version: 66.09
glider: 143
mission: 13
dive: 292
start: 11 23 111 21 5 7
data:
$ID,143
$MISSION,13
$DIVE,292
$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,-84352.094
$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,31
$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
$GPS1,231111,202523,6642.635,-5957.339,0,5102.8,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-29.9
$GPS2,231111,202523,6642.635,-5957.339,181,99.0,181,-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,346.9,33469,-16.9,-9.167
$D_GRID,654
$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,-146.0,0.0,0.0,0,94,0.00,0.00,-75.15,0.000,2,0.000,0.000,113,2521,1590,0,0,0,0,0,0
$GC,97,-0.73,-146.0,3.3,-2.7,11,194,8.25,1.15,-81.60,0.000,4,0.236,0.067,2159,1816,3079,0,0,0,0,0,0
$GC,296,-0.73,-146.0,27.8,-20.9,41,303,0.00,1.17,0.00,0.000,6,0.000,0.052,2156,2499,3080,0,0,0,0,0,0
$GC,635,-0.73,-146.0,83.8,-14.2,92,641,0.00,1.15,0.00,0.000,4,0.000,0.066,2151,3216,3080,0,0,0,0,0,0
$GC,709,-0.73,-146.0,94.7,-14.9,103,716,0.00,1.10,0.00,0.000,6,0.000,0.032,2151,2504,3080,0,0,0,0,0,0
$GC,1048,-0.73,-146.0,145.0,-14.1,154,1056,0.00,1.17,0.00,0.000,4,0.000,0.062,2146,3209,3080,0,0,0,0,0,0
$GC,1063,-0.73,-146.0,147.4,-14.3,156,1070,0.00,1.08,0.00,0.000,6,0.000,0.031,2147,2513,3080,0,0,0,0,0,0
$GC,1401,-0.73,-146.0,194.0,-13.2,207,1407,0.00,1.17,0.00,0.000,4,0.000,0.061,2142,3219,3080,0,0,0,0,0,0
$GC,1527,-0.73,-146.0,210.9,-12.7,226,1535,0.00,1.10,0.00,0.000,6,0.000,0.031,2142,2505,3080,0,0,0,0,0,0
$GC,1871,-0.73,-146.0,254.7,-12.3,275,1875,0.00,1.20,0.00,0.000,4,0.000,0.060,2138,3219,3081,0,0,0,0,0,0
$GC,1889,-0.73,-146.0,256.4,-12.1,276,1897,0.00,1.12,0.00,0.000,6,0.000,0.030,2137,2499,3080,0,0,0,0,0,0
$GC,2214,-0.73,-146.0,297.6,-12.5,302,2217,0.00,1.20,0.00,0.000,4,0.000,0.061,2133,3217,3080,0,0,0,0,0,0
$GC,2228,-0.73,-146.0,299.4,-12.4,303,2233,0.10,1.10,0.00,0.000,6,0.147,0.031,2163,2499,3081,0,0,0,0,0,0
$GC,2556,-0.73,-146.0,335.5,-10.9,329,2560,0.00,1.17,0.00,0.000,4,0.000,0.061,2161,3207,3080,0,0,0,0,0,0
$GC,2596,-0.73,-146.0,339.8,-11.0,332,2600,0.00,1.08,0.00,0.000,6,0.000,0.031,2161,2506,3080,0,0,0,0,0,0
$GC,2926,-0.73,-146.0,374.4,-10.2,358,2930,0.00,1.17,0.00,0.000,4,0.000,0.060,2156,3213,3080,0,0,0,0,0,0
$GC,2941,-0.73,-146.0,375.9,-10.4,359,2945,0.00,1.08,0.00,0.000,6,0.000,0.030,2156,2508,3080,0,0,0,0,0,0
$GC,3271,-0.73,-146.0,411.4,-10.7,385,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2508,3080,0,0,0,0,0,0
$GC,3586,-0.73,-146.0,445.8,-11.1,410,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2508,3081,0,0,0,0,0,0
$GC,3902,-0.73,-146.0,480.5,-10.9,435,3906,0.00,1.17,0.00,0.000,4,0.000,0.060,2152,3215,3081,0,0,0,0,0,0
$GC,3917,-0.73,-146.0,482.1,-11.0,436,3920,0.00,1.08,0.00,0.000,6,0.000,0.028,2152,2507,3081,0,0,0,0,0,0
