version: 66.09
glider: 143
mission: 13
dive: 289
start: 11 23 111 10 13 8
data:
$ID,143
$MISSION,13
$DIVE,289
$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,501.14789
$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,-83619.789
$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,40
$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,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
$GPS1,231111,100122,6645.834,-6002.353,25,1.0,41,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-49.0
$GPS2,231111,101237,6645.778,-6002.258,15,1.4,15,-33.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6043.000
$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,280.0,30655,-16.9,-9.167
$D_GRID,635
$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,15,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,245,0.00,0.00,-220.45,0.000,6,0.000,0.000,116,2518,3081,0,0,0,0,0,0
$GC,248,-0.73,-146.0,2.1,-0.0,33,260,8.12,1.12,0.00,0.000,4,0.229,0.062,2159,3214,3082,0,0,0,0,0,0
$GC,511,-0.73,-146.0,61.8,-19.8,72,518,0.00,1.10,0.00,0.000,6,0.000,0.035,2159,2516,3083,0,0,0,0,0,0
$GC,849,-0.73,-146.0,122.6,-15.5,123,856,0.00,1.17,0.00,0.000,4,0.000,0.064,2155,3213,3084,0,0,0,0,0,0
$GC,950,-0.73,-146.0,138.8,-16.8,138,957,0.00,1.10,0.00,0.000,6,0.000,0.034,2155,2508,3084,0,0,0,0,0,0
$GC,1288,-0.73,-146.0,191.3,-14.5,189,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2508,3084,0,0,0,0,0,0
$GC,1627,-0.73,-146.0,235.3,-12.1,240,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2508,3084,0,0,0,0,0,0
$GC,1954,-0.73,-146.0,274.2,-11.9,275,1958,0.00,1.17,0.00,0.000,4,0.000,0.065,2150,3207,3084,0,0,0,0,0,0
$GC,2073,-0.73,-146.0,289.4,-12.7,284,2077,0.00,1.10,0.00,0.000,6,0.000,0.033,2150,2498,3083,0,0,0,0,0,0
$GC,2403,-0.73,-146.0,329.8,-12.1,310,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2498,3083,0,0,0,0,0,0
$GC,2717,-0.73,-146.0,368.1,-12.5,335,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2499,3083,0,0,0,0,0,0
$GC,3035,-0.73,-146.0,405.5,-11.8,360,3039,0.00,1.17,0.00,0.000,4,0.000,0.062,2146,3204,3083,0,0,0,0,0,0
$GC,3119,-0.73,-146.0,415.2,-11.8,366,3127,0.00,1.10,0.00,0.000,6,0.000,0.031,2146,2501,3083,0,0,0,0,0,0
$GC,3444,-0.73,-146.0,452.3,-11.1,392,3448,0.00,1.17,0.00,0.000,4,0.000,0.062,2141,3208,3083,0,0,0,0,0,0
$GC,3488,-0.73,-146.0,457.0,-11.1,395,3496,0.00,1.10,0.00,0.000,6,0.000,0.031,2141,2503,3083,0,0,0,0,0,0
$GC,3814,-0.73,-146.0,492.2,-10.5,421,3817,0.00,1.17,0.00,0.000,4,0.000,0.061,2137,3208,3084,0,0,0,0,0,0
$GC,3882,-0.73,-146.0,499.5,-10.7,426,3886,0.00,1.08,0.00,0.000,6,0.000,0.031,2136,2506,3084,0,0,0,0,0,0
$GC,4202,-0.73,-146.0,534.8,-11.0,437,4204,0.12,0.00,0.00,0.000,6,0.169,0.000,2167,2505,3084,0,0,0,0,0,0
$GC,4508,-0.73,-146.0,563.8,-9.3,447,4512,0.00,1.17,0.00,0.000,4,0.000,0.062,2164,3212,3085,0,0,0,0,0,0
