version: 66.09
glider: 143
mission: 13
dive: 75
start: 10 16 111 19 36 18
data:
$ID,143
$MISSION,13
$DIVE,75
$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,-80609.82
$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,42
$R_STBD_OVSHOOT,24
$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
$GPS1,161011,193005,6656.505,-5730.590,29,0.8,29,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-69.7
$GPS2,161011,193544,6656.528,-5730.672,20,1.1,21,-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,147.2,33065,-18.3,-10.000
$D_GRID,777
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-50.30,0.000,2,0.000,0.000,126,2489,1770,0,0,0,0,0,0
$GC,71,-0.77,-146.0,3.0,-1.6,8,163,8.62,0.00,-75.45,0.000,6,0.267,0.000,2144,2489,3084,0,0,0,0,0,0
$GC,363,-0.77,-146.0,42.9,-19.9,58,370,0.00,1.23,0.00,0.000,4,0.000,0.075,2141,3213,3085,0,0,0,0,0,0
$GC,455,-0.77,-146.0,59.7,-17.5,74,462,0.00,1.10,0.00,0.000,6,0.000,0.040,2141,2518,3085,0,0,0,0,0,0
$GC,660,-0.77,-146.0,93.5,-16.2,111,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2518,3085,0,0,0,0,0,0
$GC,866,-0.77,-146.0,124.6,-15.1,148,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2518,3085,0,0,0,0,0,0
$GC,1071,-0.77,-146.0,154.2,-14.4,185,1080,0.00,1.12,0.00,0.000,4,0.000,0.050,2141,1812,3085,0,0,0,0,0,0
$GC,1158,-0.77,-146.0,166.0,-13.1,200,1165,0.00,1.20,0.00,0.000,6,0.000,0.065,2136,2500,3085,0,0,0,0,0,0
$GC,1363,-0.77,-146.0,193.5,-13.7,237,1372,0.00,1.15,0.00,0.000,4,0.000,0.076,2130,3211,3085,0,0,0,0,0,0
$GC,1423,-0.77,-146.0,202.1,-14.2,247,1429,0.00,1.10,0.00,0.000,6,0.000,0.041,2130,2511,3085,0,0,0,0,0,0
$GC,1629,-0.77,-146.0,230.9,-13.9,284,1635,0.00,1.10,0.00,0.000,4,0.000,0.052,2130,1817,3085,0,0,0,0,0,0
$GC,1675,-0.77,-146.0,237.2,-13.0,292,1681,0.00,1.20,0.00,0.000,6,0.000,0.064,2126,2508,3085,0,0,0,0,0,0
$GC,1879,-0.77,-146.0,264.4,-12.6,329,1888,0.00,1.15,0.00,0.000,4,0.000,0.076,2120,3218,3084,0,0,0,0,0,0
$GC,2010,-0.77,-146.0,281.5,-13.4,352,2017,0.08,1.12,0.00,0.000,6,0.169,0.042,2143,2500,3084,0,0,0,0,0,0
$GC,2213,-0.77,-146.0,306.7,-12.4,384,2217,0.00,1.08,0.00,0.000,4,0.000,0.051,2143,1820,3084,0,0,0,0,0,0
$GC,2284,-0.77,-146.0,314.9,-12.1,390,2291,0.00,1.20,0.00,0.000,6,0.000,0.063,2140,2510,3084,0,0,0,0,0,0
$GC,2504,-0.77,-146.0,342.9,-13.0,411,2507,0.00,1.12,0.00,0.000,4,0.000,0.075,2135,3211,3084,0,0,0,0,0,0
$GC,2564,-0.77,-146.0,350.3,-13.0,416,2571,0.00,1.10,0.00,0.000,6,0.000,0.039,2135,2507,3084,0,0,0,0,0,0
