version: 66.09
glider: 143
mission: 13
dive: 2109
start: 1 25 112 11 52 47
data:
$ID,143
$MISSION,13
$DIVE,2109
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,940
$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,420
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,90
$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,443.50238
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$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,-260484.97
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2300
$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,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2250
$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,645
$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
$GPS1,250112,114335,6058.413,-6031.428,29,1.1,29,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-55.4
$GPS2,250112,115213,6058.360,-6031.818,21,1.7,22,-27.9
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6058.360,-6009.562
$TGT_RADIUS,1852.000
$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,130.2,20000,-15.9,-7.460
$D_GRID,1631
$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,18,-0.66,-116.8,0.0,0.0,0,105,0.00,0.00,-84.35,0.000,2,0.000,0.000,117,1699,1729,0,0,0,0,0,0
$GC,110,-0.66,-116.8,3.2,-1.2,3,157,8.38,1.15,-34.35,0.000,4,0.238,0.097,2081,990,2727,0,0,0,0,0,0
$GC,307,-0.66,-116.8,25.4,-11.1,9,311,0.00,1.08,0.00,0.000,6,0.000,0.023,2077,1783,2730,0,0,0,0,0,0
$GC,957,-0.66,-116.8,92.7,-10.2,30,960,0.00,0.93,0.00,0.000,4,0.000,0.031,2074,2412,2728,0,0,0,0,0,0
$GC,1069,-0.66,-116.8,100.3,-10.7,32,1072,0.00,1.20,0.00,0.000,6,0.000,0.057,2073,1709,2728,0,0,0,0,0,0
$GC,1697,-0.66,-116.8,175.2,-11.2,43,1700,0.00,1.08,0.00,0.000,4,0.000,0.028,2070,2414,2728,0,0,0,0,0,0
$GC,1942,-0.66,-116.8,195.1,-10.3,46,1946,0.00,1.23,0.00,0.000,6,0.000,0.056,2070,1697,2728,0,0,0,0,0,0
$GC,2570,-0.66,-116.8,248.7,-8.0,57,2574,0.00,1.08,0.00,0.000,4,0.000,0.027,2067,2412,2728,0,0,0,0,0,0
$GC,2828,-0.66,-116.8,266.1,-8.6,60,2835,0.00,1.20,0.00,0.000,6,0.000,0.056,2067,1701,2729,0,0,0,0,0,0
$GC,3444,-0.66,-116.8,329.5,-9.5,71,3448,0.00,1.17,0.00,0.000,4,0.000,0.071,2067,981,2730,0,0,0,0,0,0
$GC,3463,-0.66,-116.8,329.5,-9.5,71,3467,0.00,1.08,0.00,0.000,6,0.000,0.025,2062,1744,2730,0,0,0,0,0,0
$GC,4119,-0.66,-116.8,400.5,-10.7,82,4123,0.00,0.90,0.00,0.000,4,0.000,0.029,2059,2370,2731,0,0,0,0,0,0
$GC,4307,-0.66,-116.8,415.5,-10.9,84,4311,0.00,1.15,0.00,0.000,6,0.000,0.055,2059,1695,2731,0,0,0,0,0,0
$GC,4929,-0.66,-116.8,488.2,-10.5,95,4933,0.12,1.15,0.00,0.000,4,0.136,0.070,2093,992,2732,0,0,0,0,0,0
$GC,5009,-0.66,-116.8,494.6,-10.1,96,5013,0.00,1.00,0.00,0.000,6,0.000,0.024,2093,1672,2732,0,0,0,0,0,0
$GC,5670,-0.66,-116.8,550.5,-7.8,107,5674,0.00,1.05,0.00,0.000,4,0.000,0.034,2092,2382,2732,0,0,0,0,0,0
$GC,5816,-0.66,-116.8,560.6,-7.6,109,5820,0.00,1.15,0.00,0.000,6,0.000,0.052,2091,1698,2732,0,0,0,0,0,0
$GC,6477,-0.66,-116.8,604.7,-6.4,120,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1698,2732,0,0,0,0,0,0