$GC,4235,-0.73,-146.0,517.2,-10.9,454,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2508,3082,0,0,0,0,0,0
$GC,4541,-0.73,-146.0,549.2,-10.5,464,4544,0.00,1.17,0.00,0.000,4,0.000,0.060,2147,3217,3082,0,0,0,0,0,0
$GC,4592,-0.73,-146.0,552.4,-10.3,465,4597,0.00,1.08,0.00,0.000,6,0.000,0.028,2147,2502,3082,0,0,0,0,0,0
$GC,4912,-0.73,-146.0,585.3,-9.9,476,4916,0.00,1.17,0.00,0.000,4,0.000,0.060,2142,3210,3083,0,0,0,0,0,0
$GC,4946,-0.73,-146.0,589.1,-10.4,477,4950,0.00,1.05,0.00,0.000,6,0.000,0.028,2142,2515,3083,0,0,0,0,0,0
$GC,5286,-0.73,-146.0,626.7,-12.7,488,5290,0.00,1.15,0.00,0.000,4,0.000,0.057,2138,3214,3083,0,0,0,0,0,0
$GC,5297,-0.73,-146.0,626.7,-12.7,488,5302,0.00,1.10,0.00,0.000,6,0.000,0.028,2138,2498,3083,0,0,0,0,0,0
$STATE,5502,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5502,begin apogee
$GC,5507,-0.16,0.0,652.1,-11.8,495,5634,0.62,0.00,120.22,1.317,6,0.130,0.000,2340,2193,2487,0,0,0,0,0,0
$STATE,5635,end apogee,CONTROL_FINISHED_OK
$STATE,5635,begin climb
$GC,5637,0.73,146.0,657.0,0.0,499,5778,0.88,1.23,131.18,1.258,4,0.071,0.047,2638,1499,1888,0,0,0,0,0,0
$GC,6028,0.73,146.0,623.7,13.3,511,6033,0.00,1.23,0.00,0.000,6,0.000,0.039,2638,2210,1880,0,0,0,0,0,0
$GC,6355,0.73,146.0,583.9,12.0,522,6359,0.00,1.15,0.00,0.000,4,0.000,0.042,2643,1504,1878,0,0,0,0,0,0
$GC,6473,0.73,146.0,572.0,12.0,525,6477,0.00,1.17,0.00,0.000,6,0.000,0.041,2642,2208,1878,0,0,0,0,0,0
$GC,6793,0.73,146.0,536.0,10.5,536,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2208,1877,0,0,0,0,0,0
$GC,7099,0.73,146.0,502.1,11.1,546,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2208,1876,0,0,0,0,0,0
$GC,7421,0.73,146.0,466.7,10.9,570,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2209,1876,0,0,0,0,0,0
$GC,7737,0.73,146.0,432.8,10.8,595,7741,0.00,1.10,0.00,0.000,4,0.000,0.052,2643,2897,1876,0,0,0,0,0,0
$GC,7835,0.73,146.0,422.3,11.4,602,7845,0.00,1.12,0.00,0.000,6,0.000,0.031,2647,2200,1875,0,0,0,0,0,0
$GC,8159,0.73,146.0,384.7,11.6,628,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2200,1875,0,0,0,0,0,0
$GC,8474,0.73,146.0,348.6,10.7,653,8477,0.00,1.05,0.00,0.000,4,0.000,0.046,2653,1500,1875,0,0,0,0,0,0
$GC,8661,0.73,146.0,328.7,10.6,667,8665,0.00,1.12,0.00,0.000,6,0.000,0.041,2653,2202,1875,0,0,0,0,0,0
$GC,8992,0.73,146.0,294.6,9.6,693,8995,0.00,1.12,0.00,0.000,4,0.000,0.054,2653,2907,1875,0,0,0,0,0,0
$GC,9036,0.73,146.0,290.5,9.9,696,9044,0.00,1.15,0.00,0.000,6,0.000,0.034,2657,2197,1875,0,0,0,0,0,0
$GC,9361,0.74,155.0,260.3,8.8,722,9377,0.00,1.17,6.60,0.929,4,0.000,0.047,2657,2912,1852,0,0,0,0,0,0
$GC,9535,0.74,155.0,243.1,10.1,740,9542,0.00,1.15,0.00,0.000,6,0.000,0.033,2662,2193,1852,0,0,0,0,0,0
$GC,9873,0.74,159.0,211.8,9.0,791,9887,0.00,1.08,5.15,0.840,4,0.000,0.047,2667,1494,1836,0,0,0,0,0,0
$GC,10140,0.78,193.2,189.3,7.7,831,10174,0.00,1.15,30.50,1.028,6,0.000,0.044,2667,2206,1697,0,0,0,0,0,0
