version: 66.09
glider: 143
mission: 13
dive: 66
start: 10 15 111 9 40 16
data:
$ID,143
$MISSION,13
$DIVE,66
$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,-80598.453
$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,25
$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
$GPS1,151011,093206,6647.972,-5806.832,24,0.9,25,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.5
$GPS2,151011,093942,6647.921,-5806.814,16,1.7,16,-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,77.9,63398,-18.3,-10.000
$D_GRID,724
$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,16,-0.77,-146.0,0.0,0.0,0,71,0.00,0.00,-52.85,0.000,2,0.000,0.000,124,2524,1808,0,0,0,0,0,0
$GC,74,-0.77,-146.0,3.1,-1.7,9,162,8.60,1.17,-71.18,0.000,4,0.265,0.076,2147,1803,3081,0,0,0,0,0,0
$GC,329,-0.77,-146.0,38.7,-17.7,52,336,0.00,1.23,0.00,0.000,6,0.000,0.066,2144,2496,3083,0,0,0,0,0,0
$GC,534,-0.77,-146.0,71.1,-15.0,89,541,0.00,1.17,0.00,0.000,4,0.000,0.077,2139,3215,3083,0,0,0,0,0,0
$GC,602,-0.77,-146.0,81.5,-15.3,101,609,0.00,1.12,0.00,0.000,6,0.000,0.041,2139,2505,3083,0,0,0,0,0,0
$GC,810,-0.77,-146.0,112.6,-15.1,138,816,0.00,1.23,0.00,0.000,4,0.000,0.074,2134,3222,3083,0,0,0,0,0,0
$GC,868,-0.77,-146.0,121.4,-15.3,148,876,0.00,1.12,0.00,0.000,6,0.000,0.040,2134,2514,3083,0,0,0,0,0,0
$GC,1075,-0.77,-146.0,153.7,-15.8,185,1081,0.00,1.20,0.00,0.000,4,0.000,0.076,2129,3216,3083,0,0,0,0,0,0
$GC,1161,-0.77,-146.0,167.5,-16.3,200,1168,0.00,1.12,0.00,0.000,6,0.000,0.041,2130,2505,3083,0,0,0,0,0,0
$GC,1366,-0.77,-146.0,200.5,-16.5,237,1373,0.00,1.10,0.00,0.000,4,0.000,0.052,2130,1814,3083,0,0,0,0,0,0
$GC,1409,-0.77,-146.0,206.9,-15.2,244,1415,0.00,1.23,0.00,0.000,6,0.000,0.066,2125,2516,3083,0,0,0,0,0,0
$GC,1614,-0.77,-146.0,238.6,-15.4,281,1621,0.00,1.12,0.00,0.000,4,0.000,0.078,2119,3211,3082,0,0,0,0,0,0
$GC,1656,-0.77,-146.0,244.8,-14.9,288,1663,0.10,1.10,0.00,0.000,6,0.167,0.041,2149,2510,3082,0,0,0,0,0,0
$GC,1862,-0.77,-146.0,270.9,-11.6,325,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2510,3082,0,0,0,0,0,0
$GC,2066,-0.77,-146.0,295.2,-11.2,362,2073,0.00,1.20,0.00,0.000,4,0.000,0.074,2146,3216,3082,0,0,0,0,0,0
$GC,2124,-0.77,-146.0,301.9,-11.9,371,2128,0.00,1.10,0.00,0.000,6,0.000,0.041,2146,2514,3082,0,0,0,0,0,0
$GC,2350,-0.77,-146.0,327.9,-11.5,392,2354,0.00,1.20,0.00,0.000,4,0.000,0.075,2141,3221,3082,0,0,0,0,0,0
$GC,2389,-0.77,-146.0,332.1,-11.8,395,2398,0.00,1.12,0.00,0.000,6,0.000,0.041,2141,2505,3082,0,0,0,0,0,0
$GC,2609,-0.77,-146.0,358.6,-11.9,416,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2505,3082,0,0,0,0,0,0
$GC,2822,-0.77,-146.0,383.7,-12.1,436,2825,0.00,1.20,0.00,0.000,4,0.000,0.073,2137,3216,3082,0,0,0,0,0,0
$GC,2856,-0.77,-146.0,388.0,-12.2,439,2860,0.00,1.10,0.00,0.000,6,0.000,0.038,2137,2508,3082,0,0,0,0,0,0
$GC,3082,-0.77,-146.0,415.1,-11.8,460,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2508,3083,0,0,0,0,0,0
$GC,3295,-0.77,-146.0,439.2,-11.1,480,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2508,3082,0,0,0,0,0,0
$GC,3506,-0.77,-146.0,462.3,-10.7,500,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2508,3082,0,0,0,0,0,0
$GC,3719,-0.77,-146.0,485.4,-10.9,520,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2508,3083,0,0,0,0,0,0
