version: 66.09
glider: 143
mission: 13
dive: 63
start: 10 14 111 23 6 30
data:
$ID,143
$MISSION,13
$DIVE,63
$N_DIVES,112
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,350
$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,-80594.664
$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,33
$R_STBD_OVSHOOT,21
$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
$GPS1,141011,230100,6646.268,-5819.483,40,0.9,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-69.5
$GPS2,141011,230600,6646.254,-5819.432,16,1.3,16,-33.5
$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,75.8,72948,-18.3,-10.000
$D_GRID,717
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,63,0.00,0.00,-43.17,0.000,2,0.000,0.000,122,2521,1671,0,0,0,0,0,0
$GC,66,-0.77,-146.0,3.1,-1.4,7,168,8.70,1.23,-89.18,0.000,4,0.269,0.079,2144,1812,3081,0,0,0,0,0,0
$GC,314,-0.77,-146.0,34.4,-19.4,49,323,0.00,1.23,0.00,0.000,6,0.000,0.066,2141,2507,3084,0,0,0,0,0,0
$GC,523,-0.77,-146.0,71.3,-15.6,86,529,0.00,1.15,0.00,0.000,4,0.000,0.076,2135,3212,3084,0,0,0,0,0,0
$GC,571,-0.77,-146.0,79.4,-17.0,94,577,0.00,1.12,0.00,0.000,6,0.000,0.041,2135,2502,3084,0,0,0,0,0,0
$GC,777,-0.77,-146.0,113.1,-16.0,131,783,0.00,1.10,0.00,0.000,4,0.000,0.052,2135,1814,3084,0,0,0,0,0,0
$GC,790,-0.77,-146.0,115.4,-15.5,133,799,0.00,1.23,0.00,0.000,6,0.000,0.066,2131,2513,3084,0,0,0,0,0,0
$GC,999,-0.77,-146.0,146.6,-14.5,170,1006,0.00,1.15,0.00,0.000,4,0.000,0.078,2125,3217,3084,0,0,0,0,0,0
$GC,1035,-0.77,-146.0,152.2,-15.5,176,1042,0.00,1.12,0.00,0.000,6,0.000,0.044,2125,2512,3084,0,0,0,0,0,0
$GC,1240,-0.77,-146.0,180.6,-13.6,213,1249,0.00,1.20,0.00,0.000,4,0.000,0.076,2120,3214,3084,0,0,0,0,0,0
$GC,1289,-0.77,-146.0,187.6,-14.4,221,1298,0.10,1.12,0.00,0.000,6,0.171,0.042,2150,2502,3084,0,0,0,0,0,0
$GC,1499,-0.77,-146.0,215.0,-13.0,258,1506,0.00,1.10,0.00,0.000,4,0.000,0.054,2150,1813,3084,0,0,0,0,0,0
$GC,1519,-0.77,-146.0,217.8,-13.2,261,1527,0.00,1.23,0.00,0.000,6,0.000,0.067,2147,2515,3084,0,0,0,0,0,0
$GC,1727,-0.77,-146.0,244.1,-12.4,298,1734,0.00,1.15,0.00,0.000,4,0.000,0.078,2142,3222,3084,0,0,0,0,0,0
$GC,1790,-0.77,-146.0,252.5,-13.2,309,1799,0.00,1.12,0.00,0.000,6,0.000,0.042,2142,2512,3084,0,0,0,0,0,0
$GC,2001,-0.77,-146.0,280.7,-13.5,346,2008,0.00,1.10,0.00,0.000,4,0.000,0.054,2142,1816,3084,0,0,0,0,0,0
$GC,2027,-0.77,-146.0,284.4,-13.9,350,2034,0.00,1.20,0.00,0.000,6,0.000,0.067,2137,2506,3084,0,0,0,0,0,0
$GC,2230,-0.77,-146.0,311.8,-13.1,379,2233,0.00,1.15,0.00,0.000,4,0.000,0.078,2132,3215,3083,0,0,0,0,0,0
