version: 66.06
glider: 143
mission: 10
dive: 358
start: 12 22 109 11 23 12
data:
$ID,143
$MISSION,10
$DIVE,358
$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,-42606.535
$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,17
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,111654,6710.824,-5722.740,34,1.4,52,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.6
$GPS2,112255,6710.831,-5722.778,11,1.5,17,-37.9
$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,157.9,29001,-16.9,-9.167
$D_GRID,678
$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,13,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-99.07,0.000,2,0.000,0.000,130,2454,3083,0,0,0,0,0,0
$GC,120,-0.73,-146.0,3.5,-5.9,20,147,11.62,2.20,-8.85,0.000,4,0.304,0.107,2446,849,3397,0,0,0,0,0,0
$GC,400,-0.73,-146.0,42.8,-12.5,70,406,0.00,2.12,0.00,0.000,6,0.000,0.077,2446,2459,3400,0,0,0,0,0,0
$GC,742,-0.73,-146.0,80.8,-10.6,131,748,0.00,2.17,0.00,0.000,4,0.000,0.095,2446,852,3400,0,0,0,0,0,0
$GC,1001,-0.73,-146.0,108.9,-9.7,170,1005,0.00,2.12,0.00,0.000,6,0.000,0.077,2446,2465,3400,0,0,0,0,0,0
$GC,1330,-0.73,-146.0,139.6,-10.1,201,1335,0.00,3.50,0.00,0.000,4,0.000,0.097,2446,3926,3399,0,0,6,0,0,0
$GC,1583,-0.79,-146.0,160.4,-7.7,223,1589,0.00,3.38,0.00,0.000,6,0.000,0.073,2446,2465,3399,0,0,4,0,0,0
$GC,1908,-0.85,-146.0,187.3,-8.8,253,1912,0.00,2.17,0.00,0.000,4,0.000,0.094,2446,842,3399,0,0,0,0,0,0
$GC,2164,-0.85,-146.0,214.5,-10.7,275,2170,0.00,2.15,0.00,0.000,6,0.000,0.076,2446,2457,3399,0,0,0,0,0,0
$GC,2490,-0.92,-146.0,245.2,-8.8,306,2496,0.17,3.47,0.00,0.000,4,0.113,0.091,2373,3919,3398,0,0,7,0,0,0
$GC,2678,-0.73,-146.0,268.2,-13.3,322,2684,0.32,3.38,0.00,0.000,6,0.216,0.071,2448,2454,3398,0,0,4,0,0,0
$GC,3002,-0.83,-146.0,295.6,-7.9,352,3008,0.00,3.50,0.00,0.000,4,0.000,0.093,2448,3919,3398,0,0,6,0,0,0
$GC,3237,-0.93,-146.0,314.3,-7.8,372,3243,0.17,3.35,0.00,0.000,6,0.117,0.070,2392,2460,3398,0,0,4,0,0,0
$GC,3561,-0.86,-146.0,346.5,-9.8,402,3567,0.00,3.50,0.00,0.000,4,0.000,0.092,2392,3923,3398,0,0,6,0,0,0
$GC,3802,-0.76,-146.0,370.7,-10.2,423,3808,0.20,3.38,0.00,0.000,6,0.206,0.070,2437,2456,3398,0,0,4,0,0,0
$GC,4127,-0.83,-146.0,394.7,-7.1,453,4132,0.00,3.53,0.00,0.000,4,0.000,0.090,2437,3927,3399,0,0,4,0,0,0
$GC,4385,-0.91,-146.0,412.9,-7.3,475,4391,0.12,3.38,0.00,0.000,6,0.127,0.069,2397,2456,3398,0,0,4,0,0,0
$GC,4711,-0.86,-146.0,441.6,-8.8,506,4716,0.00,3.53,0.00,0.000,4,0.000,0.090,2397,3927,3399,0,0,4,0,0,0
$GC,4957,-0.80,-146.0,463.9,-9.3,527,4964,0.12,3.38,0.00,0.000,6,0.208,0.069,2423,2459,3399,0,0,3,0,0,0
$GC,5282,-0.80,-146.0,489.2,-8.0,558,5287,0.00,3.50,0.00,0.000,4,0.000,0.090,2423,3919,3399,0,0,6,0,0,0
$GC,5540,-0.80,-146.0,509.8,-8.0,580,5546,0.00,3.35,0.00,0.000,6,0.000,0.068,2423,2460,3399,0,0,4,0,0,0
$GC,5865,-0.86,-146.0,534.1,-7.6,611,5871,0.00,3.50,0.00,0.000,4,0.000,0.089,2423,3921,3400,0,0,5,0,0,0
$GC,6124,-0.91,-146.0,554.4,-7.8,633,6130,0.00,3.35,0.00,0.000,6,0.000,0.067,2423,2459,3401,0,0,4,0,0,0
