version: 66.06
glider: 143
mission: 9
dive: 13
start: 10 20 109 7 30 39
data:
$ID,143
$MISSION,9
$DIVE,13
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22547.043
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2480
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2300
$C_ROLL_CLIMB,2102
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,20
$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,-23.749716
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,072336,6658.092,-5711.600,69,0.9,69,-37.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.3
$GPS2,073020,6658.048,-5711.476,12,1.1,12,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.257,0.040
$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,54.1,19275,-16.9,-9.167
$D_GRID,752
$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,-0.98,-146.0,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,124,2319,3024,0,0,0,0,0,0
$GC,98,-0.98,-146.0,3.2,-3.6,15,126,9.82,2.67,-11.10,0.000,4,0.308,0.096,2153,717,3397,0,0,0,0,0,0
$GC,379,-0.68,-146.0,54.9,-17.8,65,386,0.40,2.58,0.00,0.000,6,0.216,0.074,2254,2301,3400,0,0,0,0,0,0
$GC,724,-0.68,-146.0,88.8,-9.6,126,730,0.00,2.60,0.00,0.000,4,0.000,0.086,2254,718,3400,0,0,0,0,0,0
$GC,831,-0.68,-146.0,99.2,-9.4,145,837,0.00,2.55,0.00,0.000,6,0.000,0.072,2254,2297,3400,0,0,0,0,0,0
$GC,1162,-0.72,-146.0,128.0,-8.5,177,1167,0.00,2.65,0.00,0.000,4,0.000,0.093,2254,3891,3400,0,0,0,0,0,0
$GC,1315,-0.78,-146.0,141.5,-9.1,190,1320,0.00,2.55,0.00,0.000,6,0.000,0.064,2254,2292,3399,0,0,0,0,0,0
$GC,1640,-0.84,-146.0,169.6,-8.8,220,1642,0.15,0.00,0.00,0.000,6,0.109,0.000,2202,2293,3399,0,0,0,0,0,0
$GC,1958,-0.74,-146.0,204.9,-11.4,250,1964,0.15,2.65,0.00,0.000,4,0.211,0.089,2235,3884,3399,0,0,0,0,0,0
$GC,2042,-0.74,-146.0,213.7,-10.2,257,2047,0.00,2.50,0.00,0.000,6,0.000,0.064,2235,2305,3398,0,0,0,0,0,0
$GC,2367,-0.74,-146.0,243.5,-8.5,287,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2306,3398,0,0,0,0,0,0
$GC,2687,-0.74,-146.0,269.7,-8.0,317,2691,0.00,2.60,0.00,0.000,4,0.000,0.089,2235,3884,3398,0,0,0,0,0,0
$GC,2797,-0.74,-146.0,278.6,-7.5,326,2803,0.00,2.47,0.00,0.000,6,0.000,0.063,2235,2314,3398,0,0,0,0,0,0
$GC,3124,-0.74,-146.0,305.2,-8.4,357,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2314,3398,0,0,0,0,0,0
$GC,3443,-0.74,-146.0,332.8,-8.6,387,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2313,3397,0,0,0,0,0,0
$GC,3761,-0.74,-146.0,358.5,-7.5,417,3765,0.00,2.60,0.00,0.000,4,0.000,0.087,2235,3889,3398,0,0,0,0,0,0
$GC,3833,-0.79,-146.0,364.4,-8.1,423,3838,0.00,2.47,0.00,0.000,6,0.000,0.061,2235,2310,3397,0,0,0,0,0,0
$GC,4158,-0.84,-146.0,389.2,-7.6,453,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2311,3398,0,0,0,0,0,0
$GC,4478,-0.88,-146.0,413.6,-7.8,483,4479,0.12,0.00,0.00,0.000,6,0.114,0.000,2188,2310,3398,0,0,0,0,0,0
$GC,4795,-0.78,-146.0,443.0,-9.4,513,4797,0.15,0.00,0.00,0.000,6,0.205,0.000,2223,2310,3398,0,0,0,0,0,0
$GC,5114,-0.78,-146.0,468.8,-8.0,543,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2311,3400,0,0,0,0,0,0
