version: 66.09
glider: 143
mission: 13
dive: 295
start: 11 24 111 7 15 43
data:
$ID,143
$MISSION,13
$DIVE,295
$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,-85084.156
$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,44
$R_STBD_OVSHOOT,32
$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
$GPS1,241111,042952,6642.962,-5956.742,0,6118.0,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-22.8
$GPS2,241111,042952,6642.962,-5956.742,181,99.0,181,-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,255.9,33933,-27.7,-9.167
$D_GRID,667
$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,-0.96,-55.4,0.0,0.0,0,149,0.00,0.00,-130.75,0.000,2,0.000,0.000,106,2525,2264,0,0,0,0,0,0
$GC,152,-0.99,-74.5,4.2,-7.1,20,182,8.50,1.15,-16.33,0.000,4,0.262,0.093,2072,3205,2791,0,0,0,0,0,0
$GC,432,-0.99,-74.5,69.7,-22.2,62,441,0.00,1.10,0.00,0.000,6,0.000,0.033,2073,2502,2795,0,0,0,0,0,0
$GC,769,-0.99,-74.5,136.6,-18.4,113,775,0.00,1.17,0.00,0.000,4,0.000,0.059,2068,3206,2795,0,0,0,0,0,0
$GC,926,-0.99,-74.5,165.2,-18.5,137,933,0.00,1.10,0.00,0.000,6,0.000,0.033,2068,2501,2795,0,0,0,0,0,0
$GC,1264,-0.99,-74.5,223.3,-16.5,188,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2501,2795,0,0,0,0,0,0
$GC,1593,-0.99,-74.5,275.5,-14.6,226,1597,0.00,1.17,0.00,0.000,4,0.000,0.059,2064,3209,2795,0,0,0,0,0,0
$GC,1758,-0.99,-74.5,300.1,-16.0,238,1767,0.00,1.10,0.00,0.000,6,0.000,0.032,2064,2500,2795,0,0,0,0,0,0
$GC,2082,-0.99,-74.5,349.1,-15.2,264,2085,0.00,1.17,0.00,0.000,4,0.000,0.058,2059,3209,2795,0,0,0,0,0,0
$GC,2161,-0.99,-74.5,361.9,-15.9,270,2165,0.00,1.08,0.00,0.000,6,0.000,0.031,2059,2510,2794,0,0,0,0,0,0
$GC,2493,-0.99,-74.5,411.4,-14.8,296,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2510,2795,0,0,0,0,0,0
$GC,2808,-0.99,-74.5,456.4,-13.5,321,2811,0.00,1.15,0.00,0.000,4,0.000,0.058,2055,3206,2795,0,0,0,0,0,0
$GC,2979,-0.99,-74.5,480.3,-13.4,334,2982,0.00,1.08,0.00,0.000,6,0.000,0.031,2055,2504,2795,0,0,0,0,0,0
$GC,3316,-0.99,-74.5,526.9,-13.9,352,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2504,2796,0,0,0,0,0,0
$GC,3621,-0.99,-74.5,567.3,-13.0,362,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2504,2796,0,0,0,0,0,0
$GC,3927,-0.99,-74.5,611.5,-14.9,372,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2504,2796,0,0,0,0,0,0
$STATE,4109,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4109,begin apogee
$GC,4115,-0.16,0.0,638.9,-14.9,378,4182,0.95,0.00,61.80,1.305,6,0.163,0.000,2337,2186,2484,0,0,0,0,0,0
$STATE,4183,end apogee,CONTROL_FINISHED_OK
$STATE,4183,begin climb
$GC,4185,0.99,74.5,642.1,0.0,380,4256,1.10,1.10,65.55,1.277,4,0.070,0.044,2723,1501,2180,0,0,0,0,0,0
$GC,4316,1.04,116.9,638.7,4.5,384,4361,0.00,1.23,38.42,1.239,6,0.000,0.039,2723,2204,2008,0,0,0,0,0,0
$GC,4670,1.04,116.9,599.7,11.5,396,4674,0.00,1.15,0.00,0.000,4,0.000,0.043,2727,1504,2001,0,0,0,0,0,0
$GC,4814,1.04,116.9,584.9,10.7,400,4818,0.00,1.17,0.00,0.000,6,0.000,0.041,2727,2201,2001,0,0,0,0,0,0
$GC,5145,1.04,116.9,539.0,13.7,411,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2201,1999,0,0,0,0,0,0
$GC,5448,1.04,116.9,496.9,13.7,421,5451,0.00,1.12,0.00,0.000,4,0.000,0.044,2732,1499,1999,0,0,0,0,0,0
$GC,5703,1.04,116.9,465.4,12.1,440,5711,0.00,1.17,0.00,0.000,6,0.000,0.041,2731,2210,1999,0,0,0,0,0,0
$GC,6028,1.04,116.9,425.7,12.2,466,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2211,1999,0,0,0,0,0,0
$GC,6343,1.04,116.9,388.3,12.0,491,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2211,1998,0,0,0,0,0,0
$GC,6658,1.04,116.9,350.1,12.1,516,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2211,1998,0,0,0,0,0,0
