version: 66.09
glider: 143
mission: 13
dive: 177
start: 11 2 111 19 52 26
data:
$ID,143
$MISSION,13
$DIVE,177
$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,-80738.664
$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,37
$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
$GPS1,021111,194654,6647.457,-5954.425,37,0.7,37,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-72.6
$GPS2,021111,195155,6647.422,-5954.506,20,0.7,20,-33.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,138.9,137740,-16.9,-9.167
$D_GRID,759
$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,-26.10,0.000,2,0.000,0.000,123,2514,1613,0,0,0,0,0,0
$GC,48,-0.73,-146.0,3.1,-2.5,4,155,8.55,1.23,-92.97,0.000,4,0.260,0.074,2159,1804,3081,0,0,0,0,0,0
$GC,402,-0.73,-146.0,50.5,-15.7,57,411,0.00,1.23,0.00,0.000,6,0.000,0.057,2157,2511,3084,0,0,0,0,0,0
$GC,742,-0.73,-146.0,101.9,-13.2,108,749,0.00,1.15,0.00,0.000,4,0.000,0.045,2157,1816,3084,0,0,0,0,0,0
$GC,788,-0.73,-146.0,108.3,-13.1,115,795,0.00,1.20,0.00,0.000,6,0.000,0.058,2152,2511,3084,0,0,0,0,0,0
$GC,1126,-0.73,-146.0,152.8,-12.7,166,1133,0.00,1.12,0.00,0.000,4,0.000,0.070,2147,3213,3084,0,0,0,0,0,0
$GC,1233,-0.73,-146.0,166.8,-13.0,182,1240,0.00,1.10,0.00,0.000,6,0.000,0.036,2146,2512,3084,0,0,0,0,0,0
$GC,1571,-0.73,-146.0,212.3,-14.3,233,1580,0.00,1.10,0.00,0.000,4,0.000,0.047,2146,1811,3084,0,0,0,0,0,0
$GC,1634,-0.73,-146.0,221.3,-14.4,242,1641,0.00,1.20,0.00,0.000,6,0.000,0.058,2142,2511,3084,0,0,0,0,0,0
$GC,1971,-0.73,-146.0,271.0,-14.8,283,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2511,3084,0,0,0,0,0,0
$GC,2289,-0.73,-146.0,316.3,-13.6,308,2292,0.00,1.12,0.00,0.000,4,0.000,0.071,2137,3214,3084,0,0,0,0,0,0
$GC,2443,-0.73,-146.0,336.8,-13.6,319,2450,0.00,1.10,0.00,0.000,6,0.000,0.037,2136,2508,3083,0,0,0,0,0,0
$GC,2767,-0.73,-146.0,378.3,-11.6,345,2771,0.12,1.08,0.00,0.000,4,0.176,0.047,2166,1819,3083,0,0,0,0,0,0
$GC,2890,-0.73,-146.0,390.4,-9.6,354,2898,0.00,1.20,0.00,0.000,6,0.000,0.057,2163,2512,3084,0,0,0,0,0,0
$GC,3214,-0.73,-146.0,422.8,-9.8,380,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2512,3084,0,0,0,0,0,0
$GC,3531,-0.73,-146.0,452.8,-9.3,405,3534,0.00,1.12,0.00,0.000,4,0.000,0.070,2158,3220,3084,0,0,0,0,0,0
$GC,3623,-0.73,-146.0,461.7,-9.5,412,3627,0.00,1.10,0.00,0.000,6,0.000,0.034,2158,2509,3084,0,0,0,0,0,0
$GC,3955,-0.73,-146.0,492.3,-9.3,438,3958,0.00,1.08,0.00,0.000,4,0.000,0.045,2158,1815,3084,0,0,0,0,0,0
$GC,4021,-0.73,-146.0,498.8,-9.5,443,4025,0.00,1.17,0.00,0.000,6,0.000,0.057,2153,2506,3084,0,0,0,0,0,0
$GC,4342,-0.73,-146.0,530.5,-10.1,454,4345,0.00,1.12,0.00,0.000,4,0.000,0.070,2148,3216,3084,0,0,0,0,0,0
$GC,4441,-0.73,-146.0,541.0,-10.4,457,4445,0.00,1.10,0.00,0.000,6,0.000,0.034,2148,2499,3084,0,0,0,0,0,0
$GC,4780,-0.73,-146.0,577.2,-10.7,468,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2499,3085,0,0,0,0,0,0
