version: 66.09
glider: 143
mission: 13
dive: 234
start: 11 13 111 1 23 40
data:
$ID,143
$MISSION,13
$DIVE,234
$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,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80821.961
$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,43
$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,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,131111,011735,6659.374,-5753.815,56,0.9,56,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-66.3
$GPS2,131111,012301,6659.451,-5753.900,18,1.0,18,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,267.0,114891,-16.9,-9.167
$D_GRID,912
$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,16,-0.73,-146.0,0.0,0.0,0,74,0.00,0.00,-55.47,0.000,2,0.000,0.000,119,2507,1974,0,0,0,0,0,0
$GC,77,-0.73,-146.0,3.1,-1.7,9,142,8.77,1.20,-46.08,0.000,4,0.262,0.072,2160,1811,3083,0,0,0,0,0,0
$GC,395,-0.73,-146.0,53.1,-16.8,56,402,0.00,1.23,0.00,0.000,6,0.000,0.057,2157,2518,3084,0,0,0,0,0,0
$GC,732,-0.73,-146.0,105.1,-15.7,107,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2518,3085,0,0,0,0,0,0
$GC,1070,-0.73,-146.0,153.0,-13.3,158,1076,0.00,1.15,0.00,0.000,4,0.000,0.045,2157,1822,3085,0,0,0,0,0,0
$GC,1182,-0.73,-146.0,167.7,-12.9,175,1192,0.00,1.17,0.00,0.000,6,0.000,0.058,2153,2504,3085,0,0,0,0,0,0
$GC,1521,-0.73,-146.0,211.8,-13.4,226,1528,0.00,1.15,0.00,0.000,4,0.000,0.072,2147,3218,3084,0,0,0,0,0,0
$GC,1574,-0.73,-146.0,219.0,-13.4,234,1581,0.00,1.10,0.00,0.000,6,0.000,0.035,2147,2512,3084,0,0,0,0,0,0
$GC,1912,-0.73,-146.0,265.7,-13.4,277,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2512,3084,0,0,0,0,0,0
$GC,2228,-0.73,-146.0,305.9,-12.3,302,2232,0.00,1.17,0.00,0.000,4,0.000,0.067,2143,3213,3084,0,0,0,0,0,0
$GC,2333,-0.73,-146.0,319.1,-12.6,310,2337,0.00,1.10,0.00,0.000,6,0.000,0.036,2142,2503,3084,0,0,0,0,0,0
$GC,2663,-0.73,-146.0,357.6,-11.3,336,2667,0.00,1.08,0.00,0.000,4,0.000,0.047,2143,1814,3084,0,0,0,0,0,0
$GC,2721,-0.73,-146.0,363.9,-11.5,340,2729,0.00,1.23,0.00,0.000,6,0.000,0.057,2138,2520,3084,0,0,0,0,0,0
$GC,3046,-0.73,-146.0,403.8,-12.2,366,3050,0.00,1.10,0.00,0.000,4,0.000,0.071,2133,3212,3084,0,0,0,0,0,0
$GC,3130,-0.73,-146.0,413.9,-12.6,372,3139,0.12,1.10,0.00,0.000,6,0.168,0.033,2162,2506,3084,0,0,0,0,0,0
$GC,3453,-0.73,-146.0,449.0,-10.5,398,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2506,3084,0,0,0,0,0,0
$GC,3769,-0.73,-146.0,481.3,-10.0,423,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3084,0,0,0,0,0,0
$GC,4080,-0.73,-146.0,512.3,-9.8,442,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3085,0,0,0,0,0,0
$GC,4388,-0.73,-146.0,542.2,-9.8,452,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3085,0,0,0,0,0,0
$GC,4693,-0.73,-146.0,572.1,-9.8,462,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3085,0,0,0,0,0,0
$GC,5002,-0.73,-146.0,601.0,-9.1,472,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3085,0,0,0,0,0,0
$GC,5306,-0.73,-146.0,629.2,-9.3,482,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3086,0,0,0,0,0,0
$GC,5613,-0.73,-146.0,658.2,-9.5,492,5617,0.00,1.08,0.00,0.000,4,0.000,0.047,2163,1816,3086,0,0,0,0,0,0
$GC,5670,-0.73,-146.0,661.5,-9.5,493,5678,0.00,1.20,0.00,0.000,6,0.000,0.056,2160,2511,3086,0,0,0,0,0,0