$GC,2783,-0.77,-146.0,379.3,-12.6,437,2786,0.00,1.10,0.00,0.000,4,0.000,0.050,2135,1808,3084,0,0,0,0,0,0
$GC,2873,-0.77,-146.0,391.2,-13.2,445,2876,0.00,1.20,0.00,0.000,6,0.000,0.063,2130,2505,3084,0,0,0,0,0,0
$GC,3098,-0.77,-146.0,421.3,-13.0,466,3102,0.00,1.15,0.00,0.000,4,0.000,0.075,2125,3218,3084,0,0,0,0,0,0
$GC,3190,-0.77,-146.0,433.7,-13.5,474,3194,0.00,1.10,0.00,0.000,6,0.000,0.038,2125,2512,3083,0,0,0,0,0,0
$GC,3419,-0.77,-146.0,463.0,-12.7,495,3422,0.00,1.10,0.00,0.000,4,0.000,0.050,2125,1812,3083,0,0,0,0,0,0
$GC,3501,-0.77,-146.0,473.6,-12.6,502,3509,0.08,1.20,0.00,0.000,6,0.169,0.062,2143,2510,3084,0,0,0,0,0,0
$GC,3720,-0.77,-146.0,499.3,-11.3,523,3724,0.00,1.12,0.00,0.000,4,0.000,0.074,2140,3214,3084,0,0,0,0,0,0
$GC,3810,-0.77,-146.0,507.2,-11.7,526,3813,0.00,1.10,0.00,0.000,6,0.000,0.037,2140,2505,3084,0,0,0,0,0,0
$GC,4128,-0.77,-146.0,545.8,-11.2,537,4131,0.00,1.08,0.00,0.000,4,0.000,0.050,2140,1817,3084,0,0,0,0,0,0
$GC,4177,-0.77,-146.0,549.6,-11.1,538,4181,0.00,1.20,0.00,0.000,6,0.000,0.062,2135,2513,3084,0,0,0,0,0,0
$GC,4502,-0.77,-146.0,586.5,-10.9,549,4505,0.00,1.12,0.00,0.000,4,0.000,0.074,2130,3216,3084,0,0,0,0,0,0
$GC,4612,-0.77,-146.0,598.1,-11.3,552,4616,0.00,1.10,0.00,0.000,6,0.000,0.037,2130,2502,3084,0,0,0,0,0,0
$GC,4943,-0.77,-146.0,638.1,-12.0,563,4946,0.00,1.08,0.00,0.000,4,0.000,0.050,2129,1814,3084,0,0,0,0,0,0
$GC,4998,-0.77,-146.0,642.3,-12.0,564,5002,0.00,1.20,0.00,0.000,6,0.000,0.062,2125,2513,3084,0,0,0,0,0,0
$GC,5316,-0.77,-146.0,684.1,-12.2,575,5320,0.00,1.12,0.00,0.000,4,0.000,0.074,2120,3218,3084,0,0,0,0,0,0
$GC,5407,-0.77,-146.0,692.7,-12.3,577,5411,0.08,1.10,0.00,0.000,6,0.165,0.037,2143,2505,3085,0,0,0,0,0,0
$GC,5725,-0.77,-146.0,731.5,-11.2,588,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2505,3085,0,0,0,0,0,0
$GC,6032,-0.77,-146.0,765.0,-11.0,598,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2505,3085,0,0,0,0,0,0
$STATE,6152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6153,begin apogee
$GC,6159,-0.16,0.0,777.6,-10.2,602,6286,0.62,0.00,121.25,1.366,6,0.139,0.000,2346,2197,2485,0,0,0,0,0,0
$STATE,6287,end apogee,CONTROL_FINISHED_OK
$STATE,6287,begin climb
$GC,6289,0.77,146.0,782.7,0.0,606,6426,0.88,1.17,129.32,1.335,4,0.068,0.054,2650,1506,1888,0,0,0,0,0,0
$GC,6539,0.77,146.0,766.4,11.5,613,6543,0.00,1.25,0.00,0.000,6,0.000,0.054,2650,2209,1882,0,0,0,0,0,0
$GC,6858,0.77,146.0,722.9,12.7,624,6862,0.00,1.17,0.00,0.000,4,0.000,0.062,2650,2901,1878,0,0,0,0,0,0
