version: 66.09
glider: 143
mission: 13
dive: 236
start: 11 13 111 11 11 39
data:
$ID,143
$MISSION,13
$DIVE,236
$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,-80824.578
$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,39
$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,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
$GPS1,131111,110335,6656.514,-5803.218,34,0.9,34,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-68.7
$GPS2,131111,111107,6656.624,-5803.416,21,1.7,21,-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,301.1,106897,-16.9,-9.167
$D_GRID,930
$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,-0.73,-146.0,0.0,0.0,0,80,0.00,0.00,-61.40,0.000,2,0.000,0.000,112,2508,2070,0,0,0,0,0,0
$GC,83,-0.73,-146.0,3.6,-2.5,9,133,8.50,1.20,-36.25,0.000,4,0.251,0.073,2161,1807,3081,0,0,0,0,0,0
$GC,385,-0.73,-146.0,60.2,-17.9,54,392,0.00,1.20,0.00,0.000,6,0.000,0.055,2158,2509,3085,0,0,0,0,0,0
$GC,724,-0.73,-146.0,110.4,-14.9,105,731,0.00,1.15,0.00,0.000,4,0.000,0.042,2158,1810,3084,0,0,0,0,0,0
$GC,869,-0.73,-146.0,130.0,-12.4,127,876,0.00,1.20,0.00,0.000,6,0.000,0.055,2154,2510,3084,0,0,0,0,0,0
$GC,1208,-0.73,-146.0,172.3,-12.6,178,1214,0.00,1.12,0.00,0.000,4,0.000,0.068,2148,3216,3084,0,0,0,0,0,0
$GC,1309,-0.73,-146.0,184.5,-13.1,193,1315,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2505,3084,0,0,0,0,0,0
$GC,1647,-0.73,-146.0,228.5,-12.6,244,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2505,3084,0,0,0,0,0,0
$GC,1985,-0.73,-146.0,271.1,-12.6,283,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2505,3084,0,0,0,0,0,0
$GC,2301,-0.73,-146.0,309.1,-12.1,308,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2505,3083,0,0,0,0,0,0
$GC,2617,-0.73,-146.0,345.7,-11.2,333,2621,0.00,1.08,0.00,0.000,4,0.000,0.046,2149,1814,3083,0,0,0,0,0,0
$GC,2672,-0.73,-146.0,352.0,-11.4,337,2675,0.00,1.17,0.00,0.000,6,0.000,0.055,2144,2505,3083,0,0,0,0,0,0
$GC,3002,-0.73,-146.0,389.7,-11.4,363,3005,0.00,1.12,0.00,0.000,4,0.000,0.069,2139,3214,3083,0,0,0,0,0,0
$GC,3041,-0.73,-146.0,394.3,-11.4,366,3045,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2499,3084,0,0,0,0,0,0
$GC,3370,-0.73,-146.0,431.8,-11.2,392,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2499,3083,0,0,0,0,0,0
$GC,3688,-0.73,-146.0,467.1,-11.2,417,3691,0.00,1.17,0.00,0.000,4,0.000,0.062,2134,3212,3084,0,0,0,0,0,0
$GC,3718,-0.73,-146.0,470.2,-11.2,419,3727,0.12,1.10,0.00,0.000,6,0.168,0.031,2164,2502,3084,0,0,0,0,0,0
$GC,4048,-0.73,-146.0,503.1,-9.9,444,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2502,3084,0,0,0,0,0,0
$GC,4353,-0.73,-146.0,534.2,-10.3,454,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2502,3085,0,0,0,0,0,0
$GC,4659,-0.73,-146.0,564.2,-9.7,464,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2502,3085,0,0,0,0,0,0
$GC,4967,-0.73,-146.0,593.5,-9.5,474,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2502,3085,0,0,0,0,0,0
$GC,5274,-0.73,-146.0,623.0,-9.5,484,5277,0.00,1.17,0.00,0.000,4,0.000,0.062,2161,3216,3086,0,0,0,0,0,0
$GC,5357,-0.73,-146.0,629.5,-9.6,486,5364,0.00,1.10,0.00,0.000,6,0.000,0.028,2161,2499,3086,0,0,0,0,0,0
$GC,5680,-0.73,-146.0,661.9,-9.3,497,5683,0.00,1.17,0.00,0.000,4,0.000,0.060,2156,3214,3086,0,0,0,0,0,0
$GC,5746,-0.73,-146.0,668.4,-9.4,499,5749,0.00,1.08,0.00,0.000,6,0.000,0.029,2157,2500,3086,0,0,0,0,0,0
