version: 66.06
glider: 143
mission: 10
dive: 372
start: 12 24 109 19 11 32
data:
$ID,143
$MISSION,10
$DIVE,372
$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,90
$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,-43351.332
$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,2700
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,22
$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
$GPS1,190500,6716.406,-5736.394,36,1.3,41,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.4
$GPS2,191114,6716.451,-5736.551,9,1.6,9,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6716.451,-5708.598
$TGT_RADIUS,1852.000
$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,128.1,20000,-16.9,-9.167
$D_GRID,611
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,114,0.00,0.00,-94.97,0.000,2,0.000,0.000,127,2701,3057,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.0,-3.7,19,148,11.80,2.53,-10.02,0.000,4,0.306,0.100,2449,1083,3399,0,0,0,0,0,0
$GC,216,-0.73,-146.0,17.7,-11.0,37,222,0.00,2.38,0.00,0.000,6,0.000,0.074,2449,2688,3401,0,0,0,0,0,0
$GC,559,-0.73,-146.0,55.1,-10.5,98,565,0.00,3.00,0.00,0.000,4,0.000,0.094,2449,3921,3401,0,0,6,0,0,0
$GC,767,-0.73,-146.0,77.1,-11.0,135,773,0.00,2.83,0.00,0.000,6,0.000,0.067,2449,2701,3401,0,0,5,0,0,0
$GC,1111,-0.78,-146.0,110.3,-9.3,187,1116,0.00,2.97,0.00,0.000,4,0.000,0.094,2449,3922,3401,0,0,6,0,0,0
$GC,1246,-0.83,-146.0,122.7,-9.0,198,1252,0.00,2.83,0.00,0.000,6,0.000,0.067,2449,2697,3400,0,0,5,0,0,0
$GC,1571,-0.91,-146.0,149.9,-7.5,229,1577,0.17,3.00,0.00,0.000,4,0.115,0.091,2381,3937,3399,0,0,6,0,0,0
$GC,1673,-0.78,-146.0,160.7,-10.5,237,1679,0.22,2.85,0.00,0.000,6,0.213,0.066,2433,2700,3399,0,0,4,0,0,0
$GC,1997,-0.78,-146.0,189.2,-8.4,268,2002,0.00,2.97,0.00,0.000,4,0.000,0.091,2433,3926,3399,0,0,5,0,0,0
$GC,2210,-0.84,-146.0,208.7,-9.1,286,2216,0.00,2.83,0.00,0.000,6,0.000,0.064,2433,2688,3398,0,0,5,0,0,0
$GC,2535,-0.89,-146.0,235.5,-7.7,317,2540,0.00,2.97,0.00,0.000,4,0.000,0.089,2433,3930,3398,0,0,6,0,0,0
$GC,2703,-0.95,-146.0,249.4,-8.4,331,2709,0.15,2.80,0.00,0.000,6,0.118,0.063,2385,2700,3398,0,0,5,0,0,0
$GC,3028,-0.85,-146.0,283.5,-11.1,362,3033,0.12,2.97,0.00,0.000,4,0.209,0.087,2412,3930,3399,0,0,6,0,0,0
$GC,3173,-0.85,-146.0,297.9,-10.2,374,3179,0.00,2.83,0.00,0.000,6,0.000,0.061,2412,2699,3400,0,0,4,0,0,0
$GC,3498,-0.85,-146.0,328.9,-9.6,405,3503,0.00,2.97,0.00,0.000,4,0.000,0.086,2412,3928,3400,0,0,5,0,0,0
$GC,3671,-0.85,-146.0,346.2,-9.6,420,3676,0.00,2.80,0.00,0.000,6,0.000,0.061,2412,2694,3400,0,0,5,0,0,0
$GC,3995,-0.85,-146.0,376.9,-9.4,450,4000,0.00,2.97,0.00,0.000,4,0.000,0.087,2412,3934,3402,0,0,5,0,0,0
$GC,4148,-0.85,-146.0,391.2,-9.5,463,4153,0.00,2.80,0.00,0.000,6,0.000,0.061,2412,2700,3402,0,0,5,0,0,0
$GC,4472,-0.85,-146.0,418.5,-7.9,493,4477,0.00,2.95,0.00,0.000,4,0.000,0.086,2412,3923,3402,0,0,5,0,0,0
$GC,4625,-0.85,-146.0,431.0,-8.2,506,4630,0.00,2.80,0.00,0.000,6,0.000,0.061,2412,2699,3402,0,0,4,0,0,0
