version: 66.09
glider: 143
mission: 13
dive: 44
start: 10 11 111 20 37 51
data:
$ID,143
$MISSION,13
$DIVE,44
$N_DIVES,50
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$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,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80570.711
$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,2400
$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,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,20
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2485
$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,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.40402
$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,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,111011,203135,6633.606,-5943.231,92,0.8,92,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-69.0
$GPS2,111011,203718,6633.584,-5943.256,19,1.1,19,-33.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$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,65.9,137788,-18.3,-10.000
$D_GRID,734
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,91,0.00,0.00,-71.62,0.000,2,0.000,0.000,119,2522,1819,0,0,0,0,0,0
$GC,94,-0.77,-146.0,3.0,-1.5,11,171,8.65,1.10,-58.03,0.000,4,0.269,0.102,2140,3219,3081,0,0,0,0,0,0
$GC,235,-0.77,-146.0,24.2,-20.0,33,244,0.00,1.15,0.00,0.000,6,0.000,0.047,2140,2508,3083,0,0,0,0,0,0
$GC,444,-0.77,-146.0,60.2,-17.3,70,451,0.00,1.20,0.00,0.000,4,0.000,0.076,2135,3210,3083,0,0,0,0,0,0
$GC,626,-0.77,-146.0,90.2,-15.6,103,633,0.00,1.12,0.00,0.000,6,0.000,0.047,2135,2508,3084,0,0,0,0,0,0
$GC,827,-0.77,-146.0,121.5,-15.1,127,830,0.00,1.20,0.00,0.000,4,0.000,0.076,2131,3213,3084,0,0,0,0,0,0
$GC,842,-0.77,-146.0,123.3,-15.0,128,849,0.00,1.12,0.00,0.000,6,0.000,0.044,2130,2511,3084,0,0,0,0,0,0
$GC,1062,-0.77,-146.0,156.4,-14.5,149,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2510,3084,0,0,0,0,0,0
$GC,1274,-0.77,-146.0,187.2,-14.8,169,1278,0.00,1.20,0.00,0.000,4,0.000,0.078,2126,3213,3084,0,0,0,0,0,0
$GC,1323,-0.77,-146.0,193.8,-14.8,173,1332,0.00,1.12,0.00,0.000,6,0.000,0.047,2126,2511,3084,0,0,0,0,0,0
$GC,1544,-0.77,-146.0,226.5,-14.3,194,1548,0.00,1.12,0.00,0.000,4,0.000,0.057,2126,1806,3084,0,0,0,0,0,0
$GC,1578,-0.77,-146.0,231.8,-14.9,197,1583,0.08,1.23,0.00,0.000,6,0.179,0.068,2143,2508,3084,0,0,0,0,0,0
$GC,1806,-0.77,-146.0,261.2,-12.9,218,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2508,3083,0,0,0,0,0,0
$GC,2025,-0.77,-146.0,289.4,-12.5,239,2029,0.00,1.15,0.00,0.000,4,0.000,0.080,2140,3216,3083,0,0,0,0,0,0
$GC,2117,-0.77,-146.0,300.5,-12.2,247,2121,0.00,1.12,0.00,0.000,6,0.000,0.047,2140,2509,3083,0,0,0,0,0,0
$GC,2342,-0.77,-146.0,328.3,-12.0,268,2346,0.00,1.20,0.00,0.000,4,0.000,0.076,2135,3217,3083,0,0,0,0,0,0
$GC,2398,-0.77,-146.0,335.4,-12.3,273,2402,0.00,1.12,0.00,0.000,6,0.000,0.046,2135,2510,3083,0,0,0,0,0,0
$GC,2624,-0.77,-146.0,363.1,-12.3,294,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2510,3083,0,0,0,0,0,0
$GC,2837,-0.77,-146.0,389.8,-12.7,314,2840,0.00,1.10,0.00,0.000,4,0.000,0.055,2135,1814,3083,0,0,0,0,0,0
$GC,2875,-0.77,-146.0,394.4,-12.6,317,2885,0.00,1.20,0.00,0.000,6,0.000,0.065,2131,2509,3083,0,0,0,0,0,0
$GC,3096,-0.77,-146.0,422.1,-12.5,338,3100,0.00,1.15,0.00,0.000,4,0.000,0.079,2125,3220,3083,0,0,0,0,0,0
$GC,3130,-0.77,-146.0,426.5,-12.2,341,3134,0.00,1.12,0.00,0.000,6,0.000,0.045,2125,2511,3083,0,0,0,0,0,0