$GC,2275,-0.77,-146.0,318.0,-13.6,383,2278,0.00,1.12,0.00,0.000,6,0.000,0.041,2132,2500,3083,0,0,0,0,0,0
$GC,2499,-0.77,-146.0,348.4,-13.3,404,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2500,3083,0,0,0,0,0,0
$GC,2712,-0.77,-146.0,376.0,-13.1,424,2715,0.00,1.20,0.00,0.000,4,0.000,0.075,2127,3211,3083,0,0,0,0,0,0
$GC,2746,-0.77,-146.0,380.3,-12.5,427,2750,0.00,1.10,0.00,0.000,6,0.000,0.041,2127,2509,3083,0,0,0,0,0,0
$GC,2971,-0.77,-146.0,409.6,-13.3,448,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2509,3083,0,0,0,0,0,0
$GC,3183,-0.77,-146.0,438.1,-13.4,468,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2509,3083,0,0,0,0,0,0
$GC,3396,-0.77,-146.0,465.8,-12.5,488,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2509,3083,0,0,0,0,0,0
$GC,3608,-0.77,-146.0,492.1,-12.2,508,3612,0.00,1.20,0.00,0.000,4,0.000,0.074,2123,3220,3083,0,0,0,0,0,0
$GC,3633,-0.77,-146.0,494.9,-12.2,510,3636,0.00,1.12,0.00,0.000,6,0.000,0.041,2122,2500,3083,0,0,0,0,0,0
$GC,3860,-0.77,-146.0,523.6,-12.6,520,3862,0.12,0.00,0.00,0.000,6,0.186,0.000,2151,2500,3083,0,0,0,0,0,0
$GC,4168,-0.77,-146.0,556.5,-10.5,530,4172,0.00,1.20,0.00,0.000,4,0.000,0.074,2148,3214,3083,0,0,0,0,0,0
$GC,4195,-0.77,-146.0,556.5,-10.5,530,4202,0.00,1.10,0.00,0.000,6,0.000,0.039,2148,2508,3083,0,0,0,0,0,0
$GC,4510,-0.77,-146.0,592.5,-10.4,541,4513,0.00,1.20,0.00,0.000,4,0.000,0.075,2144,3222,3083,0,0,0,0,0,0
$GC,4547,-0.77,-146.0,596.2,-10.4,542,4551,0.00,1.10,0.00,0.000,6,0.000,0.038,2144,2514,3083,0,0,0,0,0,0
$GC,4883,-0.77,-146.0,631.9,-10.2,553,4887,0.00,1.10,0.00,0.000,4,0.000,0.051,2144,1813,3084,0,0,0,0,0,0
$GC,4899,-0.77,-146.0,631.9,-10.2,553,4903,0.00,1.20,0.00,0.000,6,0.000,0.063,2138,2510,3084,0,0,0,0,0,0
$GC,5226,-0.77,-146.0,667.8,-11.0,564,5230,0.00,1.12,0.00,0.000,4,0.000,0.075,2134,3213,3084,0,0,0,0,0,0
$GC,5296,-0.77,-146.0,675.7,-11.0,566,5300,0.00,1.10,0.00,0.000,6,0.000,0.037,2134,2501,3084,0,0,0,0,0,0
$GC,5638,-0.77,-146.0,715.3,-11.6,577,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2501,3084,0,0,0,0,0,0
$STATE,5667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5667,begin apogee
$GC,5672,-0.16,0.0,718.8,-11.5,578,5800,0.65,0.00,119.85,1.331,6,0.147,0.000,2339,2195,2485,0,0,0,0,0,0
$STATE,5800,end apogee,CONTROL_FINISHED_OK
$STATE,5801,begin climb
$GC,5803,0.77,146.0,723.9,0.0,582,5940,0.93,1.20,127.70,1.297,4,0.078,0.058,2652,1510,1888,0,0,0,0,0,0
$GC,6125,0.77,146.0,699.1,13.1,591,6132,0.00,1.23,0.00,0.000,6,0.000,0.055,2652,2205,1880,0,0,0,0,0,0
