version: 66.09
glider: 143
mission: 13
dive: 267
start: 11 19 111 23 43 27
data:
$ID,143
$MISSION,13
$DIVE,267
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,191111,203128,6650.008,-5934.586,0,4073.5,0,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-36.7
$GPS2,191111,203128,6650.008,-5934.586,0,4073.5,0,-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,284.8,39224,-16.9,-9.167
$D_GRID,909
$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,17,-0.73,-146.0,0.0,0.0,0,120,0.00,0.00,-100.72,0.000,2,0.000,0.000,121,2520,2492,0,0,0,0,0,0
$GC,123,-0.73,-146.0,3.8,-5.6,15,152,8.68,1.17,-15.93,0.000,4,0.256,0.095,2156,3215,3083,0,0,0,0,0,0
$GC,404,-0.73,-146.0,58.9,-15.1,57,411,0.00,1.12,0.00,0.000,6,0.000,0.035,2156,2501,3086,0,0,0,0,0,0
$GC,744,-0.73,-146.0,106.9,-13.2,108,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2501,3085,0,0,0,0,0,0
$GC,1081,-0.73,-146.0,151.4,-13.2,159,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2501,3085,0,0,0,0,0,0
$GC,1419,-0.73,-146.0,195.1,-13.3,210,1426,0.00,1.20,0.00,0.000,4,0.000,0.065,2152,3213,3085,0,0,0,0,0,0
$GC,1479,-0.73,-146.0,202.9,-12.8,219,1488,0.00,1.10,0.00,0.000,6,0.000,0.034,2152,2505,3085,0,0,0,0,0,0
$GC,1820,-0.73,-146.0,246.8,-12.0,270,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3084,0,0,0,0,0,0
$GC,2144,-0.73,-146.0,286.0,-12.0,298,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2504,3084,0,0,0,0,0,0
$GC,2460,-0.73,-146.0,322.6,-11.3,323,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3084,0,0,0,0,0,0
$GC,2775,-0.73,-146.0,356.0,-10.5,348,2779,0.00,1.17,0.00,0.000,4,0.000,0.066,2147,3207,3085,0,0,0,0,0,0
$GC,2846,-0.73,-146.0,363.3,-11.0,353,2854,0.00,1.10,0.00,0.000,6,0.000,0.033,2147,2503,3084,0,0,0,0,0,0
$GC,3170,-0.73,-146.0,400.1,-11.6,379,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2504,3085,0,0,0,0,0,0
$GC,3488,-0.73,-146.0,436.0,-11.3,404,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2503,3085,0,0,0,0,0,0
$GC,3800,-0.73,-146.0,469.6,-10.2,429,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2504,3085,0,0,0,0,0,0
$GC,4136,-0.73,-146.0,503.6,-11.0,454,4139,0.00,1.17,0.00,0.000,4,0.000,0.065,2143,3210,3085,0,0,0,0,0,0
$GC,4259,-0.73,-146.0,514.7,-11.0,457,4267,0.00,1.10,0.00,0.000,6,0.000,0.031,2142,2499,3085,0,0,0,0,0,0
$GC,4574,-0.73,-146.0,549.4,-10.1,468,4578,0.00,1.17,0.00,0.000,4,0.000,0.063,2138,3207,3086,0,0,0,0,0,0
$GC,4806,-0.73,-146.0,573.6,-10.3,475,4809,0.00,1.08,0.00,0.000,6,0.000,0.031,2138,2500,3086,0,0,0,0,0,0
$GC,5145,-0.73,-146.0,608.8,-10.2,486,5149,0.00,1.17,0.00,0.000,4,0.000,0.063,2134,3210,3086,0,0,0,0,0,0
$GC,5196,-0.73,-146.0,612.3,-10.4,487,5202,0.12,1.10,0.00,0.000,6,0.159,0.030,2164,2496,3086,0,0,0,0,0,0
$GC,5517,-0.73,-146.0,644.3,-9.5,498,5520,0.00,1.20,0.00,0.000,4,0.000,0.063,2161,3218,3086,0,0,0,0,0,0
$GC,5586,-0.73,-146.0,650.7,-9.6,500,5590,0.00,1.08,0.00,0.000,6,0.000,0.029,2162,2507,3086,0,0,0,0,0,0
$GC,5926,-0.73,-146.0,682.2,-9.9,511,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3087,0,0,0,0,0,0
$GC,6232,-0.73,-146.0,711.3,-9.3,521,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3087,0,0,0,0,0,0
