version: 66.09
glider: 143
mission: 13
dive: 290
start: 11 23 111 13 48 18
data:
$ID,143
$MISSION,13
$DIVE,290
$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,-83985.805
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,231111,123013,6644.830,-5956.739,0,6109.8,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-29.7
$GPS2,231111,123013,6644.830,-5956.739,181,99.0,181,-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,340.1,34292,-16.9,-9.167
$D_GRID,679
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,155,0.00,0.00,-135.77,0.000,2,0.000,0.000,113,2514,2288,0,0,0,0,0,0
$GC,159,-0.73,-146.0,3.1,0.0,21,200,8.77,1.15,-24.98,0.000,4,0.258,0.067,2158,1813,3083,0,0,0,0,0,0
$GC,281,-0.73,-146.0,27.6,-19.4,38,288,0.00,1.20,0.00,0.000,6,0.000,0.054,2156,2506,3084,0,0,0,0,0,0
$GC,621,-0.73,-146.0,85.3,-16.4,89,628,0.00,1.15,0.00,0.000,4,0.000,0.068,2150,3219,3085,0,0,0,0,0,0
$GC,681,-0.73,-146.0,95.2,-15.5,98,688,0.00,1.12,0.00,0.000,6,0.000,0.034,2150,2501,3085,0,0,0,0,0,0
$GC,1019,-0.73,-146.0,146.7,-14.5,149,1026,0.00,1.20,0.00,0.000,4,0.000,0.063,2146,3216,3085,0,0,0,0,0,0
$GC,1165,-0.73,-146.0,168.0,-14.6,171,1172,0.00,1.10,0.00,0.000,6,0.000,0.033,2145,2509,3085,0,0,0,0,0,0
$GC,1503,-0.73,-146.0,214.1,-13.4,222,1510,0.00,1.17,0.00,0.000,4,0.000,0.063,2141,3211,3085,0,0,0,0,0,0
$GC,1525,-0.73,-146.0,217.0,-14.2,225,1531,0.00,1.10,0.00,0.000,6,0.000,0.032,2142,2501,3085,0,0,0,0,0,0
$GC,1860,-0.73,-146.0,262.1,-12.8,269,1864,0.00,1.20,0.00,0.000,4,0.000,0.063,2137,3219,3085,0,0,0,0,0,0
$GC,1878,-0.73,-146.0,264.0,-12.8,270,1886,0.00,1.12,0.00,0.000,6,0.000,0.031,2137,2505,3085,0,0,0,0,0,0
$GC,2203,-0.73,-146.0,305.3,-12.5,296,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2505,3085,0,0,0,0,0,0
$GC,2520,-0.73,-146.0,344.5,-12.2,321,2523,0.00,1.17,0.00,0.000,4,0.000,0.063,2133,3210,3084,0,0,0,0,0,0
$GC,2546,-0.73,-146.0,348.0,-11.7,323,2551,0.10,1.10,0.00,0.000,6,0.145,0.032,2163,2497,3084,0,0,0,0,0,0
$GC,2876,-0.73,-146.0,380.8,-9.8,349,2880,0.00,1.20,0.00,0.000,4,0.000,0.063,2160,3211,3085,0,0,0,0,0,0
$GC,2902,-0.73,-146.0,383.6,-9.8,351,2906,0.00,1.08,0.00,0.000,6,0.000,0.032,2161,2514,3084,0,0,0,0,0,0
$GC,3234,-0.73,-146.0,415.8,-9.2,377,3238,0.00,1.17,0.00,0.000,4,0.000,0.062,2156,3219,3085,0,0,0,0,0,0
$GC,3252,-0.73,-146.0,417.4,-9.4,378,3260,0.00,1.12,0.00,0.000,6,0.000,0.031,2156,2498,3085,0,0,0,0,0,0
$GC,3577,-0.73,-146.0,449.7,-10.5,404,3580,0.00,1.20,0.00,0.000,4,0.000,0.062,2152,3217,3085,0,0,0,0,0,0
$GC,3630,-0.73,-146.0,455.5,-10.6,408,3634,0.00,1.10,0.00,0.000,6,0.000,0.031,2152,2501,3085,0,0,0,0,0,0
$GC,3961,-0.73,-146.0,489.9,-10.1,434,3965,0.00,1.17,0.00,0.000,4,0.000,0.060,2147,3211,3086,0,0,0,0,0,0
$GC,4079,-0.73,-146.0,501.1,-10.5,442,4084,0.00,1.10,0.00,0.000,6,0.000,0.029,2147,2501,3086,0,0,0,0,0,0
$GC,4401,-0.73,-146.0,536.6,-10.8,453,4404,0.00,1.17,0.00,0.000,4,0.000,0.061,2143,3211,3086,0,0,0,0,0,0