$GC,6440,0.77,146.0,655.3,12.9,602,6443,0.00,1.20,0.00,0.000,4,0.000,0.065,2652,2911,1878,0,0,0,0,0,0
$GC,6495,0.77,146.0,650.6,12.9,603,6499,0.00,1.20,0.00,0.000,6,0.000,0.044,2657,2207,1877,0,0,0,0,0,0
$GC,6815,0.77,146.0,607.6,12.6,614,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2207,1876,0,0,0,0,0,0
$GC,7120,0.77,146.0,569.8,12.3,624,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2207,1875,0,0,0,0,0,0
$GC,7428,0.77,146.0,531.1,12.6,634,7431,0.00,1.20,0.00,0.000,4,0.000,0.061,2657,2901,1875,0,0,0,0,0,0
$GC,7511,0.77,146.0,522.0,12.9,636,7515,0.00,1.15,0.00,0.000,6,0.000,0.044,2661,2204,1875,0,0,0,0,0,0
$GC,7831,0.77,146.0,478.9,12.5,656,7835,0.00,1.23,0.00,0.000,4,0.000,0.063,2661,2911,1875,0,0,0,0,0,0
$GC,7888,0.77,146.0,471.7,12.8,661,7891,0.00,1.17,0.00,0.000,6,0.000,0.046,2666,2202,1875,0,0,0,0,0,0
$GC,8114,0.77,146.0,443.5,12.3,682,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2202,1875,0,0,0,0,0,0
$GC,8325,0.77,146.0,417.4,12.5,702,8329,0.00,1.10,0.00,0.000,4,0.000,0.057,2671,1497,1874,0,0,0,0,0,0
$GC,8393,0.77,146.0,408.8,12.6,708,8397,0.00,1.17,0.00,0.000,6,0.000,0.057,2672,2204,1874,0,0,0,0,0,0
$GC,8618,0.77,146.0,381.1,12.3,729,8622,0.00,1.15,0.00,0.000,4,0.000,0.065,2671,2906,1874,0,0,0,0,0,0
$GC,8677,0.77,146.0,374.0,12.9,734,8685,0.00,1.17,0.00,0.000,6,0.000,0.046,2676,2192,1874,0,0,0,0,0,0
$GC,8897,0.77,146.0,345.1,13.0,755,8901,0.00,1.08,0.00,0.000,4,0.000,0.057,2682,1499,1874,0,0,0,0,0,0
$GC,8957,0.77,146.0,337.5,13.0,760,8965,0.10,1.15,0.00,0.000,6,0.164,0.056,2652,2199,1874,0,0,0,0,0,0
$GC,9178,0.77,146.0,309.2,12.8,781,9182,0.00,1.15,0.00,0.000,4,0.000,0.064,2652,2904,1874,0,0,0,0,0,0
$GC,9262,0.77,146.0,298.0,13.2,789,9271,0.00,1.15,0.00,0.000,6,0.000,0.045,2655,2202,1874,0,0,0,0,0,0
$GC,9473,0.77,146.0,272.7,11.1,826,9480,0.00,1.10,0.00,0.000,4,0.000,0.057,2660,1495,1873,0,0,0,0,0,0
$GC,9544,0.77,146.0,264.7,11.2,838,9551,0.00,1.17,0.00,0.000,6,0.000,0.056,2660,2206,1874,0,0,0,0,0,0
$GC,9749,0.77,146.0,242.3,10.7,875,9756,0.00,1.15,0.00,0.000,4,0.000,0.065,2661,2912,1874,0,0,0,0,0,0
$GC,9889,0.77,146.0,227.0,11.5,900,9896,0.00,1.17,0.00,0.000,6,0.000,0.045,2666,2194,1874,0,0,0,0,0,0
$GC,10096,0.77,146.0,203.9,11.3,937,10105,0.00,1.23,0.00,0.000,4,0.000,0.062,2665,2913,1874,0,0,0,0,0,0
$GC,10288,0.77,146.0,182.5,10.6,971,10295,0.00,1.17,0.00,0.000,6,0.000,0.045,2670,2193,1874,0,0,0,0,0,0
$GC,10493,0.77,146.0,161.0,11.5,1008,10500,0.00,1.08,0.00,0.000,4,0.000,0.057,2675,1497,1874,0,0,0,0,0,0
$GC,10642,0.77,150.0,146.3,9.8,1034,10649,0.00,1.15,0.00,0.000,6,0.000,0.056,2676,2198,1874,0,0,0,0,0,0
