version: 66.06
glider: 143
mission: 10
dive: 6
start: 10 21 109 7 27 58
data:
$ID,143
$MISSION,10
$DIVE,6
$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,-23087.625
$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,2430
$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,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,21
$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,-24.446302
$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,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
$GPS1,072207,6659.989,-5701.543,37,1.5,37,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.6
$GPS2,072738,6659.964,-5701.483,14,1.5,14,-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,0.000,0.000
$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,52.5,11244,-16.9,-9.167
$D_GRID,695
$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,14,-0.98,-146.0,0.0,0.0,0,101,0.00,0.00,-83.45,0.000,2,0.000,0.000,129,2243,3179,0,0,0,0,0,0
$GC,103,-0.98,-146.0,3.0,-4.3,16,126,9.50,2.62,-5.82,0.000,4,0.305,0.091,2105,655,3398,0,0,0,0,0,0
$GC,256,-0.77,-146.0,31.5,-16.3,43,263,0.28,2.60,0.00,0.000,6,0.209,0.072,2173,2252,3399,0,0,0,0,0,0
$GC,601,-0.82,-146.0,70.3,-9.5,104,607,0.00,2.60,0.00,0.000,4,0.000,0.083,2174,661,3400,0,0,0,0,0,0
$GC,860,-0.87,-146.0,93.8,-9.0,150,866,0.00,2.47,0.00,0.000,6,0.000,0.071,2174,2201,3399,0,0,0,0,0,0
$GC,1190,-0.94,-146.0,120.1,-8.0,188,1195,0.15,2.70,0.00,0.000,4,0.107,0.085,2110,3838,3399,0,0,0,0,0,0
$GC,1332,-0.83,-146.0,136.9,-12.1,200,1337,0.20,2.62,0.00,0.000,6,0.210,0.064,2157,2194,3398,0,0,0,0,0,0
$GC,1656,-0.83,-146.0,171.4,-9.8,230,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3399,0,0,0,0,0,0
$GC,1977,-0.89,-146.0,202.5,-10.0,260,1981,0.00,2.72,0.00,0.000,4,0.000,0.087,2157,3845,3398,0,0,0,0,0,0
$GC,2234,-0.96,-146.0,226.3,-8.7,282,2240,0.12,2.60,0.00,0.000,6,0.117,0.063,2116,2202,3398,0,0,0,0,0,0
$GC,2558,-0.88,-146.0,259.6,-10.5,313,2564,0.12,2.72,0.00,0.000,4,0.215,0.087,2140,3846,3397,0,0,0,0,0,0
$GC,2693,-0.88,-146.0,272.6,-9.6,324,2698,0.00,2.60,0.00,0.000,6,0.000,0.062,2140,2203,3398,0,0,0,0,0,0
$GC,3017,-0.88,-146.0,301.1,-8.8,355,3022,0.00,2.70,0.00,0.000,4,0.000,0.087,2140,3846,3398,0,0,0,0,0,0
$GC,3116,-0.88,-146.0,310.1,-8.7,363,3123,0.00,2.58,0.00,0.000,6,0.000,0.062,2140,2212,3398,0,0,0,0,0,0
$GC,3442,-0.88,-146.0,337.3,-8.5,394,3446,0.00,2.67,0.00,0.000,4,0.000,0.086,2140,3846,3398,0,0,0,0,0,0
$GC,3563,-0.88,-146.0,347.9,-8.3,404,3569,0.00,2.58,0.00,0.000,6,0.000,0.061,2140,2208,3398,0,0,0,0,0,0
$GC,3888,-0.88,-146.0,374.8,-8.7,435,3893,0.00,2.67,0.00,0.000,4,0.000,0.086,2140,3845,3399,0,0,0,0,0,0
$GC,4034,-0.88,-146.0,387.1,-7.9,447,4040,0.00,2.55,0.00,0.000,6,0.000,0.061,2140,2223,3398,0,0,0,0,0,0
$GC,4360,-0.88,-146.0,411.5,-7.2,478,4364,0.00,2.65,0.00,0.000,4,0.000,0.085,2140,3846,3398,0,0,0,0,0,0