$GC,6896,0.77,146.0,718.4,12.6,625,6901,0.00,1.20,0.00,0.000,6,0.000,0.043,2654,2201,1877,0,0,0,0,0,0
$GC,7232,0.77,146.0,676.0,12.4,636,7235,0.00,1.12,0.00,0.000,4,0.000,0.057,2660,1499,1876,0,0,0,0,0,0
$GC,7248,0.77,146.0,676.0,12.4,636,7252,0.00,1.20,0.00,0.000,6,0.000,0.054,2660,2206,1876,0,0,0,0,0,0
$GC,7572,0.77,146.0,632.7,13.0,647,7575,0.00,1.17,0.00,0.000,4,0.000,0.063,2660,2914,1875,0,0,0,0,0,0
$GC,7582,0.77,146.0,632.7,13.0,647,7586,0.00,1.20,0.00,0.000,6,0.000,0.044,2664,2197,1875,0,0,0,0,0,0
$GC,7914,0.77,146.0,586.9,13.5,658,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2197,1875,0,0,0,0,0,0
$GC,8218,0.77,146.0,546.7,13.0,668,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2197,1874,0,0,0,0,0,0
$GC,8526,0.77,146.0,507.6,12.8,678,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2197,1874,0,0,0,0,0,0
$GC,8841,0.77,146.0,467.3,13.3,702,8845,0.00,1.10,0.00,0.000,4,0.000,0.057,2670,1495,1874,0,0,0,0,0,0
$GC,8908,0.77,146.0,458.6,12.5,708,8912,0.00,1.17,0.00,0.000,6,0.000,0.056,2670,2202,1874,0,0,0,0,0,0
$GC,9132,0.77,146.0,430.5,12.4,729,9136,0.00,1.15,0.00,0.000,4,0.000,0.063,2670,2905,1874,0,0,0,0,0,0
$GC,9155,0.77,146.0,427.7,12.7,731,9159,0.00,1.17,0.00,0.000,6,0.000,0.044,2675,2192,1874,0,0,0,0,0,0
$GC,9380,0.77,146.0,399.0,12.7,752,9381,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2191,1874,0,0,0,0,0,0
$GC,9593,0.77,146.0,372.4,12.4,772,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2191,1873,0,0,0,0,0,0
$GC,9805,0.77,146.0,346.8,12.1,792,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2191,1874,0,0,0,0,0,0
$GC,10017,0.77,146.0,320.4,12.7,812,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2191,1873,0,0,0,0,0,0
$GC,10231,0.77,146.0,293.8,12.0,836,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2191,1873,0,0,0,0,0,0
$GC,10435,0.77,146.0,269.1,12.9,873,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2191,1873,0,0,0,0,0,0
$GC,10643,0.77,146.0,243.2,13.5,910,10650,0.00,1.08,0.00,0.000,4,0.000,0.059,2680,1497,1873,0,0,0,0,0,0
$GC,10745,0.77,146.0,230.3,12.2,928,10752,0.10,1.15,0.00,0.000,6,0.161,0.056,2649,2199,1873,0,0,0,0,0,0
$GC,10950,0.77,146.0,208.9,10.5,965,10959,0.00,1.15,0.00,0.000,4,0.000,0.063,2650,2909,1873,0,0,0,0,0,0
$GC,11065,0.77,150.9,197.7,9.8,985,11074,0.00,1.15,0.00,0.000,6,0.000,0.044,2653,2199,1873,0,0,0,0,0,0
$GC,11275,0.78,153.3,177.4,9.9,1022,11288,0.00,1.23,4.82,0.806,4,0.000,0.060,2653,2908,1859,0,0,0,0,0,0