$GC,6449,-0.96,-146.0,579.5,-7.7,664,6453,0.12,2.15,0.00,0.000,4,0.123,0.089,2383,859,3401,0,0,0,0,0,0
$GC,6705,-0.86,-146.0,605.4,-10.3,683,6712,0.12,2.10,0.00,0.000,6,0.229,0.071,2410,2475,3402,0,0,0,0,0,0
$GC,7017,-0.86,-146.0,631.3,-8.2,694,7023,0.00,3.47,0.00,0.000,4,0.000,0.091,2409,3917,3401,0,0,4,0,0,0
$GC,7153,-0.86,-146.0,642.3,-7.9,698,7159,0.00,3.35,0.00,0.000,6,0.000,0.067,2410,2458,3401,0,0,4,0,0,0
$GC,7482,-0.86,-146.0,668.1,-7.7,709,7487,0.00,3.47,0.00,0.000,4,0.000,0.089,2410,3916,3401,0,0,6,0,0,0
$STATE,7603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7603,begin apogee
$GC,7613,-0.16,0.0,678.3,7.7,712,7742,0.80,0.00,125.80,1.189,6,0.191,0.000,2626,1942,2800,0,0,0,0,0,0
$STATE,7743,end apogee,CONTROL_FINISHED_OK
$STATE,7743,begin climb
$GC,7745,0.73,146.0,680.6,0.0,717,7885,1.00,2.15,131.38,1.130,4,0.135,0.092,2924,347,2203,0,0,0,0,0,0
$GC,7987,0.63,146.0,657.4,12.6,724,7992,0.15,1.92,0.00,0.000,6,0.196,0.062,2894,1962,2197,0,0,0,0,0,0
$GC,8306,0.63,146.0,623.9,10.4,735,8311,0.00,3.75,0.00,0.000,4,0.000,0.080,2893,3536,2195,0,0,4,0,0,0
$GC,8459,0.57,146.0,605.6,12.3,739,8469,0.15,3.72,0.00,0.000,6,0.212,0.074,2876,1950,2193,0,0,3,0,0,0
$GC,8785,0.65,146.0,573.0,9.9,766,8791,0.00,3.67,0.00,0.000,4,0.000,0.081,2876,3531,2194,0,0,5,0,0,0
$GC,8931,0.65,146.0,556.9,11.7,778,8937,0.00,3.67,0.00,0.000,6,0.000,0.075,2890,1945,2194,0,0,4,0,0,0
$GC,9255,0.65,146.0,523.8,10.0,809,9261,0.00,3.70,0.00,0.000,4,0.000,0.082,2891,3532,2193,0,0,4,0,0,0
$GC,9389,0.65,146.0,508.7,11.2,820,9395,0.00,3.65,0.00,0.000,6,0.000,0.075,2907,1950,2193,0,0,4,0,0,0
$GC,9714,0.65,146.0,474.0,11.1,851,9719,0.00,3.67,0.00,0.000,4,0.000,0.082,2907,3530,2193,0,0,5,0,0,0
$GC,9839,0.56,146.0,459.4,12.9,861,9845,0.22,3.67,0.00,0.000,6,0.202,0.075,2870,1938,2192,0,0,4,0,0,0
$GC,10165,0.67,149.9,429.5,9.0,892,10175,0.12,3.72,0.00,0.000,4,0.127,0.081,2911,3532,2192,0,0,4,0,0,0
$GC,10315,0.56,149.9,411.1,11.9,905,10321,0.22,3.67,0.00,0.000,6,0.200,0.075,2875,1948,2192,0,0,3,0,0,0
$GC,10640,0.66,149.9,379.5,9.5,936,10646,0.00,3.67,0.00,0.000,4,0.000,0.081,2875,3534,2192,0,0,5,0,0,0
$GC,10796,0.66,149.9,363.1,10.7,949,10803,0.00,3.65,0.00,0.000,6,0.000,0.074,2888,1951,2192,0,0,4,0,0,0
$GC,11122,0.74,149.9,333.0,9.3,980,11132,0.12,3.70,0.00,0.000,4,0.113,0.081,2938,3533,2192,0,0,4,0,0,0
$GC,11267,0.57,149.9,314.8,13.2,993,11277,0.30,3.67,0.00,0.000,6,0.202,0.075,2881,1940,2191,0,0,4,0,0,0
$GC,11596,0.70,173.8,286.5,8.2,1024,11628,0.12,3.72,22.65,0.926,4,0.129,0.081,2921,3535,2090,0,0,4,0,0,0
$GC,11797,0.61,173.8,263.2,11.7,1042,11807,0.20,3.70,0.00,0.000,6,0.202,0.075,2892,1943,2088,0,0,4,0,0,0
$GC,12126,0.72,173.8,233.4,9.4,1073,12132,0.00,3.72,0.00,0.000,4,0.000,0.081,2892,3536,2087,0,0,4,0,0,0
$GC,12268,0.72,173.8,219.4,9.4,1085,12273,0.00,3.70,0.00,0.000,6,0.000,0.075,2906,1939,2087,0,0,4,0,0,0
$GC,12592,0.77,173.8,190.0,9.4,1115,12597,0.00,3.72,0.00,0.000,4,0.000,0.081,2906,3534,2087,0,0,4,0,0,0
$GC,12738,0.77,173.8,174.0,10.4,1127,12744,0.00,3.70,0.00,0.000,6,0.000,0.075,2922,1938,2087,0,0,4,0,0,0
