version: 66.06
glider: 143
mission: 10
dive: 97
start: 11 7 109 5 4 34
data:
$ID,143
$MISSION,10
$DIVE,97
$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,-2
$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,578.41736
$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,-25902.279
$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,2390
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$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,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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
$GPS1,044055,6644.756,-5956.366,126,1.3,126,-38.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.1
$GPS2,050416,6644.620,-5955.750,25,99.0,44,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$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,295.9,22160,-16.9,-9.167
$D_GRID,686
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-72.78,0.000,2,0.000,0.000,120,2463,2844,0,0,0,0,0,0
$GC,94,-0.73,-146.0,3.6,-6.7,14,127,10.38,2.55,-15.52,0.000,4,0.322,0.116,2149,3909,3400,0,0,0,0,0,0
$GC,239,-0.73,-146.0,32.7,-17.7,40,245,0.00,2.42,0.00,0.000,6,0.000,0.074,2149,2458,3402,0,0,0,0,0,0
$GC,582,-0.73,-146.0,82.3,-13.0,101,588,0.00,2.53,0.00,0.000,4,0.000,0.101,2149,3914,3402,0,0,0,0,0,0
$GC,700,-0.73,-146.0,97.9,-13.0,122,707,0.00,2.40,0.00,0.000,6,0.000,0.074,2149,2462,3402,0,0,0,0,0,0
$GC,1027,-0.73,-146.0,141.1,-14.2,154,1031,0.00,2.50,0.00,0.000,4,0.000,0.101,2149,3910,3403,0,0,0,0,0,0
$GC,1099,-0.73,-146.0,151.0,-13.3,160,1103,0.00,2.35,0.00,0.000,6,0.000,0.074,2149,2483,3403,0,0,0,0,0,0
$GC,1429,-0.73,-146.0,192.2,-12.1,191,1433,0.00,2.45,0.00,0.000,4,0.000,0.102,2149,3909,3403,0,0,0,0,0,0
$GC,1449,-0.73,-146.0,194.9,-12.4,192,1455,0.00,2.35,0.00,0.000,6,0.000,0.074,2149,2481,3403,0,0,0,0,0,0
$GC,1776,-0.73,-146.0,233.2,-11.3,223,1780,0.00,2.65,0.00,0.000,4,0.000,0.094,2149,871,3403,0,0,0,0,0,0
$GC,1830,-0.73,-146.0,240.2,-11.9,227,1837,0.00,2.65,0.00,0.000,6,0.000,0.086,2149,2478,3403,0,0,0,0,0,0
$GC,2155,-0.73,-146.0,274.7,-10.4,258,2159,0.00,2.45,0.00,0.000,4,0.000,0.104,2149,3916,3403,0,0,0,0,0,0
$GC,2317,-0.73,-146.0,292.2,-11.3,272,2321,0.00,2.38,0.00,0.000,6,0.000,0.077,2149,2484,3403,0,0,0,0,0,0
$GC,2647,-0.73,-146.0,323.3,-8.6,303,2651,0.00,2.45,0.00,0.000,4,0.000,0.104,2149,3912,3403,0,0,0,0,0,0
$GC,2668,-0.73,-146.0,325.3,-8.9,304,2674,0.00,2.33,0.00,0.000,6,0.000,0.076,2149,2496,3402,0,0,0,0,0,0