$GC,4515,-0.88,-146.0,423.5,-8.4,491,4522,0.00,2.55,0.00,0.000,6,0.000,0.060,2140,2223,3399,0,0,0,0,0,0
$GC,4840,-0.88,-146.0,451.8,-8.9,522,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2223,3399,0,0,0,0,0,0
$GC,5160,-0.88,-146.0,478.1,-7.9,552,5164,0.00,2.65,0.00,0.000,4,0.000,0.084,2140,3841,3399,0,0,0,0,0,0
$GC,5289,-0.88,-146.0,488.2,-7.4,563,5294,0.00,2.53,0.00,0.000,6,0.000,0.060,2140,2228,3399,0,0,0,0,0,0
$GC,5614,-0.88,-146.0,511.0,-7.4,593,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2228,3399,0,0,0,0,0,0
$GC,5933,-0.88,-146.0,536.6,-8.4,623,5938,0.00,2.62,0.00,0.000,4,0.000,0.084,2140,3841,3400,0,0,0,0,0,0
$GC,6097,-0.88,-146.0,550.3,-8.4,637,6101,0.00,2.50,0.00,0.000,6,0.000,0.059,2140,2241,3399,0,0,0,0,0,0
$GC,6421,-0.92,-146.0,574.9,-7.3,667,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2241,3400,0,0,0,0,0,0
$GC,6741,-0.97,-146.0,598.5,-7.8,697,6745,0.00,2.60,0.00,0.000,4,0.000,0.084,2140,3840,3400,0,0,0,0,0,0
$GC,6882,-0.97,-146.0,609.3,-7.8,702,6886,0.00,2.50,0.00,0.000,6,0.000,0.059,2140,2239,3400,0,0,0,0,0,0
$GC,7205,-1.02,-146.0,632.9,-7.1,713,7210,0.12,2.60,0.00,0.000,4,0.110,0.083,2081,3838,3400,0,0,0,0,0,0
$GC,7323,-0.87,-146.0,644.6,-9.9,716,7328,0.25,2.50,0.00,0.000,6,0.204,0.060,2143,2239,3400,0,0,0,0,0,0
$GC,7635,-0.94,-146.0,669.0,-8.1,726,7640,0.00,2.60,0.00,0.000,4,0.000,0.084,2143,3838,3401,0,0,0,0,0,0
$GC,7743,-1.01,-146.0,677.4,-7.7,729,7748,0.12,2.47,0.00,0.000,6,0.114,0.059,2101,2254,3401,0,0,0,0,0,0
$STATE,7942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7942,begin apogee
$GC,7947,-0.24,0.0,695.2,8.9,736,8070,0.88,0.00,119.60,1.180,6,0.185,0.000,2350,2190,2800,0,0,0,0,0,0
$STATE,8070,end apogee,CONTROL_FINISHED_OK
$STATE,8071,begin climb
$GC,8072,0.98,146.0,696.9,0.0,740,8200,1.27,0.00,123.35,1.133,6,0.111,0.000,2741,2190,2204,0,0,0,0,0,0
$GC,8490,0.56,146.0,626.8,18.8,754,8496,0.47,2.72,0.00,0.000,4,0.209,0.078,2607,3787,2195,0,0,0,0,0,0
$GC,8748,0.46,146.0,592.2,13.6,763,8755,0.15,2.58,0.00,0.000,6,0.205,0.062,2583,2207,2193,0,0,0,0,0,0
$GC,9074,0.46,146.0,557.3,10.3,794,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2207,2193,0,0,0,0,0,0
$GC,9392,0.46,146.0,523.3,11.3,824,9397,0.00,2.62,0.00,0.000,4,0.000,0.081,2572,3795,2193,0,0,0,0,0,0
$GC,9638,0.46,146.0,495.3,11.7,845,9644,0.00,2.58,0.00,0.000,6,0.000,0.061,2582,2205,2191,0,0,0,0,0,0
$GC,9963,0.46,146.0,461.2,10.9,876,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2205,2191,0,0,0,0,0,0
$GC,10282,0.46,146.0,426.0,11.1,906,10287,0.00,2.60,0.00,0.000,4,0.000,0.081,2582,3796,2191,0,0,0,0,0,0
$GC,10539,0.46,146.0,395.9,11.7,928,10545,0.00,2.55,0.00,0.000,6,0.000,0.061,2594,2210,2191,0,0,0,0,0,0
$GC,10863,0.46,146.0,362.1,11.0,959,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2209,2191,0,0,0,0,0,0
$GC,11183,0.46,146.0,330.0,9.7,989,11188,0.00,2.58,0.00,0.000,4,0.000,0.082,2594,3793,2191,0,0,0,0,0,0