$GC,13062,0.77,173.8,141.8,10.0,1158,13067,0.00,3.72,0.00,0.000,4,0.000,0.082,2922,3531,2087,0,0,4,0,0,0
$GC,13181,0.73,173.8,128.8,11.2,1168,13187,0.00,3.67,0.00,0.000,6,0.000,0.076,2939,1947,2087,0,0,4,0,0,0
$GC,13508,0.73,173.8,95.6,9.7,1202,13514,0.00,3.72,0.00,0.000,4,0.000,0.084,2939,3534,2087,0,0,4,0,0,0
$GC,13671,0.65,173.8,78.3,9.8,1231,13677,0.22,3.70,0.00,0.000,6,0.200,0.077,2902,1943,2087,0,0,4,0,0,0
$GC,14019,0.85,222.1,54.1,7.1,1292,14070,0.20,3.78,40.33,0.815,4,0.112,0.083,2969,3535,1894,0,0,4,0,0,0
$GC,14206,0.76,222.1,33.4,11.2,1326,14213,0.20,3.75,0.00,0.000,6,0.201,0.078,2940,1942,1889,0,0,4,0,0,0
$FREEZE,8.81,-1.611,-1.819,0,1,0
$FREEZE,8.19,-1.627,-1.819,0,1,0
$FREEZE,7.70,-1.627,-1.818,0,1,0
$FREEZE,7.28,-1.626,-1.818,0,1,0
$FREEZE,6.78,-1.629,-1.817,0,1,0
$FREEZE,6.29,-1.630,-1.817,0,1,0
$FREEZE,5.84,-1.627,-1.817,0,1,0
$FREEZE,5.20,-1.628,-1.816,0,1,0
$FREEZE,4.82,-1.630,-1.816,0,1,0
$FREEZE,4.26,-1.631,-1.816,0,1,0
$FREEZE,3.84,-1.632,-1.815,0,1,0
$FREEZE,3.47,-1.630,-1.815,0,1,0
$FREEZE,2.86,-1.628,-1.814,0,1,0
$FREEZE,2.29,-1.631,-1.814,0,1,0
$FREEZE,1.92,-1.632,-1.814,0,1,0
$STATE,14550,end climb,SURFACE_DEPTH_REACHED
$STATE,14550,begin surface coast
$FREEZE,1.48,-1.633,-1.813,0,1,0
$FREEZE,1.03,-1.632,-1.813,0,1,0
$FREEZE,0.59,-1.629,-1.813,0,1,0
$FREEZE,0.68,-1.631,-1.813,0,1,0
$FINISH,0.7,1.026612
$STATE,14573,end surface coast,CONTROL_FINISHED_OK
$STATE,14573,begin surface
$SM_CCo,14590,79.90,0.775,0,0,1474,325.02
$SM_GC,1.43,0.00,0.00,79.90,0.000,0.000,0.775,124,2453,1474,-8.02,-0.20,325.02
$RAFOS_CLK,957
$RAFOS,6,1261486144,12.833333,12.817778,102,73,60,0,0,0,736,215,191,0,0,0
$RAFOS,5,1261485667,12.700000,12.685278,136,67,61,0,0,0,590,197,122,0,0,0
$RAFOS,4,1261485184,12.566667,12.551111,67,59,56,0,0,0,815,211,192,0,0,0
$RAFOS,3,1261484702,12.433333,12.417222,67,64,58,0,0,0,224,141,172,0,0,0
$RAFOS,2,1261484223,12.300000,12.284166,59,58,57,0,0,0,210,175,130,0,0,0
$RAFOS,1,1261483747,12.166667,12.151944,62,57,56,0,0,0,215,149,179,0,0,0
$RAFOS,0,1261483267,12.033333,12.018611,58,57,54,0,0,0,214,200,158,0,0,0
$RAFOS_FIX,6709.775879,-5729.403809,221209,121244,3,102,1.06
$IRIDIUM_FIX,6641.98,-5718.55,180399,070711
$TT8_MAMPS,0.027612
$HUMID,48.34
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,550.3,165.0
$24V_AH,22.1,66.228
$10V_AH,10.0,35.332
$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,25.475,187.875,320.150,79.900,0.000,30.421,31.192,165.083,2.500,0.000,19.040,2446.518,8793.610,602.872,2717.387,471.106,0.000,1952.328,0.000,2658.566,2520.000,16.317,0.000
$DEVICE_MAMPS,303.732,106.613,1188.850,775.437,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.995,972.297,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152520
$DATA_FILE_SIZE,53566,1391
$CAP_FILE_SIZE,168033,0
$CFSIZE,260165632,222081024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,198,0,0
$SOUNDSPEED,1457.0
$GPS,221209,152924,6711.390,-5723.954,40,2.0,40,-37.9