version: 66.09
glider: 143
mission: 13
dive: 257
start: 11 17 111 22 15 31
data:
$ID,143
$MISSION,13
$DIVE,257
$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,-80847.539
$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,41
$R_STBD_OVSHOOT,28
$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
$GPS1,171111,170348,6652.053,-5902.166,21,0.7,21,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-72.8
$GPS2,171111,170348,6652.053,-5902.166,21,0.7,21,-33.8
$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,245.1,63117,-27.7,-9.167
$D_GRID,1026
$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,-0.96,-55.4,0.0,0.0,0,70,0.00,0.00,-51.45,0.000,2,0.000,0.000,117,2517,1954,0,0,0,0,0,0
$GC,73,-1.06,-130.9,3.0,-0.8,7,135,8.27,1.17,-49.17,0.000,4,0.255,0.096,2050,3213,3020,0,0,0,0,0,0
$GC,387,-1.06,-130.9,72.7,-22.8,54,394,0.00,1.10,0.00,0.000,6,0.000,0.034,2050,2516,3022,0,0,0,0,0,0
$GC,726,-1.06,-130.9,146.2,-20.3,105,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2516,3022,0,0,0,0,0,0
$GC,1062,-1.06,-130.9,211.5,-18.8,156,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2516,3022,0,0,0,0,0,0
$GC,1403,-1.06,-130.9,277.1,-19.1,197,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2516,3021,0,0,0,0,0,0
$GC,1718,-1.06,-130.9,335.3,-18.5,222,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2516,3021,0,0,0,0,0,0
$GC,2033,-1.06,-130.9,389.3,-16.4,247,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2516,3021,0,0,0,0,0,0
$GC,2349,-1.06,-130.9,439.6,-16.1,272,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2516,3021,0,0,0,0,0,0
$GC,2665,-1.06,-130.9,490.5,-15.8,297,2669,0.00,1.10,0.00,0.000,4,0.000,0.044,2050,1812,3021,0,0,0,0,0,0
$GC,2723,-1.06,-130.9,499.2,-16.0,301,2734,0.00,1.20,0.00,0.000,6,0.000,0.054,2046,2504,3021,0,0,0,0,0,0
$GC,3038,-1.06,-130.9,551.4,-16.2,312,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2504,3021,0,0,0,0,0,0
$GC,3344,-1.06,-130.9,602.0,-16.6,322,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2505,3021,0,0,0,0,0,0
$GC,3651,-1.06,-130.9,653.3,-16.8,332,3654,0.00,1.12,0.00,0.000,4,0.000,0.068,2040,3213,3022,0,0,0,0,0,0
$GC,3717,-1.06,-130.9,664.8,-16.9,334,3721,0.00,1.10,0.00,0.000,6,0.000,0.034,2040,2499,3022,0,0,0,0,0,0
$GC,4057,-1.06,-130.9,720.6,-16.2,345,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2499,3022,0,0,0,0,0,0
$GC,4362,-1.06,-130.9,768.7,-15.6,355,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2499,3022,0,0,0,0,0,0
$GC,4670,-1.06,-130.9,816.0,-15.4,365,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2499,3023,0,0,0,0,0,0
$GC,4976,-1.06,-130.9,863.8,-15.7,375,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2499,3023,0,0,0,0,0,0
$GC,5282,-1.06,-130.9,912.2,-16.0,385,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2500,3023,0,0,0,0,0,0
