version: 66.06
glider: 143
mission: 10
dive: 99
start: 11 7 109 13 42 58
data:
$ID,143
$MISSION,10
$DIVE,99
$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,-26315.969
$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,16
$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
$GPS1,131900,6643.723,-6002.033,36,1.6,36,-38.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-60.0
$GPS2,134238,6643.808,-6001.853,11,2.0,11,-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,320.1,17669,-16.9,-9.167
$D_GRID,625
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,171,0.00,0.00,-151.95,0.000,2,0.000,0.000,126,2467,2870,0,0,0,0,0,0
$GC,174,-0.73,-146.0,3.2,-5.0,29,206,10.32,2.58,-14.93,0.000,4,0.321,0.117,2145,3921,3399,0,0,0,0,0,0
$GC,358,-0.73,-146.0,38.2,-14.9,62,364,0.00,2.45,0.00,0.000,6,0.000,0.075,2145,2458,3402,0,0,0,0,0,0
$GC,701,-0.73,-146.0,86.7,-13.7,123,708,0.00,2.53,0.00,0.000,4,0.000,0.100,2145,3910,3402,0,0,0,0,0,0
$GC,815,-0.73,-146.0,102.0,-13.2,142,819,0.00,2.40,0.00,0.000,6,0.000,0.075,2145,2468,3402,0,0,0,0,0,0
$GC,1140,-0.73,-146.0,143.8,-12.9,172,1145,0.00,2.65,0.00,0.000,4,0.000,0.094,2145,870,3403,0,0,0,0,0,0
$GC,1168,-0.73,-146.0,147.7,-14.3,174,1172,0.00,2.65,0.00,0.000,6,0.000,0.086,2145,2468,3403,0,0,0,0,0,0
$GC,1492,-0.73,-146.0,190.0,-12.9,204,1497,0.00,2.47,0.00,0.000,4,0.000,0.103,2145,3912,3403,0,0,0,0,0,0
$GC,1565,-0.73,-146.0,199.0,-12.3,210,1569,0.00,2.38,0.00,0.000,6,0.000,0.077,2145,2475,3403,0,0,0,0,0,0
$GC,1890,-0.73,-146.0,237.2,-11.1,240,1894,0.00,2.50,0.00,0.000,4,0.000,0.104,2146,3922,3403,0,0,0,0,0,0
$GC,1956,-0.73,-146.0,244.8,-11.4,245,1962,0.00,2.40,0.00,0.000,6,0.000,0.076,2146,2472,3403,0,0,0,0,0,0
$GC,2281,-0.73,-146.0,276.3,-9.2,276,2285,0.00,2.50,0.00,0.000,4,0.000,0.104,2146,3917,3403,0,0,0,0,0,0
$GC,2308,-0.73,-146.0,279.0,-9.8,278,2312,0.00,2.35,0.00,0.000,6,0.000,0.077,2145,2495,3403,0,0,0,0,0,0
$GC,2633,-0.73,-146.0,308.3,-9.2,308,2637,0.00,2.67,0.00,0.000,4,0.000,0.096,2145,872,3403,0,0,0,0,0,0
$GC,2683,-0.73,-146.0,313.3,-9.9,312,2687,0.00,2.67,0.00,0.000,6,0.000,0.087,2146,2489,3403,0,0,0,0,0,0
$GC,3007,-0.73,-146.0,345.2,-9.8,342,3011,0.00,2.70,0.00,0.000,4,0.000,0.097,2145,870,3403,0,0,0,0,0,0
$GC,3039,-0.73,-146.0,348.8,-10.9,344,3045,0.00,2.65,0.00,0.000,6,0.000,0.087,2145,2481,3403,0,0,0,0,0,0
$GC,3364,-0.73,-146.0,379.7,-9.2,375,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2480,3402,0,0,0,0,0,0
$GC,3684,-0.73,-146.0,408.9,-9.1,405,3688,0.00,2.45,0.00,0.000,4,0.000,0.104,2145,3922,3402,0,0,0,0,0,0
$GC,3738,-0.73,-146.0,414.4,-9.8,409,3744,0.00,2.42,0.00,0.000,6,0.000,0.076,2146,2468,3401,0,0,0,0,0,0
$GC,4064,-0.73,-146.0,443.1,-9.0,440,4068,0.00,2.47,0.00,0.000,4,0.000,0.102,2145,3918,3401,0,0,0,0,0,0
$GC,4125,-0.73,-146.0,448.6,-8.6,445,4129,0.00,2.35,0.00,0.000,6,0.000,0.074,2146,2481,3401,0,0,0,0,0,0
$GC,4449,-0.73,-146.0,476.7,-8.4,475,4454,0.00,2.45,0.00,0.000,4,0.000,0.101,2145,3916,3402,0,0,0,0,0,0
$GC,4493,-0.73,-146.0,480.6,-8.9,478,4499,0.00,2.35,0.00,0.000,6,0.000,0.074,2145,2480,3402,0,0,0,0,0,0
