version: 66.09
glider: 143
mission: 13
dive: 2122
start: 1 27 112 22 44 6
data:
$ID,143
$MISSION,13
$DIVE,2122
$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,2
$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,-261224.08
$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,35
$C_ROLL_DIVE,3800
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,25
$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
$GPS1,270112,175637,6047.047,-6033.428,15,1.5,15,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-44.5
$GPS2,270112,175637,6047.047,-6033.428,15,1.5,15,-27.7
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6047.047,-6011.303
$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,72.7,20000,-27.5,-7.460
$D_GRID,1574
$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,19,-0.94,-40.7,0.0,0.0,0,115,0.00,0.00,-93.12,0.000,2,0.000,0.000,98,3800,2034,0,0,0,0,0,0
$GC,119,-0.95,-54.3,4.6,-5.8,3,142,8.27,0.17,-10.82,0.000,4,0.248,0.239,1986,3914,2472,0,0,0,0,0,0
$GC,218,-0.95,-54.3,25.4,-17.6,6,222,0.00,0.25,0.00,0.000,6,0.000,0.053,1986,3769,2475,0,0,0,0,0,0
$GC,863,-0.95,-54.3,134.3,-17.3,24,867,0.00,1.88,0.00,0.000,4,0.000,0.049,1986,2583,2474,0,0,0,0,0,0
$GC,1120,-0.95,-54.3,167.5,-16.8,27,1127,0.00,1.98,0.00,0.000,6,0.000,0.046,1979,3801,2472,0,0,0,0,0,0
$GC,1735,-0.95,-54.3,277.3,-15.6,38,1738,0.00,1.98,0.00,0.000,4,0.000,0.044,1979,2570,2472,0,0,0,0,0,0
$GC,1804,-0.95,-54.3,287.4,-15.3,39,1808,0.00,2.00,0.00,0.000,6,0.000,0.045,1970,3806,2472,0,0,0,0,0,0
$GC,2471,-0.95,-54.3,378.3,-12.7,50,2475,0.00,0.17,0.00,0.000,4,0.000,0.084,1969,3925,2473,0,0,0,0,0,0
$GC,2731,-0.95,-54.3,402.4,-12.2,53,2737,0.00,0.25,0.00,0.000,6,0.000,0.053,1970,3778,2473,0,0,0,0,0,0
$GC,3345,-0.95,-54.3,486.3,-13.9,64,3349,0.00,1.83,0.00,0.000,4,0.000,0.045,1970,2589,2474,0,0,0,0,0,0
$GC,3602,-0.95,-54.3,517.2,-15.4,67,3609,0.12,1.98,0.00,0.000,6,0.162,0.045,1990,3807,2474,0,0,0,0,0,0
$GC,4216,-0.95,-54.3,609.0,-13.1,78,4220,0.00,1.95,0.00,0.000,4,0.000,0.043,1991,2582,2475,0,0,0,0,0,0
$GC,4475,-0.95,-54.3,633.7,-12.5,81,4481,0.00,1.98,0.00,0.000,6,0.000,0.045,1984,3807,2476,0,0,0,0,0,0
$GC,5090,-0.95,-54.3,719.3,-12.7,92,5094,0.00,1.95,0.00,0.000,4,0.000,0.043,1984,2583,2476,0,0,0,0,0,0
$GC,5347,-0.95,-54.3,747.1,-13.6,95,5355,0.00,1.98,0.00,0.000,6,0.000,0.045,1976,3802,2476,0,0,0,0,0,0
$GC,5961,-0.95,-54.3,846.1,-14.8,106,5966,0.00,1.95,0.00,0.000,4,0.000,0.043,1976,2576,2476,0,0,0,0,0,0
$GC,6219,-0.95,-54.3,876.2,-15.1,109,6225,0.00,1.98,0.00,0.000,6,0.000,0.045,1967,3809,2476,0,0,0,0,0,0
$STATE,6588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6588,begin apogee
$GC,6601,-0.16,0.0,943.4,-15.7,116,6656,0.90,0.03,50.00,1.436,6,0.129,0.214,2248,1704,2250,0,0,0,0,0,0
$STATE,6657,end apogee,CONTROL_FINISHED_OK
$STATE,6657,begin climb
$GC,6661,0.95,54.3,943.4,0.0,116,6723,0.98,2.10,50.97,1.417,4,0.049,0.032,2615,2939,2027,0,0,0,0,0,0
$GC,6746,1.03,115.2,954.7,0.0,117,6811,0.00,2.15,58.88,1.405,6,0.000,0.050,2625,1697,1779,0,0,0,0,0,0
$GC,7462,1.15,214.5,995.5,-4.7,129,7562,0.15,2.10,90.32,1.454,4,0.072,0.036,2689,2942,1374,0,0,0,0,0,0
