version: 66.09
glider: 143
mission: 13
dive: 197
start: 11 6 111 20 45 19
data:
$ID,143
$MISSION,13
$DIVE,197
$N_DIVES,0
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$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,501.14789
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80763.945
$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,49
$R_STBD_OVSHOOT,27
$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
$GPS1,061111,203454,6654.394,-5808.292,57,0.9,57,-33.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.4
$GPS2,061111,204448,6654.375,-5808.288,47,1.0,47,-33.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,-0.110
$KALMAN_X,-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
$KALMAN_Y,5142783.5,-2598.4,-4936.8,2293075.0,39671.3
$MHEAD_RNG_PITCHd_Wd,108.4,60140,-16.9,-9.167
$D_GRID,915
$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,-0.73,-146.0,0.0,0.0,0,60,0.00,0.00,-40.70,0.000,2,0.000,0.000,119,2523,1796,0,0,0,0,0,0
$GC,63,-0.73,-146.0,3.2,-0.8,6,169,8.55,1.20,-91.20,0.000,4,0.260,0.074,2161,1821,3082,0,0,0,0,0,0
$GC,337,-0.73,-146.0,36.1,-17.5,47,345,0.00,1.17,0.00,0.000,6,0.000,0.058,2159,2502,3084,0,0,0,0,0,0
$GC,677,-0.73,-146.0,84.7,-13.2,98,684,0.00,1.15,0.00,0.000,4,0.000,0.072,2153,3216,3084,0,0,0,0,0,0
$GC,858,-0.73,-146.0,109.2,-14.2,125,864,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2507,3084,0,0,0,0,0,0
$GC,1196,-0.73,-146.0,155.5,-13.4,176,1203,0.00,1.08,0.00,0.000,4,0.000,0.047,2153,1820,3085,0,0,0,0,0,0
$GC,1289,-0.73,-146.0,168.1,-12.7,190,1295,0.00,1.17,0.00,0.000,6,0.000,0.058,2149,2506,3085,0,0,0,0,0,0
$GC,1627,-0.73,-146.0,213.4,-13.0,241,1634,0.00,1.12,0.00,0.000,4,0.000,0.072,2143,3211,3085,0,0,0,0,0,0
$GC,1732,-0.73,-146.0,226.8,-13.1,257,1739,0.00,1.10,0.00,0.000,6,0.000,0.037,2143,2501,3084,0,0,0,0,0,0
$GC,2069,-0.73,-146.0,270.2,-13.2,297,2073,0.00,1.08,0.00,0.000,4,0.000,0.047,2143,1814,3084,0,0,0,0,0,0
$GC,2127,-0.73,-146.0,276.8,-12.6,301,2135,0.00,1.23,0.00,0.000,6,0.000,0.057,2139,2520,3084,0,0,0,0,0,0
$GC,2452,-0.73,-146.0,317.7,-12.3,327,2455,0.00,1.10,0.00,0.000,4,0.000,0.072,2133,3211,3084,0,0,0,0,0,0
$GC,2544,-0.73,-146.0,328.8,-11.7,334,2548,0.10,1.08,0.00,0.000,6,0.153,0.035,2164,2512,3083,0,0,0,0,0,0
$GC,2874,-0.73,-146.0,363.2,-10.8,360,2878,0.00,1.10,0.00,0.000,4,0.000,0.046,2164,1810,3084,0,0,0,0,0,0
$GC,2940,-0.73,-146.0,370.4,-10.6,365,2944,0.00,1.20,0.00,0.000,6,0.000,0.057,2162,2514,3083,0,0,0,0,0,0
$GC,3272,-0.73,-146.0,406.1,-10.6,391,3276,0.00,1.12,0.00,0.000,4,0.000,0.070,2156,3222,3084,0,0,0,0,0,0
$GC,3340,-0.73,-146.0,413.7,-11.0,396,3343,0.00,1.10,0.00,0.000,6,0.000,0.034,2156,2505,3083,0,0,0,0,0,0
$GC,3670,-0.73,-146.0,448.1,-10.0,422,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3085,0,0,0,0,0,0
$GC,3984,-0.73,-146.0,480.7,-10.6,447,3988,0.00,1.17,0.00,0.000,4,0.000,0.067,2152,3213,3085,0,0,0,0,0,0
$GC,4037,-0.73,-146.0,486.3,-10.6,451,4040,0.00,1.08,0.00,0.000,6,0.000,0.033,2152,2509,3084,0,0,0,0,0,0
$GC,4379,-0.73,-146.0,523.0,-10.7,468,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2509,3085,0,0,0,0,0,0
$GC,4685,-0.73,-146.0,556.4,-10.8,478,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2509,3085,0,0,0,0,0,0
$GC,4992,-0.73,-146.0,588.6,-10.6,488,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2509,3085,0,0,0,0,0,0
$GC,5297,-0.73,-146.0,620.0,-10.3,498,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2509,3086,0,0,0,0,0,0