$GC,4950,-0.85,-146.0,457.5,-8.3,536,4955,0.00,2.97,0.00,0.000,4,0.000,0.086,2412,3937,3402,0,0,6,0,0,0
$GC,5140,-0.85,-146.0,474.0,-8.4,552,5146,0.00,2.83,0.00,0.000,6,0.000,0.061,2412,2700,3403,0,0,4,0,0,0
$GC,5465,-0.85,-146.0,501.3,-8.4,583,5469,0.00,3.00,0.00,0.000,4,0.000,0.085,2412,3935,3402,0,0,4,0,0,0
$GC,5638,-0.85,-146.0,515.7,-8.0,598,5643,0.00,2.83,0.00,0.000,6,0.000,0.062,2412,2691,3403,0,0,5,0,0,0
$GC,5963,-0.85,-146.0,542.1,-8.1,628,5968,0.00,2.95,0.00,0.000,4,0.000,0.087,2412,3922,3403,0,0,6,0,0,0
$GC,6120,-0.85,-146.0,555.2,-8.3,641,6126,0.00,2.80,0.00,0.000,6,0.000,0.062,2412,2702,3403,0,0,4,0,0,0
$GC,6445,-0.85,-146.0,582.3,-8.4,672,6449,0.00,2.95,0.00,0.000,4,0.000,0.087,2412,3923,3403,0,0,5,0,0,0
$GC,6607,-0.85,-146.0,596.3,-8.8,686,6612,0.00,2.80,0.00,0.000,6,0.000,0.063,2412,2700,3403,0,0,5,0,0,0
$STATE,6806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6807,begin apogee
$GC,6813,-0.16,0.0,612.5,7.9,695,6941,0.82,0.00,124.82,1.144,6,0.186,0.000,2633,2000,2800,0,0,0,0,0,0
$STATE,6942,end apogee,CONTROL_FINISHED_OK
$STATE,6942,begin climb
$GC,6944,0.73,146.0,614.8,0.0,699,7081,0.95,2.05,129.35,1.086,4,0.129,0.089,2922,403,2203,0,0,0,0,0,0
$GC,7138,0.63,146.0,599.1,11.2,705,7142,0.00,1.95,0.00,0.000,6,0.000,0.060,2922,2021,2199,0,0,0,0,0,0
$GC,7468,0.55,146.0,560.9,12.1,735,7478,0.22,3.80,0.00,0.000,4,0.202,0.077,2853,3596,2195,0,0,7,0,0,0
$GC,7610,0.62,146.0,547.5,9.5,747,7616,0.00,3.83,0.00,0.000,6,0.000,0.071,2868,1997,2194,0,0,3,0,0,0
$GC,7937,0.78,177.7,520.8,7.8,778,7972,0.22,3.90,26.65,1.044,4,0.100,0.081,2946,3589,2074,0,0,6,0,0,0
$GC,8113,0.60,177.7,497.7,13.6,794,8123,0.32,3.83,0.00,0.000,6,0.207,0.074,2886,1996,2070,0,0,3,0,0,0
$GC,8442,0.67,177.7,467.0,9.4,825,8451,0.00,3.83,0.00,0.000,4,0.000,0.079,2886,3595,2069,0,0,4,0,0,0
$GC,8581,0.67,177.7,452.6,10.2,837,8586,0.00,3.78,0.00,0.000,6,0.000,0.073,2900,1991,2068,0,0,3,0,0,0
$GC,8906,0.67,177.7,421.0,9.6,868,8915,0.00,3.75,0.00,0.000,4,0.000,0.081,2900,3591,2067,0,0,7,0,0,0
$GC,9063,0.67,177.7,403.7,11.7,882,9073,0.00,3.78,0.00,0.000,6,0.000,0.074,2917,1998,2067,0,0,3,0,0,0
$GC,9391,0.67,177.7,367.3,11.1,913,9400,0.00,3.75,0.00,0.000,4,0.000,0.080,2917,3588,2067,0,0,6,0,0,0
$GC,9526,0.58,177.7,350.5,13.3,925,9536,0.22,3.78,0.00,0.000,6,0.204,0.074,2881,1996,2067,0,0,3,0,0,0
$GC,9855,0.71,197.9,320.3,8.3,956,9880,0.12,3.85,17.25,0.934,4,0.129,0.081,2922,3617,1991,0,0,4,0,0,0
$GC,10015,0.63,197.9,301.4,11.8,970,10022,0.20,3.83,0.00,0.000,6,0.201,0.073,2893,1992,1990,0,0,3,0,0,0
$GC,10340,0.71,197.9,269.2,10.1,1001,10349,0.00,3.75,0.00,0.000,4,0.000,0.079,2893,3596,1988,0,0,7,0,0,0
$GC,10490,0.71,197.9,251.9,12.2,1014,10496,0.00,3.78,0.00,0.000,6,0.000,0.072,2907,1997,1989,0,0,3,0,0,0
$GC,10814,0.71,197.9,216.6,10.9,1045,10823,0.00,3.75,0.00,0.000,4,0.000,0.080,2908,3592,1988,0,0,6,0,0,0
