version: 66.09
glider: 143
mission: 13
dive: 150
start: 10 29 111 16 57 8
data:
$ID,143
$MISSION,13
$DIVE,150
$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,-2
$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,300
$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,-80704.609
$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,45
$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
$GPS1,291011,165135,6654.640,-5935.421,35,0.9,36,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-69.8
$GPS2,291011,165636,6654.661,-5935.516,16,1.2,17,-34.0
$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,230.9,41878,-16.9,-9.167
$D_GRID,951
$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,-146.0,0.0,0.0,0,45,0.00,0.00,-26.38,0.000,2,0.000,0.000,121,2488,1617,0,0,0,0,0,0
$GC,48,-0.73,-146.0,3.0,-1.6,4,191,8.48,1.17,-122.55,0.000,4,0.257,0.095,2155,3211,3081,0,0,0,0,0,0
$GC,442,-0.73,-146.0,50.6,-16.9,64,449,0.00,1.10,0.00,0.000,6,0.000,0.037,2154,2512,3083,0,0,0,0,0,0
$GC,780,-0.73,-146.0,98.1,-14.3,115,786,0.00,1.17,0.00,0.000,4,0.000,0.067,2150,3210,3083,0,0,0,0,0,0
$GC,872,-0.73,-146.0,112.1,-15.6,129,881,0.00,1.10,0.00,0.000,6,0.000,0.036,2151,2508,3083,0,0,0,0,0,0
$GC,1211,-0.73,-146.0,159.7,-13.2,180,1218,0.00,1.10,0.00,0.000,4,0.000,0.048,2151,1810,3083,0,0,0,0,0,0
$GC,1279,-0.73,-146.0,169.0,-13.7,190,1286,0.00,1.20,0.00,0.000,6,0.000,0.060,2146,2506,3083,0,0,0,0,0,0
$GC,1617,-0.73,-146.0,215.9,-13.4,241,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2506,3083,0,0,0,0,0,0
$GC,1953,-0.73,-146.0,260.4,-13.0,286,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2506,3083,0,0,0,0,0,0
$GC,2271,-0.73,-146.0,300.3,-12.5,311,2274,0.00,1.15,0.00,0.000,4,0.000,0.071,2140,3224,3082,0,0,0,0,0,0
$GC,2328,-0.73,-146.0,307.4,-12.6,315,2336,0.00,1.15,0.00,0.000,6,0.000,0.036,2141,2502,3082,0,0,0,0,0,0
$GC,2652,-0.73,-146.0,347.0,-11.6,341,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3082,0,0,0,0,0,0
$GC,2968,-0.73,-146.0,382.9,-11.5,366,2972,0.00,1.20,0.00,0.000,4,0.000,0.067,2136,3220,3082,0,0,0,0,0,0
$GC,3039,-0.73,-146.0,391.0,-11.9,371,3048,0.12,1.12,0.00,0.000,6,0.172,0.034,2165,2506,3082,0,0,0,0,0,0
$GC,3362,-0.73,-146.0,423.9,-9.8,397,3366,0.00,1.08,0.00,0.000,4,0.000,0.047,2166,1815,3082,0,0,0,0,0,0
$GC,3442,-0.73,-146.0,431.7,-10.0,403,3445,0.00,1.20,0.00,0.000,6,0.000,0.057,2163,2519,3082,0,0,0,0,0,0
$GC,3770,-0.73,-146.0,465.2,-10.2,429,3774,0.00,1.10,0.00,0.000,4,0.000,0.070,2158,3213,3083,0,0,0,0,0,0
$GC,3854,-0.73,-146.0,473.4,-10.2,435,3862,0.00,1.12,0.00,0.000,6,0.000,0.034,2158,2495,3083,0,0,0,0,0,0
$GC,4178,-0.73,-146.0,506.4,-10.0,458,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2495,3083,0,0,0,0,0,0
$GC,4481,-0.73,-146.0,537.7,-10.3,468,4485,0.00,1.20,0.00,0.000,4,0.000,0.067,2153,3218,3083,0,0,0,0,0,0
$GC,4580,-0.73,-146.0,547.9,-10.3,471,4584,0.00,1.10,0.00,0.000,6,0.000,0.033,2153,2501,3083,0,0,0,0,0,0
$GC,4921,-0.73,-146.0,583.9,-10.6,482,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2500,3084,0,0,0,0,0,0
$GC,5225,-0.73,-146.0,615.8,-10.4,492,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2501,3084,0,0,0,0,0,0
$GC,5533,-0.73,-146.0,647.0,-10.2,502,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2501,3085,0,0,0,0,0,0
$GC,5838,-0.73,-146.0,677.4,-9.9,512,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2501,3085,0,0,0,0,0,0
$GC,6147,-0.73,-146.0,706.8,-9.5,522,6150,0.00,1.17,0.00,0.000,4,0.000,0.065,2148,3213,3085,0,0,0,0,0,0
