version: 66.09
glider: 143
mission: 13
dive: 152
start: 10 30 111 2 36 59
data:
$ID,143
$MISSION,13
$DIVE,152
$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,-80707.133
$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,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,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
$GPS1,301011,023106,6651.833,-5936.084,39,1.0,39,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-71.9
$GPS2,301011,023626,6651.812,-5936.233,16,0.9,18,-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,291.8,39177,-16.9,-9.167
$D_GRID,925
$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,-146.0,0.0,0.0,0,50,0.00,0.00,-31.90,0.000,2,0.000,0.000,116,2520,1565,0,0,0,0,0,0
$GC,53,-0.73,-146.0,3.0,-1.3,5,157,8.62,1.17,-89.93,0.000,4,0.259,0.099,2155,3215,3081,0,0,0,0,0,0
$GC,292,-0.73,-146.0,37.3,-19.9,40,299,0.00,1.12,0.00,0.000,6,0.000,0.038,2155,2507,3083,0,0,0,0,0,0
$GC,629,-0.73,-146.0,91.7,-15.0,91,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2507,3084,0,0,0,0,0,0
$GC,969,-0.73,-146.0,140.7,-14.3,142,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2507,3084,0,0,0,0,0,0
$GC,1305,-0.73,-146.0,187.1,-12.7,193,1312,0.00,1.17,0.00,0.000,4,0.000,0.068,2151,3205,3084,0,0,0,0,0,0
$GC,1345,-0.73,-146.0,192.5,-13.2,199,1354,0.00,1.10,0.00,0.000,6,0.000,0.037,2150,2502,3084,0,0,0,0,0,0
$GC,1684,-0.73,-146.0,237.2,-13.0,250,1691,0.00,1.17,0.00,0.000,4,0.000,0.067,2146,3204,3083,0,0,0,0,0,0
$GC,1726,-0.73,-146.0,242.5,-13.2,256,1733,0.00,1.08,0.00,0.000,6,0.000,0.037,2146,2514,3084,0,0,0,0,0,0
$GC,2050,-0.73,-146.0,284.5,-12.6,286,2054,0.00,1.15,0.00,0.000,4,0.000,0.067,2142,3203,3083,0,0,0,0,0,0
$GC,2081,-0.73,-146.0,287.8,-12.3,288,2089,0.00,1.10,0.00,0.000,6,0.000,0.034,2142,2506,3083,0,0,0,0,0,0
$GC,2408,-0.73,-146.0,329.2,-12.9,314,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2506,3083,0,0,0,0,0,0
$GC,2721,-0.73,-146.0,370.6,-13.4,339,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2506,3083,0,0,0,0,0,0
$GC,3037,-0.73,-146.0,411.4,-12.9,364,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2506,3083,0,0,0,0,0,0
$GC,3353,-0.73,-146.0,450.6,-12.5,389,3357,0.00,1.17,0.00,0.000,4,0.000,0.067,2137,3210,3083,0,0,0,0,0,0
$GC,3411,-0.73,-146.0,457.7,-12.8,393,3419,0.00,1.10,0.00,0.000,6,0.000,0.034,2137,2506,3083,0,0,0,0,0,0
$GC,3735,-0.73,-146.0,497.3,-11.8,419,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,4066,-0.73,-146.0,534.8,-11.0,431,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,4373,-0.73,-146.0,567.7,-10.6,441,4377,0.00,1.17,0.00,0.000,4,0.000,0.066,2132,3214,3084,0,0,0,0,0,0
$GC,4411,-0.73,-146.0,571.4,-10.6,442,4417,0.12,1.10,0.00,0.000,6,0.170,0.033,2162,2504,3084,0,0,0,0,0,0
$GC,4746,-0.73,-146.0,602.0,-8.8,453,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2504,3085,0,0,0,0,0,0
$GC,5053,-0.73,-146.0,628.9,-9.0,463,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2504,3085,0,0,0,0,0,0
$GC,5359,-0.73,-146.0,656.4,-8.9,473,5362,0.00,1.17,0.00,0.000,4,0.000,0.067,2159,3213,3085,0,0,0,0,0,0
$GC,5404,-0.73,-146.0,659.6,-9.0,474,5408,0.00,1.08,0.00,0.000,6,0.000,0.031,2159,2509,3085,0,0,0,0,0,0