$GC,7622,1.24,283.7,991.3,-1.0,131,7693,0.00,2.12,65.00,1.407,6,0.000,0.045,2698,1690,1093,0,0,0,0,0,0
$GC,8317,1.24,283.7,862.5,18.4,143,8321,0.00,2.03,0.00,0.000,4,0.000,0.041,2698,2955,1084,0,0,0,0,0,0
$GC,8409,1.24,283.7,849.3,18.7,144,8413,0.00,2.05,0.00,0.000,6,0.000,0.044,2707,1692,1084,0,0,0,0,0,0
$GC,9058,1.24,283.7,719.3,19.8,155,9062,0.00,2.00,0.00,0.000,4,0.000,0.041,2707,2952,1083,0,0,0,0,0,0
$GC,9204,1.24,283.7,691.4,20.4,157,9208,0.00,2.03,0.00,0.000,6,0.000,0.044,2716,1695,1082,0,0,0,0,0,0
$GC,9865,1.24,283.7,550.0,20.7,168,9868,0.00,2.00,0.00,0.000,4,0.000,0.043,2716,2953,1082,0,0,0,0,0,0
$GC,9971,1.24,283.7,535.8,20.8,169,9975,0.00,2.03,0.00,0.000,6,0.000,0.044,2725,1693,1083,0,0,0,0,0,0
$GC,10605,1.24,283.7,394.2,21.2,180,10609,0.00,1.98,0.00,0.000,4,0.000,0.059,2734,442,1082,0,0,0,0,0,0
$GC,10862,1.24,283.7,349.2,22.2,183,10870,0.15,1.95,0.00,0.000,6,0.177,0.029,2699,1724,1081,0,0,0,0,0,0
$GC,11476,1.24,283.7,215.1,19.6,194,11480,0.00,2.05,0.00,0.000,4,0.000,0.055,2707,462,1081,0,0,0,0,0,0
$GC,11651,1.24,283.7,187.5,20.1,196,11655,0.00,1.88,0.00,0.000,6,0.000,0.029,2707,1699,1081,0,0,0,0,0,0
$GC,12286,1.24,283.7,64.9,16.1,210,12290,0.00,1.88,0.00,0.000,4,0.000,0.042,2707,2925,1081,0,0,0,0,0,0
$GC,12366,1.24,283.7,54.8,15.1,212,12370,0.00,1.95,0.00,0.000,6,0.000,0.044,2716,1693,1081,0,0,0,0,0,0
$FREEZE,5.77,-1.474,-1.853,2,2,0
$FREEZE,1.73,NaN,-0.001,2,2,0
$STATE,12720,end climb,SURFACE_DEPTH_REACHED
$STATE,12720,begin surface coast
$FREEZE,1.63,-1.394,-0.271,2,2,0
$FINISH,1.6,1.003772
$STATE,12759,end surface coast,FINISH_DEPTH_REACHED
$STATE,12759,begin surface
$SM_CCo,12784,73.85,0.074,0,0,442,443.50
$SM_GC,2.41,7.12,3.40,73.85,0.058,0.039,0.074,119,3791,442,-6.75,-1.13,443.50,0,0,0,0,0,0
$RAFOS_CLK,844
$RAFOS,6,1327711742,0.833333,0.817222,65,61,57,0,0,0,163,216,122,0,0,0
$RAFOS,5,1327711278,0.700000,0.688333,61,55,54,0,0,0,185,195,205,0,0,0
$RAFOS,4,1327710833,0.566667,0.564722,58,58,53,0,0,0,163,185,151,0,0,0
$RAFOS,3,1327710303,0.433333,0.417500,69,61,60,0,0,0,158,193,207,0,0,0
$RAFOS,2,1327709840,0.300000,0.288889,65,65,61,0,0,0,156,213,199,0,0,0
$RAFOS,1,1327709346,0.166667,0.151667,66,64,58,0,0,0,196,210,178,0,0,0
$RAFOS,0,1327708907,0.033333,0.029722,75,60,59,0,0,0,215,149,123,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6028.48,-6032.28,270112,121215
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.48
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.7,16.8
$24V_AH,22.4,56.647
$10V_AH,9.9,66.801
$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,17.700,63.400,315.175,73.850,0.000,0.000,0.000,0.000,4.500,0.000,0.000,869.832,10373.262,465.864,1027.222,190.896,0.000,1051.517,0.000,1001.944,2520.000,25.586,0.000
$DEVICE_MAMPS,247.860,239.445,1453.500,74.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,141.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270420
$DATA_FILE_SIZE,10195,225
$CAP_FILE_SIZE,73567,0
$CFSIZE,260165632,208445440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.196,127.4,1
$GPS,280112,021954,6045.897,-6033.791,37,0.8,37,-27.7