$GC,4485,-0.73,-146.0,544.0,-10.8,455,4490,0.00,1.10,0.00,0.000,6,0.000,0.029,2142,2500,3086,0,0,0,0,0,0
$GC,4806,-0.73,-146.0,581.6,-11.4,466,4809,0.00,1.20,0.00,0.000,4,0.000,0.061,2138,3222,3086,0,0,0,0,0,0
$GC,4839,-0.73,-146.0,585.3,-11.3,467,4843,0.00,1.10,0.00,0.000,6,0.000,0.031,2137,2502,3086,0,0,0,0,0,0
$GC,5178,-0.73,-146.0,623.1,-11.1,478,5182,0.00,1.17,0.00,0.000,4,0.000,0.061,2134,3211,3087,0,0,0,0,0,0
$GC,5189,-0.73,-146.0,623.1,-11.1,478,5195,0.12,1.10,0.00,0.000,6,0.161,0.029,2164,2499,3087,0,0,0,0,0,0
$GC,5519,-0.73,-146.0,653.4,-7.5,489,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2498,3087,0,0,0,0,0,0
$STATE,5761,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5761,begin apogee
$GC,5767,-0.16,0.0,676.0,-9.8,497,5894,0.52,0.00,122.15,1.331,6,0.123,0.000,2340,2197,2484,0,0,0,0,0,0
$STATE,5895,end apogee,CONTROL_FINISHED_OK
$STATE,5895,begin climb
$GC,5898,0.73,146.0,680.8,0.0,501,6041,0.88,1.23,130.90,1.271,4,0.071,0.047,2638,1506,1888,0,0,0,0,0,0
$GC,6291,0.73,146.0,647.4,12.1,513,6296,0.00,1.23,0.00,0.000,6,0.000,0.043,2639,2207,1880,0,0,0,0,0,0
$GC,6613,0.73,146.0,607.8,11.6,524,6616,0.00,1.15,0.00,0.000,4,0.000,0.044,2643,1508,1878,0,0,0,0,0,0
$GC,6780,0.73,146.0,588.4,11.5,529,6784,0.00,1.15,0.00,0.000,6,0.000,0.044,2643,2202,1876,0,0,0,0,0,0
$GC,7119,0.73,146.0,548.5,11.5,540,7123,0.00,1.15,0.00,0.000,4,0.000,0.054,2644,2910,1876,0,0,0,0,0,0
$GC,7210,0.73,146.0,540.7,11.6,542,7218,0.00,1.15,0.00,0.000,6,0.000,0.034,2648,2207,1875,0,0,0,0,0,0
$GC,7526,0.73,146.0,502.1,11.7,553,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2207,1875,0,0,0,0,0,0
$GC,7846,0.73,146.0,467.0,10.8,577,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2207,1875,0,0,0,0,0,0
$GC,8161,0.73,146.0,432.4,11.2,602,8165,0.00,1.08,0.00,0.000,4,0.000,0.048,2653,1499,1874,0,0,0,0,0,0
$GC,8245,0.73,146.0,423.6,10.9,608,8255,0.00,1.17,0.00,0.000,6,0.000,0.044,2653,2212,1874,0,0,0,0,0,0
$GC,8571,0.73,146.0,386.3,11.3,634,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2212,1874,0,0,0,0,0,0
$GC,8886,0.73,146.0,349.3,12.1,659,8889,0.00,1.10,0.00,0.000,4,0.000,0.054,2653,2900,1874,0,0,0,0,0,0
$GC,9046,0.73,146.0,329.7,12.3,671,9049,0.00,1.12,0.00,0.000,6,0.000,0.035,2657,2198,1874,0,0,0,0,0,0
$GC,9374,0.73,146.0,292.9,10.2,697,9378,0.00,1.08,0.00,0.000,4,0.000,0.048,2662,1490,1874,0,0,0,0,0,0
$GC,9494,0.73,146.0,280.4,10.5,706,9498,0.00,1.15,0.00,0.000,6,0.000,0.044,2663,2203,1874,0,0,0,0,0,0
$GC,9817,0.73,146.0,247.6,10.6,733,9826,0.00,1.12,0.00,0.000,4,0.000,0.045,2667,1497,1874,0,0,0,0,0,0
$GC,10070,0.73,146.0,221.7,9.4,771,10077,0.10,1.12,0.00,0.000,6,0.148,0.044,2636,2197,1874,0,0,0,0,0,0
$GC,10410,0.73,151.1,192.4,9.0,822,10417,0.00,1.12,0.00,0.000,4,0.000,0.056,2636,2906,1874,0,0,0,0,0,0
$GC,10669,0.78,190.3,171.7,7.5,861,10711,0.00,1.12,35.72,1.021,6,0.000,0.036,2639,2201,1708,0,0,0,0,0,0
$GC,11043,0.83,232.9,141.1,7.4,917,11085,0.00,1.15,36.25,0.997,4,0.000,0.049,2645,1494,1534,0,0,0,0,0,0