$GC,6213,-0.73,-146.0,713.4,-9.5,524,6216,0.00,1.08,0.00,0.000,6,0.000,0.033,2148,2511,3085,0,0,0,0,0,0
$GC,6552,-0.73,-146.0,745.3,-9.4,535,6556,0.00,1.08,0.00,0.000,4,0.000,0.044,2148,1813,3085,0,0,0,0,0,0
$GC,6609,-0.73,-146.0,748.5,-9.6,536,6619,0.00,1.20,0.00,0.000,6,0.000,0.054,2143,2514,3085,0,0,0,0,0,0
$GC,6923,-0.73,-146.0,782.0,-10.1,547,6927,0.00,1.10,0.00,0.000,4,0.000,0.068,2138,3214,3085,0,0,0,0,0,0
$GC,7047,-0.73,-146.0,792.4,-10.3,550,7055,0.00,1.10,0.00,0.000,6,0.000,0.031,2138,2501,3085,0,0,0,0,0,0
$GC,7361,-0.73,-146.0,827.2,-10.1,561,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2501,3085,0,0,0,0,0,0
$GC,7667,-0.73,-146.0,858.3,-10.3,571,7670,0.00,1.17,0.00,0.000,4,0.000,0.064,2133,3213,3085,0,0,0,0,0,0
$GC,7768,-0.73,-146.0,868.5,-10.2,574,7772,0.10,1.08,0.00,0.000,6,0.150,0.032,2165,2504,3085,0,0,0,0,0,0
$GC,8107,-0.73,-146.0,897.2,-8.9,585,8108,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2503,3085,0,0,0,0,0,0
$GC,8413,-0.73,-146.0,924.2,-8.6,595,8417,0.00,1.17,0.00,0.000,4,0.000,0.064,2162,3217,3085,0,0,0,0,0,0
$GC,8515,-0.73,-146.0,932.9,-8.7,598,8519,0.00,1.08,0.00,0.000,6,0.000,0.031,2162,2508,3085,0,0,0,0,0,0
$STATE,8729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8729,begin apogee
$GC,8735,-0.16,0.0,952.7,-9.5,605,8865,0.55,0.00,124.22,1.504,6,0.128,0.000,2344,2193,2485,0,0,0,0,0,0
$STATE,8866,end apogee,CONTROL_FINISHED_OK
$STATE,8866,begin climb
$GC,8868,0.73,146.0,954.6,0.0,609,9010,0.85,1.25,134.35,1.444,4,0.064,0.050,2640,1501,1888,0,0,0,0,0,0
$GC,9046,0.75,164.4,942.6,8.4,615,9068,0.00,1.27,18.58,1.327,6,0.000,0.046,2640,2203,1814,0,0,0,0,0,0
$GC,9376,0.75,164.4,895.3,14.6,625,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2203,1808,0,0,0,0,0,0
$GC,9685,0.75,164.4,852.0,13.6,635,9688,0.00,1.15,0.00,0.000,4,0.000,0.055,2639,2904,1807,0,0,0,0,0,0
$GC,9709,0.75,164.4,852.0,13.6,635,9717,0.00,1.17,0.00,0.000,6,0.000,0.037,2644,2209,1806,0,0,0,0,0,0
$GC,10023,0.75,164.4,805.6,13.4,646,10026,0.00,1.20,0.00,0.000,4,0.000,0.054,2644,2904,1805,0,0,0,0,0,0
$GC,10079,0.75,164.4,801.0,13.4,647,10088,0.00,1.20,0.00,0.000,6,0.000,0.038,2649,2191,1805,0,0,0,0,0,0
$GC,10394,0.75,164.4,754.2,14.1,658,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2191,1804,0,0,0,0,0,0
$GC,10700,0.75,164.4,710.9,14.2,668,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2191,1804,0,0,0,0,0,0
$GC,11006,0.75,164.4,668.7,13.5,678,11010,0.00,1.08,0.00,0.000,4,0.000,0.050,2654,1493,1803,0,0,0,0,0,0
$GC,11044,0.75,164.4,664.1,13.6,679,11048,0.00,1.17,0.00,0.000,6,0.000,0.046,2654,2212,1803,0,0,0,0,0,0
$GC,11377,0.75,164.4,617.9,13.6,690,11381,0.00,1.12,0.00,0.000,4,0.000,0.058,2655,2909,1803,0,0,0,0,0,0
$GC,11428,0.75,164.4,613.4,13.6,691,11432,0.00,1.17,0.00,0.000,6,0.000,0.040,2659,2198,1803,0,0,0,0,0,0
$GC,11749,0.75,164.4,568.4,13.1,702,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2198,1803,0,0,0,0,0,0
$GC,12054,0.75,164.4,528.0,13.1,712,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2198,1803,0,0,0,0,0,0
$GC,12363,0.75,164.4,488.5,12.7,725,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2198,1802,0,0,0,0,0,0
$GC,12680,0.75,164.4,448.9,12.6,750,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2198,1802,0,0,0,0,0,0
$GC,12996,0.75,164.4,409.0,12.7,775,13000,0.00,1.20,0.00,0.000,4,0.000,0.054,2659,2909,1802,0,0,0,0,0,0
$GC,13028,0.75,164.4,405.2,13.2,777,13036,0.00,1.15,0.00,0.000,6,0.000,0.039,2664,2197,1802,0,0,0,0,0,0