$GC,7085,-0.66,-116.8,644.7,-6.9,130,7088,0.00,1.05,0.00,0.000,4,0.000,0.034,2091,2377,2732,0,0,0,0,0,0
$GC,7153,-0.66,-116.8,649.9,-7.2,131,7157,0.00,1.15,0.00,0.000,6,0.000,0.054,2091,1697,2732,0,0,0,0,0,0
$GC,7828,-0.66,-116.8,700.9,-7.9,142,7832,0.00,1.15,0.00,0.000,4,0.000,0.068,2091,986,2732,0,0,0,0,0,0
$GC,7908,-0.66,-116.8,706.5,-8.0,143,7912,0.00,1.05,0.00,0.000,6,0.000,0.022,2091,1718,2732,0,0,0,0,0,0
$GC,8569,-0.66,-116.8,767.0,-9.4,154,8573,0.00,1.23,0.00,0.000,4,0.000,0.067,2091,989,2732,0,0,0,0,0,0
$GC,8715,-0.66,-116.8,779.4,-9.3,156,8718,0.00,1.02,0.00,0.000,6,0.000,0.023,2091,1691,2732,0,0,0,0,0,0
$GC,9377,-0.66,-116.8,838.0,-8.3,167,9381,0.00,1.02,0.00,0.000,4,0.000,0.034,2088,2383,2732,0,0,0,0,0,0
$GC,9389,-0.66,-116.8,838.0,-8.3,167,9393,0.00,1.15,0.00,0.000,6,0.000,0.053,2089,1699,2732,0,0,0,0,0,0
$GC,10052,-0.66,-116.8,887.0,-6.8,178,10056,0.00,1.05,0.00,0.000,4,0.000,0.033,2088,2377,2732,0,0,0,0,0,0
$GC,10065,-0.66,-116.8,887.0,-6.8,178,10069,0.00,1.15,0.00,0.000,6,0.000,0.053,2088,1698,2732,0,0,0,0,0,0
$GC,10726,-0.66,-116.8,925.8,-5.4,189,10730,0.00,1.05,0.00,0.000,4,0.000,0.032,2088,2372,2732,0,0,0,0,0,0
$GC,10806,-0.66,-116.8,929.4,-5.4,190,10810,0.00,1.15,0.00,0.000,6,0.000,0.053,2087,1694,2732,0,0,0,0,0,0
$STATE,11039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11039,begin apogee
$GC,11047,-0.16,0.0,943.2,-5.5,194,11155,0.45,0.00,104.22,1.444,6,0.084,0.000,2252,1693,2250,0,0,0,0,0,0
$STATE,11160,end apogee,CONTROL_FINISHED_OK
$STATE,11160,begin climb
$GC,11164,0.66,116.8,945.9,0.0,195,11286,0.73,1.25,111.18,1.403,4,0.047,0.033,2518,2379,1773,0,0,0,0,0,0
$GC,11294,0.87,290.4,951.8,0.0,197,11464,0.12,1.27,164.45,1.379,6,0.044,0.050,2584,1698,1065,0,0,0,0,0,0
$GC,12091,0.87,290.4,860.5,12.3,211,12095,0.00,1.17,0.00,0.000,4,0.000,0.063,2589,974,1057,0,0,0,0,0,0
$GC,12349,0.87,290.4,833.5,13.0,214,12358,0.00,1.10,0.00,0.000,6,0.000,0.031,2589,1680,1055,0,0,0,0,0,0
$GC,12964,0.87,290.4,749.7,12.5,225,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1680,1055,0,0,0,0,0,0
$GC,13570,0.87,290.4,679.2,11.5,235,13574,0.00,1.10,0.00,0.000,4,0.000,0.043,2589,2393,1054,0,0,0,0,0,0
$GC,13669,0.87,290.4,671.7,11.3,236,13673,0.00,1.15,0.00,0.000,6,0.000,0.046,2594,1693,1054,0,0,0,0,0,0
$GC,14312,0.87,290.4,597.7,10.8,247,14316,0.00,1.12,0.00,0.000,4,0.000,0.041,2594,2393,1054,0,0,0,0,0,0
$GC,14325,0.87,290.4,597.7,10.8,247,14328,0.00,1.15,0.00,0.000,6,0.000,0.046,2598,1695,1054,0,0,0,0,0,0
$GC,14985,0.87,290.4,524.0,11.3,258,14989,0.00,1.12,0.00,0.000,4,0.000,0.061,2604,986,1054,0,0,0,0,0,0
$GC,15242,0.87,290.4,499.7,12.1,261,15249,0.00,1.10,0.00,0.000,6,0.000,0.033,2603,1697,1054,0,0,0,0,0,0
$GC,15858,0.87,290.4,415.4,12.7,272,15863,0.00,1.17,0.00,0.000,4,0.000,0.057,2609,985,1054,0,0,0,0,0,0
$GC,16114,0.87,290.4,388.3,13.4,275,16121,0.00,1.10,0.00,0.000,6,0.000,0.032,2609,1701,1054,0,0,0,0,0,0
$GC,16729,0.87,290.4,296.5,13.7,286,16733,0.00,1.17,0.00,0.000,4,0.000,0.056,2614,987,1054,0,0,0,0,0,0