$GC,3950,-0.77,-146.0,511.1,-11.2,536,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2508,3083,0,0,0,0,0,0
$GC,4253,-0.77,-146.0,545.4,-11.0,546,4257,0.00,1.17,0.00,0.000,4,0.000,0.070,2132,3213,3083,0,0,0,0,0,0
$GC,4292,-0.77,-146.0,549.3,-10.9,547,4296,0.00,1.10,0.00,0.000,6,0.000,0.037,2132,2499,3083,0,0,0,0,0,0
$GC,4628,-0.77,-146.0,587.0,-11.3,558,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3083,0,0,0,0,0,0
$GC,4935,-0.77,-146.0,623.8,-12.3,568,4938,0.00,1.20,0.00,0.000,4,0.000,0.072,2127,3216,3083,0,0,0,0,0,0
$GC,4984,-0.77,-146.0,628.2,-12.2,569,4988,0.00,1.10,0.00,0.000,6,0.000,0.037,2127,2507,3083,0,0,0,0,0,0
$GC,5310,-0.77,-146.0,668.6,-11.8,580,5314,0.00,1.08,0.00,0.000,4,0.000,0.050,2127,1817,3083,0,0,0,0,0,0
$GC,5337,-0.77,-146.0,668.6,-11.8,580,5345,0.00,1.20,0.00,0.000,6,0.000,0.063,2123,2514,3083,0,0,0,0,0,0
$GC,5651,-0.77,-146.0,710.4,-12.3,591,5655,0.12,1.12,0.00,0.000,4,0.185,0.073,2149,3219,3084,0,0,0,0,0,0
$GC,5705,-0.77,-146.0,714.3,-12.0,592,5709,0.00,1.10,0.00,0.000,6,0.000,0.037,2148,2502,3083,0,0,0,0,0,0
$STATE,5776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5776,begin apogee
$GC,5782,-0.16,0.0,724.4,-10.9,595,5911,0.60,0.00,120.05,1.330,6,0.142,0.000,2340,2194,2485,0,0,0,0,0,0
$STATE,5912,end apogee,CONTROL_FINISHED_OK
$STATE,5912,begin climb
$GC,5914,0.77,146.0,730.0,0.0,599,6050,0.90,1.08,128.15,1.303,4,0.073,0.056,2650,1506,1889,0,0,0,0,0,0
$GC,6217,0.77,146.0,707.2,12.1,608,6222,0.00,1.25,0.00,0.000,6,0.000,0.054,2650,2212,1882,0,0,0,0,0,0
$GC,6548,0.77,146.0,664.9,12.6,619,6549,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2212,1879,0,0,0,0,0,0
$GC,6856,0.77,146.0,624.0,13.3,629,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2212,1878,0,0,0,0,0,0
$GC,7160,0.77,146.0,583.9,13.2,639,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2212,1876,0,0,0,0,0,0
$GC,7468,0.77,146.0,545.7,12.2,649,7471,0.00,1.15,0.00,0.000,4,0.000,0.061,2650,2912,1876,0,0,0,0,0,0
$GC,7571,0.77,146.0,532.9,12.2,652,7575,0.00,1.17,0.00,0.000,6,0.000,0.043,2655,2201,1876,0,0,0,0,0,0
$GC,7895,0.77,146.0,491.8,12.9,665,7899,0.00,1.10,0.00,0.000,4,0.000,0.058,2660,1499,1876,0,0,0,0,0,0
$GC,7987,0.77,146.0,479.8,13.0,673,7991,0.00,1.17,0.00,0.000,6,0.000,0.054,2660,2206,1875,0,0,0,0,0,0
$GC,8211,0.77,146.0,449.6,13.5,694,8215,0.00,1.17,0.00,0.000,4,0.000,0.055,2665,1495,1875,0,0,0,0,0,0
$GC,8260,0.77,146.0,443.5,13.3,698,8267,0.00,1.17,0.00,0.000,6,0.000,0.054,2664,2206,1875,0,0,0,0,0,0
$GC,8480,0.77,146.0,413.5,13.3,719,8483,0.00,1.15,0.00,0.000,4,0.000,0.063,2665,2908,1875,0,0,0,0,0,0
$GC,8517,0.77,146.0,408.9,13.4,722,8525,0.00,1.17,0.00,0.000,6,0.000,0.044,2670,2197,1875,0,0,0,0,0,0
$GC,8737,0.77,146.0,379.0,13.1,743,8740,0.00,1.10,0.00,0.000,4,0.000,0.058,2675,1494,1875,0,0,0,0,0,0
$GC,8786,0.77,146.0,373.0,13.4,747,8793,0.00,1.17,0.00,0.000,6,0.000,0.055,2675,2204,1875,0,0,0,0,0,0
$GC,9005,0.77,146.0,341.8,13.7,768,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,1875,0,0,0,0,0,0
$GC,9218,0.77,146.0,314.3,12.7,788,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2204,1875,0,0,0,0,0,0
$GC,9437,0.77,146.0,287.6,12.2,817,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2204,1875,0,0,0,0,0,0
