version: 66.06
glider: 143
mission: 10
dive: 105
start: 11 8 109 13 45 39
data:
$ID,143
$MISSION,10
$DIVE,105
$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,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,-26486.119
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,132506,6644.495,-5945.749,32,1.4,32,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.9
$GPS2,134521,6644.460,-5945.357,45,99.0,64,-38.0
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$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,64.0,28450,-16.9,-9.167
$D_GRID,807
$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,15,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,111,0.00,0.00,-91.68,0.000,2,0.000,0.000,124,2462,2937,0,0,0,0,0,0
$GC,114,-0.73,-146.0,3.6,-6.8,18,146,10.20,2.60,-12.75,0.000,4,0.319,0.118,2145,3903,3399,0,0,0,0,0,0
$GC,400,-0.73,-146.0,51.9,-14.3,69,405,0.00,2.42,0.00,0.000,6,0.000,0.076,2145,2452,3402,0,0,0,0,0,0
$GC,742,-0.73,-146.0,95.3,-11.8,130,748,0.00,2.55,0.00,0.000,4,0.000,0.102,2145,3919,3403,0,0,0,0,0,0
$GC,798,-0.73,-146.0,102.2,-12.6,139,802,0.00,2.42,0.00,0.000,6,0.000,0.076,2145,2459,3403,0,0,0,0,0,0
$GC,1123,-0.73,-146.0,141.8,-12.3,169,1127,0.00,2.53,0.00,0.000,4,0.000,0.103,2145,3918,3403,0,0,0,0,0,0
$GC,1183,-0.73,-146.0,149.6,-12.4,174,1188,0.00,2.40,0.00,0.000,6,0.000,0.077,2145,2469,3403,0,0,0,0,0,0
$GC,1507,-0.73,-146.0,188.2,-11.9,204,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2469,3403,0,0,0,0,0,0
$GC,1827,-0.73,-146.0,224.6,-11.3,234,1831,0.00,2.65,0.00,0.000,4,0.000,0.096,2145,870,3403,0,0,0,0,0,0
$GC,1899,-0.73,-146.0,233.1,-11.7,240,1904,0.00,2.67,0.00,0.000,6,0.000,0.087,2145,2485,3403,0,0,0,0,0,0
$GC,2223,-0.73,-146.0,267.0,-10.6,270,2228,0.00,2.45,0.00,0.000,4,0.000,0.104,2145,3921,3403,0,0,0,0,0,0
$GC,2346,-0.73,-146.0,280.2,-10.9,280,2353,0.00,2.35,0.00,0.000,6,0.000,0.077,2145,2486,3402,0,0,0,0,0,0
$GC,2670,-0.73,-146.0,310.8,-9.8,311,2675,0.00,2.67,0.00,0.000,4,0.000,0.096,2145,868,3402,0,0,0,0,0,0
$GC,2736,-0.73,-146.0,317.7,-10.4,316,2743,0.00,2.67,0.00,0.000,6,0.000,0.087,2145,2487,3402,0,0,0,0,0,0
$GC,3061,-0.73,-146.0,348.5,-9.4,347,3065,0.00,2.42,0.00,0.000,4,0.000,0.104,2145,3915,3401,0,0,0,0,0,0
$GC,3126,-0.73,-146.0,354.8,-9.6,352,3133,0.00,2.38,0.00,0.000,6,0.000,0.076,2145,2491,3401,0,0,0,0,0,0
$GC,3451,-0.73,-146.0,385.3,-9.5,383,3455,0.00,2.67,0.00,0.000,4,0.000,0.096,2145,868,3401,0,0,0,0,0,0
$GC,3489,-0.73,-146.0,389.2,-10.2,386,3494,0.00,2.67,0.00,0.000,6,0.000,0.087,2145,2491,3401,0,0,0,0,0,0