$GC,13352,0.75,164.4,362.8,12.8,803,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2197,1802,0,0,0,0,0,0
$GC,13667,0.75,164.4,323.1,12.8,828,13670,0.00,1.20,0.00,0.000,4,0.000,0.054,2664,2910,1802,0,0,0,0,0,0
$GC,13747,0.75,164.4,312.7,12.9,834,13751,0.00,1.15,0.00,0.000,6,0.000,0.039,2669,2196,1802,0,0,0,0,0,0
$GC,14076,0.75,164.4,271.2,12.3,860,14080,0.00,1.20,0.00,0.000,4,0.000,0.054,2669,2910,1802,0,0,0,0,0,0
$GC,14102,0.75,164.4,268.0,12.2,862,14106,0.10,1.15,0.00,0.000,6,0.155,0.039,2643,2195,1802,0,0,0,0,0,0
$GC,14433,0.75,164.4,233.1,10.9,899,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2196,1802,0,0,0,0,0,0
$GC,14771,0.75,164.4,196.3,10.8,950,14780,0.00,1.20,0.00,0.000,4,0.000,0.054,2642,2910,1802,0,0,0,0,0,0
$GC,14966,0.75,164.4,174.8,10.7,979,14973,0.00,1.15,0.00,0.000,6,0.000,0.038,2646,2193,1802,0,0,0,0,0,0
$GC,15304,0.75,164.4,141.3,9.7,1030,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2192,1802,0,0,0,0,0,0
$GC,15643,0.75,164.4,108.6,9.3,1081,15650,0.00,1.20,0.00,0.000,4,0.000,0.055,2646,2907,1802,0,0,0,0,0,0
$GC,15783,0.78,187.4,96.0,8.2,1102,15805,0.00,1.12,18.65,0.965,6,0.000,0.038,2650,2201,1721,0,0,0,0,0,0
$GC,16137,0.79,194.8,63.9,8.9,1155,16151,0.00,1.17,7.30,0.878,4,0.000,0.052,2651,2905,1690,0,0,0,0,0,0
$GC,16362,0.81,214.6,43.4,8.3,1189,16384,0.00,1.15,18.17,0.946,6,0.000,0.040,2655,2200,1610,0,0,0,0,0,0
$GC,16715,0.88,275.9,20.6,6.6,1242,16758,0.00,1.12,34.62,0.885,4,0.000,0.054,2660,1500,1358,0,0,0,0,0,0
$GC,16791,0.89,282.8,14.6,8.9,1253,16799,0.00,1.17,3.30,0.112,6,0.000,0.047,2660,2199,1330,0,0,0,0,0,0
$STATE,16916,end climb,SURFACE_DEPTH_REACHED
$STATE,16916,begin surface coast
$FINISH,1.8,1.024680
$STATE,16937,end surface coast,CONTROL_FINISHED_OK
$STATE,16937,begin surface
$SM_CCo,16954,7.15,0.087,0,0,1261,300.00
$SM_GC,4.40,6.95,0.55,7.15,0.047,0.062,0.087,119,2515,1261,-7.07,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,1114
$RAFOS,6,1319921350,20.833334,20.819445,72,59,58,0,0,0,687,215,162,0,0,0
$RAFOS,5,1319920865,20.700001,20.684723,80,60,60,0,0,0,812,217,208,0,0,0
$RAFOS,4,1319920394,20.566668,20.553888,107,59,59,0,0,0,539,216,195,0,0,0
$RAFOS,3,1319919902,20.433332,20.417223,57,54,53,0,0,0,180,162,205,0,0,0
$RAFOS,2,1319919450,20.299999,20.291666,83,62,58,0,0,0,522,198,123,0,0,0
$RAFOS,1,1319918960,20.166666,20.155556,66,65,58,0,0,0,519,190,149,0,0,0
$RAFOS,0,1319918465,20.033333,20.018055,61,60,58,0,0,0,206,163,221,0,0,0
$RAFOS,6,1319906944,16.833334,16.817778,60,59,55,0,0,0,201,168,224,0,0,0
$RAFOS_FIX,6649.883789,-5930.319336,291011,202038,5,82,0.74
$IRIDIUM_FIX,6620.33,-5931.24,291011,111147
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.63
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,852.1,116.0
$24V_AH,22.4,19.118
$10V_AH,10.3,15.189
$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,17.150,58.675,359.200,7.150,0.000,0.000,0.000,186.700,7.250,0.000,18.386,3507.333,10667.771,550.678,2311.709,241.822,0.000,1867.248,0.000,2097.501,2520.000,25.166,0.000
$DEVICE_MAMPS,257.040,94.860,1503.990,87.210,0.000,0.000,0.000,263.662,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.014,692.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150312
$DATA_FILE_SIZE,50013,1275
$CAP_FILE_SIZE,146985,0
$CFSIZE,260165632,237559808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.2
$CURRENT,0.240,128.1,1
$GPS,291011,214129,6650.362,-5933.637,37,0.9,38,-33.9