version: 66.06
glider: 143
mission: 9
dive: 14
start: 10 20 109 11 52 8
data:
$ID,143
$MISSION,9
$DIVE,14
$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,-22564.049
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,114607,6657.658,-5707.664,38,1.6,38,-37.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.6
$GPS2,115149,6657.653,-5707.706,9,1.7,14,-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,0.257,0.040
$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,47.7,17337,-16.9,-9.167
$D_GRID,733
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.90,0.000,2,0.000,0.000,124,2279,3029,0,0,0,0,0,0
$GC,98,-0.98,-146.0,3.1,-3.7,15,126,9.77,2.58,-10.88,0.000,4,0.308,0.095,2153,725,3398,0,0,0,0,0,0
$GC,363,-0.66,-146.0,51.5,-17.3,62,369,0.43,2.55,0.00,0.000,6,0.211,0.072,2262,2301,3401,0,0,0,0,0,0
$GC,707,-0.72,-146.0,82.7,-9.1,123,712,0.00,2.65,0.00,0.000,4,0.000,0.091,2262,3893,3401,0,0,0,0,0,0
$GC,814,-0.79,-146.0,92.5,-9.2,142,821,0.12,2.53,0.00,0.000,6,0.114,0.063,2221,2308,3401,0,0,0,0,0,0
$GC,1143,-0.70,-146.0,128.0,-10.9,179,1145,0.12,0.00,0.00,0.000,6,0.216,0.000,2247,2308,3401,0,0,0,0,0,0
$GC,1463,-0.70,-146.0,157.3,-9.0,209,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2308,3400,0,0,0,0,0,0
$GC,1782,-0.76,-146.0,185.0,-8.8,239,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2308,3399,0,0,0,0,0,0
$GC,2101,-0.81,-146.0,210.9,-7.7,269,2105,0.00,2.62,0.00,0.000,4,0.000,0.091,2247,3890,3399,0,0,0,0,0,0
$GC,2212,-0.88,-146.0,219.7,-7.1,278,2218,0.15,2.53,0.00,0.000,6,0.111,0.064,2197,2297,3398,0,0,0,0,0,0
$GC,2536,-0.76,-146.0,252.6,-10.6,309,2538,0.15,0.00,0.00,0.000,6,0.209,0.000,2231,2297,3398,0,0,0,0,0,0
$GC,2855,-0.76,-146.0,281.0,-8.4,339,2859,0.00,2.62,0.00,0.000,4,0.000,0.088,2231,3890,3398,0,0,0,0,0,0
$GC,2942,-0.76,-146.0,289.1,-9.0,346,2948,0.00,2.50,0.00,0.000,6,0.000,0.061,2231,2298,3398,0,0,0,0,0,0
$GC,3267,-0.76,-146.0,316.2,-7.9,377,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2298,3398,0,0,0,0,0,0
$GC,3587,-0.76,-146.0,342.0,-8.2,407,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2298,3398,0,0,0,0,0,0
$GC,3906,-0.76,-146.0,367.9,-8.6,437,3910,0.00,2.60,0.00,0.000,4,0.000,0.086,2231,3888,3399,0,0,0,0,0,0
$GC,4023,-0.76,-146.0,377.9,-8.1,447,4027,0.00,2.47,0.00,0.000,6,0.000,0.061,2231,2305,3399,0,0,0,0,0,0
$GC,4347,-0.76,-146.0,402.8,-7.0,477,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2306,3399,0,0,0,0,0,0
$GC,4667,-0.81,-146.0,426.2,-7.4,507,4672,0.00,2.58,0.00,0.000,4,0.000,0.086,2231,3884,3399,0,0,0,0,0,0
$GC,4763,-0.86,-146.0,433.9,-7.9,515,4767,0.00,2.45,0.00,0.000,6,0.000,0.061,2231,2313,3399,0,0,0,0,0,0
$GC,5088,-0.92,-146.0,459.2,-7.8,545,5089,0.15,0.00,0.00,0.000,6,0.105,0.000,2178,2313,3400,0,0,0,0,0,0
$GC,5406,-0.78,-146.0,489.6,-9.6,575,5408,0.20,0.00,0.00,0.000,6,0.202,0.000,2227,2314,3399,0,0,0,0,0,0
