version: 66.06
glider: 143
mission: 10
dive: 374
start: 12 25 109 2 32 43
data:
$ID,143
$MISSION,10
$DIVE,374
$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,-43385.031
$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,20
$R_STBD_OVSHOOT,14
$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
$GPS1,022637,6716.821,-5734.401,30,1.0,30,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-70.1
$GPS2,023225,6716.807,-5734.426,10,0.9,15,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6716.807,-5706.465
$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,569
$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,13,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,114,0.00,0.00,-95.10,0.000,2,0.000,0.000,125,2687,3106,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.5,-6.2,19,144,11.55,3.05,-7.97,0.000,4,0.298,0.101,2457,3927,3399,0,0,4,0,0,0
$GC,398,-0.73,-146.0,37.2,-10.4,69,404,0.00,2.83,0.00,0.000,6,0.000,0.064,2458,2700,3401,0,0,5,0,0,0
$GC,741,-0.78,-146.0,71.8,-10.5,130,747,0.00,2.97,0.00,0.000,4,0.000,0.091,2458,3925,3401,0,0,5,0,0,0
$GC,972,-0.84,-146.0,94.1,-8.9,171,979,0.12,2.83,0.00,0.000,6,0.126,0.066,2419,2702,3400,0,0,4,0,0,0
$GC,1306,-0.84,-146.0,129.1,-9.6,207,1311,0.00,2.97,0.00,0.000,4,0.000,0.091,2418,3929,3398,0,0,5,0,0,0
$GC,1447,-0.84,-146.0,142.9,-10.0,219,1452,0.00,2.88,0.00,0.000,6,0.000,0.065,2418,2686,3398,0,0,3,0,0,0
$GC,1771,-0.84,-146.0,173.5,-9.2,249,1776,0.00,2.97,0.00,0.000,4,0.000,0.089,2418,3918,3398,0,0,4,0,0,0
$GC,1912,-0.84,-146.0,186.2,-9.0,261,1917,0.00,2.80,0.00,0.000,6,0.000,0.063,2418,2702,3398,0,0,4,0,0,0
$GC,2236,-0.84,-146.0,215.3,-8.7,291,2241,0.00,2.95,0.00,0.000,4,0.000,0.087,2418,3934,3398,0,0,5,0,0,0
$GC,2421,-0.84,-146.0,232.8,-9.6,307,2426,0.00,2.83,0.00,0.000,6,0.000,0.062,2418,2693,3398,0,0,4,0,0,0
$GC,2745,-0.84,-146.0,264.5,-10.4,337,2750,0.00,2.95,0.00,0.000,4,0.000,0.086,2418,3925,3399,0,0,5,0,0,0
$GC,2908,-0.84,-146.0,280.7,-10.1,351,2912,0.00,2.80,0.00,0.000,6,0.000,0.061,2418,2701,3398,0,0,4,0,0,0
$GC,3233,-0.84,-146.0,311.6,-9.1,381,3237,0.00,2.95,0.00,0.000,4,0.000,0.086,2418,3922,3400,0,0,4,0,0,0
$GC,3343,-0.84,-146.0,321.9,-9.4,390,3349,0.00,2.80,0.00,0.000,6,0.000,0.061,2419,2700,3399,0,0,4,0,0,0
$GC,3668,-0.84,-146.0,349.5,-8.3,421,3673,0.00,2.95,0.00,0.000,4,0.000,0.085,2418,3930,3399,0,0,5,0,0,0
$GC,3842,-0.84,-146.0,364.4,-8.9,436,3847,0.00,2.83,0.00,0.000,6,0.000,0.061,2419,2700,3399,0,0,3,0,0,0
$GC,4167,-0.84,-146.0,392.0,-8.8,466,4171,0.00,2.95,0.00,0.000,4,0.000,0.085,2418,3933,3400,0,0,5,0,0,0
$GC,4301,-0.84,-146.0,405.0,-10.0,477,4306,0.00,2.80,0.00,0.000,6,0.000,0.061,2418,2701,3400,0,0,4,0,0,0
$GC,4625,-0.84,-146.0,436.1,-9.5,508,4630,0.00,2.92,0.00,0.000,4,0.000,0.084,2418,3920,3401,0,0,5,0,0,0