$GC,6538,-0.73,-146.0,739.3,-9.0,531,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2508,3087,0,0,0,0,0,0
$GC,6845,-0.73,-146.0,767.2,-9.0,541,6849,0.00,1.17,0.00,0.000,4,0.000,0.063,2157,3214,3087,0,0,0,0,0,0
$GC,6929,-0.73,-146.0,773.3,-9.1,543,6934,0.00,1.10,0.00,0.000,6,0.000,0.028,2157,2498,3087,0,0,0,0,0,0
$GC,7250,-0.73,-146.0,804.6,-9.4,554,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2498,3087,0,0,0,0,0,0
$GC,7558,-0.73,-146.0,832.6,-9.0,564,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2498,3087,0,0,0,0,0,0
$GC,7863,-0.73,-146.0,860.2,-9.0,574,7867,0.00,1.17,0.00,0.000,4,0.000,0.062,2153,3208,3088,0,0,0,0,0,0
$GC,7954,-0.73,-146.0,866.2,-8.9,576,7962,0.00,1.05,0.00,0.000,6,0.000,0.027,2153,2512,3088,0,0,0,0,0,0
$STATE,8082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8082,begin apogee
$GC,8088,-0.16,0.0,881.0,-9.7,581,8218,0.57,0.00,124.38,1.459,6,0.122,0.000,2342,2194,2485,0,0,0,0,0,0
$STATE,8219,end apogee,CONTROL_FINISHED_OK
$STATE,8219,begin climb
$GC,8221,0.73,146.0,885.8,0.0,585,8366,0.85,1.23,135.12,1.400,4,0.063,0.047,2638,1504,1889,0,0,0,0,0,0
$GC,8615,0.73,146.0,852.1,12.3,597,8620,0.00,1.23,0.00,0.000,6,0.000,0.043,2638,2210,1881,0,0,0,0,0,0
$GC,8939,0.73,146.0,811.6,12.0,608,8942,0.00,1.15,0.00,0.000,4,0.000,0.054,2637,2907,1878,0,0,0,0,0,0
$GC,9016,0.73,146.0,803.1,12.1,610,9021,0.00,1.17,0.00,0.000,6,0.000,0.034,2642,2202,1878,0,0,0,0,0,0
$GC,9344,0.73,146.0,762.6,11.9,621,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,1877,0,0,0,0,0,0
$GC,9649,0.73,146.0,727.0,11.4,631,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,1877,0,0,0,0,0,0
$GC,9956,0.73,146.0,690.6,12.0,641,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2202,1876,0,0,0,0,0,0
$GC,10262,0.73,146.0,653.4,12.4,651,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1876,0,0,0,0,0,0
$GC,10568,0.73,146.0,614.9,12.7,661,10572,0.00,1.08,0.00,0.000,4,0.000,0.047,2648,1493,1875,0,0,0,0,0,0
$GC,10645,0.73,146.0,606.5,12.6,663,10650,0.00,1.17,0.00,0.000,6,0.000,0.042,2647,2210,1875,0,0,0,0,0,0
$GC,10973,0.73,146.0,563.3,12.6,674,10977,0.00,1.15,0.00,0.000,4,0.000,0.044,2652,1490,1875,0,0,0,0,0,0
$GC,11139,0.73,146.0,542.4,12.4,679,11142,0.00,1.15,0.00,0.000,6,0.000,0.043,2652,2205,1875,0,0,0,0,0,0
$GC,11478,0.73,146.0,499.7,12.7,690,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2205,1875,0,0,0,0,0,0
$GC,11793,0.73,146.0,460.9,12.1,715,11797,0.00,1.12,0.00,0.000,4,0.000,0.054,2652,2910,1875,0,0,0,0,0,0
$GC,11931,0.73,146.0,445.0,12.2,725,11938,0.00,1.12,0.00,0.000,6,0.000,0.034,2657,2202,1875,0,0,0,0,0,0
$GC,12255,0.73,146.0,406.5,11.2,751,12259,0.00,1.08,0.00,0.000,4,0.000,0.048,2662,1493,1874,0,0,0,0,0,0
$GC,12452,0.73,146.0,384.4,10.9,766,12456,0.00,1.15,0.00,0.000,6,0.000,0.044,2662,2209,1874,0,0,0,0,0,0
$GC,12784,0.73,146.0,348.9,10.9,792,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2209,1874,0,0,0,0,0,0
$GC,13097,0.73,146.0,314.1,11.2,817,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2209,1874,0,0,0,0,0,0
$GC,13412,0.73,146.0,277.2,11.7,842,13416,0.00,1.12,0.00,0.000,4,0.000,0.045,2667,1497,1874,0,0,0,0,0,0
$GC,13536,0.73,146.0,263.2,11.9,851,13547,0.10,1.15,0.00,0.000,6,0.171,0.044,2637,2203,1874,0,0,0,0,0,0
