version: 66.06
glider: 143
mission: 9
dive: 7
start: 10 19 109 2 4 55
data:
$ID,143
$MISSION,9
$DIVE,7
$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,-22354.977
$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,21
$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,-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
$GPS1,015706,6700.371,-5731.992,37,1.9,42,-37.7
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.2
$GPS2,020435,6700.437,-5731.827,16,1.8,16,-37.7
$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,74.2,32003,-16.9,-9.167
$D_GRID,826
$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,-84.00,0.000,2,0.000,0.000,125,2286,2955,0,0,0,0,0,0
$GC,104,-0.98,-146.0,3.5,-5.5,16,136,10.80,2.75,-12.35,0.000,4,0.332,0.110,2152,715,3400,0,0,0,0,0,0
$GC,389,-0.62,-146.0,58.3,-18.1,67,396,0.50,2.65,0.00,0.000,6,0.225,0.083,2276,2306,3403,0,0,0,0,0,0
$GC,735,-0.71,-146.0,94.4,-9.8,128,740,0.00,2.67,0.00,0.000,4,0.000,0.095,2277,717,3404,0,0,0,0,0,0
$GC,841,-0.77,-146.0,105.7,-10.6,142,848,0.15,2.62,0.00,0.000,6,0.108,0.081,2225,2314,3403,0,0,0,0,0,0
$GC,1166,-0.71,-146.0,140.0,-9.9,173,1170,0.00,2.67,0.00,0.000,4,0.000,0.101,2225,3890,3403,0,0,0,0,0,0
$GC,1296,-0.67,-146.0,153.0,-10.3,184,1301,0.15,2.58,0.00,0.000,6,0.215,0.074,2258,2315,3403,0,0,0,0,0,0
$GC,1622,-0.74,-146.0,180.8,-8.5,214,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2315,3402,0,0,0,0,0,0
$GC,1941,-0.82,-146.0,207.4,-8.5,244,1946,0.15,2.67,0.00,0.000,4,0.112,0.097,2208,706,3401,0,0,0,0,0,0
$GC,2007,-0.71,-146.0,215.1,-12.2,249,2014,0.17,2.62,0.00,0.000,6,0.222,0.084,2249,2315,3401,0,0,0,0,0,0
$GC,2333,-0.77,-146.0,243.0,-8.5,280,2338,0.00,2.65,0.00,0.000,4,0.000,0.101,2249,3889,3400,0,0,0,0,0,0
$GC,2429,-0.86,-146.0,251.5,-9.2,288,2434,0.15,2.55,0.00,0.000,6,0.113,0.073,2199,2312,3400,0,0,0,0,0,0
$GC,2753,-0.76,-146.0,285.9,-9.9,318,2758,0.12,2.67,0.00,0.000,4,0.214,0.096,2217,3893,3400,0,0,0,0,0,0
$GC,2837,-0.76,-146.0,293.8,-9.5,325,2841,0.00,2.53,0.00,0.000,6,0.000,0.071,2217,2325,3400,0,0,0,0,0,0
$GC,3163,-0.76,-146.0,322.3,-9.0,355,3167,0.00,2.60,0.00,0.000,4,0.000,0.094,2217,3885,3400,0,0,0,0,0,0
$GC,3217,-0.76,-146.0,327.4,-9.2,359,3224,0.00,2.50,0.00,0.000,6,0.000,0.069,2217,2324,3400,0,0,0,0,0,0
$GC,3542,-0.76,-146.0,356.5,-8.7,390,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2324,3401,0,0,0,0,0,0
$GC,3862,-0.76,-146.0,382.7,-7.8,420,3867,0.00,2.60,0.00,0.000,4,0.000,0.095,2217,3885,3402,0,0,0,0,0,0
$GC,3970,-0.76,-146.0,391.5,-8.5,429,3974,0.00,2.50,0.00,0.000,6,0.000,0.069,2217,2322,3402,0,0,0,0,0,0
$GC,4294,-0.76,-146.0,419.0,-9.1,459,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2322,3402,0,0,0,0,0,0
$GC,4614,-0.76,-146.0,448.0,-9.2,489,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2322,3403,0,0,0,0,0,0
$GC,4932,-0.76,-146.0,477.6,-9.3,519,4936,0.00,2.60,0.00,0.000,4,0.000,0.095,2217,3885,3403,0,0,0,0,0,0
$GC,5026,-0.76,-146.0,486.4,-9.4,527,5031,0.00,2.47,0.00,0.000,6,0.000,0.069,2217,2331,3403,0,0,0,0,0,0
$GC,5351,-0.76,-146.0,515.8,-8.7,557,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2331,3403,0,0,0,0,0,0