$GC,5435,-0.78,-146.0,494.6,-8.4,573,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2310,3400,0,0,0,0,0,0
$GC,5752,-0.78,-146.0,519.9,-7.7,603,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2310,3400,0,0,0,0,0,0
$GC,6070,-0.78,-146.0,544.4,-7.1,633,6075,0.00,2.58,0.00,0.000,4,0.000,0.087,2223,3884,3400,0,0,0,0,0,0
$GC,6143,-0.78,-146.0,550.0,-7.7,639,6147,0.00,2.45,0.00,0.000,6,0.000,0.060,2223,2312,3400,0,0,0,0,0,0
$GC,6467,-0.78,-146.0,572.8,-6.6,669,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2312,3400,0,0,0,0,0,0
$GC,6787,-0.78,-146.0,594.3,-6.8,699,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2312,3400,0,0,0,0,0,0
$GC,7116,-0.78,-146.0,616.7,-6.7,715,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2312,3401,0,0,0,0,0,0
$GC,7422,-0.83,-146.0,636.6,-6.6,725,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2312,3401,0,0,0,0,0,0
$GC,7728,-0.83,-146.0,657.0,-6.7,735,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2312,3401,0,0,0,0,0,0
$GC,8034,-0.83,-146.0,677.9,-7.3,745,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2312,3401,0,0,0,0,0,0
$GC,8341,-0.87,-146.0,701.4,-7.8,755,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2312,3401,0,0,0,0,0,0
$GC,8647,-0.87,-146.0,724.9,-8.0,765,8651,0.00,2.58,0.00,0.000,4,0.000,0.087,2224,3890,3401,0,0,0,0,0,0
$GC,8730,-0.93,-146.0,731.1,-7.5,767,8735,0.15,2.45,0.00,0.000,6,0.104,0.060,2169,2312,3401,0,0,0,0,0,0
$STATE,8979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8979,begin apogee
$GC,8984,-0.24,0.0,754.2,9.6,775,9108,0.80,0.00,120.60,1.225,6,0.186,0.000,2396,2101,2800,0,0,0,0,0,0
$STATE,9108,end apogee,CONTROL_FINISHED_OK
$STATE,9109,begin climb
$GC,9110,0.98,146.0,756.6,0.0,779,9239,1.30,0.00,124.43,1.176,6,0.114,0.000,2795,2101,2204,0,0,0,0,0,0
$GC,9529,0.59,146.0,690.5,18.2,793,9534,0.45,2.67,0.00,0.000,4,0.200,0.084,2687,522,2194,0,0,0,0,0,0
$GC,9539,0.24,146.0,688.3,18.2,793,9544,0.47,2.60,0.00,0.000,6,0.173,0.062,2561,2108,2194,0,0,0,0,0,0
$GC,9857,0.71,234.2,669.5,5.5,804,9938,0.40,2.80,73.55,1.131,4,0.075,0.084,2709,3689,1844,0,0,0,0,0,0
$GC,10112,0.61,234.2,630.9,15.9,811,10119,0.17,2.60,0.00,0.000,6,0.189,0.067,2681,2134,1837,0,0,0,0,0,0
$GC,10428,0.61,234.2,589.4,12.9,826,10432,0.00,2.60,0.00,0.000,4,0.000,0.082,2680,3684,1834,0,0,0,0,0,0
$GC,10612,0.61,234.2,563.8,13.7,842,10617,0.00,2.47,0.00,0.000,6,0.000,0.066,2690,2165,1833,0,0,0,0,0,0
$GC,10936,0.61,234.2,520.8,12.8,872,10941,0.00,2.53,0.00,0.000,4,0.000,0.081,2690,3689,1832,0,0,0,0,0,0
$GC,11121,0.61,234.2,495.2,14.4,888,11125,0.00,2.40,0.00,0.000,6,0.000,0.066,2701,2202,1832,0,0,0,0,0,0
$GC,11446,0.54,234.2,451.2,13.9,918,11451,0.17,2.45,0.00,0.000,4,0.186,0.082,2658,3686,1832,0,0,0,0,0,0
$GC,11608,0.63,234.2,431.5,11.7,932,11613,0.00,2.30,0.00,0.000,6,0.000,0.065,2666,2245,1831,0,0,0,0,0,0
$GC,11933,0.69,234.2,395.6,10.9,962,11938,0.10,2.35,0.00,0.000,4,0.124,0.081,2702,3687,1831,0,0,0,0,0,0