$GC,4724,-0.84,-146.0,445.1,-9.1,516,4731,0.00,2.80,0.00,0.000,6,0.000,0.061,2419,2699,3400,0,0,4,0,0,0
$GC,5049,-0.84,-146.0,472.3,-8.4,547,5054,0.00,2.95,0.00,0.000,4,0.000,0.084,2418,3933,3401,0,0,5,0,0,0
$GC,5228,-0.84,-146.0,487.0,-8.1,562,5234,0.00,2.83,0.00,0.000,6,0.000,0.060,2418,2697,3400,0,0,3,0,0,0
$GC,5553,-0.84,-146.0,513.0,-8.0,593,5557,0.00,2.95,0.00,0.000,4,0.000,0.084,2418,3934,3400,0,0,5,0,0,0
$GC,5715,-0.84,-146.0,525.9,-8.7,607,5719,0.00,2.83,0.00,0.000,6,0.000,0.059,2419,2700,3401,0,0,3,0,0,0
$GC,6042,-0.84,-146.0,550.2,-7.5,637,6047,0.00,2.92,0.00,0.000,4,0.000,0.083,2418,3921,3401,0,0,5,0,0,0
$GC,6161,-0.84,-146.0,559.8,-7.8,647,6166,0.00,2.80,0.00,0.000,6,0.000,0.060,2418,2694,3401,0,0,4,0,0,0
$STATE,6281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6281,begin apogee
$GC,6288,-0.16,0.0,569.3,8.0,658,6415,0.75,0.00,122.90,1.099,6,0.179,0.000,2627,2001,2800,0,0,0,0,0,0
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6416,begin climb
$GC,6418,0.73,146.0,571.7,0.0,671,6555,0.98,2.08,127.45,1.046,4,0.130,0.087,2924,412,2203,0,0,0,0,0,0
$GC,6622,0.64,146.0,553.7,11.8,690,6628,0.00,1.90,0.00,0.000,6,0.000,0.058,2925,2009,2199,0,0,0,0,0,0
$GC,6946,0.55,146.0,515.2,12.1,721,6956,0.22,3.80,0.00,0.000,4,0.200,0.074,2854,3586,2195,0,0,5,0,0,0
$GC,7126,0.61,146.0,497.1,10.0,737,7132,0.00,3.78,0.00,0.000,6,0.000,0.068,2869,1997,2194,0,0,3,0,0,0
$GC,7453,0.72,154.3,466.9,8.8,767,7468,0.15,3.83,6.95,0.854,4,0.109,0.077,2923,3592,2170,0,0,5,0,0,0
$GC,7613,0.56,154.3,445.3,13.8,781,7620,0.28,3.75,0.00,0.000,6,0.202,0.071,2874,1992,2168,0,0,4,0,0,0
$GC,7939,0.63,154.3,413.5,9.6,812,7948,0.00,3.75,0.00,0.000,4,0.000,0.077,2874,3594,2168,0,0,6,0,0,0
$GC,8094,0.63,154.3,397.1,10.8,826,8104,0.00,3.75,0.00,0.000,6,0.000,0.070,2889,2002,2168,0,0,3,0,0,0
$GC,8422,0.63,154.3,362.2,10.6,857,8431,0.00,3.72,0.00,0.000,4,0.000,0.077,2889,3589,2167,0,0,6,0,0,0
$GC,8572,0.63,154.3,344.9,12.2,870,8578,0.00,3.75,0.00,0.000,6,0.000,0.070,2906,1995,2167,0,0,3,0,0,0
$GC,8896,0.63,154.3,308.9,10.7,901,8905,0.00,3.72,0.00,0.000,4,0.000,0.075,2905,3587,2167,0,0,6,0,0,0
$GC,9042,0.56,154.3,291.2,13.5,914,9052,0.20,3.75,0.00,0.000,6,0.201,0.069,2876,1987,2167,0,0,3,0,0,0
$GC,9370,0.67,154.3,259.2,9.4,945,9379,0.00,3.72,0.00,0.000,4,0.000,0.074,2876,3587,2167,0,0,6,0,0,0
$GC,9527,0.67,154.3,242.8,10.8,959,9533,0.00,3.75,0.00,0.000,6,0.000,0.069,2890,1986,2167,0,0,3,0,0,0
$GC,9852,0.75,154.3,212.0,9.3,989,9862,0.12,3.78,0.00,0.000,4,0.110,0.074,2939,3589,2168,0,0,5,0,0,0
$GC,10009,0.59,154.3,192.2,12.4,1003,10019,0.30,3.75,0.00,0.000,6,0.202,0.070,2883,1997,2168,0,0,3,0,0,0
$GC,10339,0.70,162.7,163.4,8.8,1034,10354,0.00,3.75,8.43,0.762,4,0.000,0.075,2882,3589,2136,0,0,5,0,0,0