$GC,5670,-0.76,-146.0,542.0,-7.9,587,5675,0.00,2.60,0.00,0.000,4,0.000,0.097,2217,3889,3403,0,0,0,0,0,0
$GC,5725,-0.76,-146.0,546.8,-8.5,591,5732,0.00,2.47,0.00,0.000,6,0.000,0.069,2217,2331,3403,0,0,0,0,0,0
$GC,6050,-0.76,-146.0,573.5,-8.4,622,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2330,3403,0,0,0,0,0,0
$GC,6370,-0.76,-146.0,600.3,-8.2,652,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2330,3403,0,0,0,0,0,0
$GC,6675,-0.76,-146.0,625.4,-8.0,662,6679,0.00,2.60,0.00,0.000,4,0.000,0.097,2217,3888,3403,0,0,0,0,0,0
$GC,6741,-0.76,-146.0,631.1,-9.2,664,6745,0.00,2.47,0.00,0.000,6,0.000,0.068,2217,2328,3403,0,0,0,0,0,0
$GC,7076,-0.76,-146.0,658.8,-8.3,675,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2328,3403,0,0,0,0,0,0
$GC,7382,-0.76,-146.0,684.1,-8.2,685,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2328,3403,0,0,0,0,0,0
$GC,7688,-0.76,-146.0,708.5,-7.9,695,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2328,3403,0,0,0,0,0,0
$GC,7994,-0.76,-146.0,732.6,-7.9,705,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2328,3403,0,0,0,0,0,0
$GC,8301,-0.76,-146.0,756.5,-7.8,715,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2329,3403,0,0,0,0,0,0
$GC,8607,-0.76,-146.0,780.0,-7.6,725,8611,0.00,2.60,0.00,0.000,4,0.000,0.098,2217,3885,3403,0,0,0,0,0,0
$GC,8678,-0.76,-146.0,785.7,-7.8,727,8683,0.00,2.47,0.00,0.000,6,0.000,0.071,2217,2328,3403,0,0,0,0,0,0
$GC,9002,-0.76,-146.0,810.1,-7.4,738,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2328,3403,0,0,0,0,0,0
$STATE,9214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9219,-0.24,0.0,827.2,8.0,745,9346,0.62,0.00,123.78,1.305,6,0.183,0.000,2395,2097,2800,0,0,0,0,0,0
$STATE,9347,end apogee,CONTROL_FINISHED_OK
$STATE,9347,begin climb
$GC,9349,0.98,146.0,830.2,0.0,749,9481,1.35,0.00,126.88,1.253,6,0.133,0.000,2788,2097,2204,0,0,0,0,0,0
$GC,9764,0.65,146.0,771.9,16.0,763,9769,0.35,2.83,0.00,0.000,4,0.203,0.090,2699,3692,2193,0,0,0,0,0,0
$GC,10022,0.51,146.0,738.2,13.0,770,10028,0.25,2.67,0.00,0.000,6,0.198,0.074,2649,2106,2190,0,0,0,0,0,0
$GC,10334,0.58,148.8,709.6,9.0,781,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2106,2189,0,0,0,0,0,0
$GC,10641,0.65,149.3,682.0,9.1,791,10646,0.12,2.72,0.00,0.000,4,0.124,0.094,2688,3689,2189,0,0,0,0,0,0
$GC,10899,0.54,149.3,649.3,12.9,798,10905,0.17,2.65,0.00,0.000,6,0.196,0.076,2659,2085,2189,0,0,0,0,0,0
$GC,11210,0.54,149.3,617.5,10.0,809,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2085,2189,0,0,0,0,0,0
$GC,11521,0.54,149.3,585.8,9.9,827,11526,0.00,2.70,0.00,0.000,4,0.000,0.094,2659,3689,2188,0,0,0,0,0,0
$GC,11777,0.54,149.3,557.7,10.3,849,11784,0.00,2.62,0.00,0.000,6,0.000,0.074,2669,2078,2187,0,0,0,0,0,0
$GC,12102,0.54,149.3,525.1,9.9,880,12107,0.00,2.70,0.00,0.000,4,0.000,0.095,2669,3689,2187,0,0,0,0,0,0
$GC,12112,0.54,149.3,524.0,10.0,880,12118,0.00,2.62,0.00,0.000,6,0.000,0.076,2681,2080,2187,0,0,0,0,0,0
$GC,12437,0.54,149.3,490.5,10.2,911,12441,0.00,2.70,0.00,0.000,4,0.000,0.096,2680,3686,2187,0,0,0,0,0,0
$GC,12693,0.45,149.3,461.3,11.4,933,12700,0.25,2.60,0.00,0.000,6,0.196,0.076,2630,2083,2187,0,0,0,0,0,0
