version: 66.09
glider: 143
mission: 13
dive: 80
start: 10 17 111 14 31 4
data:
$ID,143
$MISSION,13
$DIVE,80
$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,-80616.148
$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,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
$GPS1,171011,142517,6659.702,-5711.643,37,0.7,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-66.2
$GPS2,171011,143031,6659.762,-5711.665,18,1.2,18,-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,146.5,18112,-18.3,-10.000
$D_GRID,743
$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,-146.0,0.0,0.0,0,75,0.00,0.00,-55.95,0.000,2,0.000,0.000,116,2508,1845,0,0,0,0,0,0
$GC,78,-0.77,-146.0,3.0,-1.0,9,166,8.65,1.20,-70.15,0.000,4,0.265,0.102,2145,3217,3082,0,0,0,0,0,0
$GC,415,-0.77,-146.0,51.8,-16.6,67,422,0.00,1.12,0.00,0.000,6,0.000,0.041,2145,2510,3084,0,0,0,0,0,0
$GC,755,-0.77,-146.0,101.8,-14.2,128,761,0.00,1.20,0.00,0.000,4,0.000,0.071,2140,3217,3084,0,0,0,0,0,0
$GC,836,-0.77,-146.0,113.9,-15.3,142,842,0.00,1.12,0.00,0.000,6,0.000,0.040,2141,2504,3085,0,0,0,0,0,0
$GC,1172,-0.77,-146.0,164.7,-15.1,203,1179,0.00,1.10,0.00,0.000,4,0.000,0.051,2141,1812,3084,0,0,0,0,0,0
$GC,1306,-0.77,-146.0,184.0,-13.9,227,1313,0.00,1.20,0.00,0.000,6,0.000,0.063,2136,2505,3084,0,0,0,0,0,0
$GC,1644,-0.77,-146.0,230.4,-13.3,288,1650,0.00,1.15,0.00,0.000,4,0.000,0.050,2136,1815,3084,0,0,0,0,0,0
$GC,1717,-0.77,-146.0,240.5,-13.7,301,1726,0.00,1.20,0.00,0.000,6,0.000,0.063,2131,2510,3084,0,0,0,0,0,0
$GC,2058,-0.77,-146.0,286.8,-13.5,362,2065,0.00,1.15,0.00,0.000,4,0.000,0.075,2126,3222,3084,0,0,0,0,0,0
$GC,2237,-0.77,-146.0,311.5,-13.6,387,2241,0.00,1.12,0.00,0.000,6,0.000,0.041,2126,2508,3083,0,0,0,0,0,0
$GC,2569,-0.77,-146.0,355.9,-13.3,418,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2508,3083,0,0,0,0,0,0
$GC,2887,-0.77,-146.0,399.0,-13.2,448,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2508,3083,0,0,0,0,0,0
$GC,3207,-0.77,-146.0,440.1,-12.7,478,3211,0.00,1.10,0.00,0.000,4,0.000,0.051,2126,1812,3083,0,0,0,0,0,0
$GC,3267,-0.77,-146.0,447.6,-12.7,483,3275,0.08,1.20,0.00,0.000,6,0.164,0.062,2145,2513,3083,0,0,0,0,0,0
$GC,3594,-0.77,-146.0,485.3,-11.3,514,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2513,3083,0,0,0,0,0,0
$GC,3915,-0.77,-146.0,520.4,-10.9,533,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2513,3084,0,0,0,0,0,0
$GC,4223,-0.77,-146.0,554.1,-11.0,543,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2512,3084,0,0,0,0,0,0
$GC,4528,-0.77,-146.0,586.9,-10.5,553,4532,0.00,1.15,0.00,0.000,4,0.000,0.048,2145,1812,3084,0,0,0,0,0,0
$GC,4599,-0.77,-146.0,594.3,-10.6,555,4603,0.00,1.20,0.00,0.000,6,0.000,0.059,2142,2515,3084,0,0,0,0,0,0
