version: 66.09
glider: 143
mission: 13
dive: 219
start: 11 10 111 11 0 7
data:
$ID,143
$MISSION,13
$DIVE,219
$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,-3
$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,-80791.727
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,101111,105353,6702.192,-5657.728,64,0.9,64,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-65.3
$GPS2,101111,105935,6702.173,-5657.775,39,0.9,39,-33.5
$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,279.3,156003,-16.9,-9.167
$D_GRID,669
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.67,0.000,2,0.000,0.000,115,2511,1862,0,0,0,0,0,0
$GC,61,-0.73,-146.0,3.1,-1.4,5,132,8.68,1.08,-55.00,0.000,4,0.259,0.091,2156,3210,3081,0,0,0,0,0,0
$GC,383,-0.73,-146.0,51.2,-17.6,53,392,0.00,1.08,0.00,0.000,6,0.000,0.030,2156,2498,3082,0,0,0,0,0,0
$GC,723,-0.73,-146.0,96.8,-11.1,104,730,0.00,1.17,0.00,0.000,4,0.000,0.060,2152,3210,3082,0,0,0,0,0,0
$GC,903,-0.73,-146.0,119.0,-12.4,131,910,0.00,1.05,0.00,0.000,6,0.000,0.028,2152,2515,3082,0,0,0,0,0,0
$GC,1242,-0.73,-146.0,157.3,-10.9,182,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2515,3082,0,0,0,0,0,0
$GC,1578,-0.73,-146.0,196.3,-11.4,233,1587,0.00,1.15,0.00,0.000,4,0.000,0.061,2147,3215,3081,0,0,0,0,0,0
$GC,1620,-0.73,-146.0,201.1,-11.7,239,1627,0.00,1.08,0.00,0.000,6,0.000,0.028,2147,2500,3081,0,0,0,0,0,0
$GC,1959,-0.73,-146.0,240.0,-11.7,290,1966,0.00,1.15,0.00,0.000,4,0.000,0.060,2143,3205,3081,0,0,0,0,0,0
$GC,2070,-0.73,-146.0,252.7,-11.8,305,2080,0.00,1.08,0.00,0.000,6,0.000,0.026,2142,2498,3081,0,0,0,0,0,0
$GC,2395,-0.73,-146.0,291.2,-11.3,331,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2498,3081,0,0,0,0,0,0
$GC,2709,-0.73,-146.0,326.2,-11.4,356,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2498,3081,0,0,0,0,0,0
$GC,3025,-0.73,-146.0,362.3,-11.4,381,3029,0.00,1.15,0.00,0.000,4,0.000,0.059,2138,3204,3081,0,0,0,0,0,0
$GC,3078,-0.73,-146.0,368.4,-11.6,385,3081,0.00,1.05,0.00,0.000,6,0.000,0.028,2138,2502,3081,0,0,0,0,0,0
$GC,3408,-0.73,-146.0,405.5,-11.4,411,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2502,3082,0,0,0,0,0,0
$GC,3722,-0.73,-146.0,440.6,-10.9,436,3725,0.00,1.15,0.00,0.000,4,0.000,0.060,2133,3208,3082,0,0,0,0,0,0
$GC,3806,-0.73,-146.0,449.5,-11.2,442,3820,0.12,1.08,0.00,0.000,6,0.162,0.027,2164,2494,3082,0,0,0,0,0,0
$GC,4132,-0.73,-146.0,478.9,-8.5,468,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2494,3082,0,0,0,0,0,0
$GC,4446,-0.73,-146.0,505.8,-8.4,490,4450,0.00,1.17,0.00,0.000,4,0.000,0.060,2161,3214,3083,0,0,0,0,0,0
$GC,4517,-0.73,-146.0,511.6,-8.6,492,4522,0.00,1.08,0.00,0.000,6,0.000,0.027,2161,2499,3083,0,0,0,0,0,0
$GC,4851,-0.73,-146.0,542.2,-9.2,503,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2499,3083,0,0,0,0,0,0
$GC,5158,-0.73,-146.0,570.2,-9.1,513,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2499,3083,0,0,0,0,0,0
$GC,5463,-0.73,-146.0,598.3,-9.0,523,5467,0.00,1.15,0.00,0.000,4,0.000,0.059,2156,3207,3084,0,0,0,0,0,0
$GC,5530,-0.73,-146.0,604.3,-9.1,525,5534,0.00,1.02,0.00,0.000,6,0.000,0.028,2157,2519,3084,0,0,0,0,0,0
$STATE,5807,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5808,begin apogee
$GC,5813,-0.16,0.0,630.4,-9.6,534,5938,0.57,0.00,117.22,1.254,6,0.128,0.000,2345,2191,2485,0,0,0,0,0,0
$STATE,5939,end apogee,CONTROL_FINISHED_OK
$STATE,5939,begin climb
$GC,5941,0.73,146.0,634.7,0.0,538,6074,0.82,1.17,125.25,1.206,4,0.066,0.045,2637,1505,1889,0,0,0,0,0,0
$GC,6233,0.73,146.0,609.6,12.6,547,6237,0.00,1.17,0.00,0.000,6,0.000,0.041,2637,2202,1883,0,0,0,0,0,0
$GC,6570,0.73,146.0,566.0,13.1,558,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2202,1881,0,0,0,0,0,0
