version: 66.09
glider: 143
mission: 13
dive: 21
start: 10 9 111 3 32 5
data:
$ID,143
$MISSION,13
$DIVE,21
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$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,420
$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,-80444.281
$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,2415
$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,27
$R_STBD_OVSHOOT,19
$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,1
$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
$GPS1,091011,032637,6632.897,-6019.621,23,0.8,24,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.0
$GPS2,091011,033132,6632.854,-6019.756,15,0.8,16,-33.7
$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,95.9,162792,-18.3,-10.000
$D_GRID,505
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.40,0.000,2,0.000,0.000,123,2520,2180,0,0,0,0,0,0
$GC,121,-0.77,-146.0,3.1,-2.9,16,170,8.85,1.27,-30.92,0.000,4,0.274,0.091,2160,1802,3081,0,0,0,0,0,0
$GC,328,-0.77,-146.0,38.6,-16.3,51,335,0.00,1.25,0.00,0.000,6,0.000,0.072,2157,2507,3083,0,0,0,0,0,0
$GC,535,-0.77,-146.0,68.6,-13.3,88,542,0.00,1.17,0.00,0.000,4,0.000,0.083,2151,3217,3083,0,0,0,0,0,0
$GC,643,-0.77,-146.0,83.3,-13.7,107,650,0.00,1.17,0.00,0.000,6,0.000,0.054,2151,2505,3083,0,0,0,0,0,0
$GC,850,-0.77,-146.0,110.8,-13.8,137,853,0.00,1.23,0.00,0.000,4,0.000,0.082,2146,3216,3083,0,0,0,0,0,0
$GC,1009,-0.77,-146.0,133.6,-14.6,151,1013,0.00,1.17,0.00,0.000,6,0.000,0.056,2147,2504,3083,0,0,0,0,0,0
$GC,1234,-0.77,-146.0,164.8,-13.6,172,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2504,3083,0,0,0,0,0,0
$GC,1446,-0.77,-146.0,193.5,-12.9,192,1450,0.00,1.23,0.00,0.000,4,0.000,0.081,2141,3219,3083,0,0,0,0,0,0
$GC,1513,-0.77,-146.0,202.5,-13.3,198,1517,0.00,1.17,0.00,0.000,6,0.000,0.056,2141,2503,3083,0,0,0,0,0,0
$GC,1739,-0.77,-146.0,231.7,-12.9,219,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2504,3083,0,0,0,0,0,0
$GC,1951,-0.77,-146.0,259.1,-13.2,239,1954,0.00,1.23,0.00,0.000,4,0.000,0.082,2137,3219,3083,0,0,0,0,0,0
$GC,2087,-0.77,-146.0,277.1,-13.1,251,2090,0.00,1.17,0.00,0.000,6,0.000,0.057,2137,2503,3083,0,0,0,0,0,0
$GC,2313,-0.77,-146.0,307.0,-12.7,272,2316,0.00,1.23,0.00,0.000,4,0.000,0.082,2133,3220,3083,0,0,0,0,0,0
$GC,2417,-0.77,-146.0,320.5,-13.2,281,2425,0.10,1.17,0.00,0.000,6,0.161,0.055,2162,2505,3082,0,0,0,0,0,0
$GC,2638,-0.77,-146.0,343.5,-10.2,302,2642,0.00,1.20,0.00,0.000,4,0.000,0.082,2159,3211,3082,0,0,0,0,0,0
$GC,2684,-0.77,-146.0,348.3,-10.5,306,2688,0.00,1.15,0.00,0.000,6,0.000,0.054,2159,2505,3082,0,0,0,0,0,0