$GC,4936,-0.77,-146.0,630.9,-10.9,566,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2515,3084,0,0,0,0,0,0
$GC,5242,-0.77,-146.0,663.8,-11.0,576,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2515,3085,0,0,0,0,0,0
$GC,5549,-0.77,-146.0,697.7,-10.9,586,5552,0.00,1.12,0.00,0.000,4,0.000,0.072,2137,3221,3085,0,0,0,0,0,0
$GC,5616,-0.77,-146.0,705.6,-11.2,588,5620,0.00,1.10,0.00,0.000,6,0.000,0.036,2137,2510,3085,0,0,0,0,0,0
$STATE,5955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5955,begin apogee
$GC,5961,-0.16,0.0,743.2,-10.9,599,6090,0.65,0.00,120.30,1.343,6,0.142,0.000,2345,2184,2484,0,0,0,0,0,0
$STATE,6091,end apogee,CONTROL_FINISHED_OK
$STATE,6091,begin climb
$GC,6093,0.77,146.0,747.7,0.0,603,6227,0.88,1.33,128.15,1.309,4,0.073,0.056,2643,2906,1889,0,0,0,0,0,0
$GC,6380,0.77,146.0,726.8,13.6,611,6387,0.00,1.23,0.00,0.000,6,0.000,0.041,2648,2203,1882,0,0,0,0,0,0
$GC,6694,0.77,146.0,681.7,13.4,622,6698,0.00,1.25,0.00,0.000,4,0.000,0.057,2647,2908,1879,0,0,0,0,0,0
$GC,6721,0.77,146.0,681.7,13.4,622,6728,0.00,1.20,0.00,0.000,6,0.000,0.041,2653,2201,1879,0,0,0,0,0,0
$GC,7036,0.77,146.0,637.5,12.7,633,7040,0.00,1.23,0.00,0.000,4,0.000,0.057,2653,2904,1878,0,0,0,0,0,0
$GC,7090,0.77,146.0,632.8,12.8,634,7095,0.00,1.17,0.00,0.000,6,0.000,0.041,2657,2200,1878,0,0,0,0,0,0
$GC,7411,0.77,146.0,590.0,12.4,645,7414,0.00,1.12,0.00,0.000,4,0.000,0.055,2663,1491,1877,0,0,0,0,0,0
$GC,7421,0.77,146.0,590.0,12.4,645,7425,0.00,1.20,0.00,0.000,6,0.000,0.052,2663,2208,1877,0,0,0,0,0,0
$GC,7751,0.77,146.0,547.2,12.5,656,7755,0.00,1.17,0.00,0.000,4,0.000,0.051,2667,1495,1877,0,0,0,0,0,0
$GC,7772,0.77,146.0,547.2,12.5,656,7776,0.00,1.17,0.00,0.000,6,0.000,0.053,2667,2204,1877,0,0,0,0,0,0
$GC,8091,0.77,146.0,503.1,13.3,667,8095,0.00,1.17,0.00,0.000,4,0.000,0.052,2672,1492,1877,0,0,0,0,0,0
$GC,8149,0.77,146.0,495.6,13.1,670,8153,0.00,1.17,0.00,0.000,6,0.000,0.053,2672,2202,1877,0,0,0,0,0,0
$GC,8480,0.77,146.0,451.2,13.1,701,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,1876,0,0,0,0,0,0
$GC,8801,0.77,146.0,409.6,13.3,731,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,1876,0,0,0,0,0,0
$GC,9130,0.77,146.0,366.0,13.4,762,9133,0.00,1.15,0.00,0.000,4,0.000,0.061,2672,2910,1876,0,0,0,0,0,0
$GC,9168,0.77,146.0,360.9,13.4,765,9177,0.00,1.17,0.00,0.000,6,0.000,0.041,2677,2195,1876,0,0,0,0,0,0
$GC,9493,0.77,146.0,316.5,13.6,796,9497,0.00,1.20,0.00,0.000,4,0.000,0.057,2677,2902,1876,0,0,0,0,0,0
$GC,9521,0.77,146.0,313.3,13.6,798,9529,0.10,1.15,0.00,0.000,6,0.170,0.042,2652,2199,1875,0,0,0,0,0,0
$GC,9853,0.77,146.0,273.4,11.1,849,9862,0.00,1.20,0.00,0.000,4,0.000,0.057,2652,2906,1876,0,0,0,0,0,0
$GC,9909,0.77,146.0,267.1,11.8,858,9916,0.00,1.15,0.00,0.000,6,0.000,0.041,2655,2197,1876,0,0,0,0,0,0