$GC,11328,0.78,153.3,172.0,10.5,1031,11334,0.00,1.15,0.00,0.000,6,0.000,0.044,2657,2201,1859,0,0,0,0,0,0
$GC,11533,0.78,154.8,150.9,9.9,1068,11540,0.00,1.20,0.00,0.000,4,0.000,0.060,2658,2907,1859,0,0,0,0,0,0
$GC,11789,0.78,156.8,124.5,9.9,1114,11802,0.00,1.15,4.65,0.776,6,0.000,0.044,2662,2198,1845,0,0,0,0,0,0
$GC,12001,0.80,175.5,103.6,9.1,1152,12022,0.00,1.25,17.42,0.941,4,0.000,0.060,2662,2905,1769,0,0,0,0,0,0
$GC,12272,0.83,195.2,76.7,9.1,1200,12294,0.00,1.17,17.30,0.929,6,0.000,0.044,2667,2192,1689,0,0,0,0,0,0
$GC,12494,0.86,219.4,57.2,8.9,1239,12522,0.00,1.30,21.10,0.923,4,0.000,0.060,2667,2912,1590,0,0,0,0,0,0
$GC,12655,0.86,219.4,41.0,10.1,1267,12661,0.00,1.20,0.00,0.000,6,0.000,0.044,2672,2196,1587,0,0,0,0,0,0
$GC,12860,0.90,252.0,22.2,8.5,1304,12887,0.00,1.27,18.48,0.859,4,0.000,0.060,2672,2903,1456,0,0,0,0,0,0
$STATE,13036,end climb,SURFACE_DEPTH_REACHED
$STATE,13036,begin surface coast
$FINISH,1.7,1.013155
$STATE,13042,end surface coast,CONTROL_FINISHED_OK
$STATE,13043,begin surface
$SM_CCo,13059,46.33,0.085,0,0,1058,350.04
$SM_GC,2.47,6.95,0.68,46.33,0.044,0.045,0.085,120,2499,1058,-7.07,0.93,350.04,0,0,0,0,0,0
$RAFOS_CLK,846
$RAFOS,6,1318798155,20.833334,20.820833,107,59,57,0,0,0,717,226,158,0,0,0
$RAFOS,5,1318797689,20.700001,20.691389,131,67,61,0,0,0,422,198,209,0,0,0
$RAFOS,4,1318797191,20.566668,20.553055,104,59,55,0,0,0,745,184,217,0,0,0
$RAFOS,3,1318796703,20.433332,20.417500,67,62,62,0,0,0,896,195,168,0,0,0
$RAFOS,2,1318796226,20.299999,20.285000,91,59,59,0,0,0,952,207,196,0,0,0
$RAFOS,1,1318795742,20.166666,20.150555,83,59,59,0,0,0,961,198,152,0,0,0
$RAFOS,0,1318795261,20.033333,20.016945,67,65,65,0,0,0,1100,210,198,0,0,0
$RAFOS_FIX,6656.592285,-5732.208496,161011,202053,7,93,0.36
$IRIDIUM_FIX,6625.71,-5737.61,161011,151541
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.40
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,751.6,88.4
$24V_AH,23.0,10.118
$10V_AH,10.2,8.519
$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,17.400,64.750,334.350,46.325,0.000,0.000,0.000,220.950,8.500,0.000,22.061,3645.503,6586.549,564.180,2433.919,239.639,0.000,1960.659,0.000,2190.174,2520.000,21.560,0.000
$DEVICE_MAMPS,266.985,76.500,1366.290,84.915,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.237,790.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,49969,1336
$CAP_FILE_SIZE,150832,0
$CFSIZE,260165632,242716672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.4
$CURRENT,0.052, 42.0,1
$GPS,161011,231629,6656.070,-5725.194,38,0.8,38,-33.5