version: 66.06
glider: 143
mission: 10
dive: 379
start: 12 25 109 19 28 44
data:
$ID,143
$MISSION,10
$DIVE,379
$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,-43488.996
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,192237,6720.172,-5739.850,27,1.2,27,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.4
$GPS2,192826,6720.221,-5739.906,12,2.0,12,-38.2
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6720.221,-5711.879
$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,128.2,20000,-16.9,-9.167
$D_GRID,525
$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,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.65,0.000,2,0.000,0.000,125,2693,3109,0,0,0,0,0,0
$GC,115,-0.73,-146.0,3.3,-5.0,19,142,11.57,2.38,-8.18,0.000,4,0.301,0.097,2451,1098,3398,0,0,1,0,0,0
$GC,333,-0.73,-146.0,30.7,-10.9,58,338,0.00,2.30,0.00,0.000,6,0.000,0.071,2451,2681,3400,0,0,0,0,0,0
$GC,675,-0.73,-146.0,65.4,-9.3,119,681,0.00,3.00,0.00,0.000,4,0.000,0.090,2451,3923,3400,0,0,6,0,0,0
$GC,692,-0.73,-146.0,67.0,-9.6,122,698,0.00,2.83,0.00,0.000,6,0.000,0.062,2451,2698,3400,0,0,4,0,0,0
$GC,1036,-0.81,-146.0,98.8,-9.5,183,1041,0.00,2.38,0.00,0.000,4,0.000,0.085,2451,1093,3399,0,0,0,0,0,0
$GC,1260,-0.87,-146.0,120.5,-9.3,205,1265,0.12,2.35,0.00,0.000,6,0.122,0.072,2412,2701,3397,0,0,0,0,0,0
$GC,1585,-0.81,-146.0,154.4,-10.3,235,1590,0.00,2.95,0.00,0.000,4,0.000,0.088,2411,3923,3398,0,0,5,0,0,0
$GC,1815,-0.81,-146.0,179.6,-11.0,255,1820,0.00,2.83,0.00,0.000,6,0.000,0.064,2412,2700,3398,0,0,4,0,0,0
$GC,2139,-0.81,-146.0,212.2,-9.2,285,2144,0.00,2.95,0.00,0.000,4,0.000,0.089,2411,3931,3397,0,0,7,0,0,0
$GC,2307,-0.81,-146.0,228.3,-9.3,299,2312,0.00,2.83,0.00,0.000,6,0.000,0.063,2411,2702,3396,0,0,4,0,0,0
$GC,2631,-0.81,-146.0,256.4,-8.6,330,2636,0.00,2.95,0.00,0.000,4,0.000,0.087,2411,3930,3396,0,0,6,0,0,0
$GC,2821,-0.81,-146.0,273.7,-8.6,346,2827,0.00,2.83,0.00,0.000,6,0.000,0.061,2411,2700,3396,0,0,5,0,0,0
$GC,3146,-0.81,-146.0,301.7,-8.8,377,3151,0.00,2.92,0.00,0.000,4,0.000,0.084,2411,3927,3396,0,0,6,0,0,0
$GC,3335,-0.81,-146.0,320.0,-9.8,393,3342,0.00,2.83,0.00,0.000,6,0.000,0.060,2411,2694,3397,0,0,5,0,0,0
$GC,3661,-0.81,-146.0,349.0,-9.2,424,3666,0.00,2.92,0.00,0.000,4,0.000,0.083,2411,3924,3397,0,0,6,0,0,0
$GC,3839,-0.81,-146.0,365.3,-8.9,439,3845,0.00,2.83,0.00,0.000,6,0.000,0.058,2411,2691,3398,0,0,3,0,0,0
$GC,4164,-0.81,-146.0,391.1,-7.7,470,4169,0.00,2.95,0.00,0.000,4,0.000,0.082,2411,3929,3398,0,0,5,0,0,0
$GC,4388,-0.81,-146.0,411.0,-8.9,489,4393,0.00,2.83,0.00,0.000,6,0.000,0.058,2411,2692,3399,0,0,3,0,0,0