$GC,10247,0.77,146.0,228.5,11.1,919,10254,0.00,1.20,0.00,0.000,4,0.000,0.057,2655,2905,1876,0,0,0,0,0,0
$GC,10337,0.77,146.0,217.5,13.0,935,10344,0.00,1.15,0.00,0.000,6,0.000,0.042,2660,2195,1876,0,0,0,0,0,0
$GC,10675,0.78,152.5,181.5,9.7,996,10683,0.00,1.25,4.40,0.759,4,0.000,0.057,2660,2918,1863,0,0,0,0,0,0
$GC,10739,0.78,155.0,175.1,9.9,1007,10747,0.00,1.17,4.15,0.731,6,0.000,0.041,2665,2190,1853,0,0,0,0,0,0
$GC,11079,0.80,168.5,141.6,9.4,1068,11100,0.00,1.25,13.07,0.942,4,0.000,0.058,2664,2910,1798,0,0,0,0,0,0
$GC,11350,0.80,168.5,112.1,11.6,1116,11357,0.00,1.17,0.00,0.000,6,0.000,0.043,2669,2193,1796,0,0,0,0,0,0
$GC,11687,0.82,186.6,80.1,9.2,1177,11708,0.00,0.00,16.38,0.926,6,0.000,0.000,2670,2193,1723,0,0,0,0,0,0
$GC,12040,0.86,223.5,48.0,8.3,1240,12080,0.00,1.23,31.40,0.925,4,0.000,0.057,2669,2915,1572,0,0,0,0,0,0
$GC,12273,0.90,255.2,24.8,8.5,1281,12301,0.00,1.20,19.08,0.868,6,0.000,0.045,2674,2201,1443,0,0,0,0,0,0
$STATE,12476,end climb,SURFACE_DEPTH_REACHED
$STATE,12477,begin surface coast
$FINISH,1.7,1.007418
$STATE,12494,end surface coast,CONTROL_FINISHED_OK
$STATE,12494,begin surface
$SM_CCo,12511,44.70,0.083,0,0,1057,350.04
$SM_GC,2.23,6.95,0.60,44.70,0.043,0.066,0.083,118,2507,1057,-7.07,-0.79,350.04,0,0,0,0,0,0
$RAFOS_CLK,807
$RAFOS,6,1318870151,16.833334,16.819723,60,58,58,0,0,0,217,166,183,0,0,0
$RAFOS,5,1318869677,16.700001,16.688055,104,56,55,0,0,0,530,202,180,0,0,0
$RAFOS,4,1318869210,16.566668,16.558332,83,62,59,0,0,0,688,220,180,0,0,0
$RAFOS,3,1318868712,16.433332,16.420000,65,63,59,0,0,0,207,184,904,0,0,0
$RAFOS,2,1318868225,16.299999,16.284721,65,60,60,0,0,0,190,150,211,0,0,0
$RAFOS,1,1318867758,16.166666,16.155001,57,56,54,0,0,0,187,1009,208,0,0,0
$RAFOS,0,1318867287,16.033333,16.024166,59,58,52,0,0,0,198,157,178,0,0,0
$RAFOS_FIX,6704.805664,-5718.011719,171011,161628,2,94,1.35
$IRIDIUM_FIX,6631.12,-5711.93,171011,101034
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.67
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,18
$24V_AH,23.1,10.703
$10V_AH,10.3,8.985
$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,17.300,50.625,336.925,44.700,0.000,0.000,0.000,199.150,6.750,0.000,19.962,3584.162,6257.112,546.813,2301.699,211.283,0.000,1826.933,0.000,2083.429,2520.000,16.896,0.000
$DEVICE_MAMPS,264.690,101.745,1343.340,83.385,0.000,0.000,0.000,261.415,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.868,785.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150328
$DATA_FILE_SIZE,49979,1320
$CAP_FILE_SIZE,132420,0
$CFSIZE,260165632,242356224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1457.4
$CURRENT,0.392,329.1,1
$GPS,171011,180223,6701.454,-5710.454,49,0.8,49,-33.5