,0.50,146.0,447.4,13.4,945,11627,0.32,3.53,0.00,0.000,6,0.204,0.074,2855,2034,2191,0,0,3,0,0,0
$GC,11946,0.71,184.1,422.0,7.6,976,11988,0.20,3.58,30.92,1.022,4,0.105,0.081,2922,3549,2047,0,0,4,0,0,0
$GC,12123,0.62,184.1,399.7,13.0,992,12129,0.20,3.55,0.00,0.000,6,0.202,0.074,2893,2050,2043,0,0,2,0,0,0
$GC,12448,0.69,184.1,365.9,10.3,1022,12453,0.00,3.53,0.00,0.000,4,0.000,0.081,2893,3547,2042,0,0,4,0,0,0
$GC,12566,0.69,184.1,352.8,10.8,1032,12571,0.00,3.47,0.00,0.000,6,0.000,0.074,2906,2076,2042,0,0,3,0,0,0
$GC,12890,0.69,184.1,320.9,9.4,1062,12895,0.00,3.50,0.00,0.000,4,0.000,0.082,2906,3544,2042,0,0,5,0,0,0
$GC,12990,0.69,184.1,309.4,11.8,1070,12996,0.00,3.45,0.00,0.000,6,0.000,0.074,2921,2080,2042,0,0,3,0,0,0
$GC,13315,0.69,184.1,273.4,11.0,1101,13320,0.00,3.47,0.00,0.000,4,0.000,0.081,2921,3546,2042,0,0,4,0,0,0
$GC,13434,0.62,184.1,258.7,12.5,1111,13440,0.17,3.42,0.00,0.000,6,0.204,0.074,2897,2102,2040,0,0,4,0,0,0
$GC,13758,0.70,184.1,224.4,10.5,1141,13764,0.00,3.42,0.00,0.000,4,0.000,0.081,2897,3541,2040,0,0,4,0,0,0
$GC,13858,0.70,184.1,213.1,11.1,1149,13865,0.00,3.38,0.00,0.000,6,0.000,0.074,2909,2126,2040,0,0,3,0,0,0
$GC,14183,0.70,189.4,182.1,8.9,1180,14195,0.00,3.40,4.47,0.676,4,0.000,0.081,2909,3542,2028,0,0,3,0,0,0
$GC,14298,0.70,189.4,170.8,9.7,1190,14303,0.00,3.33,0.00,0.000,6,0.000,0.074,2924,2143,2027,0,0,4,0,0,0
$GC,14622,0.70,189.4,137.5,10.4,1220,14627,0.00,3.38,0.00,0.000,4,0.000,0.081,2924,3544,2027,0,0,4,0,0,0
$GC,14729,0.70,189.4,123.8,13.0,1229,14734,0.00,3.35,0.00,0.000,6,0.000,0.073,2939,2159,2027,0,0,2,0,0,0
$GC,15060,0.70,189.4,83.6,10.7,1271,15065,0.00,3.38,0.00,0.000,4,0.000,0.081,2939,3546,2027,0,0,3,0,0,0
$GC,15162,0.65,189.4,71.6,12.6,1289,15168,0.22,3.30,0.00,0.000,6,0.197,0.073,2901,2166,2027,0,0,4,0,0,0
$GC,15508,0.89,246.8,45.8,6.7,1350,15565,0.22,3.40,48.80,0.781,4,0.104,0.081,2977,3542,1793,0,0,4,0,0,0
$GC,15661,0.79,246.8,27.2,13.3,1378,15668,0.20,3.33,0.00,0.000,6,0.198,0.072,2945,2185,1788,0,0,3,0,0,0
$FREEZE,8.53,-0.268,-1.832,0,1,0
$FREEZE,7.92,-0.296,-1.831,0,1,0
$FREEZE,7.34,-0.325,-1.831,0,1,0
$FREEZE,6.81,-0.339,-1.830,0,1,0
$FREEZE,6.27,-0.346,-1.830,0,1,0
$FREEZE,5.70,-0.353,-1.829,0,1,0
$FREEZE,5.11,-0.385,-1.828,0,1,0
$FREEZE,4.59,-0.660,-1.829,0,1,0
$FREEZE,4.04,-0.759,-1.827,0,1,0
$FREEZE,3.53,-0.778,-1.826,0,1,0
$FREEZE,3.03,-0.777,-1.825,0,1,0
$FREEZE,2.40,-0.778,-1.824,0,1,0
$FREEZE,1.80,-0.787,-1.824,0,1,0
$STATE,15909,end climb,SURFACE_DEPTH_REACHED
$STATE,15909,begin surface coast
$FREEZE,1.21,-0.787,-1.823,0,1,0
$FREEZE,0.62,-0.779,-1.822,0,1,0
$FREEZE,0.62,-0.798,-1.755,0,1,0
$FREEZE,0.63,-0.757,-0.913,0,1,0
$FINISH,0.6,1.013485
$STATE,15933,end surface coast,CONTROL_FINISHED_OK
$STATE,15933,begin surface
$SM_CCo,15950,110.62,0.733,0,0,1067,425.10
$SM_GC,1.55,0.00,0.00,110.62,0.000,0.000,0.733,129,2468,1067,-8.00,0.23,425.10
$RAFOS_CLK,1027
$RAFOS,6,1261342143,20.833334,20.817499,114,63,62,0,0,0,745,199,176,0,0,0
$RAFOS,5,1261341661,20.700001,20.683611,80,64,64,0,0,0,608,217,191,0,0,0
$RAFOS,4,1261341185,20.566668,20.551390,91,65,59,0,0,0,792,215,194,0,0,0
$RAFOS,3,1261340704,20.433332,20.417778,58,57,56,0,0,0,131,186,175,0,0,0
$RAFOS,2,1261340221,20.299999,20.283611,66,64,62,0,0,0,205,1016,192,0,0,0
$RAFOS,1,1261339745,20.166666,20.151388,59,56,55,0,0,0,219,200,131,0,0,0
$RAFOS,0,1261339268,20.033333,20.018888,60,57,56,0,0,0,192,153,166,0,0,0
$RAFOS_FIX,6707.229980,-5731.802246,201209,202001,3,95,0.78
$IRIDIUM_FIX,6641.98,-5718.55,160399,141409
$TT8_MAMPS,0.026845
$HUMID,47.04
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,700.0,65.0
$24V_AH,22.1,64.988
$10V_AH,10.1,34.535
$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,25.850,208.975,342.700,110.625,0.000,29.580,37.934,167.706,4.250,0.000,15.641,2504.663,9993.115,662.289,2773.036,493.223,0.000,2066.717,0.000,2708.814,2520.000,24.398,0.000
$DEVICE_MAMPS,294.528,101.244,1231.035,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.641,993.667,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152500
$DATA_FILE_SIZE,56773,1426
$CAP_FILE_SIZE,184414,0
$CFSIZE,260165632,222846976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,221,0,0
$SOUNDSPEED,1461.5
$GPS,201209,234936,6707.847,-5724.532,29,0.9,29,-37.8