$GC,5587,-1.06,-130.9,960.0,-15.5,395,5591,0.00,1.17,0.00,0.000,4,0.000,0.062,2036,3211,3023,0,0,0,0,0,0
$GC,5665,-1.06,-130.9,970.6,-15.7,397,5670,0.00,1.10,0.00,0.000,6,0.000,0.032,2036,2506,3023,0,0,0,0,0,0
$STATE,5777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5777,begin apogee
$GC,5783,-0.16,0.0,990.5,-16.0,401,5908,1.02,0.00,112.47,1.531,6,0.166,0.000,2339,2190,2484,0,0,0,0,0,0
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5911,1.06,130.9,995.6,0.0,405,6043,1.17,1.15,122.82,1.475,4,0.063,0.047,2746,1504,1950,0,0,0,0,0,0
$GC,6187,1.06,130.9,969.6,15.8,413,6195,0.00,1.25,0.00,0.000,6,0.000,0.044,2746,2210,1943,0,0,0,0,0,0
$GC,6501,1.06,130.9,915.4,16.0,424,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2210,1940,0,0,0,0,0,0
$GC,6807,1.06,130.9,866.8,15.8,434,6812,0.00,1.15,0.00,0.000,4,0.000,0.055,2746,2910,1939,0,0,0,0,0,0
$GC,6872,1.06,130.9,856.3,15.9,436,6876,0.00,1.15,0.00,0.000,6,0.000,0.037,2750,2209,1939,0,0,0,0,0,0
$GC,7212,1.06,130.9,802.8,15.8,447,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2210,1937,0,0,0,0,0,0
$GC,7519,1.06,130.9,754.5,15.7,457,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2209,1937,0,0,0,0,0,0
$GC,7824,1.06,130.9,707.0,15.4,467,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2209,1937,0,0,0,0,0,0
$GC,8132,1.06,130.9,660.3,15.6,477,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2210,1937,0,0,0,0,0,0
$GC,8437,1.06,130.9,613.5,15.2,487,8440,0.00,1.17,0.00,0.000,4,0.000,0.052,2751,2904,1937,0,0,0,0,0,0
$GC,8488,1.06,130.9,608.4,15.4,488,8493,0.00,1.17,0.00,0.000,6,0.000,0.038,2755,2191,1937,0,0,0,0,0,0
$GC,8810,1.06,130.9,554.3,16.1,499,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2191,1935,0,0,0,0,0,0
$GC,9118,1.06,130.9,507.3,15.1,509,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2191,1935,0,0,0,0,0,0
$GC,9428,1.06,130.9,460.2,15.0,531,9432,0.00,1.20,0.00,0.000,4,0.000,0.053,2755,2902,1935,0,0,0,0,0,0
$GC,9486,1.06,130.9,452.2,15.4,535,9493,0.00,1.15,0.00,0.000,6,0.000,0.037,2760,2199,1935,0,0,0,0,0,0
$GC,9812,1.06,130.9,403.1,15.1,561,9815,0.00,1.20,0.00,0.000,4,0.000,0.052,2760,2911,1935,0,0,0,0,0,0
$GC,9903,1.06,130.9,388.7,15.3,568,9907,0.00,1.15,0.00,0.000,6,0.000,0.037,2764,2196,1935,0,0,0,0,0,0
$GC,10234,1.06,130.9,340.4,14.3,594,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2196,1935,0,0,0,0,0,0
$GC,10548,1.06,130.9,295.3,14.0,619,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2196,1935,0,0,0,0,0,0
$GC,10863,1.06,130.9,253.5,13.3,644,10867,0.00,1.20,0.00,0.000,4,0.000,0.052,2764,2911,1935,0,0,0,0,0,0
$GC,11120,1.06,130.9,219.1,13.2,680,11129,0.00,1.15,0.00,0.000,6,0.000,0.037,2769,2191,1935,0,0,0,0,0,0
$GC,11458,1.06,130.9,175.2,12.4,731,11464,0.00,1.20,0.00,0.000,4,0.000,0.051,2769,2906,1935,0,0,0,0,0,0
$GC,11671,1.06,130.9,148.8,11.9,763,11678,0.10,1.12,0.00,0.000,6,0.185,0.037,2746,2203,1935,0,0,0,0,0,0
