version: 66.09
glider: 143
mission: 13
dive: 74
start: 10 16 111 15 48 35
data:
$ID,143
$MISSION,13
$DIVE,74
$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,-80608.555
$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,35
$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
$GPS1,161011,154301,6655.812,-5733.995,40,1.6,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-69.9
$GPS2,161011,154802,6655.839,-5734.105,16,1.3,16,-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,146.8,35839,-18.3,-10.000
$D_GRID,785
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-47.33,0.000,2,0.000,0.000,118,2513,1729,0,0,0,0,0,0
$GC,69,-0.77,-146.0,3.0,-1.4,7,171,8.52,1.10,-83.20,0.000,4,0.263,0.099,2141,3215,3083,0,0,0,0,0,0
$GC,241,-0.77,-146.0,20.4,-18.4,35,248,0.00,1.12,0.00,0.000,6,0.000,0.039,2141,2502,3084,0,0,0,0,0,0
$GC,447,-0.77,-146.0,56.4,-16.1,72,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3085,0,0,0,0,0,0
$GC,651,-0.77,-146.0,88.2,-15.4,109,658,0.00,1.20,0.00,0.000,4,0.000,0.071,2136,3211,3085,0,0,0,0,0,0
$GC,770,-0.77,-146.0,107.5,-15.8,130,779,0.00,1.10,0.00,0.000,6,0.000,0.037,2136,2509,3085,0,0,0,0,0,0
$GC,980,-0.77,-146.0,138.7,-14.6,167,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3086,0,0,0,0,0,0
$GC,1185,-0.77,-146.0,167.5,-13.5,204,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3085,0,0,0,0,0,0
$GC,1388,-0.77,-146.0,195.8,-13.8,241,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3085,0,0,0,0,0,0
$GC,1592,-0.77,-146.0,224.8,-14.8,278,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3085,0,0,0,0,0,0
$GC,1802,-0.77,-146.0,253.9,-13.0,315,1809,0.00,1.20,0.00,0.000,4,0.000,0.073,2131,3219,3085,0,0,0,0,0,0
$GC,1854,-0.77,-146.0,261.2,-13.5,324,1860,0.00,1.12,0.00,0.000,6,0.000,0.039,2132,2501,3085,0,0,0,0,0,0
$GC,2058,-0.77,-146.0,288.3,-13.3,361,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2501,3085,0,0,0,0,0,0
$GC,2266,-0.77,-146.0,315.1,-12.9,388,2270,0.00,1.20,0.00,0.000,4,0.000,0.071,2127,3214,3084,0,0,0,0,0,0
$GC,2315,-0.77,-146.0,321.1,-13.0,392,2322,0.00,1.10,0.00,0.000,6,0.000,0.037,2127,2507,3084,0,0,0,0,0,0
$GC,2534,-0.77,-146.0,349.3,-12.4,413,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2507,3084,0,0,0,0,0,0
$GC,2747,-0.77,-146.0,374.7,-11.9,433,2750,0.00,1.08,0.00,0.000,4,0.000,0.049,2127,1819,3084,0,0,0,0,0,0
$GC,2792,-0.77,-146.0,380.2,-12.1,437,2795,0.00,1.20,0.00,0.000,6,0.000,0.062,2122,2519,3084,0,0,0,0,0,0
$GC,3016,-0.77,-146.0,408.2,-12.8,458,3020,0.12,1.12,0.00,0.000,4,0.187,0.073,2148,3221,3084,0,0,0,0,0,0
$GC,3132,-0.77,-146.0,420.8,-11.1,468,3139,0.00,1.10,0.00,0.000,6,0.000,0.037,2148,2512,3084,0,0,0,0,0,0
$GC,3351,-0.77,-146.0,445.5,-11.3,489,3355,0.00,1.10,0.00,0.000,4,0.000,0.049,2148,1810,3084,0,0,0,0,0,0
$GC,3411,-0.77,-146.0,452.0,-11.6,494,3420,0.00,1.20,0.00,0.000,6,0.000,0.061,2143,2513,3084,0,0,0,0,0,0
$GC,3634,-0.77,-146.0,477.4,-11.4,515,3638,0.00,1.12,0.00,0.000,4,0.000,0.073,2138,3218,3084,0,0,0,0,0,0
$GC,3713,-0.77,-146.0,487.0,-11.4,522,3717,0.00,1.10,0.00,0.000,6,0.000,0.036,2138,2504,3085,0,0,0,0,0,0
$GC,3954,-0.77,-146.0,514.4,-11.3,537,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2504,3084,0,0,0,0,0,0
$GC,4263,-0.77,-146.0,550.3,-11.9,547,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2504,3084,0,0,0,0,0,0
$GC,4567,-0.77,-146.0,586.4,-11.7,557,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2504,3085,0,0,0,0,0,0
