version: 66.09
glider: 143
mission: 13
dive: 2144
start: 1 31 112 2 47 27
data:
$ID,143
$MISSION,13
$DIVE,2144
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$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,120
$T_TURN_SAMPINT,15
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,160
$ESCAPE_HEADING,160
$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,1
$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,-261603.75
$T_RSLEEP,30
$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,400
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,49
$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,4
$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
$GPS1,310112,024129,6036.004,-6036.863,40,1.1,40,-27.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-35.4
$GPS2,310112,024655,6035.854,-6036.808,15,1.2,15,-27.5
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6025.706,-6029.324
$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,187.5,20000,-15.2,-7.143
$D_GRID,1474
$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,-0.63,-116.8,0.0,0.0,0,192,0.00,0.00,-170.85,0.000,6,0.000,0.000,116,400,2727,0,0,0,0,0,0
$GC,197,-0.63,-116.8,2.3,0.0,2,211,8.73,1.95,0.00,0.000,4,0.246,0.036,2079,1630,2728,0,0,0,0,0,0
$GC,219,-0.63,-116.8,2.3,0.0,2,223,0.00,2.17,0.00,0.000,6,0.000,0.080,2079,400,2729,0,0,0,0,0,0
$GC,826,-0.63,-116.8,80.5,-11.5,12,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,400,2730,0,0,0,0,0,0
$GC,1490,-0.63,-116.8,154.2,-10.9,19,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,400,2728,0,0,0,0,0,0
$GC,2093,-0.63,-116.8,216.3,-10.3,24,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,400,2728,0,0,0,0,0,0
$GC,2697,-0.63,-116.8,273.6,-9.4,29,2699,0.00,0.17,0.00,0.000,4,0.000,0.097,2079,280,2729,0,0,0,0,0,0
$GC,2710,-0.63,-116.8,273.6,-9.4,29,2712,0.00,0.17,0.00,0.000,6,0.000,0.050,2079,398,2730,0,0,0,0,0,0
$GC,3636,-0.63,-116.8,370.0,-10.4,37,3638,0.00,0.20,0.00,0.000,4,0.000,0.092,2078,277,2732,0,0,0,0,0,0
$GC,3679,-0.63,-116.8,370.0,-10.4,37,3681,0.00,0.20,0.00,0.000,6,0.000,0.048,2078,412,2732,0,0,0,0,0,0
$GC,4694,-0.63,-116.8,464.4,-8.7,46,4698,0.00,1.88,0.00,0.000,4,0.000,0.025,2071,1671,2733,0,0,0,0,0,0
$GC,4754,-0.63,-116.8,464.4,-8.7,46,4758,0.00,2.22,0.00,0.000,6,0.000,0.069,2071,385,2733,0,0,0,0,0,0
$GC,5754,-0.63,-116.8,575.4,-11.0,55,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,386,2734,0,0,0,0,0,0
$GC,6717,-0.63,-116.8,685.7,-11.4,63,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,385,2734,0,0,0,0,0,0
$GC,7683,-0.63,-116.8,785.0,-9.9,71,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,385,2735,0,0,0,0,0,0
$GC,8648,-0.63,-116.8,860.8,-7.5,79,8651,0.00,1.95,0.00,0.000,4,0.000,0.025,2064,1671,2735,0,0,0,0,0,0
$GC,8678,-0.63,-116.8,860.8,-7.5,79,8683,0.12,2.20,0.00,0.000,6,0.123,0.069,2097,403,2735,0,0,0,0,0,0
$STATE,9341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9341,begin apogee
$GC,9352,-0.16,0.0,908.5,-6.8,85,9465,0.43,0.10,105.82,1.419,6,0.079,0.067,2250,1688,2249,0,0,0,0,0,0
$STATE,9466,end apogee,CONTROL_FINISHED_OK
$STATE,9466,begin climb
$GC,9470,0.63,116.8,915.9,0.0,86,9589,0.75,2.28,111.90,1.385,4,0.052,0.036,2515,2937,1772,0,0,0,0,0,0
$GC,9649,0.85,290.3,921.7,0.0,87,9822,0.15,2.25,166.45,1.361,6,0.067,0.049,2586,1697,1066,0,0,0,0,0,0