$GC,2995,-0.73,-146.0,353.4,-9.1,335,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2496,3402,0,0,0,0,0,0
$GC,3312,-0.73,-146.0,382.5,-9.4,365,3316,0.00,2.67,0.00,0.000,4,0.000,0.094,2149,868,3401,0,0,0,0,0,0
$GC,3344,-0.73,-146.0,385.9,-10.2,367,3350,0.00,2.67,0.00,0.000,6,0.000,0.086,2149,2497,3401,0,0,0,0,0,0
$GC,3669,-0.73,-146.0,415.4,-9.0,398,3673,0.00,2.40,0.00,0.000,4,0.000,0.103,2149,3912,3401,0,0,0,0,0,0
$GC,3734,-0.73,-146.0,421.8,-9.5,403,3741,0.00,2.35,0.00,0.000,6,0.000,0.075,2149,2502,3401,0,0,0,0,0,0
$GC,4060,-0.73,-146.0,450.8,-8.8,434,4064,0.00,2.67,0.00,0.000,4,0.000,0.094,2149,871,3401,0,0,0,0,0,0
$GC,4154,-0.73,-146.0,459.7,-10.0,442,4159,0.00,2.65,0.00,0.000,6,0.000,0.084,2149,2487,3401,0,0,0,0,0,0
$GC,4478,-0.73,-146.0,489.1,-9.1,472,4483,0.00,2.40,0.00,0.000,4,0.000,0.101,2149,3913,3401,0,0,0,0,0,0
$GC,4506,-0.73,-146.0,491.6,-8.8,474,4511,0.00,2.35,0.00,0.000,6,0.000,0.074,2149,2471,3401,0,0,0,0,0,0
$GC,4833,-0.73,-146.0,520.7,-8.5,504,4837,0.00,2.62,0.00,0.000,4,0.000,0.093,2149,862,3402,0,0,0,0,0,0
$GC,4875,-0.73,-146.0,525.1,-9.9,507,4882,0.00,2.62,0.00,0.000,6,0.000,0.083,2149,2472,3402,0,0,0,0,0,0
$GC,5201,-0.73,-146.0,552.1,-7.8,538,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2472,3402,0,0,0,0,0,0
$GC,5520,-0.73,-146.0,577.3,-7.8,568,5525,0.00,2.62,0.00,0.000,4,0.000,0.091,2149,871,3403,0,0,0,0,0,0
$GC,5587,-0.73,-146.0,582.9,-7.7,573,5593,0.00,2.60,0.00,0.000,6,0.000,0.081,2149,2473,3403,0,0,0,0,0,0
$GC,5909,-0.73,-146.0,607.3,-7.7,598,5914,0.00,2.62,0.00,0.000,4,0.000,0.091,2149,871,3403,0,0,0,0,0,0
$GC,5964,-0.73,-146.0,612.1,-8.6,599,5970,0.00,2.58,0.00,0.000,6,0.000,0.081,2149,2459,3403,0,0,0,0,0,0
$GC,6277,-0.73,-146.0,636.7,-7.9,610,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2459,3403,0,0,0,0,0,0
$GC,6582,-0.73,-146.0,660.6,-7.7,620,6586,0.00,2.45,0.00,0.000,4,0.000,0.098,2149,3918,3404,0,0,0,0,0,0
$GC,6632,-0.73,-146.0,664.6,-8.1,621,6636,0.00,2.38,0.00,0.000,6,0.000,0.071,2149,2450,3404,0,0,0,0,0,0
$STATE,6918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6918,begin apogee
$GC,6924,-0.16,0.0,686.0,7.1,631,7048,0.65,0.00,121.38,1.222,6,0.196,0.000,2329,1945,2800,0,0,0,0,0,0
$STATE,7049,end apogee,CONTROL_FINISHED_OK
$STATE,7049,begin climb
$GC,7051,0.73,146.0,688.1,0.0,635,7187,0.98,2.88,125.50,1.167,4,0.142,0.094,2624,368,2204,0,0,0,0,0,0
$GC,7208,0.73,146.0,675.7,12.0,640,7213,0.00,2.83,0.00,0.000,6,0.000,0.071,2624,1953,2201,0,0,0,0,0,0