$GC,10488,0.70,162.7,148.3,10.3,1047,10498,0.00,3.75,0.00,0.000,6,0.000,0.068,2897,1993,2135,0,0,3,0,0,0
$GC,10817,0.81,183.7,118.3,8.3,1078,10843,0.15,3.83,18.88,0.797,4,0.101,0.076,2954,3594,2050,0,0,3,0,0,0
$GC,11002,0.66,183.7,94.3,13.6,1097,11009,0.28,3.78,0.00,0.000,6,0.203,0.069,2905,1998,2048,0,0,3,0,0,0
$GC,11348,0.81,206.2,64.1,8.2,1158,11376,0.15,3.75,19.98,0.767,4,0.117,0.074,2956,3591,1958,0,0,6,0,0,0
$GC,11522,0.72,206.2,44.1,11.8,1189,11529,0.20,3.78,0.00,0.000,6,0.193,0.069,2926,2001,1956,0,0,3,0,0,0
$GC,11868,0.85,220.5,14.3,8.6,1250,11890,0.12,3.80,12.93,0.732,4,0.127,0.076,2968,3595,1900,0,0,4,0,0,0
$FREEZE,8.72,-1.733,-1.820,0,1,0
$FREEZE,8.06,-1.725,-1.820,0,1,0
$FREEZE,7.43,-1.725,-1.819,0,1,0
$FREEZE,6.62,-1.729,-1.819,0,1,0
$FREEZE,5.97,-1.734,-1.818,0,1,0
$FREEZE,5.35,-1.732,-1.818,0,1,0
$FREEZE,4.72,-1.736,-1.817,0,1,0
$FREEZE,4.00,-1.736,-1.817,0,1,0
$FREEZE,3.30,-1.735,-1.816,0,1,0
$FREEZE,2.50,-1.735,-1.816,0,1,0
$FREEZE,1.80,-1.736,-1.815,0,1,0
$STATE,11973,end climb,SURFACE_DEPTH_REACHED
$STATE,11974,begin surface coast
$FREEZE,1.17,-1.739,-1.815,0,1,0
$FREEZE,0.46,-1.746,-1.815,0,1,0
$FREEZE,0.50,-1.980,-1.112,0,1,0
$FINISH,0.5,1.016416
$STATE,11991,end surface coast,CONTROL_FINISHED_OK
$STATE,11991,begin surface
$SM_CCo,12011,69.20,0.732,0,0,1474,325.02
$SM_GC,1.32,0.00,0.00,69.20,0.000,0.000,0.732,125,2695,1474,-8.02,-0.14,325.02
$RAFOS_CLK,753
$RAFOS,6,1261716550,4.833333,4.819445,145,68,57,0,0,0,685,201,130,0,0,0
$RAFOS,5,1261716065,4.700000,4.684722,115,75,65,0,0,0,645,193,181,0,0,0
$RAFOS,4,1261715588,4.566667,4.552222,88,61,60,0,0,0,798,196,217,0,0,0
$RAFOS,3,1261715105,4.433333,4.418056,60,56,55,0,0,0,235,206,217,0,0,0
$RAFOS,2,1261714623,4.300000,4.284167,60,59,54,0,0,0,189,173,143,0,0,0
$RAFOS,1,1261714145,4.166667,4.151389,67,64,61,0,0,0,206,231,178,0,0,0
$RAFOS,0,1261713669,4.033333,4.019166,63,61,61,0,0,0,221,198,166,0,0,0
$RAFOS_FIX,6715.631348,-5736.645996,251209,040444,3,116,0.34
$IRIDIUM_FIX,6647.44,-5734.29,200399,232325
$TT8_MAMPS,0.027612
$HUMID,46.49
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,550.2,60.0
$24V_AH,22.3,68.409
$10V_AH,10.0,36.671
$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,24.075,161.875,317.500,69.200,0.000,27.245,31.019,159.420,3.500,0.000,16.877,2167.143,6963.382,560.379,2295.010,441.878,0.000,1727.932,0.000,2244.276,2520.000,19.001,0.000
$DEVICE_MAMPS,298.363,101.244,1099.111,732.485,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,927.062,875.947,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152500
$DATA_FILE_SIZE,50431,1272
$CAP_FILE_SIZE,144962,0
$CFSIZE,260165632,220790784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,203,0,0
$SOUNDSPEED,1464.2
$GPS,251209,055536,6717.456,-5733.737,36,1.0,36,-38.1