$GC,6086,-0.73,-146.0,701.2,-9.5,510,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2500,3086,0,0,0,0,0,0
$GC,6391,-0.73,-146.0,731.2,-9.8,520,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2500,3086,0,0,0,0,0,0
$GC,6697,-0.73,-146.0,760.8,-9.7,530,6701,0.00,1.17,0.00,0.000,4,0.000,0.060,2152,3216,3086,0,0,0,0,0,0
$GC,6721,-0.73,-146.0,760.8,-9.7,530,6729,0.00,1.10,0.00,0.000,6,0.000,0.028,2152,2499,3086,0,0,0,0,0,0
$GC,7037,-0.73,-146.0,794.1,-9.8,541,7038,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2499,3086,0,0,0,0,0,0
$GC,7341,-0.73,-146.0,825.1,-10.2,551,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2499,3086,0,0,0,0,0,0
$GC,7649,-0.73,-146.0,854.9,-9.7,561,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2499,3087,0,0,0,0,0,0
$GC,7954,-0.73,-146.0,885.2,-10.0,571,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2498,3087,0,0,0,0,0,0
$GC,8263,-0.73,-146.0,915.6,-10.1,581,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2498,3087,0,0,0,0,0,0
$STATE,8411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8411,begin apogee
$GC,8417,-0.16,0.0,930.4,-9.8,586,8547,0.57,0.00,124.35,1.489,6,0.129,0.000,2340,2195,2485,0,0,0,0,0,0
$STATE,8548,end apogee,CONTROL_FINISHED_OK
$STATE,8548,begin climb
$GC,8550,0.73,146.0,935.5,0.0,590,8695,0.85,1.23,135.18,1.431,4,0.067,0.048,2634,1505,1889,0,0,0,0,0,0
$GC,8897,0.73,146.0,908.2,11.5,601,8900,0.00,1.20,0.00,0.000,6,0.000,0.044,2633,2204,1881,0,0,0,0,0,0
$GC,9236,0.73,146.0,869.0,11.4,612,9239,0.00,1.15,0.00,0.000,4,0.000,0.054,2633,2902,1878,0,0,0,0,0,0
$GC,9353,0.73,146.0,857.1,11.9,615,9358,0.00,1.17,0.00,0.000,6,0.000,0.035,2638,2200,1878,0,0,0,0,0,0
$GC,9675,0.73,146.0,816.4,12.0,626,9679,0.00,1.10,0.00,0.000,4,0.000,0.049,2643,1491,1877,0,0,0,0,0,0
$GC,9733,0.73,146.0,812.4,12.0,627,9741,0.00,1.20,0.00,0.000,6,0.000,0.044,2643,2212,1876,0,0,0,0,0,0
$GC,10047,0.73,146.0,772.2,11.9,638,10051,0.00,1.12,0.00,0.000,4,0.000,0.054,2644,2911,1876,0,0,0,0,0,0
$GC,10131,0.73,146.0,764.0,12.1,640,10136,0.00,1.17,0.00,0.000,6,0.000,0.035,2648,2195,1875,0,0,0,0,0,0
$GC,10452,0.73,146.0,722.6,12.2,651,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,1875,0,0,0,0,0,0
$GC,10760,0.73,146.0,685.0,12.2,661,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,1875,0,0,0,0,0,0
$GC,11065,0.73,146.0,647.5,12.1,671,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,1874,0,0,0,0,0,0
$GC,11372,0.73,146.0,609.8,12.3,681,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,1874,0,0,0,0,0,0
$GC,11677,0.73,146.0,571.9,12.2,691,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,1873,0,0,0,0,0,0
$GC,11985,0.73,146.0,533.8,12.5,701,11988,0.00,1.20,0.00,0.000,4,0.000,0.052,2648,2911,1874,0,0,0,0,0,0
$GC,12128,0.73,146.0,516.7,12.8,705,12133,0.00,1.17,0.00,0.000,6,0.000,0.036,2653,2189,1874,0,0,0,0,0,0
$GC,12449,0.73,146.0,475.5,12.4,724,12452,0.00,1.05,0.00,0.000,4,0.000,0.049,2658,1494,1874,0,0,0,0,0,0
$GC,12518,0.73,146.0,467.3,12.2,729,12521,0.00,1.12,0.00,0.000,6,0.000,0.045,2658,2199,1874,0,0,0,0,0,0
$GC,12848,0.73,146.0,427.8,11.8,755,12852,0.00,1.12,0.00,0.000,4,0.000,0.056,2658,2905,1873,0,0,0,0,0,0
$GC,12985,0.73,146.0,411.1,12.5,765,12993,0.00,1.15,0.00,0.000,6,0.000,0.037,2662,2197,1874,0,0,0,0,0,0
$GC,13310,0.73,146.0,370.5,12.3,791,13314,0.00,1.05,0.00,0.000,4,0.000,0.050,2667,1497,1874,0,0,0,0,0,0