$GC,5087,-0.73,-146.0,610.4,-10.7,478,5091,0.00,1.17,0.00,0.000,4,0.000,0.065,2143,3212,3085,0,0,0,0,0,0
$GC,5138,-0.73,-146.0,614.0,-10.7,479,5143,0.00,1.10,0.00,0.000,6,0.000,0.032,2143,2505,3085,0,0,0,0,0,0
$GC,5465,-0.73,-146.0,651.1,-11.2,490,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2505,3085,0,0,0,0,0,0
$GC,5765,-0.73,-146.0,684.8,-10.8,500,5769,0.00,1.17,0.00,0.000,4,0.000,0.067,2138,3214,3085,0,0,0,0,0,0
$GC,5876,-0.73,-146.0,694.7,-10.0,503,5881,0.00,1.10,0.00,0.000,6,0.000,0.032,2138,2503,3086,0,0,0,0,0,0
$GC,6204,-0.73,-146.0,732.3,-11.1,514,6208,0.00,1.05,0.00,0.000,4,0.000,0.044,2138,1825,3085,0,0,0,0,0,0
$GC,6249,-0.73,-146.0,736.1,-11.0,515,6254,0.12,1.20,0.00,0.000,6,0.171,0.055,2164,2523,3086,0,0,0,0,0,0
$STATE,6482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6482,begin apogee
$GC,6488,-0.16,0.0,760.2,-9.5,523,6617,0.52,0.00,121.65,1.382,6,0.126,0.000,2340,2193,2484,0,0,0,0,0,0
$STATE,6617,end apogee,CONTROL_FINISHED_OK
$STATE,6617,begin climb
$GC,6620,0.73,146.0,765.4,0.0,527,6760,0.85,1.23,131.10,1.323,4,0.069,0.051,2635,1510,1888,0,0,0,0,0,0
$GC,6918,0.73,146.0,744.2,12.0,536,6923,0.00,1.25,0.00,0.000,6,0.000,0.045,2634,2214,1882,0,0,0,0,0,0
$GC,7239,0.73,146.0,703.6,11.6,547,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2214,1879,0,0,0,0,0,0
$GC,7545,0.73,146.0,667.7,11.9,557,7548,0.00,1.12,0.00,0.000,4,0.000,0.056,2634,2901,1877,0,0,0,0,0,0
$GC,7589,0.73,146.0,663.8,11.8,558,7594,0.00,1.17,0.00,0.000,6,0.000,0.037,2639,2201,1877,0,0,0,0,0,0
$GC,7918,0.73,146.0,624.3,11.6,569,7921,0.00,1.20,0.00,0.000,4,0.000,0.054,2639,2901,1877,0,0,0,0,0,0
$GC,8036,0.73,146.0,612.2,11.9,572,8040,0.00,1.15,0.00,0.000,6,0.000,0.039,2644,2195,1876,0,0,0,0,0,0
$GC,8356,0.73,146.0,571.1,12.1,583,8359,0.00,1.20,0.00,0.000,4,0.000,0.054,2644,2901,1876,0,0,0,0,0,0
$GC,8460,0.73,146.0,558.4,12.8,586,8464,0.00,1.15,0.00,0.000,6,0.000,0.038,2649,2194,1876,0,0,0,0,0,0
$GC,8793,0.73,146.0,517.7,12.1,597,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2194,1876,0,0,0,0,0,0
$GC,9111,0.73,146.0,479.5,12.3,615,9115,0.00,1.20,0.00,0.000,4,0.000,0.054,2649,2905,1876,0,0,0,0,0,0
$GC,9152,0.73,146.0,474.5,12.6,618,9155,0.00,1.15,0.00,0.000,6,0.000,0.038,2654,2193,1876,0,0,0,0,0,0
$GC,9482,0.73,146.0,433.5,12.3,644,9485,0.00,1.20,0.00,0.000,4,0.000,0.053,2653,2905,1876,0,0,0,0,0,0
$GC,9495,0.73,146.0,431.7,12.4,645,9499,0.00,1.15,0.00,0.000,6,0.000,0.038,2658,2191,1876,0,0,0,0,0,0
$GC,9825,0.73,146.0,392.8,11.6,671,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2191,1876,0,0,0,0,0,0
$GC,10140,0.73,146.0,357.3,10.7,696,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2191,1876,0,0,0,0,0,0
$GC,10455,0.73,146.0,323.7,11.0,721,10458,0.00,1.20,0.00,0.000,4,0.000,0.056,2658,2905,1875,0,0,0,0,0,0
$GC,10512,0.73,146.0,317.8,11.0,725,10522,0.00,1.17,0.00,0.000,6,0.000,0.037,2663,2184,1875,0,0,0,0,0,0
$GC,10837,0.73,146.0,281.8,11.1,751,10841,0.00,1.23,0.00,0.000,4,0.000,0.054,2663,2914,1875,0,0,0,0,0,0