$GC,7544,0.73,146.0,637.0,11.4,651,7548,0.00,2.75,0.00,0.000,4,0.000,0.089,2624,3539,2196,0,0,0,0,0,0
$GC,7593,0.73,146.0,630.8,12.9,652,7597,0.00,2.70,0.00,0.000,6,0.000,0.077,2636,1959,2195,0,0,0,0,0,0
$GC,7912,0.73,146.0,593.2,12.0,665,7916,0.00,2.70,0.00,0.000,4,0.000,0.097,2647,361,2194,0,0,0,0,0,0
$GC,8018,0.73,146.0,579.8,12.5,674,8022,0.00,2.60,0.00,0.000,6,0.000,0.074,2647,1946,2194,0,0,0,0,0,0
$GC,8342,0.73,146.0,540.1,12.0,704,8346,0.00,2.67,0.00,0.000,4,0.000,0.097,2659,360,2194,0,0,0,0,0,0
$GC,8357,0.73,146.0,538.1,11.9,705,8363,0.15,2.58,0.00,0.000,6,0.200,0.074,2626,1944,2194,0,0,0,0,0,0
$GC,8682,0.73,146.0,503.0,10.8,735,8686,0.00,2.65,0.00,0.000,4,0.000,0.089,2625,3536,2193,0,0,0,0,0,0
$GC,8720,0.73,146.0,498.6,12.3,738,8725,0.00,2.65,0.00,0.000,6,0.000,0.077,2636,1933,2193,0,0,0,0,0,0
$GC,9044,0.73,146.0,462.7,11.3,768,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1933,2192,0,0,0,0,0,0
$GC,9364,0.73,146.0,427.9,10.6,798,9368,0.00,2.60,0.00,0.000,4,0.000,0.097,2647,360,2192,0,0,0,0,0,0
$GC,9414,0.73,146.0,422.0,12.0,802,9418,0.00,2.55,0.00,0.000,6,0.000,0.074,2647,1945,2192,0,0,0,0,0,0
$GC,9738,0.73,146.0,386.3,11.0,832,9742,0.00,2.65,0.00,0.000,4,0.000,0.089,2647,3548,2192,0,0,0,0,0,0
$GC,9787,0.73,146.0,380.3,12.4,836,9793,0.15,2.62,0.00,0.000,6,0.207,0.077,2626,1948,2192,0,0,0,0,0,0
$GC,10111,0.73,146.0,348.8,9.7,866,10116,0.00,2.62,0.00,0.000,4,0.000,0.097,2636,356,2192,0,0,0,0,0,0
$GC,10143,0.73,146.0,345.5,10.6,868,10149,0.00,2.58,0.00,0.000,6,0.000,0.074,2635,1967,2193,0,0,0,0,0,0
$GC,10468,0.73,146.0,314.1,9.4,899,10473,0.00,2.60,0.00,0.000,4,0.000,0.090,2636,3546,2192,0,0,0,0,0,0
$GC,10530,0.73,146.0,307.4,10.8,904,10534,0.00,2.60,0.00,0.000,6,0.000,0.078,2647,1959,2192,0,0,0,0,0,0
$GC,10854,0.73,146.0,274.0,9.6,934,10858,0.00,2.62,0.00,0.000,4,0.000,0.097,2659,361,2192,0,0,0,0,0,0
$GC,10926,0.73,146.0,266.7,10.6,940,10931,0.15,2.58,0.00,0.000,6,0.199,0.074,2625,1970,2192,0,0,0,0,0,0
$GC,11250,0.76,176.1,239.8,7.9,970,11282,0.00,2.65,23.95,0.937,4,0.000,0.091,2625,3537,2080,0,0,0,0,0,0
$GC,11320,0.76,176.1,233.5,10.1,976,11326,0.00,2.62,0.00,0.000,6,0.000,0.079,2634,1963,2078,0,0,0,0,0,0
$GC,11646,0.77,180.5,204.8,9.0,1007,11657,0.00,2.70,4.55,0.722,4,0.000,0.100,2646,360,2064,0,0,0,0,0,0
$GC,11751,0.77,180.5,194.5,9.5,1016,11758,0.00,2.62,0.00,0.000,6,0.000,0.077,2646,1943,2063,0,0,0,0,0,0
$GC,12077,0.77,180.5,164.6,9.6,1047,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1944,2063,0,0,0,0,0,0
