version: 66.09
glider: 143
mission: 13
dive: 266
start: 11 19 111 19 1 10
data:
$ID,143
$MISSION,13
$DIVE,266
$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,-2
$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,-80856.469
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,191111,185454,6651.030,-5936.375,38,0.9,38,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-67.6
$GPS2,191111,190038,6650.955,-5936.486,18,0.9,18,-33.9
$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,259.0,38445,-16.9,-9.167
$D_GRID,910
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-73.35,0.000,2,0.000,0.000,116,2509,2176,0,0,0,0,0,0
$GC,94,-0.73,-146.0,3.1,-1.9,10,153,8.57,1.12,-39.60,0.000,4,0.252,0.094,2157,3209,3081,0,0,0,0,0,0
$GC,404,-0.73,-146.0,63.5,-19.1,56,411,0.00,1.10,0.00,0.000,6,0.000,0.034,2156,2503,3082,0,0,0,0,0,0
$GC,741,-0.73,-146.0,116.5,-14.3,107,748,0.00,1.17,0.00,0.000,4,0.000,0.064,2152,3203,3083,0,0,0,0,0,0
$GC,1000,-0.73,-146.0,152.8,-13.5,146,1006,0.00,1.08,0.00,0.000,6,0.000,0.033,2152,2510,3082,0,0,0,0,0,0
$GC,1338,-0.73,-146.0,200.6,-14.9,197,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3082,0,0,0,0,0,0
$GC,1677,-0.73,-146.0,249.5,-12.7,248,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2510,3082,0,0,0,0,0,0
$GC,2001,-0.73,-146.0,290.0,-12.6,274,2005,0.00,1.17,0.00,0.000,4,0.000,0.064,2147,3212,3081,0,0,0,0,0,0
$GC,2138,-0.73,-146.0,307.5,-12.9,284,2146,0.00,1.12,0.00,0.000,6,0.000,0.032,2148,2496,3081,0,0,0,0,0,0
$GC,2465,-0.73,-146.0,349.4,-12.2,310,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2496,3081,0,0,0,0,0,0
$GC,2777,-0.73,-146.0,387.1,-11.8,335,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2496,3081,0,0,0,0,0,0
$GC,3093,-0.73,-146.0,423.2,-11.5,360,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2496,3081,0,0,0,0,0,0
$GC,3408,-0.73,-146.0,459.7,-11.4,385,3412,0.00,1.20,0.00,0.000,4,0.000,0.063,2143,3214,3081,0,0,0,0,0,0
$GC,3492,-0.73,-146.0,468.8,-11.4,391,3500,0.00,1.10,0.00,0.000,6,0.000,0.031,2143,2505,3081,0,0,0,0,0,0
$GC,3828,-0.73,-146.0,507.5,-11.4,415,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2505,3082,0,0,0,0,0,0
$GC,4133,-0.73,-146.0,541.4,-10.8,425,4136,0.00,1.17,0.00,0.000,4,0.000,0.063,2139,3212,3082,0,0,0,0,0,0
$GC,4243,-0.73,-146.0,552.3,-11.0,428,4248,0.00,1.10,0.00,0.000,6,0.000,0.031,2138,2500,3082,0,0,0,0,0,0
$GC,4572,-0.73,-146.0,588.4,-10.7,439,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2500,3082,0,0,0,0,0,0
$GC,4877,-0.73,-146.0,622.0,-11.1,449,4881,0.00,1.17,0.00,0.000,4,0.000,0.062,2134,3210,3082,0,0,0,0,0,0
$GC,5001,-0.73,-146.0,633.8,-11.7,452,5009,0.12,1.10,0.00,0.000,6,0.162,0.031,2165,2496,3082,0,0,0,0,0,0
$GC,5315,-0.73,-146.0,668.8,-10.4,463,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2496,3083,0,0,0,0,0,0
$GC,5621,-0.73,-146.0,699.3,-9.8,473,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2496,3083,0,0,0,0,0,0
$GC,5927,-0.73,-146.0,727.7,-9.2,483,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2496,3083,0,0,0,0,0,0
$GC,6234,-0.73,-146.0,755.7,-9.2,493,6237,0.00,1.17,0.00,0.000,4,0.000,0.063,2162,3206,3084,0,0,0,0,0,0
$GC,6311,-0.73,-146.0,761.9,-9.2,495,6316,0.00,1.08,0.00,0.000,6,0.000,0.028,2162,2502,3084,0,0,0,0,0,0
$GC,6639,-0.73,-146.0,793.6,-9.5,506,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3084,0,0,0,0,0,0