$GC,4714,-0.81,-146.0,438.8,-8.3,520,4719,0.00,2.95,0.00,0.000,4,0.000,0.081,2411,3931,3400,0,0,5,0,0,0
$GC,4869,-0.81,-146.0,452.3,-8.8,533,4876,0.00,2.80,0.00,0.000,6,0.000,0.057,2411,2698,3400,0,0,4,0,0,0
$GC,5195,-0.81,-146.0,477.3,-7.9,564,5200,0.00,2.92,0.00,0.000,4,0.000,0.081,2411,3924,3401,0,0,5,0,0,0
$GC,5348,-0.81,-146.0,489.2,-8.6,577,5353,0.00,2.78,0.00,0.000,6,0.000,0.057,2412,2702,3401,0,0,4,0,0,0
$GC,5672,-0.81,-146.0,514.6,-7.7,607,5677,0.00,2.47,0.00,0.000,3,0.000,0.080,2411,3622,3401,0,0,5,0,0,0
$STATE,5677,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5678,begin apogee
$GC,5686,-0.16,0.0,515.0,8.0,607,5813,0.77,0.00,121.55,1.047,6,0.180,0.000,2626,2002,2800,0,0,0,0,0,0
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5816,0.73,146.0,518.1,0.0,620,5950,0.95,1.85,124.93,1.000,4,0.127,0.082,2921,407,2203,0,0,0,0,0,0
$GC,6060,0.65,146.0,495.5,12.4,642,6065,0.00,1.83,0.00,0.000,6,0.000,0.054,2921,2034,2198,0,0,0,0,0,0
$GC,6384,0.58,146.0,456.5,11.9,673,6394,0.17,3.72,0.00,0.000,4,0.200,0.072,2877,3580,2196,0,0,6,0,0,0
$GC,6524,0.58,146.0,442.0,10.3,685,6530,0.00,3.78,0.00,0.000,6,0.000,0.067,2893,1996,2195,0,0,3,0,0,0
$GC,6850,0.58,146.0,407.4,11.0,716,6859,0.00,3.72,0.00,0.000,4,0.000,0.074,2893,3591,2195,0,0,7,0,0,0
$GC,7007,0.51,146.0,388.4,12.3,730,7017,0.20,3.75,0.00,0.000,6,0.200,0.067,2863,2000,2194,0,0,3,0,0,0
$GC,7335,0.64,151.3,357.7,8.9,761,7347,0.10,3.72,4.35,0.656,4,0.133,0.074,2897,3584,2183,0,0,6,0,0,0
$GC,7506,0.59,151.3,337.8,10.9,776,7516,0.15,3.72,0.00,0.000,6,0.202,0.067,2881,1993,2182,0,0,4,0,0,0
$GC,7834,0.65,151.3,307.9,9.5,807,7844,0.00,3.72,0.00,0.000,4,0.000,0.072,2881,3591,2182,0,0,6,0,0,0
$GC,7991,0.65,151.3,290.9,10.5,821,7997,0.00,3.75,0.00,0.000,6,0.000,0.066,2895,1996,2182,0,0,3,0,0,0
$GC,8315,0.65,151.3,257.8,10.2,851,8325,0.00,3.72,0.00,0.000,4,0.000,0.073,2895,3588,2182,0,0,6,0,0,0
$GC,8466,0.65,151.3,240.9,11.2,864,8472,0.00,3.75,0.00,0.000,6,0.000,0.066,2912,1993,2182,0,0,3,0,0,0
$GC,8790,0.65,151.3,205.8,10.5,895,8799,0.00,3.72,0.00,0.000,4,0.000,0.073,2912,3589,2182,0,0,6,0,0,0
$GC,8925,0.58,151.3,189.7,12.2,907,8935,0.20,3.75,0.00,0.000,6,0.196,0.066,2882,1992,2182,0,0,3,0,0,0
$GC,9254,0.72,164.2,159.0,8.6,938,9276,0.12,3.75,12.88,0.772,4,0.123,0.072,2924,3582,2129,0,0,5,0,0,0
$GC,9411,0.65,164.2,140.8,11.8,952,9421,0.17,3.75,0.00,0.000,6,0.199,0.065,2902,1994,2128,0,0,3,0,0,0
$GC,9740,0.78,175.7,110.5,8.7,983,9762,0.12,3.78,11.32,0.750,4,0.123,0.072,2943,3578,2081,0,0,5,0,0,0
$GC,9891,0.67,175.7,92.3,12.5,1001,9897,0.22,3.78,0.00,0.000,6,0.197,0.067,2907,1986,2080,0,0,3,0,0,0