$GC,10959,0.71,197.9,198.8,12.9,1058,10968,0.00,3.75,0.00,0.000,6,0.000,0.071,2925,2000,1988,0,0,3,0,0,0
$GC,11287,0.71,197.9,161.1,11.5,1089,11296,0.00,3.72,0.00,0.000,4,0.000,0.078,2924,3589,1988,0,0,6,0,0,0
$GC,11380,0.65,197.9,149.1,13.1,1097,11387,0.17,3.75,0.00,0.000,6,0.202,0.072,2902,1999,1988,0,0,4,0,0,0
$GC,11705,0.80,225.5,118.2,8.0,1128,11737,0.15,3.83,24.10,0.812,4,0.118,0.078,2952,3596,1879,0,0,4,0,0,0
$GC,11872,0.71,225.5,97.5,12.5,1144,11879,0.20,3.78,0.00,0.000,6,0.199,0.071,2923,2000,1877,0,0,3,0,0,0
$GC,12219,0.82,226.1,63.2,9.1,1205,12224,0.00,3.75,0.00,0.000,4,0.000,0.079,2922,3594,1876,0,0,7,0,0,0
$GC,12388,0.82,226.1,45.8,10.1,1235,12394,0.00,3.78,0.00,0.000,6,0.000,0.072,2937,2001,1876,0,0,3,0,0,0
$GC,12734,0.92,229.8,14.1,9.0,1296,12746,0.15,3.75,4.65,0.617,4,0.102,0.081,2991,3594,1863,0,0,7,0,0,0
$FREEZE,8.49,-1.281,-1.826,0,1,0
$FREEZE,7.69,-1.332,-1.825,0,1,0
$FREEZE,7.00,-1.382,-1.824,0,1,0
$FREEZE,6.31,-1.407,-1.823,0,1,0
$FREEZE,5.56,-1.416,-1.822,0,1,0
$FREEZE,4.69,-1.432,-1.821,0,1,0
$FREEZE,3.90,-1.463,-1.820,0,1,0
$FREEZE,3.11,-1.483,-1.820,0,1,0
$FREEZE,2.34,-1.457,-1.819,0,1,0
$FREEZE,1.55,-1.466,-1.818,0,1,0
$STATE,12830,end climb,SURFACE_DEPTH_REACHED
$STATE,12830,begin surface coast
$FREEZE,0.72,-1.476,-1.817,0,1,0
$FREEZE,0.68,-1.503,-1.818,0,1,0
$FINISH,0.7,1.026684
$STATE,12841,end surface coast,CONTROL_FINISHED_OK
$STATE,12841,begin surface
$SM_CCo,12860,66.68,0.756,0,0,1474,325.02
$SM_GC,1.41,0.00,0.00,66.68,0.000,0.000,0.756,129,2703,1474,-8.00,0.06,325.02
$RAFOS_CLK,824
$RAFOS,6,1261687746,20.833334,20.818333,112,63,50,0,0,0,692,212,152,0,0,0
$RAFOS,5,1261687269,20.700001,20.685833,121,63,63,0,0,0,605,198,168,0,0,0
$RAFOS,4,1261686786,20.566668,20.551666,115,63,61,0,0,0,795,208,171,0,0,0
$RAFOS,3,1261686309,20.433332,20.419167,59,55,52,0,0,0,209,157,185,0,0,0
$RAFOS,2,1261685821,20.299999,20.283611,64,61,59,0,0,0,215,185,203,0,0,0
$RAFOS,1,1261685345,20.166666,20.151388,65,61,60,0,0,0,166,196,153,0,0,0
$RAFOS,0,1261684864,20.033333,20.017778,58,58,55,0,0,0,186,213,199,0,0,0
$RAFOS_FIX,6714.236328,-5739.880371,241209,202044,3,116,0.86
$IRIDIUM_FIX,6647.44,-5729.59,200399,151551
$TT8_MAMPS,0.026845
$HUMID,47.55
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,450.6,178.6
$24V_AH,22.2,68.164
$10V_AH,10.0,36.518
$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,24.675,175.025,326.825,66.675,0.000,31.034,48.360,167.893,2.500,0.000,10.862,2228.986,7582.960,591.848,2410.217,487.207,0.000,1816.561,0.000,2367.761,2520.000,13.876,0.000
$DEVICE_MAMPS,306.033,99.710,1143.597,756.262,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,960.283,916.976,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152500
$DATA_FILE_SIZE,53643,1315
$CAP_FILE_SIZE,152951,0
$CFSIZE,260165632,220942336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,240,0,0
$SOUNDSPEED,1461.8
$GPS,241209,224836,6716.957,-5736.425,38,1.7,38,-38.1