$GC,6945,-0.73,-146.0,821.9,-9.2,516,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3084,0,0,0,0,0,0
$GC,7253,-0.73,-146.0,849.9,-9.0,526,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3085,0,0,0,0,0,0
$GC,7557,-0.73,-146.0,877.2,-8.9,536,7561,0.00,1.17,0.00,0.000,4,0.000,0.062,2158,3211,3085,0,0,0,0,0,0
$GC,7629,-0.73,-146.0,883.1,-8.7,538,7633,0.00,1.05,0.00,0.000,6,0.000,0.027,2157,2517,3085,0,0,0,0,0,0
$STATE,7929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7930,begin apogee
$GC,7935,-0.16,0.0,911.6,-9.4,548,8066,0.57,0.00,124.57,1.478,6,0.125,0.000,2346,2182,2484,0,0,0,0,0,0
$STATE,8067,end apogee,CONTROL_FINISHED_OK
$STATE,8067,begin climb
$GC,8069,0.73,146.0,916.6,0.0,552,8213,0.82,1.20,135.88,1.418,4,0.061,0.047,2635,1505,1889,0,0,0,0,0,0
$GC,8446,0.73,146.0,884.4,12.3,563,8450,0.00,1.20,0.00,0.000,6,0.000,0.044,2635,2206,1880,0,0,0,0,0,0
$GC,8787,0.73,146.0,843.5,11.9,574,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,1878,0,0,0,0,0,0
$GC,9092,0.73,146.0,807.5,11.6,584,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,1878,0,0,0,0,0,0
$GC,9398,0.73,146.0,772.9,11.1,594,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,1876,0,0,0,0,0,0
$GC,9704,0.73,146.0,739.4,10.9,604,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,1876,0,0,0,0,0,0
$GC,10011,0.73,146.0,707.2,10.6,614,10015,0.00,1.12,0.00,0.000,4,0.000,0.047,2640,1505,1875,0,0,0,0,0,0
$GC,10110,0.73,146.0,696.0,11.2,617,10114,0.00,1.12,0.00,0.000,6,0.000,0.045,2640,2199,1875,0,0,0,0,0,0
$GC,10449,0.73,146.0,654.1,12.5,628,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2199,1874,0,0,0,0,0,0
$GC,10756,0.73,146.0,616.9,12.0,638,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2199,1875,0,0,0,0,0,0
$GC,11062,0.73,146.0,580.7,11.9,648,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2199,1875,0,0,0,0,0,0
$GC,11368,0.73,146.0,545.6,11.3,658,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2199,1875,0,0,0,0,0,0
$GC,11674,0.73,146.0,511.5,11.1,668,11678,0.00,1.12,0.00,0.000,4,0.000,0.057,2640,2899,1875,0,0,0,0,0,0
$GC,11849,0.73,146.0,491.5,12.1,675,11853,0.00,1.10,0.00,0.000,6,0.000,0.036,2645,2210,1875,0,0,0,0,0,0
$GC,12179,0.73,146.0,453.2,11.2,701,12183,0.00,1.17,0.00,0.000,4,0.000,0.054,2644,2906,1875,0,0,0,0,0,0
$GC,12245,0.73,146.0,445.1,12.1,706,12249,0.00,1.12,0.00,0.000,6,0.000,0.037,2649,2203,1875,0,0,0,0,0,0
$GC,12575,0.73,146.0,407.7,11.6,732,12579,0.00,1.08,0.00,0.000,4,0.000,0.049,2654,1492,1875,0,0,0,0,0,0
$GC,12723,0.73,146.0,390.5,11.4,743,12726,0.00,1.15,0.00,0.000,6,0.000,0.045,2654,2206,1875,0,0,0,0,0,0
$GC,13053,0.73,146.0,352.0,11.6,769,13054,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2206,1875,0,0,0,0,0,0
$GC,13367,0.73,146.0,318.1,10.8,794,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2206,1875,0,0,0,0,0,0
$GC,13685,0.73,146.0,284.2,10.4,819,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2206,1875,0,0,0,0,0,0
$GC,13998,0.73,146.0,251.9,10.5,844,14000,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2206,1875,0,0,0,0,0,0
$GC,14327,0.73,146.0,219.1,10.0,892,14334,0.00,1.15,0.00,0.000,4,0.000,0.048,2659,1490,1875,0,0,0,0,0,0
$GC,14428,0.73,146.6,209.7,9.1,907,14435,0.00,1.15,0.00,0.000,6,0.000,0.047,2659,2202,1875,0,0,0,0,0,0
