version: 66.06
glider: 143
mission: 10
dive: 70
start: 10 31 109 20 45 33
data:
$ID,143
$MISSION,10
$DIVE,70
$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,-25226.064
$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,16
$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,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
$GPS1,203924,6657.568,-5808.966,36,1.2,36,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.8
$GPS2,204514,6657.556,-5808.992,8,1.5,8,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_ADD3_WB
$TGT_LATLONG,6655.000,-5823.000
$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,250.9,11219,-16.9,-9.167
$D_GRID,961
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-88.85,0.000,2,0.000,0.000,125,2446,3088,0,0,0,0,0,0
$GC,109,-0.73,-146.0,3.3,-5.9,17,137,9.90,2.72,-8.88,0.000,4,0.308,0.103,2151,871,3398,0,0,0,0,0,0
$GC,390,-0.73,-146.0,45.8,-13.7,67,395,0.00,2.65,0.00,0.000,6,0.000,0.082,2151,2459,3401,0,0,0,0,0,0
$GC,734,-0.73,-146.0,85.9,-11.7,128,740,0.00,2.65,0.00,0.000,4,0.000,0.091,2151,870,3401,0,0,0,0,0,0
$GC,994,-0.73,-146.0,117.0,-11.2,162,999,0.00,2.62,0.00,0.000,6,0.000,0.084,2151,2458,3402,0,0,0,0,0,0
$GC,1318,-0.73,-146.0,149.9,-9.9,192,1322,0.00,2.65,0.00,0.000,4,0.000,0.092,2151,867,3402,0,0,0,0,0,0
$GC,1575,-0.73,-146.0,176.9,-10.3,214,1582,0.00,2.62,0.00,0.000,6,0.000,0.084,2151,2457,3402,0,0,0,0,0,0
$GC,1899,-0.73,-146.0,209.4,-9.6,245,1904,0.00,2.62,0.00,0.000,4,0.000,0.093,2151,870,3402,0,0,0,0,0,0
$GC,2156,-0.73,-146.0,235.5,-9.5,267,2162,0.00,2.62,0.00,0.000,6,0.000,0.085,2151,2471,3400,0,0,0,0,0,0
$GC,2481,-0.73,-146.0,265.3,-8.9,298,2485,0.00,2.65,0.00,0.000,4,0.000,0.093,2151,870,3400,0,0,0,0,0,0
$GC,2737,-0.73,-146.0,290.3,-9.7,320,2744,0.00,2.60,0.00,0.000,6,0.000,0.084,2151,2459,3400,0,0,0,0,0,0
$GC,3063,-0.73,-146.0,318.4,-8.9,351,3068,0.00,2.62,0.00,0.000,4,0.000,0.091,2150,866,3399,0,0,0,0,0,0
$GC,3320,-0.73,-146.0,342.6,-9.3,373,3326,0.00,2.60,0.00,0.000,6,0.000,0.082,2151,2463,3399,0,0,0,0,0,0
$GC,3645,-0.73,-146.0,370.8,-8.5,404,3649,0.00,2.62,0.00,0.000,4,0.000,0.091,2151,866,3400,0,0,0,0,0,0
$GC,3901,-0.73,-146.0,395.2,-9.7,426,3908,0.00,2.65,0.00,0.000,6,0.000,0.082,2151,2491,3400,0,0,0,0,0,0
$GC,4227,-0.73,-146.0,424.9,-9.0,457,4231,0.00,2.67,0.00,0.000,4,0.000,0.091,2151,861,3400,0,0,0,0,0,0
$GC,4484,-0.73,-146.0,449.4,-9.1,479,4489,0.00,2.60,0.00,0.000,6,0.000,0.082,2151,2461,3401,0,0,0,0,0,0
$GC,4808,-0.73,-146.0,476.5,-8.2,510,4813,0.00,2.62,0.00,0.000,4,0.000,0.091,2151,860,3400,0,0,0,0,0,0