$GC,13869,0.73,146.0,228.2,10.1,893,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2203,1874,0,0,0,0,0,0
$GC,14206,0.75,166.2,196.9,8.3,944,14226,0.00,1.15,16.05,0.998,4,0.000,0.054,2637,2902,1807,0,0,0,0,0,0
$GC,14478,0.77,180.7,172.9,8.6,985,14500,0.00,1.12,13.90,0.974,6,0.000,0.035,2640,2201,1748,0,0,0,0,0,0
$GC,14831,0.78,191.8,142.0,8.7,1038,14847,0.00,1.23,10.88,0.941,4,0.000,0.050,2641,2904,1703,0,0,0,0,0,0
$GC,14939,0.78,191.8,131.3,9.6,1054,14946,0.00,1.15,0.00,0.000,6,0.000,0.035,2645,2195,1703,0,0,0,0,0,0
$GC,15275,0.78,191.8,98.5,9.7,1105,15281,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2195,1702,0,0,0,0,0,0
$GC,15614,0.80,210.1,70.0,8.4,1156,15642,0.00,1.25,16.77,0.951,4,0.000,0.050,2645,2913,1627,0,0,0,0,0,0
$GC,15840,0.82,224.3,49.3,8.6,1190,15861,0.00,1.15,13.65,0.927,6,0.000,0.034,2649,2199,1569,0,0,0,0,0,0
$GC,16192,0.91,296.7,24.2,6.1,1243,16241,0.12,1.27,43.03,0.900,4,0.087,0.053,2700,2907,1274,0,0,0,0,0,0
$FREEZE,8.46,-1.403,-1.748,2,2,0
$FREEZE,7.79,-1.406,-1.748,2,2,0
$FREEZE,7.13,-1.408,-1.748,2,2,0
$FREEZE,6.32,-1.400,-1.747,2,2,0
$FREEZE,5.21,-1.408,-1.746,2,2,0
$FREEZE,4.30,-1.404,-1.745,2,2,0
$FREEZE,3.70,-1.409,-1.745,2,2,0
$FREEZE,3.23,-1.412,-1.745,2,2,0
$FREEZE,1.92,-1.409,-1.743,2,2,0
$STATE,16412,end climb,SURFACE_DEPTH_REACHED
$STATE,16413,begin surface coast
$FREEZE,1.73,-1.411,-1.744,2,2,0
$FREEZE,1.45,-1.412,-1.741,2,2,0
$FINISH,1.4,1.025580
$STATE,16428,end surface coast,CONTROL_FINISHED_OK
$STATE,16428,begin surface
$SM_CCo,16505,0.00,0.000,0,0,1261,300.00
$SM_GC,1.96,7.03,0.65,0.00,0.043,0.034,0.000,122,2516,1261,-7.08,1.30,300.00,0,0,0,0,0,0
$RAFOS_CLK,1136
$RAFOS,1,1321762145,4.166667,4.151389,125,59,58,0,0,0,544,201,137,0,0,0
$RAFOS,0,1321761664,4.033333,4.017778,65,59,55,0,0,0,692,199,211,0,0,0
$RAFOS,6,1321750144,0.833333,0.817778,75,67,59,0,0,0,208,737,154,0,0,0
$RAFOS,5,1321749664,0.700000,0.684444,59,58,56,0,0,0,126,208,191,0,0,0
$RAFOS,4,1321749184,0.566667,0.551111,83,58,58,0,0,0,620,215,202,0,0,0
$RAFOS,3,1321748701,0.433333,0.416944,61,59,58,0,0,0,136,211,751,0,0,0
$RAFOS,2,1321748221,0.300000,0.283611,75,58,57,0,0,0,655,200,181,0,0,0
$RAFOS,1,1321747746,0.166667,0.151667,121,56,53,0,0,0,556,173,206,0,0,0
$RAFOS,0,1321747266,0.033333,0.018333,97,63,61,0,0,0,692,166,192,0,0,0
$RAFOS_FIX,6645.477051,-5941.503418,201111,000036,4,94,0.72
$IRIDIUM_FIX,6620.33,-5934.00,191111,141401
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.36
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,750.6,144.4
$24V_AH,22.5,33.901
$10V_AH,10.1,25.632
$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,17.475,45.975,373.775,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,3585.269,10097.519,517.682,2205.845,203.427,0.000,1653.404,0.000,2179.382,3600.000,23.341,0.000
$DEVICE_MAMPS,256.275,94.860,1458.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.734,697.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150336
$DATA_FILE_SIZE,50068,1278
$CAP_FILE_SIZE,138432,0
$CFSIZE,260165632,229376000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$CURRENT,0.233,211.4,1
$GPS,201111,042035,6647.466,-5944.564,32,0.8,32,-33.9