$GC,11428,0.46,146.0,302.8,11.4,1010,11435,0.00,2.53,0.00,0.000,6,0.000,0.062,2605,2217,2191,0,0,0,0,0,0
$GC,11755,0.46,146.0,268.7,10.4,1041,11759,0.00,2.55,0.00,0.000,4,0.000,0.082,2606,3788,2191,0,0,0,0,0,0
$GC,11764,0.46,146.0,267.5,10.2,1041,11771,0.12,2.50,0.00,0.000,6,0.184,0.064,2568,2231,2191,0,0,0,0,0,0
$GC,12090,0.58,156.8,238.8,8.7,1072,12105,0.15,2.60,8.02,0.787,4,0.110,0.082,2619,3785,2159,0,0,0,0,0,0
$GC,12359,0.48,156.8,205.5,12.1,1096,12364,0.17,2.50,0.00,0.000,6,0.199,0.064,2589,2216,2159,0,0,0,0,0,0
$GC,12683,0.55,156.8,175.0,9.2,1126,12685,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2216,2159,0,0,0,0,0,0
$GC,13005,0.67,180.4,146.4,8.2,1156,13032,0.17,2.60,20.20,0.817,4,0.104,0.081,2649,3786,2062,0,0,0,0,0,0
$GC,13283,0.53,180.4,111.1,12.4,1180,13290,0.22,2.50,0.00,0.000,6,0.196,0.064,2606,2219,2058,0,0,0,0,0,0
$GC,13621,0.61,191.8,81.1,8.7,1229,13637,0.00,0.00,9.65,0.739,6,0.000,0.000,2606,2219,2017,0,0,0,0,0,0
$GC,13976,0.81,227.1,50.9,7.7,1292,14014,0.25,2.65,29.23,0.768,4,0.089,0.083,2701,3793,1873,0,0,0,0,0,0
$GC,14233,0.64,227.1,14.9,14.6,1338,14240,0.30,2.55,0.00,0.000,6,0.198,0.064,2638,2215,1867,0,0,0,0,0,0
$STATE,14363,end climb,SURFACE_DEPTH_REACHED
$STATE,14363,begin surface coast
$FINISH,0.3,1.018394
$STATE,14386,end surface coast,CONTROL_FINISHED_OK
$STATE,14386,begin surface
$SM_CCo,14401,33.03,0.740,0,0,1678,275.23
$SM_GC,1.73,0.00,0.00,33.03,0.000,0.000,0.740,128,2254,1678,-7.20,0.11,275.23
$RAFOS_CLK,891
$RAFOS,6,1256114947,8.833333,8.818611,67,56,55,0,0,0,818,163,221,0,0,0
$RAFOS,5,1256114463,8.700000,8.684167,112,59,58,0,0,0,643,170,213,0,0,0
$RAFOS,4,1256113986,8.566667,8.551666,65,61,59,0,0,0,192,131,850,0,0,0
$RAFOS,3,1256113507,8.433333,8.418612,75,62,61,0,0,0,201,124,147,0,0,0
$RAFOS,2,1256113029,8.300000,8.285833,91,67,63,0,0,0,1013,213,173,0,0,0
$RAFOS,1,1256112549,8.166667,8.152500,71,67,61,0,0,0,224,1007,210,0,0,0
$RAFOS,0,1256112063,8.033334,8.017500,71,64,59,0,0,0,1163,213,231,0,0,0
$RAFOS_FIX,6650.826660,-5708.629395,211009,080820,4,85,4.78
$IRIDIUM_FIX,6631.12,-5656.72,150199,030323
$TT8_MAMPS,0.026845
$HUMID,45.31
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.50
$XPDR_PINGS,3
$24V_AH,23.5,15.714
$10V_AH,10.3,6.718
$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,22.150,114.175,310.050,33.025,0.000,29.831,30.723,153.160,0.750,0.000,15.515,2529.135,8874.507,508.853,2461.095,398.660,0.000,1715.544,0.000,2427.460,2520.000,0.534,0.000
$DEVICE_MAMPS,305.266,128.089,1179.646,740.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.119,935.635,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150256
$DATA_FILE_SIZE,53488,1365
$CAP_FILE_SIZE,153935,0
$CFSIZE,260165632,250290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.9
$CURRENT,0.405,155.5,1
$GPS,211009,113007,6658.861,-5657.648,34,1.2,34,-37.5