$GC,5731,-0.73,-146.0,690.7,-9.1,485,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2509,3086,0,0,0,0,0,0
$GC,6037,-0.73,-146.0,719.1,-9.2,495,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2509,3086,0,0,0,0,0,0
$GC,6343,-0.73,-146.0,747.4,-9.4,505,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2509,3086,0,0,0,0,0,0
$GC,6650,-0.73,-146.0,775.4,-9.1,515,6653,0.00,1.15,0.00,0.000,4,0.000,0.065,2154,3207,3086,0,0,0,0,0,0
$GC,6684,-0.73,-146.0,778.7,-9.3,516,6687,0.00,1.05,0.00,0.000,6,0.000,0.032,2154,2514,3086,0,0,0,0,0,0
$GC,7023,-0.73,-146.0,813.6,-10.8,527,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2513,3086,0,0,0,0,0,0
$GC,7329,-0.73,-146.0,845.1,-9.9,537,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2514,3086,0,0,0,0,0,0
$GC,7636,-0.73,-146.0,875.1,-9.8,547,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2513,3087,0,0,0,0,0,0
$GC,7944,-0.73,-146.0,904.1,-9.1,557,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2514,3086,0,0,0,0,0,0
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8190,-0.16,0.0,927.1,-9.0,565,8320,0.57,0.00,123.85,1.486,6,0.132,0.000,2342,2183,2485,0,0,0,0,0,0
$STATE,8321,end apogee,CONTROL_FINISHED_OK
$STATE,8321,begin climb
$GC,8323,0.73,146.0,931.4,0.0,569,8467,0.85,1.17,133.55,1.431,4,0.065,0.049,2638,1501,1888,0,0,0,0,0,0
$GC,8717,0.73,146.0,896.3,12.6,581,8722,0.00,1.23,0.00,0.000,6,0.000,0.046,2638,2200,1880,0,0,0,0,0,0
$GC,9041,0.73,146.0,852.3,13.4,592,9044,0.00,1.15,0.00,0.000,4,0.000,0.048,2643,1510,1877,0,0,0,0,0,0
$GC,9125,0.73,146.0,843.7,12.8,594,9130,0.00,1.17,0.00,0.000,6,0.000,0.046,2642,2201,1877,0,0,0,0,0,0
$GC,9446,0.73,146.0,800.1,12.7,605,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,1877,0,0,0,0,0,0
$GC,9752,0.73,146.0,760.4,13.3,615,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,1875,0,0,0,0,0,0
$GC,10059,0.73,146.0,719.8,13.5,625,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,1875,0,0,0,0,0,0
$GC,10364,0.73,146.0,678.6,13.7,635,10368,0.00,1.12,0.00,0.000,4,0.000,0.051,2647,1509,1875,0,0,0,0,0,0
$GC,10475,0.73,146.0,665.1,13.6,638,10479,0.00,1.15,0.00,0.000,6,0.000,0.048,2647,2201,1875,0,0,0,0,0,0
$GC,10803,0.73,146.0,621.3,12.9,649,10806,0.00,1.12,0.00,0.000,4,0.000,0.058,2647,2900,1874,0,0,0,0,0,0
$GC,10920,0.73,146.0,608.1,13.2,652,10925,0.00,1.15,0.00,0.000,6,0.000,0.040,2652,2204,1873,0,0,0,0,0,0
$GC,11241,0.73,146.0,564.2,13.1,663,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2204,1873,0,0,0,0,0,0
$GC,11547,0.73,146.0,522.4,13.8,673,11551,0.00,1.08,0.00,0.000,4,0.000,0.052,2657,1498,1873,0,0,0,0,0,0
$GC,11631,0.73,146.0,513.5,13.6,675,11636,0.00,1.17,0.00,0.000,6,0.000,0.048,2657,2209,1873,0,0,0,0,0,0
$GC,11954,0.73,146.0,467.9,13.1,696,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2209,1873,0,0,0,0,0,0
$GC,12269,0.73,146.0,428.1,12.8,721,12273,0.00,1.12,0.00,0.000,4,0.000,0.058,2657,2911,1873,0,0,0,0,0,0
$GC,12362,0.73,146.0,415.8,12.9,728,12366,0.00,1.15,0.00,0.000,6,0.000,0.040,2662,2201,1873,0,0,0,0,0,0
$GC,12693,0.73,146.0,373.8,12.9,754,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2200,1873,0,0,0,0,0,0