$GC,4576,-0.73,-146.0,570.2,-9.4,449,4580,0.00,1.08,0.00,0.000,6,0.000,0.029,2164,2502,3085,0,0,0,0,0,0
$GC,4915,-0.73,-146.0,602.4,-9.3,460,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2502,3085,0,0,0,0,0,0
$GC,5223,-0.73,-146.0,631.3,-9.5,470,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2502,3086,0,0,0,0,0,0
$STATE,5280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5280,begin apogee
$GC,5286,-0.16,0.0,637.3,-9.7,472,5415,0.55,0.00,121.15,1.307,6,0.126,0.000,2343,2198,2484,0,0,0,0,0,0
$STATE,5415,end apogee,CONTROL_FINISHED_OK
$STATE,5415,begin climb
$GC,5418,0.73,146.0,643.3,0.0,476,5557,0.82,1.20,130.45,1.251,4,0.066,0.047,2634,1508,1889,0,0,0,0,0,0
$GC,5807,0.73,146.0,616.1,11.1,488,5812,0.00,1.23,0.00,0.000,6,0.000,0.041,2634,2213,1880,0,0,0,0,0,0
$GC,6134,0.73,146.0,578.8,11.1,499,6138,0.00,1.17,0.00,0.000,4,0.000,0.046,2638,1504,1878,0,0,0,0,0,0
$GC,6300,0.73,146.0,560.2,11.3,504,6303,0.00,1.15,0.00,0.000,6,0.000,0.044,2639,2197,1877,0,0,0,0,0,0
$GC,6639,0.73,146.0,521.6,11.3,515,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,1877,0,0,0,0,0,0
$GC,6956,0.73,146.0,486.0,10.9,530,6961,0.00,1.15,0.00,0.000,4,0.000,0.056,2638,2908,1876,0,0,0,0,0,0
$GC,7119,0.73,146.0,468.2,11.3,542,7127,0.00,1.15,0.00,0.000,6,0.000,0.035,2643,2205,1875,0,0,0,0,0,0
$GC,7447,0.73,146.0,432.1,10.9,568,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2205,1875,0,0,0,0,0,0
$GC,7758,0.73,146.0,398.3,10.5,593,7762,0.00,1.17,0.00,0.000,4,0.000,0.050,2643,2902,1875,0,0,0,0,0,0
$GC,7943,0.73,146.0,377.6,11.1,607,7947,0.00,1.12,0.00,0.000,6,0.000,0.036,2648,2201,1876,0,0,0,0,0,0
$GC,8273,0.73,146.0,341.2,11.6,633,8277,0.00,1.08,0.00,0.000,4,0.000,0.049,2653,1495,1874,0,0,0,0,0,0
$GC,8399,0.73,146.0,327.7,11.3,642,8406,0.00,1.15,0.00,0.000,6,0.000,0.044,2653,2203,1874,0,0,0,0,0,0
$GC,8725,0.73,146.0,291.1,11.0,668,8728,0.00,1.12,0.00,0.000,4,0.000,0.046,2657,1499,1874,0,0,0,0,0,0
$GC,8880,0.73,146.0,275.6,10.3,679,8886,0.00,1.15,0.00,0.000,6,0.000,0.044,2657,2209,1874,0,0,0,0,0,0
$GC,9205,0.73,146.0,242.9,9.3,710,9212,0.00,1.12,0.00,0.000,4,0.000,0.055,2658,2911,1874,0,0,0,0,0,0
$GC,9279,0.73,146.2,236.0,9.2,721,9288,0.08,1.15,0.00,0.000,6,0.150,0.036,2638,2197,1874,0,0,0,0,0,0
$GC,9618,0.80,209.9,210.7,6.5,772,9678,0.00,1.12,52.38,1.041,4,0.000,0.049,2642,1493,1628,0,0,0,0,0,0
$GC,9766,0.80,209.9,197.6,10.0,794,9772,0.00,1.17,0.00,0.000,6,0.000,0.044,2642,2199,1624,0,0,0,0,0,0
$GC,10105,0.80,209.9,165.4,10.0,845,10114,0.00,1.15,0.00,0.000,4,0.000,0.057,2642,2900,1622,0,0,0,0,0,0
$GC,10200,0.80,209.9,156.1,9.6,859,10207,0.00,1.15,0.00,0.000,6,0.000,0.036,2646,2198,1622,0,0,0,0,0,0
$GC,10539,0.81,217.9,125.9,8.8,910,10553,0.00,1.08,7.10,0.889,4,0.000,0.045,2652,1488,1595,0,0,0,0,0,0
$GC,10599,0.83,230.8,120.5,8.6,919,10621,0.00,1.17,12.38,0.951,6,0.000,0.045,2652,2204,1543,0,0,0,0,0,0