$GC,6872,0.73,146.0,527.3,12.5,568,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2202,1878,0,0,0,0,0,0
$GC,7180,0.73,146.0,488.7,12.6,581,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2202,1878,0,0,0,0,0,0
$GC,7497,0.73,146.0,449.5,12.7,606,7500,0.00,1.12,0.00,0.000,4,0.000,0.051,2637,2911,1877,0,0,0,0,0,0
$GC,7551,0.73,146.0,442.2,13.3,610,7555,0.00,1.12,0.00,0.000,6,0.000,0.034,2641,2204,1877,0,0,0,0,0,0
$GC,7881,0.73,146.0,398.1,13.1,636,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,1877,0,0,0,0,0,0
$GC,8196,0.73,146.0,357.8,12.8,661,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2204,1877,0,0,0,0,0,0
$GC,8514,0.73,146.0,319.1,11.9,686,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2204,1877,0,0,0,0,0,0
$GC,8826,0.73,146.0,283.4,11.3,711,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2203,1877,0,0,0,0,0,0
$GC,9145,0.73,146.0,246.0,12.4,738,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2204,1877,0,0,0,0,0,0
$GC,9482,0.73,146.0,205.5,11.2,789,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2204,1877,0,0,0,0,0,0
$GC,9823,0.73,146.0,168.1,10.2,840,9829,0.00,1.15,0.00,0.000,4,0.000,0.049,2642,2901,1877,0,0,0,0,0,0
$GC,9896,0.73,146.0,160.3,9.7,851,9903,0.00,1.10,0.00,0.000,6,0.000,0.035,2646,2201,1877,0,0,0,0,0,0
$GC,10235,0.73,146.0,128.4,9.3,902,10242,0.00,1.15,0.00,0.000,4,0.000,0.050,2646,2896,1877,0,0,0,0,0,0
$GC,10361,0.73,146.0,115.2,10.6,921,10370,0.00,1.10,0.00,0.000,6,0.000,0.036,2651,2198,1877,0,0,0,0,0,0
$GC,10701,0.73,151.4,83.4,8.9,972,10709,0.00,1.08,3.78,0.652,4,0.000,0.048,2656,1496,1867,0,0,0,0,0,0
$GC,10853,0.73,153.4,69.4,9.1,994,10861,0.00,1.12,3.53,0.602,6,0.000,0.044,2656,2205,1859,0,0,0,0,0,0
$GC,11192,0.83,229.0,46.9,6.0,1045,11261,0.00,1.17,63.42,0.899,4,0.000,0.051,2656,2905,1550,0,0,0,0,0,0
$GC,11400,0.83,229.0,26.8,12.0,1076,11407,0.00,1.15,0.00,0.000,6,0.000,0.035,2661,2196,1547,0,0,0,0,0,0
$STATE,11655,end climb,SURFACE_DEPTH_REACHED
$STATE,11655,begin surface coast
$FINISH,1.8,1.025816
$STATE,11677,end surface coast,CONTROL_FINISHED_OK
$STATE,11677,begin surface
$SM_CCo,11693,32.95,0.076,0,0,1262,300.00
$SM_GC,2.66,6.80,0.60,32.95,0.041,0.066,0.076,120,2512,1262,-7.07,-0.79,300.00,0,0,0,0,0,0
$RAFOS_CLK,712
$RAFOS,6,1320929370,12.833333,12.825000,64,59,57,0,0,0,200,117,215,0,0,0
$RAFOS,5,1320928868,12.700000,12.685555,68,60,59,0,0,0,213,140,189,0,0,0
$RAFOS,4,1320928398,12.566667,12.555000,58,58,58,0,0,0,174,183,196,0,0,0
$RAFOS,3,1320927931,12.433333,12.425278,60,59,54,0,0,0,142,220,184,0,0,0
$RAFOS,2,1320927441,12.300000,12.289166,68,63,59,0,0,0,209,153,220,0,0,0
$RAFOS,1,1320926947,12.166667,12.151944,64,57,54,0,0,0,211,193,135,0,0,0
$RAFOS,0,1320926463,12.033333,12.017500,62,60,55,0,0,0,215,127,174,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6636.54,-5658.34,101111,070725
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,17.10
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,450.8,192.8
$24V_AH,23.1,27.621
$10V_AH,10.3,21.211
$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,17.000,32.375,313.200,32.950,0.000,0.000,0.000,210.925,5.750,0.000,40.750,3038.221,6396.828,466.957,1988.397,186.851,0.000,1589.366,0.000,1740.412,2520.000,11.235,0.000
$DEVICE_MAMPS,258.570,91.035,1253.835,76.500,0.000,0.000,0.000,247.933,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.722,625.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150360
$DATA_FILE_SIZE,43333,1118
$CAP_FILE_SIZE,110356,0
$CFSIZE,260165632,232849408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.6
$CURRENT,0.229,355.9,1
$GPS,101111,141724,6702.968,-5703.223,63,0.8,63,-33.5