$GC,5066,-0.73,-146.0,499.2,-8.6,532,5072,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2464,3401,0,0,0,0,0,0
$GC,5391,-0.73,-146.0,524.3,-7.5,563,5396,0.00,2.60,0.00,0.000,4,0.000,0.091,2150,870,3401,0,0,0,0,0,0
$GC,5649,-0.73,-146.0,545.6,-7.8,585,5655,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2474,3401,0,0,0,0,0,0
$GC,5974,-0.73,-146.0,569.0,-7.3,616,5978,0.00,2.62,0.00,0.000,4,0.000,0.089,2151,866,3401,0,0,0,0,0,0
$GC,6231,-0.73,-146.0,589.4,-7.9,638,6237,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2471,3401,0,0,0,0,0,0
$GC,6570,-0.73,-146.0,613.8,-7.0,659,6574,0.00,2.62,0.00,0.000,4,0.000,0.090,2151,863,3402,0,0,0,0,0,0
$GC,6827,-0.73,-146.0,634.3,-8.4,666,6834,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2468,3402,0,0,0,0,0,0
$GC,7139,-0.73,-146.0,657.0,-7.4,677,7143,0.00,2.60,0.00,0.000,4,0.000,0.089,2151,869,3402,0,0,0,0,0,0
$GC,7396,-0.73,-146.0,678.6,-8.4,684,7402,0.00,2.58,0.00,0.000,6,0.000,0.081,2151,2464,3403,0,0,0,0,0,0
$GC,7709,-0.73,-146.0,702.1,-7.5,695,7713,0.00,2.60,0.00,0.000,4,0.000,0.089,2151,868,3402,0,0,0,0,0,0
$GC,7966,-0.73,-146.0,722.7,-8.3,702,7972,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2474,3402,0,0,0,0,0,0
$GC,8278,-0.73,-146.0,745.5,-7.4,713,8283,0.00,2.62,0.00,0.000,4,0.000,0.089,2151,863,3403,0,0,0,0,0,0
$GC,8536,-0.73,-146.0,766.5,-7.5,720,8542,0.00,2.60,0.00,0.000,6,0.000,0.081,2151,2470,3403,0,0,0,0,0,0
$GC,8849,-0.73,-146.0,789.2,-7.0,731,8853,0.00,2.60,0.00,0.000,4,0.000,0.089,2151,869,3402,0,0,0,0,0,0
$GC,9106,-0.73,-146.0,809.5,-7.7,738,9113,0.00,2.58,0.00,0.000,6,0.000,0.081,2150,2463,3402,0,0,0,0,0,0
$GC,9418,-0.73,-146.0,831.4,-7.1,749,9423,0.00,2.60,0.00,0.000,4,0.000,0.090,2151,866,3403,0,0,0,0,0,0
$GC,9676,-0.73,-146.0,851.7,-7.5,756,9681,0.00,2.58,0.00,0.000,6,0.000,0.081,2151,2463,3403,0,0,0,0,0,0
$GC,9988,-0.73,-146.0,873.3,-7.0,767,9992,0.00,2.60,0.00,0.000,4,0.000,0.089,2151,866,3402,0,0,0,0,0,0
$GC,10245,-0.73,-146.0,893.1,-7.4,774,10252,0.00,2.58,0.00,0.000,6,0.000,0.081,2151,2462,3402,0,0,0,0,0,0
$GC,10557,-0.73,-146.0,914.6,-6.9,785,10562,0.00,2.60,0.00,0.000,4,0.000,0.090,2151,866,3402,0,0,0,0,0,0
$GC,10815,-0.73,-146.0,933.9,-7.5,792,10821,0.00,2.60,0.00,0.000,6,0.000,0.081,2150,2473,3402,0,0,0,0,0,0
$GC,11128,-0.73,-146.0,955.1,-6.9,803,11132,0.00,2.62,0.00,0.000,4,0.000,0.090,2151,862,3402,0,0,0,0,0,0
$STATE,11203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11203,begin apogee