$GC,12112,0.62,234.2,370.0,14.5,977,12119,0.12,2.22,0.00,0.000,6,0.198,0.065,2683,2285,1830,0,0,0,0,0,0
$GC,12436,0.62,234.2,328.1,13.0,1008,12440,0.00,2.28,0.00,0.000,4,0.000,0.081,2683,3687,1830,0,0,0,0,0,0
$GC,12604,0.62,234.2,305.0,14.3,1022,12610,0.00,2.17,0.00,0.000,6,0.000,0.064,2691,2334,1831,0,0,0,0,0,0
$GC,12930,0.62,234.2,263.3,12.4,1053,12934,0.00,2.20,0.00,0.000,4,0.000,0.081,2691,3691,1830,0,0,0,0,0,0
$GC,13091,0.62,234.2,242.3,13.4,1067,13095,0.00,2.08,0.00,0.000,6,0.000,0.064,2701,2374,1830,0,0,0,0,0,0
$GC,13421,0.62,234.2,202.1,12.0,1098,13425,0.00,2.12,0.00,0.000,4,0.000,0.081,2701,3688,1830,0,0,0,0,0,0
$GC,13573,0.62,234.2,183.3,11.9,1111,13578,0.00,2.00,0.00,0.000,6,0.000,0.064,2711,2415,1831,0,0,0,0,0,0
$GC,13897,0.62,234.2,144.5,12.7,1142,13901,0.00,2.05,0.00,0.000,4,0.000,0.081,2711,3689,1830,0,0,0,0,0,0
$GC,14060,0.62,234.2,123.1,13.5,1156,14066,0.15,1.95,0.00,0.000,6,0.194,0.064,2684,2442,1830,0,0,0,0,0,0
$GC,14391,0.74,234.2,88.1,10.4,1197,14398,0.12,2.03,0.00,0.000,4,0.117,0.081,2725,3697,1830,0,0,0,0,0,0
$GC,14579,0.69,234.2,63.3,13.6,1230,14585,0.12,1.95,0.00,0.000,6,0.201,0.064,2706,2449,1830,0,0,0,0,0,0
$GC,14926,0.80,242.2,30.6,8.8,1291,14937,0.00,2.03,5.85,0.673,4,0.000,0.082,2706,3693,1812,0,0,0,0,0,0
$GC,15089,0.87,242.2,13.4,11.3,1320,15095,0.15,1.98,0.00,0.000,6,0.107,0.066,2766,2441,1811,0,0,0,0,0,0
$STATE,15183,end climb,SURFACE_DEPTH_REACHED
$STATE,15183,begin surface coast
$FINISH,0.9,1.026266
$STATE,15203,end surface coast,CONTROL_FINISHED_OK
$STATE,15203,begin surface
$SM_CCo,15218,25.40,0.766,0,0,1677,275.23
$SM_GC,1.75,0.00,0.00,25.40,0.000,0.000,0.766,124,2282,1677,-7.36,-0.51,275.23
$RAFOS_CLK,953
$RAFOS,6,1256028547,8.833333,8.818611,44,43,43,0,0,0,1702,1869,1935,0,0,0
$RAFOS,5,1256028069,8.700000,8.685833,42,41,40,0,0,0,1470,270,1311,0,0,0
$RAFOS,4,1256027586,8.566667,8.551666,41,40,39,0,0,0,372,1170,1686,0,0,0
$RAFOS,3,1256027108,8.433333,8.418889,43,39,39,0,0,0,1722,263,1437,0,0,0
$RAFOS,2,1256026624,8.300000,8.284445,45,41,40,0,0,0,1129,1930,293,0,0,0
$RAFOS,1,1256026150,8.166667,8.152778,44,43,42,0,0,0,645,745,966,0,0,0
$RAFOS,0,1256025667,8.033334,8.018611,52,42,42,0,0,0,1612,242,1502,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5711.93,140199,020251
$TT8_MAMPS,0.026845
$HUMID,51.02
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.20
$XPDR_PINGS,3
$24V_AH,23.4,14.819
$10V_AH,10.3,6.248
$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,23.025,96.325,324.425,25.400,0.000,28.224,41.460,217.486,0.750,0.000,13.652,2449.964,9966.810,483.956,2268.713,469.574,0.000,1618.087,0.000,2242.026,2520.000,0.533,0.000
$DEVICE_MAMPS,307.567,95.875,1224.899,766.233,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.205,921.011,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,53571,1340
$CAP_FILE_SIZE,150549,0
$CFSIZE,260165632,249733120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.1
$CURRENT,0.320,149.7,1
$GPS,201009,114607,6657.658,-5707.664,38,1.6,38,-37.5