$GC,5607,-0.73,-146.0,651.7,-10.8,508,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2509,3086,0,0,0,0,0,0
$GC,5909,-0.73,-146.0,683.8,-10.2,518,5913,0.00,1.08,0.00,0.000,4,0.000,0.043,2152,1812,3086,0,0,0,0,0,0
$GC,5953,-0.73,-146.0,687.1,-10.0,519,5959,0.00,1.20,0.00,0.000,6,0.000,0.053,2147,2513,3086,0,0,0,0,0,0
$GC,6281,-0.73,-146.0,720.2,-10.1,530,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2513,3087,0,0,0,0,0,0
$GC,6589,-0.73,-146.0,751.0,-10.2,540,6593,0.00,1.10,0.00,0.000,4,0.000,0.067,2141,3213,3087,0,0,0,0,0,0
$GC,6660,-0.73,-146.0,758.0,-10.1,542,6665,0.00,1.10,0.00,0.000,6,0.000,0.029,2142,2494,3086,0,0,0,0,0,0
$GC,6994,-0.73,-146.0,791.3,-9.8,553,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2494,3087,0,0,0,0,0,0
$GC,7300,-0.73,-146.0,821.0,-9.8,563,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2494,3087,0,0,0,0,0,0
$GC,7606,-0.73,-146.0,852.4,-10.6,573,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2494,3087,0,0,0,0,0,0
$GC,7913,-0.73,-146.0,886.1,-11.6,583,7916,0.00,1.20,0.00,0.000,4,0.000,0.064,2137,3220,3087,0,0,0,0,0,0
$GC,8003,-0.73,-146.0,893.9,-11.8,585,8010,0.00,1.10,0.00,0.000,6,0.000,0.029,2137,2502,3087,0,0,0,0,0,0
$STATE,8161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8161,begin apogee
$GC,8167,-0.16,0.0,915.6,-11.7,591,8297,0.62,0.00,123.53,1.485,6,0.135,0.000,2339,2198,2485,0,0,0,0,0,0
$STATE,8297,end apogee,CONTROL_FINISHED_OK
$STATE,8298,begin climb
$GC,8300,0.73,146.0,921.6,0.0,595,8440,0.88,0.00,134.27,1.424,6,0.071,0.000,2633,2198,1888,0,0,0,0,0,0
$GC,8747,0.73,146.0,879.3,13.2,609,8751,0.00,1.10,0.00,0.000,4,0.000,0.050,2638,1511,1880,0,0,0,0,0,0
$GC,8798,0.73,146.0,875.0,13.3,610,8803,0.00,1.20,0.00,0.000,6,0.000,0.045,2637,2206,1879,0,0,0,0,0,0
$GC,9121,0.73,146.0,831.1,12.4,621,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2206,1878,0,0,0,0,0,0
$GC,9425,0.73,146.0,794.5,11.8,631,9429,0.00,1.15,0.00,0.000,4,0.000,0.055,2638,2909,1876,0,0,0,0,0,0
$GC,9482,0.73,146.0,790.5,11.9,632,9493,0.00,1.17,0.00,0.000,6,0.000,0.037,2643,2203,1877,0,0,0,0,0,0
$GC,9796,0.73,146.0,748.2,12.6,643,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2203,1876,0,0,0,0,0,0
$GC,10104,0.73,146.0,709.5,12.6,653,10108,0.00,1.10,0.00,0.000,4,0.000,0.050,2648,1491,1876,0,0,0,0,0,0
$GC,10175,0.73,146.0,701.2,12.4,655,10180,0.00,1.17,0.00,0.000,6,0.000,0.046,2648,2202,1875,0,0,0,0,0,0
$GC,10509,0.73,146.0,658.5,12.7,666,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2202,1875,0,0,0,0,0,0
$GC,10816,0.73,146.0,620.3,12.3,676,10820,0.00,1.12,0.00,0.000,4,0.000,0.057,2648,2901,1875,0,0,0,0,0,0
$GC,10854,0.73,146.0,616.1,12.4,677,10859,0.00,1.15,0.00,0.000,6,0.000,0.037,2653,2199,1875,0,0,0,0,0,0
$GC,11187,0.73,146.0,571.7,12.9,688,11191,0.00,1.08,0.00,0.000,4,0.000,0.050,2658,1494,1875,0,0,0,0,0,0
$GC,11222,0.73,146.0,567.3,12.9,689,11226,0.00,1.12,0.00,0.000,6,0.000,0.047,2658,2189,1875,0,0,0,0,0,0
$GC,11561,0.73,146.0,523.1,13.0,700,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2189,1874,0,0,0,0,0,0
$GC,11871,0.73,146.0,484.2,12.4,716,11874,0.00,1.15,0.00,0.000,4,0.000,0.057,2658,2906,1873,0,0,0,0,0,0
$GC,11952,0.73,146.0,474.2,12.8,722,11955,0.00,1.15,0.00,0.000,6,0.000,0.038,2663,2192,1873,0,0,0,0,0,0
$GC,12280,0.73,146.0,434.6,11.6,748,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2193,1874,0,0,0,0,0,0
$GC,12598,0.73,146.0,398.9,11.4,773,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2193,1873,0,0,0,0,0,0
