version: 66.09
glider: 143
mission: 13
dive: 167
start: 11 1 111 11 9 39
data:
$ID,143
$MISSION,13
$DIVE,167
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$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,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$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,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80726.047
$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,38
$R_STBD_OVSHOOT,28
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,011111,110354,6644.935,-6015.091,14,0.9,14,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-72.8
$GPS2,011111,110906,6644.889,-6015.104,17,0.9,18,-33.9
$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,75.5,153274,-16.9,-9.167
$D_GRID,550
$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,15,-0.73,-146.0,0.0,0.0,0,46,0.00,0.00,-28.60,0.000,2,0.000,0.000,116,2525,1649,0,0,0,0,0,0
$GC,49,-0.73,-146.0,3.1,-2.9,4,150,8.55,0.00,-87.88,0.000,6,0.259,0.000,2161,2525,3082,0,0,0,0,0,0
$GC,482,-0.73,-146.0,60.8,-14.8,69,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2526,3084,0,0,0,0,0,0
$GC,822,-0.73,-146.0,108.3,-13.7,120,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2526,3084,0,0,0,0,0,0
$GC,1159,-0.73,-146.0,155.0,-13.9,171,1166,0.00,1.17,0.00,0.000,4,0.000,0.046,2161,1813,3084,0,0,0,0,0,0
$GC,1207,-0.73,-146.0,161.3,-13.4,178,1213,0.00,1.17,0.00,0.000,6,0.000,0.057,2158,2500,3084,0,0,0,0,0,0
$GC,1545,-0.73,-146.0,208.9,-14.0,229,1554,0.00,1.15,0.00,0.000,4,0.000,0.071,2153,3216,3084,0,0,0,0,0,0
$GC,1574,-0.73,-146.0,212.9,-13.8,233,1583,0.00,1.10,0.00,0.000,6,0.000,0.036,2153,2507,3084,0,0,0,0,0,0
$GC,1919,-0.73,-146.0,257.9,-12.4,280,1922,0.00,1.08,0.00,0.000,4,0.000,0.047,2153,1821,3084,0,0,0,0,0,0
$GC,1946,-0.73,-146.0,261.3,-12.4,282,1950,0.00,1.17,0.00,0.000,6,0.000,0.059,2148,2505,3083,0,0,0,0,0,0
$GC,2277,-0.73,-146.0,300.3,-11.3,308,2281,0.00,1.12,0.00,0.000,4,0.000,0.072,2143,3212,3084,0,0,0,0,0,0
$GC,2470,-0.73,-146.0,323.5,-12.5,322,2477,0.00,1.10,0.00,0.000,6,0.000,0.037,2143,2506,3084,0,0,0,0,0,0
$GC,2794,-0.73,-146.0,361.8,-11.1,348,2798,0.00,1.17,0.00,0.000,4,0.000,0.068,2138,3211,3083,0,0,0,0,0,0
$GC,2823,-0.73,-146.0,365.0,-11.2,350,2826,0.00,1.10,0.00,0.000,6,0.000,0.036,2138,2502,3083,0,0,0,0,0,0
$GC,3153,-0.73,-146.0,402.0,-11.1,376,3157,0.00,1.08,0.00,0.000,4,0.000,0.045,2138,1813,3083,0,0,0,0,0,0
$GC,3237,-0.73,-146.0,410.9,-11.0,382,3246,0.12,1.23,0.00,0.000,6,0.174,0.056,2162,2521,3083,0,0,0,0,0,0
$GC,3560,-0.73,-146.0,442.2,-9.5,408,3565,0.00,1.15,0.00,0.000,4,0.000,0.043,2163,1815,3083,0,0,0,0,0,0
$GC,3592,-0.73,-146.0,444.7,-9.6,410,3600,0.00,1.20,0.00,0.000,6,0.000,0.055,2160,2512,3084,0,0,0,0,0,0
$GC,3916,-0.73,-146.0,477.3,-9.8,436,3920,0.00,1.12,0.00,0.000,4,0.000,0.043,2160,1819,3084,0,0,0,0,0,0
$GC,3969,-0.73,-146.0,482.8,-10.3,440,3973,0.00,1.17,0.00,0.000,6,0.000,0.057,2156,2509,3084,0,0,0,0,0,0