$GC,4874,-0.77,-146.0,622.0,-11.8,567,4878,0.00,1.20,0.00,0.000,4,0.000,0.071,2133,3223,3085,0,0,0,0,0,0
$GC,4918,-0.77,-146.0,626.4,-11.9,568,4922,0.00,1.10,0.00,0.000,6,0.000,0.034,2133,2505,3085,0,0,0,0,0,0
$GC,5250,-0.77,-146.0,665.9,-11.5,579,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2505,3085,0,0,0,0,0,0
$GC,5554,-0.77,-146.0,699.4,-10.9,589,5558,0.00,1.17,0.00,0.000,4,0.000,0.070,2128,3211,3085,0,0,0,0,0,0
$GC,5647,-0.77,-146.0,707.3,-10.9,591,5650,0.00,1.08,0.00,0.000,6,0.000,0.034,2128,2510,3085,0,0,0,0,0,0
$GC,5965,-0.77,-146.0,744.2,-11.1,602,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2510,3086,0,0,0,0,0,0
$GC,6271,-0.77,-146.0,777.0,-10.8,612,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2510,3086,0,0,0,0,0,0
$STATE,6362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6362,begin apogee
$GC,6368,-0.16,0.0,787.1,-10.9,615,6496,0.68,0.00,121.35,1.373,6,0.145,0.000,2344,2198,2485,0,0,0,0,0,0
$STATE,6496,end apogee,CONTROL_FINISHED_OK
$STATE,6496,begin climb
$GC,6499,0.77,146.0,791.7,0.0,619,6636,0.90,1.17,129.32,1.336,4,0.070,0.053,2655,1502,1887,0,0,0,0,0,0
$GC,6770,0.77,146.0,768.9,13.3,627,6774,0.00,1.25,0.00,0.000,6,0.000,0.052,2655,2209,1881,0,0,0,0,0,0
$GC,7100,0.77,146.0,722.3,13.5,638,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2209,1878,0,0,0,0,0,0
$GC,7406,0.77,146.0,681.2,13.4,648,7410,0.00,1.17,0.00,0.000,4,0.000,0.060,2655,2914,1876,0,0,0,0,0,0
$GC,7422,0.77,146.0,681.2,13.4,648,7426,0.00,1.20,0.00,0.000,6,0.000,0.041,2660,2201,1876,0,0,0,0,0,0
$GC,7747,0.77,146.0,634.4,13.5,659,7751,0.00,1.23,0.00,0.000,4,0.000,0.058,2660,2908,1875,0,0,0,0,0,0
$GC,7775,0.77,146.0,634.4,13.5,659,7782,0.00,1.20,0.00,0.000,6,0.000,0.043,2664,2192,1875,0,0,0,0,0,0
$GC,8088,0.77,146.0,586.9,13.7,670,8091,0.00,1.25,0.00,0.000,4,0.000,0.060,2664,2915,1875,0,0,0,0,0,0
$GC,8098,0.77,146.0,586.9,13.7,670,8102,0.00,1.20,0.00,0.000,6,0.000,0.043,2669,2194,1875,0,0,0,0,0,0
$GC,8428,0.77,146.0,541.6,13.0,681,8432,0.00,1.10,0.00,0.000,4,0.000,0.056,2675,1493,1874,0,0,0,0,0,0
$GC,8444,0.77,146.0,541.6,13.0,681,8448,0.00,1.20,0.00,0.000,6,0.000,0.054,2674,2211,1874,0,0,0,0,0,0
$GC,8768,0.77,146.0,496.2,13.2,692,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2211,1874,0,0,0,0,0,0
$GC,8981,0.77,146.0,467.2,13.8,712,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2210,1873,0,0,0,0,0,0
$GC,9193,0.77,146.0,437.6,14.3,732,9197,0.00,1.17,0.00,0.000,4,0.000,0.053,2680,1494,1873,0,0,0,0,0,0
$GC,9209,0.77,146.0,435.8,14.4,733,9217,0.10,1.17,0.00,0.000,6,0.164,0.054,2650,2206,1873,0,0,0,0,0,0
$GC,9429,0.77,146.0,407.1,12.8,754,9433,0.00,1.15,0.00,0.000,4,0.000,0.063,2650,2912,1873,0,0,0,0,0,0
$GC,9444,0.77,146.0,405.5,13.0,755,9452,0.00,1.17,0.00,0.000,6,0.000,0.042,2653,2190,1873,0,0,0,0,0,0
$GC,9664,0.77,146.0,376.8,12.9,776,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2190,1873,0,0,0,0,0,0
$GC,9877,0.77,146.0,350.1,12.2,796,9880,0.00,1.08,0.00,0.000,4,0.000,0.056,2658,1496,1873,0,0,0,0,0,0
$GC,9889,0.77,146.0,348.6,12.1,797,9892,0.00,1.17,0.00,0.000,6,0.000,0.054,2658,2208,1873,0,0,0,0,0,0
$GC,10113,0.77,146.0,321.9,11.8,818,10117,0.00,1.12,0.00,0.000,4,0.000,0.063,2658,2902,1873,0,0,0,0,0,0
$GC,10136,0.77,146.0,319.3,11.8,820,10139,0.00,1.15,0.00,0.000,6,0.000,0.043,2663,2196,1873,0,0,0,0,0,0