$GC,10848,0.84,202.9,128.5,7.6,1071,10901,0.00,1.20,45.50,0.961,4,0.000,0.064,2675,2902,1657,0,0,0,0,0,0
$GC,10954,0.84,202.9,117.9,11.7,1088,10961,0.00,1.17,0.00,0.000,6,0.000,0.045,2680,2206,1654,0,0,0,0,0,0
$GC,11159,0.84,202.9,94.5,11.1,1125,11168,0.00,1.12,0.00,0.000,4,0.000,0.058,2685,1497,1651,0,0,0,0,0,0
$GC,11242,0.84,202.9,85.9,10.5,1139,11248,0.00,1.17,0.00,0.000,6,0.000,0.057,2685,2196,1651,0,0,0,0,0,0
$GC,11447,0.84,202.9,63.2,11.1,1176,11453,0.00,1.15,0.00,0.000,4,0.000,0.065,2685,2898,1650,0,0,0,0,0,0
$GC,11515,0.85,216.0,56.2,9.4,1188,11531,0.00,1.17,10.93,0.889,6,0.000,0.047,2690,2198,1604,0,0,0,0,0,0
$GC,11733,0.86,219.2,33.9,9.9,1226,11741,0.00,1.15,3.00,0.547,4,0.000,0.057,2695,1492,1591,0,0,0,0,0,0
$GC,11988,0.87,230.8,9.9,9.5,1272,12004,0.00,1.17,6.12,0.103,6,0.000,0.057,2695,2195,1541,0,0,0,0,0,0
$STATE,12064,end climb,SURFACE_DEPTH_REACHED
$STATE,12064,begin surface coast
$FINISH,1.7,1.004479
$STATE,12085,end surface coast,CONTROL_FINISHED_OK
$STATE,12085,begin surface
$SM_CCo,12102,56.42,0.086,0,0,1057,350.04
$SM_GC,2.72,7.07,0.55,56.42,0.055,0.067,0.086,119,2515,1057,-7.08,-0.62,350.04,0,0,0,0,0,0
$RAFOS_CLK,784
$RAFOS,6,1318639750,0.833333,0.819444,122,66,61,0,0,0,684,181,162,0,0,0
$RAFOS,5,1318639266,0.700000,0.685000,63,61,58,0,0,0,173,207,141,0,0,0
$RAFOS,4,1318638811,0.566667,0.558611,76,61,56,0,0,0,499,207,122,0,0,0
$RAFOS,3,1318638317,0.433333,0.421389,68,58,57,0,0,0,203,230,144,0,0,0
$RAFOS,2,1318637851,0.300000,0.291944,81,57,53,0,0,0,666,229,208,0,0,0
$RAFOS,1,1318637356,0.166667,0.154444,59,58,56,0,0,0,206,174,215,0,0,0
$RAFOS,0,1318636867,0.033333,0.018611,74,59,58,0,0,0,182,134,192,0,0,0
$RAFOS_FIX,6647.835449,-5822.890625,151011,000033,3,93,0.72
$IRIDIUM_FIX,6620.33,-5830.34,141011,191908
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.20
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,651.2,119.6
$24V_AH,23.1,8.706
$10V_AH,10.3,7.383
$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,17.675,72.850,313.100,56.425,0.000,0.000,0.000,187.750,6.750,0.000,18.172,3532.230,5804.734,590.124,2301.063,241.622,0.000,1915.527,0.000,2087.562,2520.000,24.172,0.000
$DEVICE_MAMPS,269.280,78.795,1331.100,85.680,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.804,768.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150284
$DATA_FILE_SIZE,49962,1288
$CAP_FILE_SIZE,147012,0
$CFSIZE,260165632,243654656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.8
$CURRENT,0.054,320.1,1
$GPS,151011,023036,6647.937,-5816.401,31,0.9,31,-33.5