$GC,10238,0.82,194.3,61.0,8.4,1062,10265,0.15,3.75,16.15,0.759,4,0.115,0.074,2959,3574,2008,0,0,5,0,0,0
$GC,10383,0.71,194.3,43.7,12.2,1088,10390,0.22,3.75,0.00,0.000,6,0.198,0.069,2923,1998,2006,0,0,4,0,0,0
$GC,10729,0.84,211.0,13.7,8.5,1149,10755,0.12,3.78,15.32,0.746,4,0.125,0.076,2965,3581,1938,0,0,5,0,0,0
$FREEZE,8.90,-1.478,-1.824,0,1,0
$FREEZE,8.32,-1.480,-1.824,0,1,0
$FREEZE,7.75,-1.483,-1.823,0,1,0
$FREEZE,7.04,-1.479,-1.822,0,1,0
$FREEZE,6.48,-1.478,-1.822,0,1,0
$FREEZE,6.01,-1.474,-1.821,0,1,0
$FREEZE,5.38,-1.478,-1.821,0,1,0
$FREEZE,4.71,-1.480,-1.820,0,1,0
$FREEZE,4.07,-1.481,-1.820,0,1,0
$FREEZE,3.36,-1.482,-1.819,0,1,0
$FREEZE,2.68,-1.481,-1.819,0,1,0
$FREEZE,1.82,-1.484,-1.818,0,1,0
$STATE,10832,end climb,SURFACE_DEPTH_REACHED
$STATE,10832,begin surface coast
$FREEZE,1.12,-1.478,-1.818,0,1,0
$FREEZE,0.60,-1.466,-1.817,0,1,0
$FREEZE,0.48,-1.508,-1.819,0,1,0
$FINISH,0.5,1.026703
$STATE,10850,end surface coast,CONTROL_FINISHED_OK
$STATE,10850,begin surface
$SM_CCo,10869,75.32,0.736,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,75.32,0.000,0.000,0.736,127,2702,1474,-8.01,0.06,325.02
$RAFOS_CLK,671
$RAFOS,6,1261774142,20.833334,20.817223,83,58,56,0,0,0,707,125,208,0,0,0
$RAFOS,5,1261773665,20.700001,20.684723,67,59,56,0,0,0,662,206,194,0,0,0
$RAFOS,4,1261773188,20.566668,20.552221,82,62,59,0,0,0,792,213,192,0,0,0
$RAFOS,3,1261772706,20.433332,20.418333,64,57,52,0,0,0,216,185,158,0,0,0
$RAFOS,2,1261772223,20.299999,20.284166,74,57,55,0,0,0,207,223,170,0,0,0
$RAFOS,1,1261771752,20.166666,20.153334,59,58,56,0,0,0,179,238,925,0,0,0
$RAFOS,0,1261771270,20.033333,20.019444,69,54,53,0,0,0,213,117,176,0,0,0
$RAFOS_FIX,6718.639648,-5744.007324,251209,202001,3,77,0.93
$IRIDIUM_FIX,6647.44,-5734.29,210399,161647
$TT8_MAMPS,0.026845
$HUMID,46.53
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,400.5,129.5
$24V_AH,22.5,68.992
$10V_AH,10.0,37.032
$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,23.700,144.850,306.500,75.325,0.000,30.373,40.177,155.868,2.250,0.000,13.701,1948.745,6239.935,554.657,2115.600,437.366,0.000,1638.407,0.000,2078.118,2520.000,10.934,0.000
$DEVICE_MAMPS,300.664,97.409,1046.955,735.553,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.933,798.091,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152572
$DATA_FILE_SIZE,47387,1171
$CAP_FILE_SIZE,132746,0
$CFSIZE,260165632,220434432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,187,0,0
$SOUNDSPEED,1465.9
$GPS,251209,223237,6721.159,-5741.522,29,1.3,29,-38.2