$GC,3356,-0.77,-146.0,454.8,-12.3,362,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2511,3083,0,0,0,0,0,0
$GC,3569,-0.77,-146.0,481.7,-12.3,382,3573,0.00,1.17,0.00,0.000,4,0.000,0.076,2121,3211,3083,0,0,0,0,0,0
$GC,3647,-0.77,-146.0,491.8,-12.5,389,3652,0.08,1.10,0.00,0.000,6,0.171,0.045,2144,2508,3083,0,0,0,0,0,0
$GC,3875,-0.77,-146.0,515.9,-10.3,410,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2508,3083,0,0,0,0,0,0
$GC,4094,-0.77,-146.0,539.3,-10.4,431,4097,0.00,1.17,0.00,0.000,4,0.000,0.076,2141,3211,3083,0,0,0,0,0,0
$GC,4139,-0.77,-146.0,544.1,-10.6,435,4142,0.00,1.10,0.00,0.000,6,0.000,0.044,2140,2509,3083,0,0,0,0,0,0
$GC,4365,-0.77,-146.0,567.6,-10.2,456,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2509,3083,0,0,0,0,0,0
$GC,4575,-0.77,-146.0,589.3,-10.0,476,4579,0.00,1.17,0.00,0.000,4,0.000,0.075,2136,3211,3084,0,0,0,0,0,0
$GC,4602,-0.77,-146.0,591.8,-10.1,478,4609,0.00,1.10,0.00,0.000,6,0.000,0.042,2136,2505,3084,0,0,0,0,0,0
$GC,4836,-0.77,-146.0,617.7,-11.2,491,4840,0.00,1.08,0.00,0.000,4,0.000,0.054,2136,1819,3084,0,0,0,0,0,0
$GC,4863,-0.77,-146.0,617.7,-11.2,491,4870,0.00,1.20,0.00,0.000,6,0.000,0.065,2132,2514,3084,0,0,0,0,0,0
$GC,5178,-0.77,-146.0,656.8,-11.3,502,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2514,3084,0,0,0,0,0,0
$GC,5483,-0.77,-146.0,690.7,-11.0,512,5486,0.00,1.12,0.00,0.000,4,0.000,0.076,2126,3217,3084,0,0,0,0,0,0
$GC,5526,-0.77,-146.0,694.6,-11.1,513,5530,0.00,1.10,0.00,0.000,6,0.000,0.042,2126,2515,3084,0,0,0,0,0,0
$GC,5857,-0.77,-146.0,732.7,-11.1,524,5860,0.00,1.17,0.00,0.000,4,0.000,0.074,2121,3217,3084,0,0,0,0,0,0
$STATE,5889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5889,begin apogee
$GC,5896,-0.16,0.0,736.6,-11.2,525,6025,0.70,0.00,120.45,1.333,6,0.154,0.000,2340,2191,2485,0,0,0,0,0,0
$STATE,6026,end apogee,CONTROL_FINISHED_OK
$STATE,6026,begin climb
$GC,6028,0.77,146.0,741.2,0.0,529,6164,0.90,1.17,127.88,1.297,4,0.074,0.058,2646,1503,1888,0,0,0,0,0,0
$GC,6237,0.80,171.0,731.0,8.8,535,6263,0.00,1.25,22.62,1.198,6,0.000,0.057,2646,2203,1787,0,0,0,0,0,0
$GC,6583,0.80,171.0,679.6,13.3,547,6587,0.00,1.20,0.00,0.000,4,0.000,0.066,2647,2906,1780,0,0,0,0,0,0
$GC,6651,0.80,171.0,670.1,13.5,549,6654,0.00,1.20,0.00,0.000,6,0.000,0.047,2651,2205,1779,0,0,0,0,0,0
$GC,6992,0.80,171.0,623.2,14.0,560,6995,0.00,1.15,0.00,0.000,4,0.000,0.060,2656,1495,1777,0,0,0,0,0,0
$GC,7119,0.80,171.0,609.0,14.0,563,7126,0.00,1.23,0.00,0.000,6,0.000,0.058,2657,2209,1777,0,0,0,0,0,0
$GC,7444,0.80,171.0,559.1,14.6,590,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2209,1776,0,0,0,0,0,0
$GC,7654,0.80,171.0,528.4,14.8,610,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2209,1776,0,0,0,0,0,0
$GC,7867,0.80,171.0,497.9,14.1,630,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2209,1776,0,0,0,0,0,0
$GC,8079,0.80,171.0,468.4,13.7,650,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2209,1776,0,0,0,0,0,0
$GC,8292,0.80,171.0,439.7,13.7,670,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2209,1776,0,0,0,0,0,0
$GC,8504,0.80,171.0,412.0,12.5,690,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2209,1776,0,0,0,0,0,0
$GC,8716,0.80,171.0,384.8,12.6,710,8720,0.00,1.17,0.00,0.000,4,0.000,0.058,2661,1497,1776,0,0,0,0,0,0