$GC,3813,-0.73,-146.0,417.9,-8.7,416,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2491,3401,0,0,0,0,0,0
$GC,4133,-0.73,-146.0,445.6,-8.6,446,4138,0.00,2.67,0.00,0.000,4,0.000,0.094,2145,872,3401,0,0,0,0,0,0
$GC,4210,-0.73,-146.0,453.0,-9.5,452,4217,0.00,2.65,0.00,0.000,6,0.000,0.085,2145,2488,3401,0,0,0,0,0,0
$GC,4536,-0.73,-146.0,479.4,-7.5,483,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2488,3402,0,0,0,0,0,0
$GC,4855,-0.73,-146.0,504.2,-7.7,513,4860,0.00,2.67,0.00,0.000,4,0.000,0.093,2145,866,3402,0,0,0,0,0,0
$GC,4888,-0.73,-146.0,507.2,-8.5,515,4894,0.00,2.62,0.00,0.000,6,0.000,0.083,2146,2477,3402,0,0,0,0,0,0
$GC,5213,-0.73,-146.0,531.1,-7.4,546,5217,0.00,2.65,0.00,0.000,4,0.000,0.093,2145,869,3403,0,0,0,0,0,0
$GC,5245,-0.73,-146.0,533.8,-8.3,548,5252,0.00,2.62,0.00,0.000,6,0.000,0.083,2145,2479,3403,0,0,0,0,0,0
$GC,5570,-0.73,-146.0,558.2,-7.8,579,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2479,3404,0,0,0,0,0,0
$GC,5890,-0.73,-146.0,583.0,-7.8,609,5894,0.00,2.65,0.00,0.000,4,0.000,0.092,2145,869,3403,0,0,0,0,0,0
$GC,5929,-0.73,-146.0,586.4,-8.5,612,5933,0.00,2.60,0.00,0.000,6,0.000,0.082,2145,2469,3404,0,0,0,0,0,0
$GC,6259,-0.73,-146.0,613.4,-8.2,633,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2469,3405,0,0,0,0,0,0
$GC,6564,-0.73,-146.0,638.9,-8.3,643,6569,0.00,2.62,0.00,0.000,4,0.000,0.091,2145,869,3405,0,0,0,0,0,0
$GC,6613,-0.73,-146.0,643.5,-9.2,644,6617,0.00,2.60,0.00,0.000,6,0.000,0.081,2145,2474,3405,0,0,0,0,0,0
$GC,6931,-0.73,-146.0,668.5,-7.6,655,6935,0.00,2.40,0.00,0.000,4,0.000,0.097,2145,3911,3405,0,0,0,0,0,0
$GC,6975,-0.73,-146.0,671.9,-8.3,656,6979,0.00,2.33,0.00,0.000,6,0.000,0.071,2146,2467,3405,0,0,0,0,0,0
$GC,7294,-0.73,-146.0,695.4,-7.3,667,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2467,3406,0,0,0,0,0,0
$GC,7600,-0.73,-146.0,718.1,-7.8,677,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2467,3406,0,0,0,0,0,0
$GC,7905,-0.73,-146.0,741.3,-7.6,687,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2467,3406,0,0,0,0,0,0
$GC,8212,-0.73,-146.0,765.1,-7.5,697,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2467,3406,0,0,0,0,0,0
$GC,8518,-0.73,-146.0,790.5,-7.9,707,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2467,3406,0,0,0,0,0,0
$STATE,8729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8730,begin apogee
$GC,8735,-0.16,0.0,807.6,8.4,714,8862,0.68,0.00,123.57,1.300,6,0.194,0.000,2333,1948,2800,0,0,0,0,0,0
$STATE,8863,end apogee,CONTROL_FINISHED_OK
$STATE,8863,begin climb
$GC,8865,0.73,146.0,809.5,0.0,718,9001,0.95,3.00,128.02,1.242,4,0.137,0.095,2623,365,2203,0,0,0,0,0,0