$GC,16973,0.87,290.4,268.5,14.0,289,16977,0.10,1.10,0.00,0.000,6,0.125,0.032,2581,1710,1054,0,0,0,0,0,0
$GC,17601,0.87,290.4,192.5,10.4,300,17605,0.00,1.17,0.00,0.000,4,0.000,0.057,2583,994,1054,0,0,0,0,0,0
$GC,17846,0.87,290.4,173.9,9.3,303,17849,0.00,1.08,0.00,0.000,6,0.000,0.031,2583,1697,1054,0,0,0,0,0,0
$GC,18474,0.87,292.3,122.6,7.4,314,18478,0.00,1.15,0.00,0.000,4,0.000,0.056,2587,992,1054,0,0,0,0,0,0
$GC,18732,0.87,292.3,105.9,8.2,317,18739,0.00,1.08,0.00,0.000,6,0.000,0.031,2588,1700,1053,0,0,0,0,0,0
$GC,19353,0.87,292.3,38.4,9.5,337,19357,0.00,1.15,0.00,0.000,4,0.000,0.057,2592,995,1054,0,0,0,0,0,0
$GC,19612,0.87,292.3,16.9,9.1,344,19619,0.00,1.08,0.00,0.000,6,0.000,0.028,2592,1707,1054,0,0,0,0,0,0
$FREEZE,7.03,NaN,-0.005,2,1,0
$FREEZE,4.00,-1.589,-1.849,2,1,0
$FREEZE,2.44,NaN,-0.002,2,1,0
$FREEZE,2.39,-1.612,-1.849,2,1,0
$FREEZE,1.82,NaN,-0.001,2,1,0
$STATE,19830,end climb,SURFACE_DEPTH_REACHED
$STATE,19830,begin surface coast
$FREEZE,1.56,-1.607,-1.847,2,1,0
$FINISH,1.6,1.027097
$STATE,19867,end surface coast,CONTROL_FINISHED_OK
$STATE,19867,begin surface
$SM_CCo,19887,72.00,0.074,0,0,442,443.50
$SM_GC,2.17,6.72,0.00,72.00,0.052,0.000,0.074,107,1720,442,-6.75,0.57,443.50,0,0,0,0,0,0
$RAFOS_CLK,1239
$RAFOS,6,1327510143,16.833334,16.817499,59,57,55,0,0,0,184,155,119,0,0,0
$RAFOS,4,1327509185,16.566668,16.551390,66,55,53,0,0,0,201,112,222,0,0,0
$RAFOS,3,1327508728,16.433332,16.424444,62,61,59,0,0,0,178,217,140,0,0,0
$RAFOS,2,1327508229,16.299999,16.285833,65,60,56,0,0,0,212,172,194,0,0,0
$RAFOS,1,1327507796,16.166666,16.165556,59,58,54,0,0,0,219,171,126,0,0,0
$RAFOS,0,1327507288,16.033333,16.024445,61,54,52,0,0,0,216,132,184,0,0,0
$RAFOS,5,1327495321,12.700000,12.700277,68,67,65,0,0,0,193,226,169,0,0,0
$RAFOS,4,1327494811,12.566667,12.558611,62,60,54,0,0,0,196,214,144,0,0,0
$RAFOS,3,1327494305,12.433333,12.418056,63,59,55,0,0,0,217,195,178,0,0,0
$RAFOS,2,1327493878,12.300000,12.299444,68,60,56,0,0,0,217,181,155,0,0,0
$RAFOS,1,1327493347,12.166667,12.151944,67,59,56,0,0,0,185,209,121,0,0,0
$RAFOS,0,1327492888,12.033333,12.024445,72,61,59,0,0,0,193,221,120,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6037.25,-6043.37,240112,191945
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.15
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.20
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.6,17.3
$24V_AH,22.1,54.619
$10V_AH,9.9,66.057
$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,16.625,53.600,379.850,72.000,0.000,0.000,0.000,266.325,8.750,0.000,22.653,1312.234,16483.268,517.272,1699.726,476.231,0.000,1612.867,0.000,1432.166,4320.000,25.607,0.000
$DEVICE_MAMPS,237.915,97.155,1443.555,74.205,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270292
$DATA_FILE_SIZE,16853,353
$CAP_FILE_SIZE,110601,0
$CFSIZE,260165632,207220736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.299, 92.8,1
$GPS,250112,172705,6057.465,-6032.036,37,0.9,41,-27.9