$GC,12396,0.79,197.6,135.9,8.4,1077,12419,0.00,2.72,15.85,0.890,4,0.000,0.093,2646,3549,1993,0,0,0,0,0,0
$GC,12457,0.79,197.6,130.2,10.2,1082,12464,0.00,2.67,0.00,0.000,6,0.000,0.081,2657,1954,1990,0,0,0,0,0,0
$GC,12782,0.83,234.7,103.6,7.6,1113,12816,0.00,0.00,31.73,0.881,6,0.000,0.000,2658,1955,1842,0,0,0,0,0,0
$GC,13148,0.85,246.0,71.3,8.7,1174,13165,0.00,2.75,10.18,0.827,4,0.000,0.096,2657,3540,1796,0,0,0,0,0,0
$GC,13227,0.85,246.0,63.4,10.4,1188,13232,0.00,2.67,0.00,0.000,6,0.000,0.083,2670,1961,1794,0,0,0,0,0,0
$GC,13571,0.86,253.0,32.3,8.9,1249,13583,0.00,2.78,6.82,0.772,4,0.000,0.094,2669,3540,1767,0,0,0,0,0,0
$GC,13668,0.88,270.3,23.6,8.4,1266,13689,0.00,2.65,16.55,0.825,6,0.000,0.084,2681,1969,1697,0,0,0,0,0,0
$STATE,13925,end climb,SURFACE_DEPTH_REACHED
$STATE,13925,begin surface coast
$FINISH,0.6,1.025247
$STATE,13954,end surface coast,CONTROL_FINISHED_OK
$STATE,13954,begin surface
$SM_CCo,13971,239.82,0.775,0,0,441,578.42
$SM_GC,1.14,0.00,0.00,239.82,0.000,0.000,0.775,125,2465,441,-7.08,0.14,578.42
$RAFOS_CLK,1014
$RAFOS,6,1257583746,8.833333,8.818334,64,61,59,0,0,0,142,215,178,0,0,0
$RAFOS,5,1257583261,8.700000,8.683611,64,64,57,0,0,0,203,928,216,0,0,0
$RAFOS,4,1257582788,8.566667,8.552222,121,64,52,0,0,0,656,209,115,0,0,0
$RAFOS,3,1257582306,8.433333,8.418333,73,57,55,0,0,0,210,120,149,0,0,0
$RAFOS,2,1257581821,8.300000,8.283611,70,59,59,0,0,0,193,216,234,0,0,0
$RAFOS,1,1257581342,8.166667,8.150556,115,59,59,0,0,0,553,216,167,0,0,0
$RAFOS,0,1257580871,8.033334,8.019722,71,59,56,0,0,0,193,124,147,0,0,0
$RAFOS,4,1257568381,4.566667,4.550278,59,59,58,0,0,0,183,673,194,0,0,0
$RAFOS_FIX,6648.775879,-5957.287109,071109,080828,2,118,0.65
$IRIDIUM_FIX,6614.97,-5954.40,010299,050541
$TT8_MAMPS,0.027612
$HUMID,46.81
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.9,20.1
$24V_AH,22.7,27.533
$10V_AH,10.2,14.396
$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,20.075,156.700,356.500,239.825,0.000,137.492,278.108,548.517,2.000,0.000,46.863,2429.717,9030.587,746.732,2215.276,1209.087,0.000,1889.872,0.000,2153.638,2520.000,2.618,0.000
$DEVICE_MAMPS,322.140,115.817,1221.831,774.670,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.906,913.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188092
$DATA_FILE_SIZE,50470,1317
$CAP_FILE_SIZE,166828,0
$CFSIZE,260165632,242356224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$CURRENT,0.098,142.7,1
$GPS,071109,090306,6643.769,-5958.858,26,1.4,26,-38.0