$GC,9642,0.77,146.0,264.0,11.0,854,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,1874,0,0,0,0,0,0
$GC,9847,0.77,146.0,241.1,11.1,891,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2204,1874,0,0,0,0,0,0
$GC,10051,0.77,146.0,217.4,12.2,928,10060,0.00,1.15,0.00,0.000,4,0.000,0.057,2680,1499,1874,0,0,0,0,0,0
$GC,10144,0.77,146.0,206.2,12.1,944,10153,0.10,1.15,0.00,0.000,6,0.163,0.056,2650,2201,1874,0,0,0,0,0,0
$GC,10355,0.77,146.0,183.6,10.3,981,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,1874,0,0,0,0,0,0
$GC,10560,0.78,154.4,163.4,9.6,1018,10573,0.00,1.15,6.00,0.858,4,0.000,0.060,2649,2909,1855,0,0,0,0,0,0
$GC,10694,0.79,162.6,150.4,9.6,1041,10707,0.00,1.15,8.60,0.909,6,0.000,0.044,2653,2204,1822,0,0,0,0,0,0
$GC,10907,0.85,210.8,131.4,7.8,1079,10954,0.00,1.17,41.22,0.957,4,0.000,0.057,2658,1496,1624,0,0,0,0,0,0
$GC,11019,0.85,210.8,121.0,10.6,1097,11025,0.00,1.20,0.00,0.000,6,0.000,0.056,2658,2199,1621,0,0,0,0,0,0
$GC,11224,0.85,210.8,99.1,10.5,1134,11231,0.00,1.17,0.00,0.000,4,0.000,0.064,2658,2911,1618,0,0,0,0,0,0
$GC,11326,0.85,210.8,88.7,10.3,1152,11336,0.00,1.20,0.00,0.000,6,0.000,0.044,2663,2193,1618,0,0,0,0,0,0
$GC,11536,0.85,210.8,68.0,10.3,1189,11542,0.00,1.10,0.00,0.000,4,0.000,0.059,2668,1497,1617,0,0,0,0,0,0
$GC,11791,0.87,225.1,42.3,9.3,1235,11808,0.00,1.17,11.90,0.897,6,0.000,0.055,2668,2203,1567,0,0,0,0,0,0
$GC,12008,0.91,261.3,23.1,8.3,1273,12036,0.00,1.23,21.05,0.862,4,0.000,0.056,2673,1497,1418,0,0,0,0,0,0
$GC,12180,0.93,278.8,6.4,9.2,1303,12196,0.00,1.20,8.05,0.093,6,0.000,0.054,2673,2206,1347,0,0,0,0,0,0
$STATE,12222,end climb,SURFACE_DEPTH_REACHED
$STATE,12222,begin surface coast
$FINISH,1.8,1.014060
$STATE,12240,end surface coast,CONTROL_FINISHED_OK
$STATE,12240,begin surface
$SM_CCo,12257,33.67,0.086,0,0,1057,350.04
$SM_GC,2.91,7.07,0.52,33.67,0.054,0.061,0.086,122,2513,1057,-7.08,-0.74,350.04,0,0,0,0,0,0
$RAFOS_CLK,795
$RAFOS,6,1318682947,12.833333,12.818611,83,61,56,0,0,0,710,190,216,0,0,0
$RAFOS,5,1318682461,12.700000,12.683611,59,58,58,0,0,0,220,148,139,0,0,0
$RAFOS,4,1318681982,12.566667,12.550555,113,69,67,0,0,0,689,213,189,0,0,0
$RAFOS,3,1318681501,12.433333,12.416945,82,71,61,0,0,0,804,211,181,0,0,0
$RAFOS,2,1318681025,12.300000,12.284722,85,60,57,0,0,0,843,222,233,0,0,0
$RAFOS,1,1318680544,12.166667,12.151111,90,57,57,0,0,0,845,223,154,0,0,0
$RAFOS,0,1318680061,12.033333,12.016945,89,72,61,0,0,0,989,156,170,0,0,0
$RAFOS_FIX,6648.932617,-5809.164062,151011,121253,6,90,0.26
$IRIDIUM_FIX,6620.33,-5810.67,151011,090959
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.40
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,703.0,91.9
$24V_AH,23.1,9.056
$10V_AH,10.2,7.658
$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,17.500,58.850,345.025,33.675,0.000,0.000,0.000,281.725,8.500,0.000,17.658,3575.124,5994.036,562.791,2400.081,236.677,0.000,1977.880,0.000,2101.318,2520.000,19.799,0.000
$DEVICE_MAMPS,264.690,78.030,1329.570,85.680,0.000,0.000,0.000,263.662,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.148,781.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,49960,1313
$CAP_FILE_SIZE,144365,0
$CFSIZE,260165632,243429376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.3
$CURRENT,0.053,269.3,1
$GPS,151011,130659,6649.223,-5803.767,48,0.9,48,-33.5