$GC,10768,0.85,290.3,806.4,10.6,97,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1698,1056,0,0,0,0,0,0
$GC,11733,0.85,290.3,714.2,9.4,105,11737,0.00,2.03,0.00,0.000,4,0.000,0.040,2587,2945,1055,0,0,0,0,0,0
$GC,11857,0.85,290.3,703.4,9.5,106,11861,0.00,2.08,0.00,0.000,6,0.000,0.045,2596,1688,1054,0,0,0,0,0,0
$GC,12796,0.85,290.3,604.3,10.1,114,12800,0.00,2.03,0.00,0.000,4,0.000,0.060,2605,457,1054,0,0,0,0,0,0
$GC,12919,0.85,290.3,592.3,10.3,115,12924,0.12,1.95,0.00,0.000,6,0.148,0.028,2575,1714,1053,0,0,0,0,0,0
$GC,13861,0.85,290.3,511.4,8.1,123,13864,0.00,2.10,0.00,0.000,4,0.000,0.057,2581,459,1053,0,0,0,0,0,0
$GC,13982,0.85,290.3,501.1,8.4,124,13986,0.00,1.92,0.00,0.000,6,0.000,0.028,2581,1701,1052,0,0,0,0,0,0
$GC,14923,0.85,290.3,401.9,10.8,132,14926,0.00,1.95,0.00,0.000,4,0.000,0.043,2581,2927,1052,0,0,0,0,0,0
$GC,15046,0.85,290.3,389.4,11.0,133,15050,0.00,2.03,0.00,0.000,6,0.000,0.044,2589,1696,1052,0,0,0,0,0,0
$GC,15986,0.85,290.3,277.0,11.7,141,15989,0.00,2.03,0.00,0.000,4,0.000,0.059,2599,462,1052,0,0,0,0,0,0
$GC,16109,0.85,290.3,265.2,11.4,142,16113,0.00,1.92,0.00,0.000,6,0.000,0.028,2599,1707,1052,0,0,0,0,0,0
$GC,17049,0.85,290.3,173.3,9.3,150,17053,0.00,1.92,0.00,0.000,4,0.000,0.042,2599,2921,1052,0,0,0,0,0,0
$GC,17172,0.85,290.3,163.1,9.3,151,17176,0.12,2.03,0.00,0.000,6,0.143,0.044,2575,1690,1052,0,0,0,0,0,0
$GC,17811,0.85,290.3,87.0,12.2,157,17814,0.00,2.00,0.00,0.000,4,0.000,0.041,2575,2925,1052,0,0,0,0,0,0
$GC,17934,0.85,290.3,74.0,11.8,159,17938,0.00,2.03,0.00,0.000,6,0.000,0.044,2581,1694,1052,0,0,0,0,0,0
$GC,18573,0.85,290.3,14.0,9.1,170,18577,0.00,2.00,0.00,0.000,4,0.000,0.041,2581,2926,1053,0,0,0,0,0,0
$FREEZE,5.46,-1.602,-1.854,2,1,0
$FREEZE,5.46,-1.602,-1.854,2,1,0
$GC,18698,0.85,290.3,5.5,8.2,172,18701,0.00,2.03,0.00,0.000,6,0.000,0.044,2590,1698,1053,0,0,0,0,0,0
$FREEZE,5.46,-1.602,-1.854,2,1,0
$FREEZE,1.59,-1.638,-1.851,2,1,0
$STATE,18726,end climb,SURFACE_DEPTH_REACHED
$STATE,18727,begin surface coast
$FREEZE,1.54,-1.646,-1.124,2,1,0
$FINISH,1.5,1.016581
$STATE,18788,end surface coast,FINISH_DEPTH_REACHED
$STATE,18789,begin surface
$SM_CCo,18811,72.30,0.075,0,0,441,443.50
$SM_GC,2.18,6.60,2.17,72.30,0.044,0.066,0.075,125,398,441,-6.75,0.59,443.50,0,0,0,0,0,0
$RAFOS_CLK,1186
$RAFOS,6,1327985363,4.833333,4.823056,58,58,54,0,0,0,189,211,155,0,0,0
$RAFOS,4,1327984398,4.566667,4.555000,70,57,54,0,0,0,214,167,193,0,0,0
$RAFOS,2,1327983433,4.300000,4.286944,54,53,52,0,0,0,122,197,180,0,0,0
$RAFOS,0,1327982495,4.033333,4.026389,59,57,54,0,0,0,200,146,168,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6015.40,-6106.94,300112,212144
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.00
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,17.00
$XPDR_PINGS,12
$ALTIM_TOP_PING,18.9,16.9
$24V_AH,21.9,59.470
$10V_AH,10.0,67.648
$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,17.025,53.975,384.175,72.300,0.000,0.000,0.000,159.075,6.500,0.000,19.294,671.048,17000.363,663.574,625.146,264.442,0.000,1129.883,0.000,476.513,1440.000,25.594,0.000
$DEVICE_MAMPS,246.330,97.155,1419.075,74.970,0.000,0.000,0.000,231.455,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,120.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270268
$DATA_FILE_SIZE,6895,174
$CAP_FILE_SIZE,60839,0
$CFSIZE,260165632,207769600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1471.6
$GPS,310112,080335,6035.019,-6037.568,30,1.1,30,-27.5