$GC,2912,-0.77,-146.0,371.5,-10.0,327,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2505,3082,0,0,0,0,0,0
$GC,3131,-0.77,-146.0,394.7,-10.4,348,3135,0.00,1.20,0.00,0.000,4,0.000,0.082,2155,3211,3082,0,0,0,0,0,0
$GC,3192,-0.77,-146.0,400.7,-10.5,353,3198,0.00,1.15,0.00,0.000,6,0.000,0.053,2155,2504,3082,0,0,0,0,0,0
$GC,3410,-0.77,-146.0,423.3,-10.6,374,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2504,3082,0,0,0,0,0,0
$GC,3624,-0.77,-146.0,444.6,-9.5,394,3627,0.00,1.12,0.00,0.000,4,0.000,0.064,2155,1806,3082,0,0,0,0,0,0
$GC,3651,-0.77,-146.0,446.9,-9.9,396,3657,0.00,1.23,0.00,0.000,6,0.000,0.070,2151,2509,3083,0,0,0,0,0,0
$STATE,3680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3680,begin apogee
$GC,3686,-0.16,0.0,450.0,-9.7,399,3811,0.65,0.00,117.10,1.157,6,0.146,0.000,2356,2190,2484,0,0,0,0,0,0
$STATE,3811,end apogee,CONTROL_FINISHED_OK
$STATE,3811,begin climb
$GC,3814,0.77,146.0,454.5,0.0,410,3944,0.90,0.00,124.00,1.105,6,0.062,0.000,2667,2188,1889,0,0,0,0,0,0
$GC,4163,0.77,146.0,426.5,12.5,443,4166,0.00,1.17,0.00,0.000,4,0.000,0.070,2671,1496,1878,0,0,0,0,0,0
$GC,4230,0.77,146.0,418.3,12.3,449,4234,0.00,1.25,0.00,0.000,6,0.000,0.063,2672,2204,1877,0,0,0,0,0,0
$GC,4456,0.77,146.0,390.3,12.6,470,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2205,1876,0,0,0,0,0,0
$GC,4666,0.77,146.0,363.4,12.8,490,4670,0.00,1.20,0.00,0.000,4,0.000,0.074,2672,2907,1875,0,0,0,0,0,0
$GC,4745,0.77,146.0,352.8,13.2,497,4749,0.00,1.23,0.00,0.000,6,0.000,0.057,2677,2198,1874,0,0,0,0,0,0
$GC,4969,0.77,146.0,324.9,12.4,518,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2198,1874,0,0,0,0,0,0
$GC,5182,0.77,146.0,299.5,12.0,538,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2198,1874,0,0,0,0,0,0
$GC,5394,0.77,146.0,274.9,10.9,558,5398,0.00,1.25,0.00,0.000,4,0.000,0.070,2677,2909,1874,0,0,0,0,0,0
$GC,5473,0.77,146.0,265.6,11.6,565,5477,0.00,1.23,0.00,0.000,6,0.000,0.059,2682,2194,1873,0,0,0,0,0,0
$GC,5697,0.77,146.0,242.4,10.1,586,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2194,1873,0,0,0,0,0,0
$GC,5910,0.77,149.1,221.6,9.9,606,5914,0.00,1.12,0.00,0.000,4,0.000,0.068,2687,1495,1873,0,0,0,0,0,0
$GC,5982,0.78,154.9,214.9,9.7,612,5992,0.00,1.20,5.95,0.873,6,0.000,0.063,2687,2208,1853,0,0,0,0,0,0
$GC,6214,0.78,154.9,191.7,10.3,634,6218,0.00,1.15,0.00,0.000,4,0.000,0.072,2687,2905,1854,0,0,0,0,0,0
$GC,6440,0.78,154.9,167.1,11.8,654,6448,0.00,1.20,0.00,0.000,6,0.000,0.057,2692,2199,1854,0,0,0,0,0,0
$GC,6660,0.78,154.9,142.4,10.8,675,6664,0.00,1.23,0.00,0.000,4,0.000,0.070,2693,2908,1854,0,0,0,0,0,0