$GC,13019,0.65,181.9,436.0,7.8,964,13054,0.17,2.80,27.73,1.047,4,0.104,0.093,2689,3684,2057,0,0,0,0,0,0
$GC,13308,0.58,181.9,400.7,12.4,990,13313,0.12,2.60,0.00,0.000,6,0.199,0.077,2674,2121,2051,0,0,0,0,0,0
$GC,13633,0.63,181.9,366.8,10.6,1020,13637,0.00,2.62,0.00,0.000,4,0.000,0.091,2674,3686,2050,0,0,0,0,0,0
$GC,13885,0.63,181.9,337.0,11.9,1042,13889,0.00,2.50,0.00,0.000,6,0.000,0.075,2684,2158,2050,0,0,0,0,0,0
$GC,14209,0.63,181.9,301.4,11.2,1072,14214,0.00,2.55,0.00,0.000,4,0.000,0.091,2683,3687,2050,0,0,0,0,0,0
$GC,14466,0.63,181.9,270.0,12.4,1094,14473,0.00,2.45,0.00,0.000,6,0.000,0.074,2695,2202,2049,0,0,0,0,0,0
$GC,14791,0.63,181.9,236.4,10.0,1125,14796,0.00,2.45,0.00,0.000,4,0.000,0.089,2695,3688,2049,0,0,0,0,0,0
$GC,15049,0.58,181.9,206.1,12.1,1147,15056,0.15,2.33,0.00,0.000,6,0.196,0.074,2670,2247,2049,0,0,0,0,0,0
$GC,15374,0.69,184.3,176.0,9.1,1178,15378,0.00,2.38,0.00,0.000,4,0.000,0.089,2670,3689,2048,0,0,0,0,0,0
$GC,15582,0.73,184.3,155.4,9.4,1196,15587,0.12,2.28,0.00,0.000,6,0.120,0.073,2721,2274,2049,0,0,0,0,0,0
$GC,15906,0.73,184.3,118.6,11.0,1226,15910,0.00,2.33,0.00,0.000,4,0.000,0.089,2721,3688,2048,0,0,0,0,0,0
$GC,16164,0.64,184.3,87.2,11.3,1258,16170,0.17,2.20,0.00,0.000,6,0.199,0.074,2689,2311,2048,0,0,0,0,0,0
$GC,16509,0.80,231.9,59.7,7.2,1319,16558,0.15,2.38,39.85,0.825,4,0.113,0.093,2740,3692,1853,0,0,0,0,0,0
$GC,16812,0.80,231.9,28.9,9.4,1373,16817,0.00,2.20,0.00,0.000,6,0.000,0.075,2750,2354,1846,0,0,0,0,0,0
$STATE,17097,end climb,SURFACE_DEPTH_REACHED
$STATE,17097,begin surface coast
$FINISH,0.6,1.026235
$STATE,17115,end surface coast,CONTROL_FINISHED_OK
$STATE,17115,begin surface
$SM_CCo,17130,32.58,0.798,0,0,1678,275.23
$SM_GC,1.70,0.00,0.00,32.58,0.000,0.000,0.798,130,2295,1678,-7.35,-0.17,275.23
$RAFOS_CLK,1130
$RAFOS,6,1255927741,4.833333,4.816945,44,40,38,0,0,0,1392,804,1540,0,0,0
$RAFOS,5,1255927264,4.700000,4.684444,43,41,39,0,0,0,1294,1306,183,0,0,0
$RAFOS,4,1255926803,4.566667,4.556389,49,45,44,0,0,0,1143,981,1589,0,0,0
$RAFOS,3,1255926316,4.433333,4.421111,47,46,44,0,0,0,1055,1189,1150,0,0,0
$RAFOS,2,1255925826,4.300000,4.285000,54,44,41,0,0,0,1559,1118,1432,0,0,0
$RAFOS,1,1255925367,4.166667,4.157500,43,38,38,0,0,0,387,170,1218,0,0,0
$RAFOS,0,1255924877,4.033333,4.021389,50,45,41,0,0,0,1392,1759,885,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5930.40,120199,212131
$TT8_MAMPS,0.027612
$HUMID,53.15
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.70
$XPDR_PINGS,3
$24V_AH,23.0,13.989
$10V_AH,10.3,5.712
$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,23.675,123.500,318.225,32.575,0.000,31.349,31.467,265.292,0.750,0.000,17.745,2669.740,11309.949,505.281,2598.207,519.281,0.000,1799.888,0.000,2557.075,2520.000,0.530,0.000
$DEVICE_MAMPS,332.111,125.788,1305.434,798.447,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.273,1008.164,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,56748,1427
$CAP_FILE_SIZE,169068,0
$CFSIZE,260165632,250212352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$CURRENT,0.312,163.3,1
$GPS,191009,065356,6659.508,-5728.145,112,3.4,131,-37.6