$GC,11209,-0.16,0.0,961.1,7.8,805,11338,0.62,0.00,124.70,1.395,6,0.193,0.000,2330,1954,2800,0,0,0,0,0,0
$STATE,11338,end apogee,CONTROL_FINISHED_OK
$STATE,11338,begin climb
$GC,11340,0.73,146.0,963.5,0.0,809,11481,0.95,3.05,131.05,1.337,4,0.133,0.090,2611,3529,2203,0,0,0,0,0,0
$GC,11735,0.73,146.0,921.1,12.2,821,11739,0.00,2.75,0.00,0.000,6,0.000,0.077,2622,1947,2194,0,0,0,0,0,0
$GC,12062,0.73,146.0,881.3,11.9,832,12067,0.00,2.75,0.00,0.000,4,0.000,0.093,2622,3535,2192,0,0,0,0,0,0
$GC,12319,0.73,146.0,847.1,12.4,839,12325,0.00,2.65,0.00,0.000,6,0.000,0.079,2634,1949,2191,0,0,0,0,0,0
$GC,12631,0.73,146.0,807.6,12.5,850,12636,0.00,2.70,0.00,0.000,4,0.000,0.092,2634,3544,2190,0,0,0,0,0,0
$GC,12887,0.73,146.0,772.1,14.0,857,12894,0.00,2.65,0.00,0.000,6,0.000,0.079,2646,1941,2189,0,0,0,0,0,0
$GC,13203,0.73,146.0,731.3,12.9,868,13207,0.00,2.67,0.00,0.000,4,0.000,0.091,2646,3536,2189,0,0,0,0,0,0
$GC,13459,0.73,146.0,695.1,13.8,875,13466,0.15,2.62,0.00,0.000,6,0.211,0.080,2626,1938,2188,0,0,0,0,0,0
$GC,13772,0.73,146.0,659.3,11.6,886,13776,0.00,2.67,0.00,0.000,4,0.000,0.091,2625,3542,2188,0,0,0,0,0,0
$GC,14029,0.73,146.0,626.5,12.4,893,14035,0.00,2.62,0.00,0.000,6,0.000,0.079,2635,1940,2187,0,0,0,0,0,0
$GC,14344,0.73,146.0,589.6,11.8,908,14348,0.00,2.65,0.00,0.000,4,0.000,0.091,2635,3536,2188,0,0,0,0,0,0
$GC,14600,0.73,146.0,555.8,13.3,930,14607,0.00,2.60,0.00,0.000,6,0.000,0.078,2647,1946,2187,0,0,0,0,0,0
$GC,14925,0.73,146.0,514.7,12.6,961,14929,0.00,2.65,0.00,0.000,4,0.000,0.091,2647,3546,2188,0,0,0,0,0,0
$GC,15181,0.73,146.0,479.2,14.2,983,15188,0.15,2.60,0.00,0.000,6,0.209,0.078,2626,1948,2187,0,0,0,0,0,0
$GC,15506,0.73,146.0,443.1,10.5,1014,15510,0.00,2.65,0.00,0.000,4,0.000,0.091,2625,3547,2187,0,0,0,0,0,0
$GC,15762,0.73,146.0,412.7,11.2,1036,15769,0.00,2.60,0.00,0.000,6,0.000,0.077,2635,1942,2187,0,0,0,0,0,0
$GC,16087,0.73,146.0,377.8,10.5,1067,16092,0.00,2.65,0.00,0.000,4,0.000,0.091,2635,3543,2188,0,0,0,0,0,0
$GC,16343,0.73,146.0,346.3,12.1,1089,16350,0.00,2.58,0.00,0.000,6,0.000,0.077,2647,1951,2187,0,0,0,0,0,0
$GC,16668,0.73,146.0,307.1,12.2,1120,16673,0.00,2.62,0.00,0.000,4,0.000,0.091,2647,3543,2187,0,0,0,0,0,0
$GC,16925,0.73,146.0,271.8,13.8,1142,16932,0.15,2.58,0.00,0.000,6,0.206,0.077,2625,1948,2187,0,0,0,0,0,0
$GC,17249,0.73,146.0,237.9,9.9,1173,17254,0.00,2.62,0.00,0.000,4,0.000,0.090,2625,3543,2187,0,0,0,0,0,0
$GC,17506,0.73,146.0,209.0,11.4,1195,17512,0.00,2.58,0.00,0.000,6,0.000,0.077,2634,1950,2187,0,0,0,0,0,0
$GC,17831,0.73,146.0,176.5,9.3,1226,17835,0.00,2.62,0.00,0.000,4,0.000,0.090,2634,3546,2187,0,0,0,0,0,0