$GC,9040,0.73,146.0,795.8,10.9,723,9046,0.00,2.83,0.00,0.000,6,0.000,0.071,2624,1957,2199,0,0,0,0,0,0
$GC,9352,0.73,146.0,759.2,11.7,734,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1957,2194,0,0,0,0,0,0
$GC,9659,0.73,146.0,722.2,12.1,744,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1957,2192,0,0,0,0,0,0
$GC,9965,0.73,146.0,686.8,11.3,754,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1957,2192,0,0,0,0,0,0
$GC,10271,0.73,146.0,653.3,10.8,764,10275,0.00,2.65,0.00,0.000,4,0.000,0.090,2624,3544,2191,0,0,0,0,0,0
$GC,10303,0.73,146.0,649.4,12.3,765,10307,0.00,2.62,0.00,0.000,6,0.000,0.077,2635,1954,2190,0,0,0,0,0,0
$GC,10638,0.73,146.0,609.3,11.9,776,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1955,2190,0,0,0,0,0,0
$GC,10953,0.73,146.0,571.6,11.8,800,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1955,2190,0,0,0,0,0,0
$GC,11272,0.73,146.0,534.7,11.5,830,11277,0.00,2.65,0.00,0.000,4,0.000,0.091,2635,3542,2190,0,0,0,0,0,0
$GC,11315,0.73,146.0,529.0,12.5,833,11321,0.00,2.60,0.00,0.000,6,0.000,0.077,2647,1957,2189,0,0,0,0,0,0
$GC,11640,0.73,146.0,490.1,11.8,864,11645,0.00,2.65,0.00,0.000,4,0.000,0.091,2647,3543,2189,0,0,0,0,0,0
$GC,11661,0.73,146.0,487.3,12.0,865,11668,0.15,2.60,0.00,0.000,6,0.209,0.077,2626,1955,2190,0,0,0,0,0,0
$GC,11985,0.73,146.0,450.7,11.7,896,11990,0.00,2.62,0.00,0.000,4,0.000,0.096,2636,357,2189,0,0,0,0,0,0
$GC,12018,0.73,146.0,446.7,12.5,898,12024,0.00,2.58,0.00,0.000,6,0.000,0.073,2636,1965,2189,0,0,0,0,0,0
$GC,12343,0.73,146.0,409.1,11.0,929,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1965,2189,0,0,0,0,0,0
$GC,12662,0.73,146.0,374.6,10.7,959,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1965,2190,0,0,0,0,0,0
$GC,12982,0.73,146.0,341.9,10.5,989,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1965,2189,0,0,0,0,0,0
$GC,13301,0.73,146.0,310.4,9.4,1019,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1965,2189,0,0,0,0,0,0
$GC,13619,0.75,165.8,282.5,8.3,1049,13637,0.00,0.00,14.90,0.929,6,0.000,0.000,2636,1965,2123,0,0,0,0,0,0
$GC,13957,0.75,165.8,252.9,9.3,1081,13961,0.00,2.67,0.00,0.000,4,0.000,0.097,2648,361,2122,0,0,0,0,0,0
$GC,14029,0.75,165.8,245.8,10.2,1087,14033,0.00,2.60,0.00,0.000,6,0.000,0.074,2648,1973,2122,0,0,0,0,0,0
$GC,14354,0.76,173.3,214.8,8.9,1117,14368,0.00,2.65,7.88,0.849,4,0.000,0.091,2648,3536,2092,0,0,0,0,0,0
$GC,14397,0.76,173.3,210.9,9.5,1121,14401,0.00,2.60,0.00,0.000,6,0.000,0.080,2660,1962,2091,0,0,0,0,0,0
$GC,14722,0.78,192.7,183.0,8.4,1151,14744,0.00,2.78,17.23,0.904,4,0.000,0.099,2672,358,2014,0,0,0,0,0,0
