version: 66.09
glider: 143
mission: 13
dive: 300
start: 11 25 111 0 49 21
data:
$ID,143
$MISSION,13
$DIVE,300
$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,-85819.109
$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,29
$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
$GPS1,241111,202249,6640.626,-5954.149,181,99.0,181,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-32.7
$GPS2,241111,202249,6640.626,-5954.149,181,99.0,181,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,151.7,140668,-16.9,-9.167
$D_GRID,699
$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,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,184,0.00,0.00,-162.32,0.000,2,0.000,0.000,118,2520,2688,0,0,0,0,0,0
$GC,187,-0.73,-146.0,3.9,-7.4,25,216,9.00,1.12,-10.00,0.000,4,0.265,0.064,2162,1812,3084,0,0,0,0,0,0
$GC,376,-0.73,-146.0,46.7,-17.4,52,383,0.00,1.17,0.00,0.000,6,0.000,0.051,2159,2497,3086,0,0,0,0,0,0
$GC,714,-0.73,-146.0,100.8,-15.0,103,723,0.00,1.15,0.00,0.000,4,0.000,0.067,2154,3212,3086,0,0,0,0,0,0
$GC,889,-0.73,-146.0,126.2,-14.5,129,896,0.00,1.10,0.00,0.000,6,0.000,0.032,2154,2501,3086,0,0,0,0,0,0
$GC,1227,-0.73,-146.0,172.4,-13.7,180,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2501,3086,0,0,0,0,0,0
$GC,1563,-0.73,-146.0,218.8,-13.3,231,1572,0.00,1.20,0.00,0.000,4,0.000,0.061,2149,3220,3086,0,0,0,0,0,0
$GC,1718,-0.73,-146.0,239.8,-13.7,254,1725,0.00,1.10,0.00,0.000,6,0.000,0.032,2149,2509,3086,0,0,0,0,0,0
$GC,2044,-0.73,-146.0,280.5,-12.0,286,2048,0.00,1.17,0.00,0.000,4,0.000,0.060,2145,3214,3086,0,0,0,0,0,0
$GC,2129,-0.73,-146.0,290.2,-12.2,292,2136,0.00,1.12,0.00,0.000,6,0.000,0.030,2145,2496,3085,0,0,0,0,0,0
$GC,2453,-0.73,-146.0,328.6,-11.7,318,2457,0.00,1.20,0.00,0.000,4,0.000,0.060,2140,3216,3085,0,0,0,0,0,0
$GC,2510,-0.73,-146.0,335.4,-12.4,322,2518,0.00,1.12,0.00,0.000,6,0.000,0.031,2140,2498,3086,0,0,0,0,0,0
$GC,2837,-0.73,-146.0,375.9,-12.7,348,2841,0.00,1.20,0.00,0.000,4,0.000,0.060,2136,3220,3085,0,0,0,0,0,0
$GC,2916,-0.73,-146.0,386.4,-12.6,354,2921,0.08,1.10,0.00,0.000,6,0.155,0.031,2159,2499,3085,0,0,0,0,0,0
$GC,3246,-0.73,-146.0,424.2,-11.2,380,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2499,3086,0,0,0,0,0,0
$GC,3560,-0.73,-146.0,459.3,-10.5,405,3564,0.00,1.20,0.00,0.000,4,0.000,0.060,2156,3220,3086,0,0,0,0,0,0
$GC,3628,-0.73,-146.0,466.1,-10.2,410,3632,0.00,1.08,0.00,0.000,6,0.000,0.029,2156,2520,3086,0,0,0,0,0,0
$GC,3961,-0.73,-146.0,500.6,-10.6,436,3964,0.00,1.15,0.00,0.000,4,0.000,0.060,2152,3211,3087,0,0,0,0,0,0
$GC,4061,-0.73,-146.0,511.6,-10.7,439,4064,0.00,1.08,0.00,0.000,6,0.000,0.028,2152,2500,3087,0,0,0,0,0,0
$GC,4400,-0.73,-146.0,547.7,-10.5,450,4403,0.00,1.17,0.00,0.000,4,0.000,0.059,2147,3211,3087,0,0,0,0,0,0
$GC,4491,-0.73,-146.0,554.5,-10.3,452,4499,0.00,1.10,0.00,0.000,6,0.000,0.027,2147,2494,3087,0,0,0,0,0,0
$GC,4805,-0.73,-146.0,590.7,-10.5,463,4809,0.00,1.20,0.00,0.000,4,0.000,0.058,2143,3219,3088,0,0,0,0,0,0