$GC,13407,0.73,146.0,358.8,12.4,798,13416,0.12,1.15,0.00,0.000,6,0.168,0.045,2638,2202,1874,0,0,0,0,0,0
$GC,13731,0.73,146.0,322.8,10.6,824,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2202,1874,0,0,0,0,0,0
$GC,14048,0.73,146.0,289.9,10.5,849,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2202,1874,0,0,0,0,0,0
$GC,14362,0.73,146.0,257.1,10.3,874,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2202,1874,0,0,0,0,0,0
$GC,14689,0.73,146.0,225.4,9.4,918,14695,0.00,1.10,0.00,0.000,4,0.000,0.055,2638,2897,1874,0,0,0,0,0,0
$GC,14790,0.73,146.0,215.7,9.5,933,14797,0.00,1.12,0.00,0.000,6,0.000,0.036,2641,2189,1873,0,0,0,0,0,0
$GC,15129,0.73,146.0,183.6,9.6,984,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2190,1874,0,0,0,0,0,0
$GC,15468,0.73,146.0,152.8,9.3,1035,15475,0.00,1.05,0.00,0.000,4,0.000,0.050,2646,1494,1874,0,0,0,0,0,0
$GC,15699,0.74,159.1,133.3,8.6,1070,15712,0.00,1.12,9.82,0.933,6,0.000,0.044,2646,2199,1836,0,0,0,0,0,0
$GC,16044,0.77,182.8,106.2,8.2,1122,16072,0.00,1.17,21.85,0.972,4,0.000,0.054,2646,2908,1738,0,0,0,0,0,0
$GC,16306,0.81,218.5,81.9,7.7,1161,16345,0.00,1.15,30.73,0.955,6,0.000,0.035,2651,2198,1593,0,0,0,0,0,0
$GC,16680,0.83,227.4,48.5,8.8,1217,16694,0.00,1.12,8.32,0.863,4,0.000,0.047,2656,1490,1556,0,0,0,0,0,0
$GC,16948,0.98,354.6,30.4,3.8,1257,17042,0.15,1.15,88.25,0.906,6,0.054,0.044,2728,2195,1038,0,0,0,0,0,0
$FREEZE,7.85,-0.888,-1.766,0,1,0
$FREEZE,6.79,-0.889,-1.765,0,1,0
$FREEZE,5.45,-0.890,-1.764,0,1,0
$FREEZE,4.22,-0.889,-1.763,0,1,0
$FREEZE,2.79,-0.887,-1.762,0,1,0
$FREEZE,1.75,-0.886,-1.761,0,1,0
$STATE,17167,end climb,SURFACE_DEPTH_REACHED
$STATE,17168,begin surface coast
$FREEZE,1.57,-0.873,-1.761,0,1,0
$FINISH,1.6,1.025838
$STATE,17177,end surface coast,CONTROL_FINISHED_OK
$STATE,17177,begin surface
$SM_CCo,17254,0.00,0.000,0,0,1022,358.87
$SM_GC,2.71,7.28,0.55,0.00,0.050,0.060,0.000,122,2512,1022,-7.07,-0.76,358.87,0,0,0,0,0,0
$RAFOS_CLK,1133
$RAFOS,6,1321188567,12.833333,12.824166,67,63,58,0,0,0,211,114,161,0,0,0
$RAFOS,5,1321188061,12.700000,12.683611,63,59,58,0,0,0,210,194,143,0,0,0
$RAFOS,4,1321187601,12.566667,12.555833,60,56,56,0,0,0,143,174,215,0,0,0
$RAFOS,3,1321187111,12.433333,12.419723,60,59,58,0,0,0,188,150,217,0,0,0
$RAFOS,2,1321186625,12.300000,12.284722,59,57,56,0,0,0,227,143,195,0,0,0
$RAFOS,1,1321186143,12.166667,12.150833,57,56,55,0,0,0,220,166,129,0,0,0
$RAFOS,0,1321185672,12.033333,12.020000,74,61,60,0,0,0,211,197,120,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6625.71,-5749.80,131111,111132
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.41
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.20
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,900.1,95.3
$24V_AH,22.5,29.690
$10V_AH,10.1,22.725
$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,17.600,48.900,418.500,0.000,0.000,0.000,0.000,273.325,9.000,0.000,21.981,3552.566,10972.188,531.784,2412.375,239.324,0.000,1924.248,0.000,2106.810,2520.000,28.506,0.000
$DEVICE_MAMPS,250.920,73.440,1489.455,0.000,0.000,0.000,0.000,265.909,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.566,694.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150348
$DATA_FILE_SIZE,50037,1291
$CAP_FILE_SIZE,145115,0
$CFSIZE,260165632,231657472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.9
$CURRENT,0.266, 12.2,1
$GPS,131111,160229,6658.906,-5809.738,149,0.9,149,-33.7