$GC,5724,-0.78,-146.0,513.7,-7.2,605,5729,0.00,2.58,0.00,0.000,4,0.000,0.085,2227,3892,3400,0,0,0,0,0,0
$GC,5848,-0.83,-146.0,522.9,-7.6,615,5854,0.00,2.47,0.00,0.000,6,0.000,0.059,2227,2304,3400,0,0,0,0,0,0
$GC,6173,-0.83,-146.0,546.7,-7.1,646,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2304,3400,0,0,0,0,0,0
$GC,6493,-0.88,-146.0,569.2,-6.7,676,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2304,3401,0,0,0,0,0,0
$GC,6812,-0.94,-146.0,590.1,-6.5,706,6817,0.15,2.58,0.00,0.000,4,0.108,0.081,2162,3886,3401,0,0,0,0,0,0
$GC,6919,-0.76,-146.0,600.0,-9.7,715,6925,0.28,2.45,0.00,0.000,6,0.202,0.059,2232,2316,3401,0,0,0,0,0,0
$GC,7232,-0.83,-146.0,620.4,-6.4,725,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2316,3401,0,0,0,0,0,0
$GC,7538,-0.90,-146.0,640.6,-6.4,735,7540,0.15,0.00,0.00,0.000,6,0.110,0.000,2180,2316,3402,0,0,0,0,0,0
$GC,7844,-0.78,-146.0,667.9,-9.2,745,7846,0.20,0.00,0.00,0.000,6,0.199,0.000,2229,2316,3402,0,0,0,0,0,0
$GC,8150,-0.84,-146.0,690.2,-7.0,755,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2316,3402,0,0,0,0,0,0
$GC,8457,-0.90,-146.0,712.5,-7.2,765,8462,0.12,2.58,0.00,0.000,4,0.119,0.084,2183,3891,3402,0,0,0,0,0,0
$GC,8540,-0.81,-146.0,720.5,-10.0,767,8545,0.12,2.45,0.00,0.000,6,0.209,0.060,2210,2319,3402,0,0,0,0,0,0
$STATE,8703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8703,begin apogee
$GC,8708,-0.24,0.0,733.6,7.7,773,8831,0.65,0.00,120.03,1.211,6,0.176,0.000,2402,2106,2800,0,0,0,0,0,0
$STATE,8832,end apogee,CONTROL_FINISHED_OK
$STATE,8832,begin climb
$GC,8834,0.98,146.0,735.0,0.0,777,8962,1.30,0.00,124.25,1.161,6,0.120,0.000,2794,2106,2204,0,0,0,0,0,0
$GC,9251,0.59,146.0,668.0,18.5,791,9257,0.45,2.67,0.00,0.000,4,0.204,0.084,2687,519,2194,0,0,0,0,0,0
$GC,9262,0.24,146.0,666.0,18.5,791,9268,0.47,2.58,0.00,0.000,6,0.176,0.062,2563,2101,2194,0,0,0,0,0,0
$GC,9581,0.67,212.7,644.9,6.4,802,9643,0.38,2.78,55.17,1.114,4,0.077,0.081,2701,3684,1931,0,0,0,0,0,0
$GC,9824,0.57,212.7,609.4,15.6,809,9829,0.20,2.58,0.00,0.000,6,0.189,0.067,2666,2138,1925,0,0,0,0,0,0
$GC,10146,0.57,212.7,567.3,13.0,835,10151,0.00,2.60,0.00,0.000,4,0.000,0.081,2666,3694,1922,0,0,0,0,0,0
$GC,10346,0.57,212.7,539.9,13.5,852,10353,0.00,2.50,0.00,0.000,6,0.000,0.065,2675,2179,1920,0,0,0,0,0,0
$GC,10671,0.57,212.7,497.3,13.2,883,10676,0.00,2.50,0.00,0.000,4,0.000,0.083,2675,3689,1920,0,0,0,0,0,0
$GC,10878,0.57,212.7,468.0,14.6,901,10882,0.00,2.40,0.00,0.000,6,0.000,0.066,2686,2196,1920,0,0,0,0,0,0
$GC,11202,0.57,212.7,422.7,13.8,931,11206,0.00,2.45,0.00,0.000,4,0.000,0.081,2687,3690,1920,0,0,0,0,0,0
$GC,11409,0.57,212.7,392.1,14.7,949,11414,0.12,2.35,0.00,0.000,6,0.196,0.066,2669,2219,1919,0,0,0,0,0,0
$GC,11734,0.63,212.7,353.4,11.4,979,11738,0.00,2.40,0.00,0.000,4,0.000,0.080,2669,3696,1919,0,0,0,0,0,0