$GC,11145,0.86,252.8,132.7,8.3,932,11167,0.00,1.17,18.00,0.949,6,0.000,0.044,2644,2197,1454,0,0,0,0,0,0
$GC,11498,0.86,252.8,98.6,9.8,985,11507,0.00,1.15,0.00,0.000,4,0.000,0.055,2644,2907,1448,0,0,0,0,0,0
$GC,11562,0.86,252.8,92.1,10.6,994,11569,0.00,1.15,0.00,0.000,6,0.000,0.035,2649,2203,1448,0,0,0,0,0,0
$GC,11900,0.88,269.6,59.0,8.5,1045,11921,0.00,1.23,14.30,0.936,4,0.000,0.050,2649,2909,1385,0,0,0,0,0,0
$GC,11981,0.88,269.6,50.1,11.2,1057,11990,0.00,1.15,0.00,0.000,6,0.000,0.034,2653,2200,1383,0,0,0,0,0,0
$GC,12323,0.88,269.6,16.6,10.5,1108,12330,0.00,1.08,0.00,0.000,4,0.000,0.048,2658,1492,1381,0,0,0,0,0,0
$FREEZE,8.96,-0.636,-1.686,2,2,0
$FREEZE,8.42,-0.707,-1.689,2,2,0
$FREEZE,7.91,-0.628,-1.685,2,2,0
$FREEZE,7.35,-0.640,-1.685,2,2,0
$FREEZE,7.05,-0.640,-1.684,2,2,0
$FREEZE,6.65,-1.280,-1.722,2,2,0
$FREEZE,6.18,-1.279,-1.721,2,2,0
$FREEZE,5.67,-1.278,-1.721,2,2,0
$FREEZE,5.13,-1.278,-1.720,2,2,0
$FREEZE,4.47,-1.277,-1.720,2,2,0
$FREEZE,3.92,-1.267,-1.718,2,2,0
$GC,12475,0.89,279.1,3.9,8.8,1131,12483,0.00,1.15,4.07,0.090,6,0.000,0.042,2659,2204,1347,0,0,0,0,0,0
$FREEZE,2.35,-0.662,-1.682,2,2,0
$FREEZE,1.78,-0.653,-1.681,2,2,0
$STATE,12496,end climb,SURFACE_DEPTH_REACHED
$STATE,12496,begin surface coast
$FREEZE,1.50,-0.725,-1.672,2,2,0
$FREEZE,1.54,-0.781,-1.632,2,2,0
$FREEZE,1.52,-0.713,-0.690,2,2,0
$FINISH,1.5,1.010132
$STATE,12518,end surface coast,FINISH_DEPTH_REACHED
$STATE,12518,begin surface
$SM_CCo,12535,104.12,0.086,0,0,441,501.15
$SM_GC,2.35,6.72,0.52,104.12,0.036,0.058,0.086,120,2515,441,-7.06,-0.68,501.15,0,0,0,0,0,0
$RAFOS_CLK,908
$RAFOS,6,1322066945,16.833334,16.818056,104,58,54,0,0,0,784,152,170,0,0,0
$RAFOS,5,1322066464,16.700001,16.684444,81,73,59,0,0,0,897,205,167,0,0,0
$RAFOS,4,1322065988,16.566668,16.552221,99,63,60,0,0,0,655,181,212,0,0,0
$RAFOS,3,1322065502,16.433332,16.417223,107,58,55,0,0,0,765,222,191,0,0,0
$RAFOS,2,1322065021,16.299999,16.283611,147,63,54,0,0,0,645,217,150,0,0,0
$RAFOS,1,1322064550,16.166666,16.152779,89,70,65,0,0,0,485,214,200,0,0,0
$RAFOS,0,1322064067,16.033333,16.018612,91,56,56,0,0,0,632,178,147,0,0,0
$RAFOS_FIX,6645.237793,-5956.918457,231111,161613,6,105,0.05
$IRIDIUM_FIX,6614.97,-5959.11,231111,101022
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,17.8
$ALTIM_BOTTOM_PING,651.0,39.8
$24V_AH,22.5,36.691
$10V_AH,10.1,27.634
$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,17.225,58.250,361.400,104.125,0.000,0.000,0.000,123.650,4.250,0.000,182.007,3106.538,6983.499,652.826,2208.248,257.567,0.000,1795.049,0.000,1885.423,2520.000,22.590,0.000
$DEVICE_MAMPS,257.805,68.085,1331.100,85.680,0.000,0.000,0.000,238.931,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.258,631.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150228
$DATA_FILE_SIZE,43318,1137
$CAP_FILE_SIZE,129643,0
$CFSIZE,260165632,227856384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$CURRENT,0.188,287.6,1
$GPS,231111,172035,6646.890,-6003.311,40,0.8,40,-33.9