$GC,4896,-0.73,-146.0,597.9,-10.7,465,4905,0.00,1.10,0.00,0.000,6,0.000,0.027,2143,2501,3087,0,0,0,0,0,0
$GC,5211,-0.73,-146.0,633.3,-10.3,476,5215,0.00,1.17,0.00,0.000,4,0.000,0.059,2138,3213,3088,0,0,0,0,0,0
$GC,5295,-0.73,-146.0,640.2,-10.1,478,5300,0.00,1.08,0.00,0.000,6,0.000,0.026,2138,2508,3088,0,0,0,0,0,0
$GC,5616,-0.73,-146.0,676.8,-11.0,489,5619,0.00,1.17,0.00,0.000,4,0.000,0.058,2134,3219,3089,0,0,0,0,0,0
$GC,5707,-0.73,-146.0,684.1,-10.8,491,5717,0.10,1.08,0.00,0.000,6,0.146,0.027,2165,2509,3089,0,0,0,0,0,0
$STATE,5836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5836,begin apogee
$GC,5842,-0.16,0.0,699.2,-9.4,496,5971,0.52,0.00,122.57,1.343,6,0.122,0.000,2339,2188,2485,0,0,0,0,0,0
$STATE,5972,end apogee,CONTROL_FINISHED_OK
$STATE,5972,begin climb
$GC,5974,0.73,146.0,704.7,0.0,500,6118,0.85,1.20,131.82,1.286,4,0.067,0.046,2633,1507,1888,0,0,0,0,0,0
$GC,6311,0.73,146.0,685.2,10.5,510,6317,0.00,1.20,0.00,0.000,6,0.000,0.040,2634,2207,1881,0,0,0,0,0,0
$GC,6623,0.73,146.0,648.4,11.0,521,6627,0.00,1.15,0.00,0.000,4,0.000,0.051,2633,2907,1879,0,0,0,0,0,0
$GC,6674,0.73,146.0,644.5,11.2,522,6679,0.00,1.17,0.00,0.000,6,0.000,0.031,2638,2199,1878,0,0,0,0,0,0
$GC,6996,0.73,146.0,605.8,11.3,533,6999,0.00,1.20,0.00,0.000,4,0.000,0.047,2638,2902,1877,0,0,0,0,0,0
$GC,7053,0.73,146.0,602.0,11.4,534,7061,0.00,1.15,0.00,0.000,6,0.000,0.032,2643,2199,1877,0,0,0,0,0,0
$GC,7367,0.73,146.0,565.3,10.6,545,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1877,0,0,0,0,0,0
$GC,7674,0.73,146.0,532.9,10.5,555,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1877,0,0,0,0,0,0
$GC,7979,0.73,146.0,499.7,11.0,565,7983,0.00,1.20,0.00,0.000,4,0.000,0.049,2643,2912,1875,0,0,0,0,0,0
$GC,7992,0.73,146.0,498.2,11.1,566,7996,0.00,1.15,0.00,0.000,6,0.000,0.033,2647,2194,1875,0,0,0,0,0,0
$GC,8324,0.73,146.0,458.5,12.1,592,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,1875,0,0,0,0,0,0
$GC,8637,0.73,146.0,421.2,11.5,617,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,1875,0,0,0,0,0,0
$GC,8953,0.73,146.0,386.5,11.0,642,8957,0.00,1.20,0.00,0.000,4,0.000,0.048,2647,2908,1875,0,0,0,0,0,0
$GC,9063,0.73,146.0,374.2,11.7,650,9071,0.00,1.15,0.00,0.000,6,0.000,0.033,2652,2196,1876,0,0,0,0,0,0
$GC,9391,0.73,146.0,338.7,10.7,676,9395,0.00,1.05,0.00,0.000,4,0.000,0.047,2657,1499,1875,0,0,0,0,0,0
$GC,9422,0.73,146.0,335.4,10.8,678,9430,0.00,1.15,0.00,0.000,6,0.000,0.042,2657,2203,1875,0,0,0,0,0,0
$GC,9747,0.73,146.0,300.6,10.7,704,9750,0.00,1.10,0.00,0.000,4,0.000,0.052,2657,2895,1875,0,0,0,0,0,0
$GC,9868,0.73,146.0,287.4,11.1,713,9871,0.00,1.10,0.00,0.000,6,0.000,0.032,2661,2200,1875,0,0,0,0,0,0
$GC,10199,0.73,146.0,255.1,9.6,739,10203,0.00,1.17,0.00,0.000,4,0.000,0.050,2662,2900,1875,0,0,0,0,0,0
$GC,10305,0.73,146.0,244.3,10.2,751,10312,0.10,1.10,0.00,0.000,6,0.149,0.033,2634,2205,1875,0,0,0,0,0,0