$GC,13006,0.73,146.0,333.4,12.3,779,13010,0.00,1.08,0.00,0.000,4,0.000,0.052,2667,1495,1873,0,0,0,0,0,0
$GC,13086,0.73,146.0,323.7,12.3,785,13090,0.10,1.15,0.00,0.000,6,0.157,0.049,2636,2206,1873,0,0,0,0,0,0
$GC,13415,0.73,146.0,286.8,10.9,811,13418,0.00,1.12,0.00,0.000,4,0.000,0.057,2636,2911,1874,0,0,0,0,0,0
$GC,13498,0.73,146.0,278.2,10.9,817,13506,0.00,1.17,0.00,0.000,6,0.000,0.037,2640,2189,1873,0,0,0,0,0,0
$GC,13823,0.73,146.0,245.5,9.9,846,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2189,1873,0,0,0,0,0,0
$GC,14159,0.73,146.0,211.3,9.9,897,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2189,1873,0,0,0,0,0,0
$GC,14496,0.73,146.0,178.1,9.6,948,14502,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2189,1873,0,0,0,0,0,0
$GC,14834,0.75,166.2,148.8,8.3,999,14855,0.00,0.00,15.80,0.978,6,0.000,0.000,2640,2189,1806,0,0,0,0,0,0
$GC,15188,0.78,194.3,117.8,8.0,1052,15216,0.00,0.00,24.77,0.985,6,0.000,0.000,2640,2189,1692,0,0,0,0,0,0
$GC,15548,0.79,201.7,82.2,8.9,1106,15563,0.00,0.00,7.60,0.879,6,0.000,0.000,2639,2189,1661,0,0,0,0,0,0
$GC,15894,0.81,214.8,50.5,8.6,1158,15910,0.00,0.00,12.05,0.925,6,0.000,0.000,2640,2189,1609,0,0,0,0,0,0
$GC,16240,0.92,307.8,25.5,5.3,1210,16301,0.17,1.30,55.33,0.903,4,0.077,0.056,2708,2900,1229,0,0,0,0,0,0
$GC,16380,0.92,307.8,11.3,11.3,1231,16389,0.00,1.17,0.00,0.000,6,0.000,0.041,2713,2205,1224,0,0,0,0,0,0
$STATE,16446,end climb,SURFACE_DEPTH_REACHED
$STATE,16447,begin surface coast
$FINISH,2.0,1.013302
$STATE,16461,end surface coast,CONTROL_FINISHED_OK
$STATE,16461,begin surface
$SM_CCo,16539,0.00,0.000,0,0,1219,310.55
$SM_GC,3.06,7.03,0.57,0.00,0.037,0.055,0.000,116,2505,1219,-7.08,-0.99,310.55,0,0,0,0,0,0
$RAFOS_CLK,1088
$RAFOS,6,1319950158,4.833333,4.821667,67,60,58,0,0,0,201,215,639,0,0,0
$RAFOS,5,1319949668,4.700000,4.685555,91,61,56,0,0,0,812,158,170,0,0,0
$RAFOS,4,1319949209,4.566667,4.558055,91,58,57,0,0,0,477,170,199,0,0,0
$RAFOS,3,1319948713,4.433333,4.420278,67,59,54,0,0,0,719,215,142,0,0,0
$RAFOS,2,1319948223,4.300000,4.284167,59,58,55,0,0,0,220,203,178,0,0,0
$RAFOS,1,1319947764,4.166667,4.156667,73,72,66,0,0,0,196,177,490,0,0,0
$RAFOS,0,1319947268,4.033333,4.018889,58,54,51,0,0,0,166,190,237,0,0,0
$RAFOS_FIX,6651.517090,-5931.653809,301011,040412,3,83,0.47
$IRIDIUM_FIX,6620.33,-5938.72,291011,212120
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.67
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,800.3,150.2
$24V_AH,22.4,19.393
$10V_AH,10.2,15.371
$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,17.475,39.950,372.950,0.000,0.000,0.000,0.000,207.175,7.750,0.000,18.733,3452.593,10418.464,514.313,2259.142,225.913,0.000,1799.271,0.000,2028.761,2520.000,23.493,0.000
$DEVICE_MAMPS,258.570,99.450,1486.395,0.000,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.783,673.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150344
$DATA_FILE_SIZE,46697,1243
$CAP_FILE_SIZE,136317,0
$CFSIZE,260165632,237424640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.1
$CURRENT,0.171, 37.1,1
$GPS,301011,071405,6652.598,-5941.377,32,0.8,33,-33.9