$GC,10360,0.77,146.0,293.6,11.2,845,10366,0.00,1.20,0.00,0.000,4,0.000,0.060,2663,2902,1873,0,0,0,0,0,0
$GC,10419,0.77,146.0,286.6,11.4,855,10425,0.00,1.15,0.00,0.000,6,0.000,0.043,2668,2196,1873,0,0,0,0,0,0
$GC,10625,0.77,146.0,263.6,11.0,892,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2196,1873,0,0,0,0,0,0
$GC,10830,0.77,148.3,242.3,9.9,929,10836,0.00,1.20,0.00,0.000,4,0.000,0.060,2668,2910,1873,0,0,0,0,0,0
$GC,10978,0.77,148.3,226.7,10.7,955,10984,0.00,1.15,0.00,0.000,6,0.000,0.043,2673,2200,1873,0,0,0,0,0,0
$GC,11185,0.77,148.3,202.7,11.8,992,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,1873,0,0,0,0,0,0
$GC,11392,0.77,148.3,178.1,11.6,1029,11398,0.00,1.08,0.00,0.000,4,0.000,0.056,2678,1495,1874,0,0,0,0,0,0
$GC,11554,0.77,148.3,158.6,12.1,1058,11564,0.08,1.15,0.00,0.000,6,0.164,0.055,2655,2199,1873,0,0,0,0,0,0
$GC,11764,0.78,155.1,136.9,9.7,1095,11777,0.00,1.10,6.22,0.857,4,0.000,0.051,2658,1496,1852,0,0,0,0,0,0
$GC,11938,0.82,185.4,120.9,8.6,1126,11973,0.00,1.17,26.67,0.954,6,0.000,0.057,2658,2208,1728,0,0,0,0,0,0
$GC,12176,0.82,192.1,98.2,9.7,1167,12189,0.00,1.15,6.82,0.846,4,0.000,0.060,2659,2919,1701,0,0,0,0,0,0
$GC,12218,0.83,196.4,93.8,9.8,1174,12228,0.00,1.20,5.03,0.763,6,0.000,0.044,2663,2198,1684,0,0,0,0,0,0
$GC,12428,0.83,196.4,73.4,10.0,1211,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2198,1682,0,0,0,0,0,0
$GC,12634,0.87,224.7,54.2,8.7,1248,12667,0.00,1.25,24.83,0.921,4,0.000,0.060,2663,2901,1568,0,0,0,0,0,0
$GC,12686,0.88,240.2,49.6,9.3,1256,12707,0.00,1.17,14.48,0.883,6,0.000,0.043,2668,2203,1505,0,0,0,0,0,0
$GC,12909,0.88,240.2,25.3,11.0,1295,12915,0.00,1.23,0.00,0.000,4,0.000,0.060,2668,2906,1501,0,0,0,0,0,0
$STATE,13113,end climb,SURFACE_DEPTH_REACHED
$STATE,13113,begin surface coast
$FINISH,1.7,1.015087
$STATE,13125,end surface coast,CONTROL_FINISHED_OK
$STATE,13125,begin surface
$SM_CCo,13142,52.15,0.085,0,0,1057,350.04
$SM_GC,2.70,6.95,0.68,52.15,0.048,0.044,0.085,126,2498,1057,-7.06,0.96,350.04,0,0,0,0,0,0
$RAFOS_CLK,850
$RAFOS,6,1318783743,16.833334,16.817499,80,66,58,0,0,0,764,205,167,0,0,0
$RAFOS,5,1318783262,16.700001,16.683889,169,58,54,0,0,0,554,204,156,0,0,0
$RAFOS,4,1318782785,16.566668,16.551390,131,67,59,0,0,0,763,146,204,0,0,0
$RAFOS,3,1318782303,16.433332,16.417500,91,64,58,0,0,0,890,189,213,0,0,0
$RAFOS,2,1318781825,16.299999,16.284721,132,63,59,0,0,0,948,170,216,0,0,0
$RAFOS,1,1318781343,16.166666,16.150833,83,61,54,0,0,0,948,198,147,0,0,0
$RAFOS,0,1318780865,16.033333,16.018055,107,66,60,0,0,0,1067,196,208,0,0,0
$RAFOS_FIX,6656.336914,-5736.401855,161011,161644,7,113,0.80
$IRIDIUM_FIX,6625.71,-5737.61,161011,121252
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.36
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,703.3,135.0
$24V_AH,23.0,9.999
$10V_AH,10.3,8.425
$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,17.350,60.250,334.725,52.150,0.000,0.000,0.000,188.575,7.750,0.000,17.887,3628.275,6731.199,583.420,2331.086,245.896,0.000,1922.371,0.000,2124.888,2520.000,19.921,0.000
$DEVICE_MAMPS,263.160,99.450,1373.175,84.915,0.000,0.000,0.000,266.658,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.677,784.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150228
$DATA_FILE_SIZE,49902,1334
$CAP_FILE_SIZE,148427,0
$CFSIZE,260165632,242794496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.6
$CURRENT,0.231,336.1,1
$GPS,161011,193005,6656.505,-5730.590,29,0.8,29,-33.5