$GC,10506,0.78,193.2,154.6,9.5,886,10515,0.00,1.12,0.00,0.000,4,0.000,0.053,2667,2908,1692,0,0,0,0,0,0
$GC,10740,0.78,193.2,130.2,9.8,921,10747,0.00,1.15,0.00,0.000,6,0.000,0.034,2672,2194,1692,0,0,0,0,0,0
$GC,11078,0.81,214.1,100.1,8.3,972,11100,0.00,1.10,18.12,0.973,4,0.000,0.047,2677,1497,1611,0,0,0,0,0,0
$GC,11215,0.84,238.3,88.8,8.1,992,11243,0.00,1.15,21.50,0.962,6,0.000,0.043,2677,2200,1513,0,0,0,0,0,0
$GC,11573,0.84,238.3,55.5,9.5,1046,11582,0.00,1.15,0.00,0.000,4,0.000,0.045,2681,1491,1508,0,0,0,0,0,0
$GC,11744,0.89,281.7,40.3,7.3,1071,11785,0.00,1.15,36.72,0.952,6,0.000,0.044,2681,2196,1336,0,0,0,0,0,0
$FREEZE,8.39,-0.630,-1.688,2,2,0
$FREEZE,7.55,-0.608,-1.686,2,2,0
$GC,12118,0.89,281.7,7.6,10.6,1127,12125,0.00,1.15,0.00,0.000,4,0.000,0.052,2681,2905,1328,0,0,0,0,0,0
$FREEZE,6.13,-0.656,-1.688,2,2,0
$FREEZE,5.43,-0.676,-1.688,2,2,0
$FREEZE,4.62,-0.669,-1.687,2,2,0
$FREEZE,3.96,-0.694,-1.688,2,2,0
$FREEZE,3.44,-0.678,-1.687,2,2,0
$FREEZE,2.86,-0.683,-1.687,2,2,0
$FREEZE,2.03,-0.760,-1.691,2,2,0
$FREEZE,1.78,-0.895,-1.698,2,2,0
$STATE,12176,end climb,SURFACE_DEPTH_REACHED
$STATE,12176,begin surface coast
$FREEZE,1.86,-0.684,-1.686,2,2,0
$FREEZE,1.82,-0.870,-1.697,2,2,0
$FREEZE,1.87,-0.728,-1.688,2,2,0
$FINISH,1.9,1.024795
$STATE,12197,end surface coast,CONTROL_FINISHED_OK
$STATE,12197,begin surface
$SM_CCo,12213,103.07,0.086,0,0,441,501.15
$SM_GC,2.27,6.93,0.65,103.07,0.043,0.037,0.086,114,2513,441,-7.07,1.27,501.15,0,0,0,0,0,0
$RAFOS_CLK,879
$RAFOS,2,1322093824,0.300000,0.284444,147,70,65,0,0,0,622,184,208,0,0,0
$RAFOS,1,1322093343,0.166667,0.150833,115,66,56,0,0,0,519,219,126,0,0,0
$RAFOS,0,1322092867,0.033333,0.018611,91,62,57,0,0,0,634,191,180,0,0,0
$RAFOS,6,1322081343,20.833334,20.817499,65,61,61,0,0,0,206,195,219,0,0,0
$RAFOS_FIX,6640.961426,-6004.403320,241111,000044,2,119,0.44
$IRIDIUM_FIX,6620.33,-5953.65,231111,171757
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.90
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,16.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.3,17.6
$ALTIM_BOTTOM_PING,552.4,114.5
$24V_AH,22.6,36.937
$10V_AH,10.1,27.817
$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,16.775,52.275,370.000,103.075,0.000,0.000,0.000,123.325,4.500,0.000,181.013,3062.657,6766.506,639.567,2161.791,225.745,0.000,1756.911,0.000,1843.733,1440.000,19.222,0.000
$DEVICE_MAMPS,235.620,67.320,1316.565,86.445,0.000,0.000,0.000,241.178,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.236,635.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150188
$DATA_FILE_SIZE,43279,1139
$CAP_FILE_SIZE,123322,0
$CFSIZE,260165632,227729408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.8
$CURRENT,0.607,207.6,1
$GPS,241111,001144,6640.961,-6004.403,0,2119.0,0,-33.9