$GC,6973,1.04,116.9,314.2,11.2,541,6977,0.00,1.10,0.00,0.000,4,0.000,0.054,2731,2900,1998,0,0,0,0,0,0
$GC,7228,1.04,116.9,288.9,10.4,560,7236,0.00,1.12,0.00,0.000,6,0.000,0.035,2736,2207,1998,0,0,0,0,0,0
$GC,7553,1.04,116.9,256.6,9.8,586,7556,0.00,1.17,0.00,0.000,4,0.000,0.048,2736,2908,1998,0,0,0,0,0,0
$GC,7639,1.04,116.9,247.6,10.4,594,7648,0.00,1.12,0.00,0.000,6,0.000,0.035,2740,2202,1998,0,0,0,0,0,0
$GC,7980,1.04,116.9,214.8,9.3,645,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2202,1998,0,0,0,0,0,0
$GC,8315,1.07,141.9,188.5,6.4,696,8337,0.00,0.00,20.12,1.014,6,0.000,0.000,2740,2202,1906,0,0,0,0,0,0
$GC,8668,1.08,150.3,159.4,8.2,749,8683,0.00,0.00,7.85,0.915,6,0.000,0.000,2740,2202,1872,0,0,0,0,0,0
$GC,9014,1.09,160.5,131.0,8.0,801,9030,0.00,1.23,10.38,0.946,4,0.000,0.049,2740,2904,1830,0,0,0,0,0,0
$GC,9280,1.09,160.5,106.1,9.5,841,9287,0.00,1.15,0.00,0.000,6,0.000,0.035,2745,2198,1830,0,0,0,0,0,0
$GC,9619,1.10,168.9,76.1,8.2,892,9632,0.00,0.00,8.55,0.907,6,0.000,0.000,2744,2198,1796,0,0,0,0,0,0
$GC,9963,1.14,198.9,52.8,5.8,944,9997,0.00,1.20,26.73,0.959,4,0.000,0.048,2745,2907,1673,0,0,0,0,0,0
$GC,10250,1.16,218.6,29.3,7.0,987,10271,0.00,1.15,16.30,0.923,6,0.000,0.036,2749,2206,1593,0,0,0,0,0,0
$FREEZE,8.86,0.080,-1.648,2,5,0
$FREEZE,8.30,0.527,-1.623,2,5,0
$FREEZE,7.72,-0.370,-1.672,2,5,0
$FREEZE,7.07,0.307,-1.634,2,5,0
$FREEZE,6.63,-0.596,-1.684,2,5,0
$FREEZE,6.15,0.442,-1.626,2,5,0
$FREEZE,5.68,-0.162,-1.659,2,5,0
$FREEZE,5.23,-1.000,-1.707,2,5,0
$FREEZE,4.74,-0.054,-1.652,2,5,0
$FREEZE,4.25,-1.351,-1.727,2,5,0
$FREEZE,3.55,-1.348,-1.726,2,5,0
$FREEZE,2.84,-1.348,-1.725,2,5,0
$FREEZE,2.14,-1.348,-1.725,2,5,0
$FREEZE,1.66,-1.345,-1.724,2,5,0
$STATE,10579,end climb,SURFACE_DEPTH_REACHED
$STATE,10579,begin surface coast
$FREEZE,1.62,-1.349,-1.725,2,5,0
$FREEZE,1.62,-1.350,-1.725,2,5,0
$FREEZE,1.60,-1.351,-1.725,2,5,0
$FINISH,1.6,1.025337
$STATE,10599,end surface coast,CONTROL_FINISHED_OK
$STATE,10600,begin surface
$SM_CCo,10617,134.38,0.088,0,0,442,501.15
$SM_GC,2.55,7.35,0.57,134.38,0.062,0.049,0.088,120,2509,442,-7.06,-0.82,501.15,0,0,0,0,0,0
$RAFOS_CLK,782
$RAFOS,6,1322124547,8.833333,8.818611,145,57,57,0,0,0,796,204,181,0,0,0
$RAFOS,5,1322124082,8.700000,8.689445,138,59,58,0,0,0,811,198,209,0,0,0
$RAFOS,4,1322123607,8.566667,8.557500,100,61,56,0,0,0,565,170,213,0,0,0
$RAFOS,3,1322123106,8.433333,8.418333,130,62,60,0,0,0,714,197,168,0,0,0
$RAFOS,2,1322122623,8.300000,8.284166,99,57,55,0,0,0,599,194,183,0,0,0
$RAFOS,1,1322122163,8.166667,8.156389,130,67,59,0,0,0,435,213,158,0,0,0
$RAFOS,0,1322121671,8.033334,8.019722,115,59,58,0,0,0,601,145,198,0,0,0
$RAFOS_FIX,6642.195801,-5958.543457,241111,080825,7,122,0.14
$IRIDIUM_FIX,6620.33,-5953.65,231111,171757
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.82
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.3,18.0
$ALTIM_BOTTOM_PING,501.5,149.3
$24V_AH,23.2,37.273
$10V_AH,10.1,28.032
$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,17.900,28.525,255.700,134.375,0.000,0.000,0.000,123.525,3.750,0.000,182.013,2871.517,5710.490,541.276,1990.763,271.802,0.000,1533.168,0.000,1674.788,2520.000,16.533,0.000
$DEVICE_MAMPS,261.630,92.565,1305.090,87.975,0.000,0.000,0.000,197.750,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.866,595.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150224
$DATA_FILE_SIZE,40044,1040
$CAP_FILE_SIZE,105735,0
$CFSIZE,260165632,227561472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.1
$CURRENT,0.112, 44.8,1
$GPS,241111,082725,6642.196,-5958.543,0,7122.4,0,-33.9