$GC,8821,0.80,171.0,372.0,12.9,719,8828,0.00,1.17,0.00,0.000,6,0.000,0.057,2661,2202,1776,0,0,0,0,0,0
$GC,9040,0.80,171.0,343.0,12.8,740,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,1776,0,0,0,0,0,0
$GC,9252,0.80,171.0,316.2,12.7,760,9256,0.00,1.15,0.00,0.000,4,0.000,0.067,2661,2905,1776,0,0,0,0,0,0
$GC,9324,0.80,171.0,307.1,13.6,766,9333,0.00,1.17,0.00,0.000,6,0.000,0.047,2666,2196,1776,0,0,0,0,0,0
$GC,9545,0.80,171.0,277.8,13.2,787,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2196,1775,0,0,0,0,0,0
$GC,9757,0.80,171.0,250.3,12.5,807,9761,0.00,1.10,0.00,0.000,4,0.000,0.061,2671,1494,1775,0,0,0,0,0,0
$GC,9926,0.80,171.0,229.6,12.4,822,9930,0.00,1.17,0.00,0.000,6,0.000,0.058,2671,2205,1775,0,0,0,0,0,0
$GC,10152,0.80,171.0,203.1,11.5,843,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,1775,0,0,0,0,0,0
$GC,10364,0.80,171.0,179.3,10.9,863,10368,0.00,1.15,0.00,0.000,4,0.000,0.067,2671,2912,1775,0,0,0,0,0,0
$GC,10399,0.80,171.0,175.1,11.4,866,10402,0.00,1.17,0.00,0.000,6,0.000,0.050,2676,2198,1775,0,0,0,0,0,0
$GC,10625,0.80,171.0,150.0,10.8,887,10629,0.00,1.10,0.00,0.000,4,0.000,0.061,2681,1494,1775,0,0,0,0,0,0
$GC,10881,0.81,180.8,124.6,9.6,910,10896,0.00,1.17,7.25,0.890,6,0.000,0.059,2681,2205,1748,0,0,0,0,0,0
$GC,11107,0.82,186.1,102.8,9.8,931,11116,0.00,0.00,6.32,0.852,6,0.000,0.000,2681,2205,1726,0,0,0,0,0,0
$GC,11333,0.83,192.5,80.6,9.7,970,11344,0.00,1.20,6.88,0.860,4,0.000,0.068,2681,2917,1700,0,0,0,0,0,0
$GC,11390,0.83,192.5,74.6,10.7,979,11397,0.00,1.20,0.00,0.000,6,0.000,0.050,2686,2198,1699,0,0,0,0,0,0
$GC,11596,0.83,192.5,53.4,10.2,1016,11603,0.00,1.10,0.00,0.000,4,0.000,0.061,2691,1493,1698,0,0,0,0,0,0
$GC,11648,0.84,200.7,48.4,9.6,1025,11663,0.00,1.17,8.65,0.881,6,0.000,0.059,2691,2200,1666,0,0,0,0,0,0
$GC,11864,0.88,235.4,27.6,8.4,1063,11892,0.00,1.23,23.40,0.897,4,0.000,0.062,2696,1497,1524,0,0,0,0,0,0
$GC,12140,0.88,235.4,4.3,11.5,1112,12146,0.00,1.17,0.00,0.000,6,0.000,0.057,2696,2197,1518,0,0,0,0,0,0
$STATE,12167,end climb,SURFACE_DEPTH_REACHED
$STATE,12167,begin surface coast
$FINISH,1.7,1.024487
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12190,begin surface
$SM_CCo,12207,85.93,0.087,0,0,771,420.20
$SM_GC,2.59,7.03,0.55,85.93,0.050,0.063,0.087,126,2521,771,-7.06,-0.51,420.20,0,0,0,0,0,0
$RAFOS_CLK,796
$RAFOS,6,1318366146,20.833334,20.818333,99,59,58,0,0,0,820,185,208,0,0,0
$RAFOS,5,1318365663,20.700001,20.684166,67,60,59,0,0,0,193,213,887,0,0,0
$RAFOS,3,1318364704,20.433332,20.417778,64,58,55,0,0,0,218,659,195,0,0,0
$RAFOS_FIX,6634.764648,-5946.622559,111011,202014,3,88,0.00
$IRIDIUM_FIX,6604.29,-6007.94,111011,161647
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.20
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,701.7,63.4
$24V_AH,23.1,6.428
$10V_AH,10.2,5.567
$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,17.425,61.275,323.450,85.925,0.000,0.000,0.000,231.575,8.000,0.000,20.424,3097.806,6601.912,563.039,2174.910,213.031,0.000,1845.217,0.000,1922.355,720.000,19.726,0.000
$DEVICE_MAMPS,269.280,101.745,1333.395,87.210,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.477,806.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150360
$DATA_FILE_SIZE,43314,1121
$CAP_FILE_SIZE,136417,0
$CFSIZE,260165632,245129216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.3
$CURRENT,0.043,228.8,1
$GPS,121011,000436,6634.966,-5940.403,56,0.9,57,-33.6