$GC,10643,0.76,172.6,216.2,8.0,802,10671,0.00,1.05,21.15,1.027,4,0.000,0.043,2638,1491,1781,0,0,0,0,0,0
$GC,10731,0.76,172.6,208.0,9.5,815,10738,0.00,1.15,0.00,0.000,6,0.000,0.041,2638,2200,1780,0,0,0,0,0,0
$GC,11068,0.78,191.8,178.5,8.4,866,11089,0.00,0.00,17.48,1.001,6,0.000,0.000,2638,2200,1703,0,0,0,0,0,0
$GC,11421,0.80,203.7,148.0,8.7,919,11436,0.00,0.00,11.52,0.959,6,0.000,0.000,2638,2200,1654,0,0,0,0,0,0
$GC,11768,0.80,203.7,118.0,9.2,971,11774,0.00,1.12,0.00,0.000,4,0.000,0.054,2638,2900,1652,0,0,0,0,0,0
$GC,12026,0.81,216.9,94.3,8.6,1010,12047,0.00,1.12,12.27,0.951,6,0.000,0.034,2643,2202,1599,0,0,0,0,0,0
$GC,12379,0.86,255.5,67.1,7.5,1063,12422,0.10,1.20,33.60,0.965,4,0.099,0.047,2687,2907,1442,0,0,0,0,0,0
$GC,12470,0.86,255.5,57.8,11.1,1076,12479,0.00,1.17,0.00,0.000,6,0.000,0.034,2692,2195,1440,0,0,0,0,0,0
$GC,12811,0.86,255.5,23.0,10.2,1127,12817,0.00,1.20,0.00,0.000,4,0.000,0.049,2692,2898,1435,0,0,0,0,0,0
$GC,12884,0.86,255.5,15.4,10.6,1138,12890,0.00,1.15,0.00,0.000,6,0.000,0.034,2696,2190,1435,0,0,0,0,0,0
$FREEZE,8.82,0.123,-1.649,2,3,0
$FREEZE,8.29,0.251,-1.642,2,3,0
$FREEZE,7.80,0.195,-1.645,2,3,0
$FREEZE,7.25,0.158,-1.646,2,3,0
$FREEZE,6.57,0.488,-1.628,2,3,0
$FREEZE,6.05,0.266,-1.640,2,3,0
$FREEZE,5.32,0.430,-1.630,2,3,0
$FREEZE,4.76,-0.083,-1.658,2,3,0
$FREEZE,4.07,0.085,-1.648,2,3,0
$FREEZE,3.44,-2.232,-1.785,2,3,0
$STATE,13013,end climb,FINISH_DEPTH_REACHED
$STATE,13013,begin subsurface finish
$FINISH1,3.4,1.026192,64
$GC,13020,0.08,63.8,3.4,10.0,1158,13091,0.85,1.08,-60.85,0.000,4,0.138,0.079,2434,1496,2227,0,0,0,0,0,0
$FINISH2,2.6
$STATE,13092,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13092,begin surface
$RAFOS_CLK,936
$RAFOS,2,1322194621,4.300000,4.283611,107,63,61,0,0,0,596,193,154,0,0,0
$RAFOS,1,1322194144,4.166667,4.151111,129,64,64,0,0,0,569,190,171,0,0,0
$RAFOS,0,1322193661,4.033333,4.016944,147,66,62,0,0,0,701,135,221,0,0,0
$RAFOS,6,1322182191,0.833333,0.830833,63,62,59,0,0,0,210,194,162,0,0,0
$RAFOS,4,1322181185,0.566667,0.551389,62,61,57,0,0,0,175,204,142,0,0,0
$RAFOS_FIX,6639.421387,-5954.780273,251111,040401,3,128,0.08
$IRIDIUM_FIX,6614.97,-6004.54,241111,171709
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.67
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,650.1,111.6
$24V_AH,22.5,37.887
$10V_AH,10.1,28.483
$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,11.600,56.525,350.425,0.000,0.000,0.000,0.000,124.100,5.000,0.000,181.019,3167.176,7342.665,614.121,2269.464,258.200,0.000,1798.114,0.000,1943.920,1800.000,22.795,0.000
$DEVICE_MAMPS,265.455,78.795,1343.340,0.000,0.000,0.000,0.000,241.178,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.488,652.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150168
$DATA_FILE_SIZE,46655,1169
$CAP_FILE_SIZE,131295,0
$CFSIZE,260165632,227192832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$CURRENT,0.342,264.1,1
$GPS,251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8