$GC,12913,0.73,146.0,362.2,12.0,798,12914,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2193,1873,0,0,0,0,0,0
$GC,13229,0.73,146.0,325.6,11.6,823,13232,0.00,1.20,0.00,0.000,4,0.000,0.054,2662,2908,1873,0,0,0,0,0,0
$GC,13366,0.73,146.0,309.8,11.9,833,13374,0.12,1.15,0.00,0.000,6,0.172,0.037,2637,2198,1873,0,0,0,0,0,0
$GC,13689,0.73,146.0,276.0,9.9,859,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2198,1873,0,0,0,0,0,0
$GC,14009,0.73,146.0,244.3,9.5,888,14017,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2198,1873,0,0,0,0,0,0
$GC,14346,0.74,156.2,213.9,8.7,939,14362,0.00,1.17,7.32,0.930,4,0.000,0.050,2637,2913,1848,0,0,0,0,0,0
$GC,14560,0.74,156.2,193.2,9.9,971,14567,0.00,1.15,0.00,0.000,6,0.000,0.037,2640,2194,1847,0,0,0,0,0,0
$GC,14897,0.77,182.0,164.5,8.1,1022,14924,0.00,0.00,23.38,1.008,6,0.000,0.000,2641,2194,1743,0,0,0,0,0,0
$GC,15255,0.79,195.1,132.5,8.6,1076,15272,0.00,1.12,12.48,0.959,4,0.000,0.050,2646,1491,1689,0,0,0,0,0,0
$GC,15338,0.79,195.1,124.5,10.1,1088,15347,0.00,1.17,0.00,0.000,6,0.000,0.047,2646,2204,1688,0,0,0,0,0,0
$GC,15678,0.79,195.1,91.0,9.8,1139,15685,0.00,1.12,0.00,0.000,4,0.000,0.056,2646,2908,1687,0,0,0,0,0,0
$GC,15750,0.79,195.1,83.8,9.6,1150,15757,0.00,1.15,0.00,0.000,6,0.000,0.037,2650,2200,1687,0,0,0,0,0,0
$GC,16089,0.81,213.4,52.2,8.4,1201,16116,0.00,1.25,16.45,0.952,4,0.000,0.054,2650,2912,1614,0,0,0,0,0,0
$GC,16277,0.88,272.8,38.1,6.7,1229,16332,0.00,1.17,51.17,0.945,6,0.000,0.037,2655,2193,1373,0,0,0,0,0,0
$GC,16666,0.98,350.0,2.9,5.9,1287,16683,0.17,0.00,14.00,0.084,2,0.078,0.000,2728,2192,1248,0,0,0,0,0,0
$STATE,16683,end climb,SURFACE_DEPTH_REACHED
$STATE,16684,begin surface coast
$FINISH,1.8,1.025818
$STATE,16709,end surface coast,CONTROL_FINISHED_OK
$STATE,16709,begin surface
$SM_CCo,16727,90.25,0.085,0,0,442,501.15
$SM_GC,2.52,7.07,0.60,90.25,0.042,0.051,0.085,115,2512,442,-7.08,-0.76,501.15,0,0,0,0,0,0
$RAFOS_CLK,1106
$RAFOS,6,1320626942,0.833333,0.817222,115,73,62,0,0,0,687,209,121,0,0,0
$RAFOS,5,1320626466,0.700000,0.685000,144,59,58,0,0,0,551,223,155,0,0,0
$RAFOS,4,1320625993,0.566667,0.553611,83,66,62,0,0,0,624,194,215,0,0,0
$RAFOS,3,1320625506,0.433333,0.418333,65,58,55,0,0,0,181,213,120,0,0,0
$RAFOS,2,1320625026,0.300000,0.285000,59,53,53,0,0,0,194,154,203,0,0,0
$RAFOS,1,1320624547,0.166667,0.151944,59,57,56,0,0,0,177,186,217,0,0,0
$RAFOS,0,1320624061,0.033333,0.016944,57,55,54,0,0,0,151,213,198,0,0,0
$RAFOS,6,1320612541,20.833334,20.816944,67,66,60,0,0,0,702,181,223,0,0,0
$RAFOS_FIX,6658.269531,-5805.999512,071111,000022,3,114,0.52
$IRIDIUM_FIX,6625.71,-5809.55,061111,202050
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.53
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,16.30
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,800.4,153.3
$24V_AH,22.5,25.053
$10V_AH,10.1,19.351
$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,17.525,53.525,382.600,90.250,0.000,0.000,0.000,322.175,9.000,0.000,47.707,3557.936,10561.446,628.894,2454.145,248.250,0.000,2064.283,0.000,2074.698,2880.000,23.501,0.000
$DEVICE_MAMPS,260.100,74.205,1484.865,84.915,0.000,0.000,0.000,245.686,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.959,703.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150356
$DATA_FILE_SIZE,50023,1293
$CAP_FILE_SIZE,144864,0
$CFSIZE,260165632,234258432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.0
$CURRENT,0.117,310.5,1
$GPS,071111,012735,6655.720,-5803.189,33,0.8,33,-33.6