$GC,6787,0.78,154.9,128.6,11.0,686,6794,0.10,1.20,0.00,0.000,6,0.181,0.059,2668,2203,1853,0,0,0,0,0,0
$GC,7008,0.83,197.3,108.2,8.1,707,7048,0.00,1.20,36.50,0.962,4,0.000,0.070,2672,1496,1680,0,0,0,0,0,0
$GC,7087,0.83,197.3,100.8,10.0,713,7094,0.00,1.23,0.00,0.000,6,0.000,0.063,2672,2199,1677,0,0,0,0,0,0
$GC,7314,0.83,197.3,75.7,11.3,754,7321,0.00,1.20,0.00,0.000,4,0.000,0.073,2672,2912,1675,0,0,0,0,0,0
$GC,7355,0.83,197.3,71.0,11.0,761,7362,0.00,1.23,0.00,0.000,6,0.000,0.058,2677,2203,1674,0,0,0,0,0,0
$GC,7560,0.83,197.3,49.6,10.0,798,7567,0.00,1.15,0.00,0.000,4,0.000,0.071,2682,1494,1674,0,0,0,0,0,0
$GC,7590,0.83,197.3,46.6,10.3,803,7599,0.00,1.23,0.00,0.000,6,0.000,0.065,2682,2208,1674,0,0,0,0,0,0
$GC,7799,0.93,274.2,29.0,6.5,840,7853,0.00,1.25,49.42,0.896,4,0.000,0.073,2682,2908,1367,0,0,0,0,0,0
$GC,8025,0.93,274.2,6.7,10.7,879,8034,0.00,1.25,0.00,0.000,6,0.000,0.057,2687,2192,1358,0,0,0,0,0,0
$STATE,8072,end climb,SURFACE_DEPTH_REACHED
$STATE,8072,begin surface coast
$FINISH,1.2,1.017115
$STATE,8089,end surface coast,CONTROL_FINISHED_OK
$STATE,8089,begin surface
$SM_CCo,8106,67.57,0.085,0,0,771,420.20
$SM_GC,2.21,7.28,0.62,67.57,0.063,0.068,0.085,126,2509,771,-7.11,-0.74,420.20,0,0,0,0,0,0
$RAFOS_CLK,524
$RAFOS,6,1318135747,4.833333,4.818611,60,58,53,0,0,0,147,201,177,0,0,0
$RAFOS,5,1318135264,4.700000,4.684444,83,59,58,0,0,0,980,208,130,0,0,0
$RAFOS,4,1318134790,4.566667,4.552778,63,55,54,0,0,0,187,130,225,0,0,0
$RAFOS,3,1318134303,4.433333,4.417500,83,60,57,0,0,0,734,223,180,0,0,0
$RAFOS,2,1318133831,4.300000,4.286389,60,59,59,0,0,0,181,200,217,0,0,0
$RAFOS,1,1318133349,4.166667,4.152500,60,59,59,0,0,0,208,585,597,0,0,0
$RAFOS,0,1318132870,4.033333,4.019444,75,61,61,0,0,0,578,190,146,0,0,0
$RAFOS_FIX,6634.555664,-6016.328613,091011,040432,3,80,1.27
$IRIDIUM_FIX,6609.62,-6022.02,091011,010100
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.19
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,450.0,61.3
$24V_AH,23.3,3.971
$10V_AH,10.2,3.768
$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,17.875,46.875,332.975,67.575,0.000,0.000,0.000,193.500,5.750,0.000,17.398,2439.799,3661.902,524.308,1699.462,165.484,0.000,1544.167,0.000,1494.726,2520.000,10.883,0.000
$DEVICE_MAMPS,273.870,91.035,1157.445,84.915,0.000,0.000,0.000,246.435,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.252,627.458,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150428
$DATA_FILE_SIZE,33413,890
$CAP_FILE_SIZE,104832,0
$CFSIZE,260165632,246657024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.5
$CURRENT,0.340,212.7,1
$GPS,091011,054954,6632.117,-6018.766,39,1.7,39,-33.6