$GC,18087,0.73,146.0,148.8,11.1,1248,18094,0.00,2.60,0.00,0.000,6,0.000,0.077,2647,1938,2187,0,0,0,0,0,0
$GC,18413,0.73,152.1,118.3,8.9,1279,18417,0.00,2.65,0.00,0.000,4,0.000,0.092,2647,3548,2187,0,0,0,0,0,0
$GC,18671,0.73,152.1,93.1,9.4,1308,18677,0.12,2.60,0.00,0.000,6,0.206,0.079,2631,1944,2187,0,0,0,0,0,0
$GC,19016,0.78,194.2,66.9,7.4,1369,19062,0.00,2.78,37.20,0.823,4,0.000,0.091,2631,3540,2007,0,0,0,0,0,0
$GC,19317,0.80,202.9,39.9,8.8,1423,19333,0.00,2.62,7.75,0.752,6,0.000,0.081,2640,1956,1971,0,0,0,0,0,0
$GC,19670,0.81,213.3,11.4,8.7,1486,19687,0.00,2.70,9.55,0.770,4,0.000,0.094,2640,3538,1930,0,0,0,0,0,0
$STATE,19776,end climb,SURFACE_DEPTH_REACHED
$STATE,19776,begin surface coast
$FINISH,0.3,1.026386
$STATE,19793,end surface coast,CONTROL_FINISHED_OK
$STATE,19793,begin surface
$SM_CCo,19810,49.83,0.788,0,0,1678,275.23
$SM_GC,1.17,0.00,0.00,49.83,0.000,0.000,0.788,123,2456,1678,-7.09,-0.11,275.23
$RAFOS_CLK,1315
$RAFOS,6,1257036548,0.833333,0.818889,73,59,59,0,0,0,643,191,167,0,0,0
$RAFOS,5,1257036088,0.700000,0.691111,115,68,58,0,0,0,458,209,163,0,0,0
$RAFOS,4,1257035611,0.566667,0.558611,96,60,59,0,0,0,526,163,179,0,0,0
$RAFOS,3,1257035131,0.433333,0.425278,67,60,58,0,0,0,695,197,213,0,0,0
$RAFOS,2,1257034624,0.300000,0.284444,67,64,63,0,0,0,865,161,181,0,0,0
$RAFOS,1,1257034145,0.166667,0.151389,66,62,54,0,0,0,843,160,210,0,0,0
$RAFOS,0,1257033665,0.033333,0.018056,60,56,56,0,0,0,202,177,216,0,0,0
$RAFOS,6,1257022141,20.833334,20.816944,113,60,56,0,0,0,701,219,189,0,0,0
$RAFOS,4,1257021184,20.566668,20.551111,109,58,58,0,0,0,669,218,181,0,0,0
$RAFOS_FIX,6656.264648,-5814.776367,011109,000017,6,81,0.36
$IRIDIUM_FIX,6631.12,-5805.51,250199,151520
$TT8_MAMPS,0.027612
$HUMID,49.17
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.50
$XPDR_PINGS,3
$24V_AH,22.5,23.395
$10V_AH,10.2,11.696
$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,19.350,182.750,310.250,49.825,0.000,26.786,34.710,164.150,0.750,0.000,11.221,2997.935,12648.587,570.062,3553.286,459.515,0.000,2295.674,0.000,3486.844,2880.000,0.530,0.000
$DEVICE_MAMPS,307.567,102.778,1395.173,788.476,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1090.502,1069.673,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188176
$DATA_FILE_SIZE,56703,1508
$CAP_FILE_SIZE,201846,0
$CFSIZE,260165632,244686848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$CURRENT,0.300,318.0,1
$GPS,011109,021836,6658.320,-5809.359,35,1.6,40,-37.8