$GC,14760,0.78,192.7,179.2,9.4,1154,14766,0.00,2.65,0.00,0.000,6,0.000,0.076,2671,1971,2012,0,0,0,0,0,0
$GC,15086,0.78,192.7,145.3,9.9,1185,15090,0.00,2.72,0.00,0.000,4,0.000,0.100,2683,359,2009,0,0,0,0,0,0
$GC,15158,0.78,192.7,137.6,10.3,1191,15163,0.17,2.62,0.00,0.000,6,0.199,0.078,2642,1967,2009,0,0,0,0,0,0
$GC,15483,0.82,220.8,109.9,8.0,1221,15514,0.00,2.72,23.62,0.880,4,0.000,0.094,2642,3531,1899,0,0,0,0,0,0
$GC,15541,0.82,220.8,104.8,9.4,1226,15547,0.00,2.65,0.00,0.000,6,0.000,0.081,2652,1955,1896,0,0,0,0,0,0
$GC,15882,0.83,227.5,75.3,8.9,1282,15892,0.00,0.00,6.53,0.779,6,0.000,0.000,2651,1955,1870,0,0,0,0,0,0
$GC,16230,0.85,250.4,45.2,8.2,1344,16258,0.00,2.72,20.27,0.847,4,0.000,0.102,2663,362,1778,0,0,0,0,0,0
$GC,16275,0.89,277.1,41.5,8.0,1352,16307,0.00,2.65,24.10,0.823,6,0.000,0.079,2663,1962,1668,0,0,0,0,0,0
$GC,16645,0.89,281.7,4.3,9.0,1418,16650,0.00,0.00,3.28,0.525,6,0.000,0.000,2663,1962,1650,0,0,0,0,0,0
$STATE,16671,end climb,SURFACE_DEPTH_REACHED
$STATE,16671,begin surface coast
$FINISH,0.4,1.025856
$STATE,16689,end surface coast,CONTROL_FINISHED_OK
$STATE,16689,begin surface
$SM_CCo,16766,0.00,0.000,0,0,1644,283.32
$SM_GC,1.25,7.55,0.00,0.00,0.092,0.000,0.000,126,2469,1644,-7.04,0.25,283.32
$RAFOS_CLK,1174
$RAFOS,6,1257698943,16.833334,16.817499,72,63,60,0,0,0,753,198,218,0,0,0
$RAFOS,5,1257698483,16.700001,16.689722,75,66,61,0,0,0,751,208,190,0,0,0
$RAFOS,4,1257697994,16.566668,16.553888,83,61,59,0,0,0,567,190,219,0,0,0
$RAFOS,3,1257697504,16.433332,16.417778,74,58,58,0,0,0,742,203,121,0,0,0
$RAFOS,2,1257697044,16.299999,16.290001,80,64,59,0,0,0,544,216,170,0,0,0
$RAFOS,1,1257696546,16.166666,16.151667,66,59,59,0,0,0,573,202,179,0,0,0
$RAFOS,0,1257696087,16.033333,16.024166,59,59,53,0,0,0,150,171,204,0,0,0
$RAFOS_FIX,6644.943359,-5941.885742,081109,161617,6,75,0.27
$IRIDIUM_FIX,6620.33,-5948.93,020299,131303
$TT8_MAMPS,0.026845
$HUMID,48.93
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.6,19.2
$24V_AH,22.6,28.758
$10V_AH,10.1,15.041
$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,19.700,132.225,369.400,0.000,0.000,82.076,118.722,691.760,2.500,0.000,66.656,2534.414,11457.041,519.396,2339.507,1134.753,0.000,1712.820,0.000,2255.951,2520.000,2.616,0.000
$DEVICE_MAMPS,319.072,118.118,1300.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.381,995.290,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188400
$DATA_FILE_SIZE,56725,1426
$CAP_FILE_SIZE,170829,0
$CFSIZE,260165632,241758208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$CURRENT,0.176,352.6,1
$GPS,081109,182706,6648.024,-5943.290,59,0.8,60,-38.0