$GC,10952,0.83,230.8,86.5,9.3,972,10958,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2204,1541,0,0,0,0,0,0
$GC,11289,0.87,262.5,57.0,7.8,1023,11323,0.00,1.15,27.60,0.963,4,0.000,0.054,2652,2916,1413,0,0,0,0,0,0
$GC,11391,0.87,267.4,48.7,9.0,1038,11404,0.00,1.17,5.10,0.774,6,0.000,0.037,2656,2204,1394,0,0,0,0,0,0
$GC,11737,0.90,285.7,20.2,8.4,1090,11752,0.00,1.15,9.88,0.851,4,0.000,0.051,2661,1491,1319,0,0,0,0,0,0
$GC,11805,0.90,285.7,12.8,11.6,1100,11812,0.00,1.17,0.00,0.000,6,0.000,0.046,2662,2198,1316,0,0,0,0,0,0
$FREEZE,8.96,-1.128,-1.707,2,1,0
$FREEZE,8.52,-1.049,-1.702,2,1,0
$FREEZE,7.97,-1.040,-1.701,2,1,0
$FREEZE,7.34,-0.957,-1.696,2,1,0
$FREEZE,6.89,-0.996,-1.698,2,1,0
$FREEZE,6.30,-0.939,-1.694,2,1,0
$FREEZE,5.63,-0.808,-1.686,2,1,0
$FREEZE,4.97,-0.879,-1.689,2,1,0
$FREEZE,4.45,-0.850,-1.687,2,1,0
$FREEZE,3.87,-0.665,-1.676,2,1,0
$FREEZE,3.47,-0.758,-1.681,2,1,0
$FREEZE,2.89,-0.762,-1.681,2,1,0
$FREEZE,2.25,-0.981,-1.693,2,1,0
$FREEZE,1.87,-1.004,-1.693,2,1,0
$STATE,11935,end climb,SURFACE_DEPTH_REACHED
$STATE,11935,begin surface coast
$FREEZE,1.86,-1.044,-1.537,2,1,0
$FREEZE,1.84,-0.743,-1.543,2,1,0
$FREEZE,1.84,-0.942,-1.554,2,1,0
$FREEZE,1.83,-0.981,-1.578,2,1,0
$FINISH,1.8,1.023225
$STATE,11962,end surface coast,CONTROL_FINISHED_OK
$STATE,11962,begin surface
$SM_CCo,11978,100.95,0.086,0,0,442,501.15
$SM_GC,2.36,6.78,0.52,100.95,0.035,0.059,0.086,114,2510,442,-7.07,-0.90,501.15,0,0,0,0,0,0
$RAFOS_CLK,790
$RAFOS,6,1322052547,12.833333,12.818611,106,67,64,0,0,0,772,207,226,0,0,0
$RAFOS,5,1322052062,12.700000,12.683888,104,70,59,0,0,0,908,152,207,0,0,0
$RAFOS,4,1322051583,12.566667,12.550834,123,65,61,0,0,0,684,168,206,0,0,0
$RAFOS,3,1322051102,12.433333,12.417222,99,62,57,0,0,0,766,138,215,0,0,0
$RAFOS,2,1322050630,12.300000,12.286111,96,58,54,0,0,0,603,209,163,0,0,0
$RAFOS,1,1322050147,12.166667,12.151944,99,69,61,0,0,0,502,186,198,0,0,0
$RAFOS,0,1322049671,12.033333,12.019722,131,60,59,0,0,0,606,195,139,0,0,0
$RAFOS_FIX,6644.829590,-5956.738770,231111,121213,6,110,0.53
$IRIDIUM_FIX,6625.71,-6000.37,221111,131343
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.67
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,35
$ALTIM_TOP_PING,19.4,17.7
$ALTIM_BOTTOM_PING,552.4,134.0
$24V_AH,22.6,36.566
$10V_AH,9.9,27.552
$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,16.475,44.425,366.025,100.950,0.000,0.000,0.000,491.450,10.750,0.000,16.848,3070.775,6362.241,688.097,2347.906,308.026,0.000,2186.035,0.000,1865.737,2520.000,16.239,0.000
$DEVICE_MAMPS,228.735,65.025,1307.385,85.680,0.000,0.000,0.000,315.343,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.331,631.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150192
$DATA_FILE_SIZE,43330,1124
$CAP_FILE_SIZE,126873,0
$CFSIZE,260165632,227930112
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$CURRENT,0.958, 92.7,1
$GPS,231111,123013,6644.830,-5956.739,0,6109.8,0,-33.9