$GC,4818,-0.73,-146.0,508.6,-9.0,509,4822,0.00,2.45,0.00,0.000,4,0.000,0.100,2145,3921,3402,0,0,0,0,0,0
$GC,4861,-0.73,-146.0,512.7,-9.8,512,4867,0.00,2.33,0.00,0.000,6,0.000,0.072,2145,2486,3402,0,0,0,0,0,0
$GC,5186,-0.73,-146.0,542.0,-9.1,543,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2486,3403,0,0,0,0,0,0
$GC,5506,-0.73,-146.0,568.2,-7.9,573,5511,0.00,2.62,0.00,0.000,4,0.000,0.091,2145,872,3403,0,0,0,0,0,0
$GC,5601,-0.73,-146.0,576.5,-9.2,581,5605,0.00,2.62,0.00,0.000,6,0.000,0.082,2145,2486,3403,0,0,0,0,0,0
$GC,5934,-0.73,-146.0,602.9,-8.2,610,5939,0.00,2.65,0.00,0.000,4,0.000,0.091,2145,868,3404,0,0,0,0,0,0
$GC,5989,-0.73,-146.0,607.8,-8.7,611,5996,0.00,2.60,0.00,0.000,6,0.000,0.081,2145,2475,3404,0,0,0,0,0,0
$STATE,6207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6207,begin apogee
$GC,6213,-0.16,0.0,627.6,10.3,619,6337,0.68,0.00,121.00,1.186,6,0.199,0.000,2331,1940,2800,0,0,0,0,0,0
$STATE,6338,end apogee,CONTROL_FINISHED_OK
$STATE,6338,begin climb
$GC,6340,0.73,146.0,632.6,0.0,623,6476,1.00,3.08,124.95,1.132,4,0.139,0.087,2619,3534,2203,0,0,0,0,0,0
$GC,6503,0.73,146.0,619.2,13.4,628,6508,0.00,2.88,0.00,0.000,6,0.000,0.074,2631,1952,2199,0,0,0,0,0,0
$GC,6827,0.73,146.0,580.1,11.6,649,6832,0.00,2.75,0.00,0.000,4,0.000,0.095,2642,361,2193,0,0,0,0,0,0
$GC,6882,0.73,146.0,573.3,12.4,653,6888,0.00,2.65,0.00,0.000,6,0.000,0.073,2642,1948,2193,0,0,0,0,0,0
$GC,7207,0.73,146.0,534.7,11.5,684,7212,0.00,2.70,0.00,0.000,4,0.000,0.096,2654,361,2191,0,0,0,0,0,0
$GC,7228,0.73,146.0,531.8,12.9,685,7234,0.12,2.60,0.00,0.000,6,0.204,0.074,2629,1943,2191,0,0,0,0,0,0
$GC,7553,0.73,146.0,495.8,11.1,716,7557,0.00,2.70,0.00,0.000,4,0.000,0.090,2629,3548,2191,0,0,0,0,0,0
$GC,7603,0.73,146.0,489.8,11.9,720,7608,0.00,2.67,0.00,0.000,6,0.000,0.078,2638,1944,2190,0,0,0,0,0,0
$GC,7927,0.73,146.0,451.4,11.8,750,7932,0.00,2.70,0.00,0.000,4,0.000,0.090,2638,3548,2190,0,0,0,0,0,0
$GC,7988,0.73,146.0,443.7,13.6,755,7993,0.00,2.60,0.00,0.000,6,0.000,0.077,2650,1977,2190,0,0,0,0,0,0
$GC,8312,0.73,146.0,404.0,12.4,785,8316,0.00,2.62,0.00,0.000,4,0.000,0.090,2650,3545,2190,0,0,0,0,0,0
$GC,8362,0.73,146.0,397.1,14.6,789,8367,0.15,2.58,0.00,0.000,6,0.208,0.077,2628,1986,2190,0,0,0,0,0,0
$GC,8687,0.73,146.0,361.4,10.4,819,8691,0.00,2.67,0.00,0.000,4,0.000,0.096,2638,360,2190,0,0,0,0,0,0
$GC,8725,0.73,146.0,357.0,11.4,822,8730,0.00,2.62,0.00,0.000,6,0.000,0.074,2638,1994,2190,0,0,0,0,0,0
$GC,9050,0.73,146.0,325.9,9.3,852,9054,0.00,2.72,0.00,0.000,4,0.000,0.097,2650,356,2190,0,0,0,0,0,0
$GC,9077,0.73,146.0,323.4,9.3,854,9081,0.00,2.60,0.00,0.000,6,0.000,0.074,2650,1977,2190,0,0,0,0,0,0
$GC,9401,0.74,154.2,294.3,8.8,884,9413,0.00,2.60,6.18,0.823,4,0.000,0.088,2650,3542,2170,0,0,0,0,0,0
$GC,9447,0.74,154.2,290.0,10.1,888,9452,0.15,2.58,0.00,0.000,6,0.203,0.078,2628,1981,2169,0,0,0,0,0,0
$GC,9771,0.74,154.2,261.3,9.2,918,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1982,2169,0,0,0,0,0,0
$GC,10093,0.75,162.3,232.1,8.8,948,10107,0.00,2.67,8.00,0.865,4,0.000,0.092,2628,3539,2138,0,0,0,0,0,0