$GC,14766,0.74,160.3,180.0,8.6,958,14781,0.00,0.00,11.07,0.965,6,0.000,0.000,2659,2202,1831,0,0,0,0,0,0
$GC,15113,0.77,182.8,150.4,8.2,1010,15141,0.00,1.10,21.05,0.998,4,0.000,0.054,2659,2907,1738,0,0,0,0,0,0
$GC,15175,0.77,182.8,144.8,10.0,1019,15182,0.00,1.15,0.00,0.000,6,0.000,0.037,2663,2202,1737,0,0,0,0,0,0
$GC,15512,0.77,182.8,110.5,9.9,1070,15521,0.00,1.08,0.00,0.000,4,0.000,0.050,2668,1496,1736,0,0,0,0,0,0
$GC,15594,0.77,182.8,102.4,9.7,1082,15603,0.00,1.15,0.00,0.000,6,0.000,0.047,2669,2199,1736,0,0,0,0,0,0
$GC,15933,0.78,191.3,72.0,8.8,1133,15948,0.00,0.00,8.02,0.890,6,0.000,0.000,2668,2198,1704,0,0,0,0,0,0
$GC,16279,0.84,237.9,41.2,7.2,1185,16327,0.00,1.17,40.75,0.954,4,0.000,0.055,2668,2903,1515,0,0,0,0,0,0
$GC,16376,0.84,237.9,33.1,10.4,1199,16382,0.00,1.17,0.00,0.000,6,0.000,0.038,2673,2200,1513,0,0,0,0,0,0
$FREEZE,8.70,-1.424,-1.751,2,1,0
$FREEZE,7.93,-1.436,-1.751,2,1,0
$FREEZE,7.09,-1.422,-1.749,2,1,0
$FREEZE,6.52,-1.437,-1.750,2,1,0
$FREEZE,5.88,-1.439,-1.749,2,1,0
$FREEZE,5.61,-1.440,-1.749,2,1,0
$FREEZE,5.16,-1.441,-1.749,2,1,0
$FREEZE,4.69,-1.441,-1.748,2,1,0
$FREEZE,4.37,-1.442,-1.748,2,1,0
$FREEZE,3.84,-1.439,-1.748,2,1,0
$FREEZE,3.36,-1.434,-1.747,2,1,0
$FREEZE,2.89,-1.432,-1.747,2,1,0
$FREEZE,2.50,-1.443,-1.747,2,1,0
$FREEZE,2.14,-1.447,-1.747,2,1,0
$FREEZE,1.78,-1.449,-1.747,2,1,0
$GC,16714,0.91,297.6,2.1,6.7,1250,16726,0.00,0.00,9.95,0.083,2,0.000,0.000,2673,2199,1428,0,0,0,0,0,0
$STATE,16727,end climb,SURFACE_DEPTH_REACHED
$STATE,16727,begin surface coast
$FREEZE,1.53,-1.451,-1.747,2,1,0
$FREEZE,1.49,-1.421,-1.745,2,1,0
$FREEZE,1.52,-1.398,-1.744,2,1,0
$FREEZE,1.53,-1.439,-1.747,2,1,0
$FREEZE,1.58,-1.451,-1.747,2,1,0
$FINISH,1.6,1.025660
$STATE,16760,end surface coast,CONTROL_FINISHED_OK
$STATE,16760,begin surface
$SM_CCo,16776,19.20,0.086,0,0,1261,300.00
$SM_GC,3.76,6.97,0.60,19.20,0.050,0.052,0.086,123,2516,1261,-7.06,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,1110
$RAFOS,6,1321735753,20.833334,20.820278,80,68,65,0,0,0,674,216,183,0,0,0
$RAFOS,5,1321735287,20.700001,20.690834,59,58,58,0,0,0,699,200,159,0,0,0
$RAFOS,4,1321734797,20.566668,20.554722,67,60,58,0,0,0,539,178,212,0,0,0
$RAFOS,3,1321734307,20.433332,20.418612,73,64,57,0,0,0,727,159,213,0,0,0
$RAFOS,2,1321733838,20.299999,20.288334,69,67,67,0,0,0,208,166,576,0,0,0
$RAFOS,1,1321733370,20.166666,20.158333,74,63,58,0,0,0,444,178,190,0,0,0
$RAFOS,0,1321732869,20.033333,20.019167,62,59,58,0,0,0,200,219,168,0,0,0
$RAFOS_FIX,6650.008301,-5934.585938,191111,202028,4,74,0.41
$IRIDIUM_FIX,6620.33,-5934.00,191111,141401
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.28
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.10
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,802.1,134.0
$24V_AH,22.5,33.766
$10V_AH,10.1,25.558
$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,17.075,39.725,351.300,19.200,0.000,0.000,0.000,227.550,8.500,0.000,19.398,3470.776,10615.711,506.798,2329.113,231.290,0.000,1820.253,0.000,2073.872,2520.000,28.142,0.000
$DEVICE_MAMPS,251.685,94.095,1477.980,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.108,676.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,46694,1256
$CAP_FILE_SIZE,140180,0
$CFSIZE,260165632,229445632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1453.7
$CURRENT,1.092, 72.9,1
$GPS,191111,203128,6650.008,-5934.586,0,4073.5,0,-33.9