$GC,5986,-0.73,-146.0,694.4,-9.7,504,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2511,3086,0,0,0,0,0,0
$GC,6292,-0.73,-146.0,723.4,-9.5,514,6296,0.00,1.12,0.00,0.000,4,0.000,0.069,2154,3220,3086,0,0,0,0,0,0
$GC,6343,-0.73,-146.0,726.8,-9.6,515,6348,0.00,1.10,0.00,0.000,6,0.000,0.030,2154,2504,3086,0,0,0,0,0,0
$GC,6664,-0.73,-146.0,760.1,-9.8,526,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2504,3086,0,0,0,0,0,0
$GC,6972,-0.73,-146.0,789.8,-9.6,536,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2504,3087,0,0,0,0,0,0
$GC,7277,-0.73,-146.0,818.8,-9.3,546,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2504,3087,0,0,0,0,0,0
$GC,7584,-0.73,-146.0,847.4,-9.3,556,7588,0.00,1.05,0.00,0.000,4,0.000,0.046,2155,1825,3087,0,0,0,0,0,0
$GC,7637,-0.73,-146.0,850.5,-9.2,557,7642,0.00,1.20,0.00,0.000,6,0.000,0.054,2150,2521,3087,0,0,0,0,0,0
$GC,7959,-0.73,-146.0,883.2,-9.6,568,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2521,3087,0,0,0,0,0,0
$STATE,8262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8262,begin apogee
$GC,8268,-0.16,0.0,912.7,-9.7,578,8398,0.60,0.00,123.93,1.476,6,0.130,0.000,2345,2192,2485,0,0,0,0,0,0
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8401,0.73,146.0,917.6,0.0,582,8544,0.82,1.23,134.98,1.417,4,0.062,0.050,2635,1507,1889,0,0,0,0,0,0
$GC,8767,0.73,146.0,889.1,11.9,593,8775,0.00,1.23,0.00,0.000,6,0.000,0.046,2635,2205,1881,0,0,0,0,0,0
$GC,9083,0.73,146.0,848.5,12.2,604,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2205,1878,0,0,0,0,0,0
$GC,9387,0.73,146.0,811.3,12.2,614,9391,0.00,1.15,0.00,0.000,4,0.000,0.058,2635,2905,1877,0,0,0,0,0,0
$GC,9478,0.73,146.0,802.9,12.5,616,9486,0.00,1.17,0.00,0.000,6,0.000,0.038,2640,2200,1876,0,0,0,0,0,0
$GC,9792,0.73,146.0,760.6,12.5,627,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2200,1876,0,0,0,0,0,0
$GC,10098,0.73,146.0,721.6,12.7,637,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2200,1875,0,0,0,0,0,0
$GC,10407,0.73,146.0,682.7,12.6,647,10410,0.00,1.08,0.00,0.000,4,0.000,0.053,2645,1498,1875,0,0,0,0,0,0
$GC,10485,0.73,146.0,674.1,12.5,649,10489,0.00,1.17,0.00,0.000,6,0.000,0.047,2645,2205,1875,0,0,0,0,0,0
$GC,10813,0.73,146.0,632.5,12.1,660,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1875,0,0,0,0,0,0
$GC,11118,0.73,146.0,596.6,11.6,670,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1874,0,0,0,0,0,0
$GC,11426,0.73,146.0,560.5,11.9,680,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1874,0,0,0,0,0,0
$GC,11730,0.73,146.0,522.7,12.5,690,11734,0.00,1.12,0.00,0.000,4,0.000,0.058,2645,2906,1874,0,0,0,0,0,0
$GC,11808,0.73,146.0,513.7,13.0,692,11813,0.00,1.17,0.00,0.000,6,0.000,0.039,2650,2189,1874,0,0,0,0,0,0
$GC,12136,0.73,146.0,469.7,12.7,713,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2190,1873,0,0,0,0,0,0
$GC,12452,0.73,146.0,430.8,11.9,738,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2190,1873,0,0,0,0,0,0
$GC,12769,0.73,146.0,393.7,11.8,763,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2189,1873,0,0,0,0,0,0
$GC,13083,0.73,146.0,356.7,11.5,788,13087,0.00,1.05,0.00,0.000,4,0.000,0.054,2655,1500,1873,0,0,0,0,0,0
$GC,13150,0.73,146.0,348.9,11.5,793,13154,0.00,1.12,0.00,0.000,6,0.000,0.048,2656,2196,1873,0,0,0,0,0,0
$GC,13480,0.73,146.0,311.8,11.1,819,13484,0.00,1.12,0.00,0.000,4,0.000,0.057,2655,2902,1873,0,0,0,0,0,0