$GC,10987,0.73,146.0,265.0,11.3,762,10996,0.15,1.17,0.00,0.000,6,0.169,0.037,2630,2192,1875,0,0,0,0,0,0
$GC,11321,0.73,146.0,232.1,10.1,802,11328,0.00,1.20,0.00,0.000,4,0.000,0.054,2630,2908,1875,0,0,0,0,0,0
$GC,11361,0.73,146.0,228.2,9.4,808,11368,0.00,1.12,0.00,0.000,6,0.000,0.037,2634,2201,1875,0,0,0,0,0,0
$GC,11699,0.73,148.7,197.5,9.1,859,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2201,1875,0,0,0,0,0,0
$GC,12037,0.74,155.6,167.6,8.9,910,12050,0.00,1.15,7.03,0.912,4,0.000,0.052,2634,2914,1849,0,0,0,0,0,0
$GC,12156,0.74,155.6,156.4,9.2,928,12163,0.00,1.15,0.00,0.000,6,0.000,0.037,2638,2197,1849,0,0,0,0,0,0
$GC,12494,0.77,183.7,127.7,8.0,979,12521,0.00,0.00,25.42,1.000,6,0.000,0.000,2639,2197,1736,0,0,0,0,0,0
$GC,12852,0.78,194.1,96.5,8.7,1033,12867,0.00,1.12,10.02,0.930,4,0.000,0.051,2644,1494,1693,0,0,0,0,0,0
$GC,12882,0.80,206.0,93.9,8.7,1037,12898,0.00,1.17,11.73,0.926,6,0.000,0.047,2644,2205,1645,0,0,0,0,0,0
$GC,13230,0.80,206.1,58.8,9.2,1089,13238,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2205,1642,0,0,0,0,0,0
$GC,13570,0.90,292.2,34.8,5.5,1140,13651,0.15,1.15,72.85,0.941,4,0.083,0.054,2703,2907,1292,0,0,0,0,0,0
$STATE,13866,end climb,SURFACE_DEPTH_REACHED
$STATE,13866,begin surface coast
$FINISH,1.8,1.012770
$STATE,13884,end surface coast,CONTROL_FINISHED_OK
$STATE,13884,begin surface
$SM_CCo,13901,2.12,0.091,0,0,1262,300.00
$SM_GC,3.75,7.15,0.68,2.12,0.050,0.041,0.091,119,2506,1262,-7.08,1.10,300.00,0,0,0,0,0,0
$RAFOS_CLK,910
$RAFOS,6,1320266947,20.833334,20.818611,104,65,58,0,0,0,747,196,148,0,0,0
$RAFOS,5,1320266467,20.700001,20.685278,107,58,55,0,0,0,848,198,219,0,0,0
$RAFOS,4,1320265984,20.566668,20.551111,107,65,63,0,0,0,643,209,229,0,0,0
$RAFOS,3,1320265503,20.433332,20.417500,114,69,68,0,0,0,741,217,200,0,0,0
$RAFOS,2,1320265022,20.299999,20.283890,99,63,62,0,0,0,647,209,200,0,0,0
$RAFOS,1,1320264544,20.166666,20.151112,147,60,59,0,0,0,541,215,202,0,0,0
$RAFOS,0,1320264062,20.033333,20.017221,96,71,57,0,0,0,689,210,169,0,0,0
$RAFOS_FIX,6645.913086,-5950.452637,021111,202016,7,111,1.92
$IRIDIUM_FIX,6620.33,-6001.10,021111,161620
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.40
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,751.4,46.9
$24V_AH,22.5,22.371
$10V_AH,10.3,17.410
$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,17.625,55.575,379.800,2.125,0.000,0.000,0.000,186.725,7.000,0.000,20.792,3251.523,8033.303,522.796,2202.763,217.256,0.000,1769.724,0.000,1986.181,2520.000,24.454,0.000
$DEVICE_MAMPS,260.100,74.205,1382.355,91.035,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,859.091,656.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43375,1187
$CAP_FILE_SIZE,133022,0
$CFSIZE,260165632,235782144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.3
$CURRENT,0.105,182.7,1
$GPS,021111,234555,6646.228,-5948.856,39,0.8,39,-33.8