$GC,12008,1.06,130.9,113.5,9.5,814,12014,0.00,1.17,0.00,0.000,4,0.000,0.051,2746,2904,1935,0,0,0,0,0,0
$GC,12074,1.06,137.5,107.7,8.4,824,12085,0.00,1.12,4.12,0.738,6,0.000,0.037,2748,2199,1924,0,0,0,0,0,0
$GC,12414,1.08,152.2,79.2,7.5,875,12436,0.00,1.20,14.18,0.937,4,0.000,0.052,2749,2904,1863,0,0,0,0,0,0
$GC,12687,1.08,152.2,54.2,9.2,916,12696,0.00,1.15,0.00,0.000,6,0.000,0.037,2753,2192,1863,0,0,0,0,0,0
$GC,13026,1.15,210.9,34.4,2.7,967,13081,0.00,1.12,50.42,0.948,4,0.000,0.050,2758,1497,1625,0,0,0,0,0,0
$GC,13247,1.15,210.9,16.2,9.9,1000,13256,0.00,1.17,0.00,0.000,6,0.000,0.045,2758,2203,1618,0,0,0,0,0,0
$FREEZE,8.81,-1.471,-1.747,2,2,0
$FREEZE,8.14,-1.470,-1.747,2,2,0
$FREEZE,7.52,-1.471,-1.746,2,2,0
$FREEZE,7.06,-1.471,-1.746,2,2,0
$FREEZE,6.30,-1.471,-1.745,2,2,0
$FREEZE,5.64,-1.471,-1.744,2,2,0
$FREEZE,4.97,-1.471,-1.744,2,2,0
$FREEZE,4.38,-1.471,-1.743,2,2,0
$FREEZE,3.67,-1.471,-1.743,2,2,0
$FREEZE,3.06,-1.472,-1.743,2,2,0
$FREEZE,2.48,-1.472,-1.742,2,2,0
$FREEZE,1.84,-1.472,-1.741,2,2,0
$STATE,13391,end climb,SURFACE_DEPTH_REACHED
$STATE,13391,begin surface coast
$FREEZE,1.52,-1.471,-1.741,2,2,0
$FREEZE,1.53,-1.438,-0.825,2,2,0
$FINISH,1.5,1.012135
$STATE,13405,end surface coast,FINISH_DEPTH_REACHED
$STATE,13406,begin surface
$SM_CCo,13423,42.62,0.084,0,0,1261,300.00
$SM_GC,2.97,7.38,0.52,42.62,0.059,0.057,0.084,116,2517,1261,-7.08,-0.74,300.00,0,0,0,0,0,0
$RAFOS_CLK,937
$RAFOS,6,1321577343,0.833333,0.817500,99,59,59,0,0,0,678,167,1866,0,0,0
$RAFOS,5,1321576876,0.700000,0.687778,64,64,61,0,0,0,185,208,149,0,0,0
$RAFOS,4,1321576381,0.566667,0.550278,107,60,58,0,0,0,520,177,212,0,0,0
$RAFOS,3,1321575922,0.433333,0.422778,64,61,59,0,0,0,209,170,625,0,0,0
$RAFOS,2,1321575432,0.300000,0.286667,69,67,63,0,0,0,203,221,146,0,0,0
$RAFOS,1,1321574942,0.166667,0.150556,67,61,60,0,0,0,681,182,171,0,0,0
$RAFOS,0,1321574476,0.033333,0.021111,63,59,56,0,0,0,170,180,211,0,0,0
$RAFOS_FIX,6658.083984,-5925.355957,181111,000056,2,83,0.75
$IRIDIUM_FIX,6625.71,-5850.88,171111,060617
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.89
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,950.5,120.2
$24V_AH,22.5,32.543
$10V_AH,10.2,24.694
$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,17.950,33.450,304.025,42.625,0.000,0.000,0.000,0.000,4.750,0.000,0.000,2877.820,8396.484,472.811,1651.323,158.460,0.000,1337.757,0.000,1631.299,2520.000,30.332,0.000
$DEVICE_MAMPS,254.745,96.390,1530.765,84.150,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.346,563.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150392
$DATA_FILE_SIZE,40023,1024
$CAP_FILE_SIZE,108234,0
$CFSIZE,260165632,230154240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$CURRENT,0.141, 12.9,1
$GPS,181111,020153,6651.316,-5904.222,40,0.7,40,-33.8