$GC,13601,0.73,146.0,298.5,11.2,828,13604,0.00,1.12,0.00,0.000,6,0.000,0.039,2660,2199,1873,0,0,0,0,0,0
$GC,13931,0.73,146.0,260.8,11.7,854,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2199,1873,0,0,0,0,0,0
$GC,14256,0.73,146.0,224.2,11.2,896,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2199,1873,0,0,0,0,0,0
$GC,14594,0.73,150.7,189.9,9.0,947,14603,0.00,1.05,0.00,0.000,4,0.000,0.052,2665,1497,1874,0,0,0,0,0,0
$GC,14675,0.75,169.2,182.7,8.4,959,14697,0.00,1.12,18.33,0.996,6,0.000,0.047,2664,2199,1795,0,0,0,0,0,0
$GC,15028,0.75,169.2,149.0,10.1,1012,15035,0.00,1.12,0.00,0.000,4,0.000,0.056,2665,2906,1793,0,0,0,0,0,0
$GC,15241,0.75,169.2,127.3,10.4,1044,15248,0.00,1.15,0.00,0.000,6,0.000,0.038,2669,2194,1793,0,0,0,0,0,0
$GC,15580,0.75,169.2,93.8,10.0,1095,15589,0.00,1.05,0.00,0.000,4,0.000,0.051,2675,1497,1792,0,0,0,0,0,0
$GC,15655,0.75,169.2,86.8,9.2,1106,15663,0.10,1.15,0.00,0.000,6,0.145,0.047,2643,2207,1792,0,0,0,0,0,0
$GC,15994,0.81,217.5,57.9,7.1,1157,16042,0.00,1.17,41.30,0.962,4,0.000,0.057,2643,2902,1597,0,0,0,0,0,0
$GC,16293,0.81,217.5,34.7,9.4,1202,16300,0.00,1.15,0.00,0.000,6,0.000,0.037,2646,2199,1592,0,0,0,0,0,0
$GC,16631,0.88,273.9,11.2,6.8,1253,16665,0.12,0.00,28.15,0.100,6,0.088,0.000,2700,2199,1366,0,0,0,0,0,0
$FREEZE,7.26,-0.716,-1.764,0,1,0
$FREEZE,6.28,-0.717,-1.764,0,1,0
$FREEZE,5.03,-0.720,-1.763,0,1,0
$FREEZE,4.16,-0.721,-1.762,0,1,0
$FREEZE,3.16,-0.721,-1.761,0,1,0
$FREEZE,2.18,-0.723,-1.761,0,1,0
$FREEZE,1.60,-0.715,-1.760,0,1,0
$STATE,16709,end climb,SURFACE_DEPTH_REACHED
$STATE,16711,begin surface coast
$FREEZE,1.52,-0.580,-0.939,0,1,0
$FREEZE,1.55,-0.669,-0.922,0,1,0
$FINISH,1.5,1.013611
$STATE,16724,end surface coast,CONTROL_FINISHED_OK
$STATE,16724,begin surface
$SM_CCo,16740,11.15,0.086,0,0,1262,300.00
$SM_GC,3.79,6.97,0.57,11.15,0.047,0.049,0.086,118,2515,1262,-7.07,-0.90,300.00,0,0,0,0,0,0
$RAFOS_CLK,1102
$RAFOS,6,1321159742,4.833333,4.817222,61,61,57,0,0,0,187,224,143,0,0,0
$RAFOS,5,1321159277,4.700000,4.688056,55,54,50,0,0,0,184,173,208,0,0,0
$RAFOS,4,1321158812,4.566667,4.558889,65,59,57,0,0,0,205,149,218,0,0,0
$RAFOS,3,1321158321,4.433333,4.422500,73,56,56,0,0,0,211,117,229,0,0,0
$RAFOS,2,1321157822,4.300000,4.283889,64,61,54,0,0,0,208,187,199,0,0,0
$RAFOS,1,1321157363,4.166667,4.156389,60,57,56,0,0,0,213,180,148,0,0,0
$RAFOS,0,1321156864,4.033333,4.017778,65,60,59,0,0,0,225,191,607,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5753.26,121111,202000
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.56
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.40
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,900.9,52.9
$24V_AH,22.5,29.418
$10V_AH,10.1,22.529
$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,17.525,44.375,346.675,11.150,0.000,0.000,0.000,211.375,8.750,0.000,18.912,3523.739,10542.332,500.190,2280.146,241.682,0.000,1786.783,0.000,2038.282,2520.000,34.363,0.000
$DEVICE_MAMPS,262.395,71.910,1476.450,86.445,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.651,685.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151288
$DATA_FILE_SIZE,46620,1267
$CAP_FILE_SIZE,140129,0
$CFSIZE,260165632,231804928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.7
$CURRENT,0.135,348.6,1
$GPS,131111,060535,6658.785,-5800.655,114,0.8,114,-33.7