$GC,10129,0.75,162.3,228.4,9.4,951,10136,0.00,2.55,0.00,0.000,6,0.000,0.080,2638,1997,2137,0,0,0,0,0,0
$GC,10454,0.79,195.8,200.7,7.8,982,10489,0.00,2.70,28.67,0.929,4,0.000,0.093,2637,3534,2000,0,0,0,0,0,0
$GC,10529,0.80,203.7,194.6,8.8,989,10543,0.00,2.60,8.05,0.828,6,0.000,0.081,2649,1996,1967,0,0,0,0,0,0
$GC,10869,0.81,216.2,166.0,8.6,1021,10885,0.00,2.80,10.70,0.870,4,0.000,0.100,2661,357,1919,0,0,0,0,0,0
$GC,10923,0.81,216.2,160.9,9.9,1025,10929,0.00,2.70,0.00,0.000,6,0.000,0.077,2660,1995,1917,0,0,0,0,0,0
$GC,11248,0.81,216.2,129.7,9.6,1056,11253,0.00,2.62,0.00,0.000,4,0.000,0.094,2660,3549,1915,0,0,0,0,0,0
$GC,11314,0.81,216.2,123.1,9.9,1061,11321,0.00,2.60,0.00,0.000,6,0.000,0.081,2672,1996,1914,0,0,0,0,0,0
$GC,11643,0.85,247.5,93.4,7.8,1099,11675,0.00,2.80,26.65,0.878,4,0.000,0.100,2684,361,1790,0,0,0,0,0,0
$GC,11720,0.85,247.5,86.3,10.1,1113,11726,0.00,2.70,0.00,0.000,6,0.000,0.078,2684,1988,1786,0,0,0,0,0,0
$GC,12063,0.85,247.5,51.7,10.5,1174,12070,0.00,2.60,0.00,0.000,4,0.000,0.095,2684,3537,1783,0,0,0,0,0,0
$GC,12121,0.85,247.5,45.1,11.4,1184,12127,0.12,2.60,0.00,0.000,6,0.204,0.082,2669,1988,1782,0,0,0,0,0,0
$GC,12468,0.92,300.4,14.9,6.9,1245,12520,0.00,2.88,43.05,0.830,4,0.000,0.103,2679,363,1573,0,0,0,0,0,0
$STATE,12619,end climb,SURFACE_DEPTH_REACHED
$STATE,12619,begin surface coast
$FINISH,0.8,1.025421
$STATE,12631,end surface coast,CONTROL_FINISHED_OK
$STATE,12631,begin surface
$SM_CCo,12711,0.00,0.000,0,0,1562,303.68
$SM_GC,1.34,7.57,0.00,0.00,0.087,0.000,0.000,129,2463,1562,-7.03,0.06,303.68
$RAFOS_CLK,912
$RAFOS,6,1257612551,16.833334,16.819723,86,66,60,0,0,0,771,163,214,0,0,0
$RAFOS,5,1257612063,16.700001,16.684166,76,59,57,0,0,0,206,927,223,0,0,0
$RAFOS,4,1257611586,16.566668,16.551666,75,69,67,0,0,0,689,177,193,0,0,0
$RAFOS,3,1257611105,16.433332,16.418056,59,58,54,0,0,0,220,762,206,0,0,0
$RAFOS,2,1257610628,16.299999,16.285555,99,61,60,0,0,0,624,213,182,0,0,0
$RAFOS,1,1257610149,16.166666,16.152500,162,61,59,0,0,0,491,193,174,0,0,0
$RAFOS,0,1257609667,16.033333,16.018612,58,57,56,0,0,0,617,185,202,0,0,0
$RAFOS_FIX,6641.573730,-5957.612793,071109,161633,3,87,0.50
$IRIDIUM_FIX,6614.97,-5959.11,010299,131316
$TT8_MAMPS,0.026845
$HUMID,49.29
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.30
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.5,19.2
$24V_AH,22.8,27.900
$10V_AH,10.2,14.573
$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,20.125,157.950,377.250,0.000,0.000,138.083,168.541,704.526,2.250,0.000,12.753,2263.363,7956.391,575.441,2078.272,1253.391,0.000,1685.766,0.000,2048.450,2520.000,2.615,0.000
$DEVICE_MAMPS,321.373,116.584,1185.782,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,940.712,880.904,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,187948
$DATA_FILE_SIZE,50448,1275
$CAP_FILE_SIZE,165486,0
$CFSIZE,260165632,242208768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$CURRENT,0.264,354.8,1
$GPS,071109,171619,6646.062,-6006.214,25,1.7,38,-38.1