$GC,11918,0.63,212.7,330.5,12.2,995,11922,0.00,2.28,0.00,0.000,6,0.000,0.064,2678,2260,1919,0,0,0,0,0,0
$GC,12242,0.63,212.7,292.1,11.4,1025,12246,0.00,2.33,0.00,0.000,4,0.000,0.081,2678,3689,1919,0,0,0,0,0,0
$GC,12435,0.63,212.7,268.0,12.9,1042,12439,0.00,2.17,0.00,0.000,6,0.000,0.064,2689,2308,1919,0,0,0,0,0,0
$GC,12759,0.63,212.7,225.7,12.8,1072,12763,0.00,2.25,0.00,0.000,4,0.000,0.081,2688,3693,1919,0,0,0,0,0,0
$GC,12932,0.63,212.7,202.3,13.9,1087,12936,0.00,2.12,0.00,0.000,6,0.000,0.064,2699,2342,1919,0,0,0,0,0,0
$GC,13257,0.63,212.7,160.7,12.5,1117,13261,0.00,2.17,0.00,0.000,4,0.000,0.081,2699,3689,1919,0,0,0,0,0,0
$GC,13430,0.63,212.7,137.5,12.8,1132,13434,0.00,2.03,0.00,0.000,6,0.000,0.064,2708,2394,1919,0,0,0,0,0,0
$GC,13755,0.63,212.7,98.1,11.9,1163,13760,0.00,2.08,0.00,0.000,4,0.000,0.081,2708,3689,1919,0,0,0,0,0,0
$GC,13957,0.63,212.7,72.1,12.2,1199,13963,0.15,1.95,0.00,0.000,6,0.195,0.064,2681,2438,1919,0,0,0,0,0,0
$GC,14302,0.84,250.5,44.2,7.6,1260,14340,0.20,3.15,29.60,0.765,4,0.100,0.084,2765,518,1776,0,0,0,0,0,0
$GC,14413,0.77,250.5,31.2,12.6,1280,14420,0.15,3.10,0.00,0.000,6,0.196,0.066,2731,2449,1773,0,0,0,0,0,0
$STATE,14672,end climb,SURFACE_DEPTH_REACHED
$STATE,14672,begin surface coast
$FINISH,0.7,1.025458
$STATE,14689,end surface coast,CONTROL_FINISHED_OK
$STATE,14689,begin surface
$SM_CCo,14705,17.85,0.744,0,0,1677,275.23
$SM_GC,1.23,0.00,0.00,17.85,0.000,0.000,0.744,128,2288,1677,-7.35,-0.34,275.23
$RAFOS_CLK,915
$RAFOS,6,1256042942,12.833333,12.817223,42,41,39,0,0,0,1772,1876,829,0,0,0
$RAFOS,5,1256042464,12.700000,12.684444,45,41,40,0,0,0,198,436,616,0,0,0
$RAFOS,4,1256041989,12.566667,12.552500,45,43,42,0,0,0,291,1348,1250,0,0,0
$RAFOS,3,1256041508,12.433333,12.418889,52,50,44,0,0,0,1278,1814,510,0,0,0
$RAFOS,2,1256041030,12.300000,12.286111,43,43,43,0,0,0,509,731,1903,0,0,0
$RAFOS,1,1256040542,12.166667,12.150556,47,45,43,0,0,0,1301,582,206,0,0,0
$RAFOS,0,1256040064,12.033333,12.017777,43,40,39,0,0,0,921,488,128,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5719.52,140199,070719
$TT8_MAMPS,0.027612
$HUMID,51.65
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,17.50
$XPDR_PINGS,3
$24V_AH,23.4,14.942
$10V_AH,10.3,6.325
$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,23.600,99.800,329.050,17.850,0.000,23.852,31.011,170.938,0.750,0.000,16.377,2416.846,9488.455,481.683,2266.454,404.952,0.000,1608.064,0.000,2236.403,2520.000,0.533,0.000
$DEVICE_MAMPS,308.334,95.108,1211.093,743.990,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.036,912.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150224
$DATA_FILE_SIZE,50433,1329
$CAP_FILE_SIZE,149302,0
$CFSIZE,260165632,249659392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.2
$CURRENT,0.034,167.9,1
$GPS,201009,155854,6659.323,-5707.054,37,1.7,37,-37.5