$GC,4291,-0.73,-146.0,516.2,-9.7,458,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2509,3084,0,0,0,0,0,0
$STATE,4591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4591,begin apogee
$GC,4597,-0.16,0.0,552.7,-13.1,468,4723,0.57,0.00,118.90,1.261,6,0.131,0.000,2343,2182,2485,0,0,0,0,0,0
$STATE,4724,end apogee,CONTROL_FINISHED_OK
$STATE,4724,begin climb
$GC,4726,0.73,146.0,560.3,0.0,472,4861,0.85,1.20,127.25,1.206,4,0.073,0.051,2635,1507,1888,0,0,0,0,0,0
$GC,5052,0.73,146.0,540.8,11.1,482,5056,0.00,1.25,0.00,0.000,6,0.000,0.047,2635,2212,1880,0,0,0,0,0,0
$GC,5380,0.73,146.0,502.6,11.4,493,5384,0.00,1.15,0.00,0.000,4,0.000,0.055,2635,2904,1877,0,0,0,0,0,0
$GC,5525,0.73,146.0,484.4,11.7,503,5529,0.00,1.15,0.00,0.000,6,0.000,0.037,2640,2209,1877,0,0,0,0,0,0
$GC,5857,0.73,146.0,447.3,11.0,529,5860,0.00,1.12,0.00,0.000,4,0.000,0.050,2645,1493,1876,0,0,0,0,0,0
$GC,6094,0.73,146.0,421.2,11.0,547,6098,0.00,1.17,0.00,0.000,6,0.000,0.048,2645,2205,1876,0,0,0,0,0,0
$GC,6423,0.73,146.0,384.5,10.5,573,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1876,0,0,0,0,0,0
$GC,6740,0.73,146.0,352.0,9.4,598,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1876,0,0,0,0,0,0
$GC,7054,0.73,146.0,322.6,9.9,623,7058,0.00,1.12,0.00,0.000,4,0.000,0.057,2645,2901,1875,0,0,0,0,0,0
$GC,7098,0.73,146.0,318.5,10.1,626,7106,0.00,1.17,0.00,0.000,6,0.000,0.037,2650,2187,1876,0,0,0,0,0,0
$GC,7423,0.73,146.0,285.4,10.4,652,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2187,1875,0,0,0,0,0,0
$GC,7737,0.73,146.2,254.9,9.2,677,7741,0.00,1.20,0.00,0.000,4,0.000,0.054,2650,2900,1874,0,0,0,0,0,0
$GC,7798,0.73,146.2,249.3,9.8,682,7805,0.00,1.12,0.00,0.000,6,0.000,0.037,2655,2200,1874,0,0,0,0,0,0
$GC,8136,0.74,154.7,219.1,8.8,733,8146,0.00,1.12,6.28,0.902,4,0.000,0.050,2660,1490,1853,0,0,0,0,0,0
$GC,8266,0.74,154.7,207.5,9.3,752,8273,0.00,1.15,0.00,0.000,6,0.000,0.048,2660,2196,1853,0,0,0,0,0,0
$GC,8603,0.75,162.9,177.8,8.8,803,8616,0.00,0.00,8.93,0.954,6,0.000,0.000,2660,2196,1820,0,0,0,0,0,0
$GC,8947,0.75,162.9,147.2,9.3,855,8954,0.00,1.12,0.00,0.000,4,0.000,0.058,2660,2899,1818,0,0,0,0,0,0
$GC,9180,0.75,162.9,124.7,9.6,890,9186,0.00,1.15,0.00,0.000,6,0.000,0.038,2665,2192,1818,0,0,0,0,0,0
$GC,9518,0.80,204.9,95.7,7.4,941,9560,0.00,1.27,36.40,0.991,4,0.000,0.054,2665,2906,1648,0,0,0,0,0,0
$GC,9627,0.80,204.9,85.3,10.5,957,9636,0.00,1.17,0.00,0.000,6,0.000,0.038,2670,2200,1646,0,0,0,0,0,0
$GC,9967,0.85,244.4,53.4,7.5,1008,10009,0.00,1.20,33.58,0.956,4,0.000,0.054,2669,2907,1488,0,0,0,0,0,0
$GC,10030,0.85,246.9,48.1,9.1,1017,10040,0.00,1.20,3.65,0.629,6,0.000,0.037,2674,2194,1477,0,0,0,0,0,0
$GC,10370,0.87,267.7,20.1,8.3,1068,10387,0.00,1.15,11.35,0.852,4,0.000,0.051,2680,1489,1392,0,0,0,0,0,0
$GC,10547,0.89,279.0,4.0,8.7,1094,10561,0.00,1.17,5.10,0.089,6,0.000,0.049,2679,2197,1345,0,0,0,0,0,0
$STATE,10565,end climb,SURFACE_DEPTH_REACHED
$STATE,10565,begin surface coast
$FINISH,1.8,1.017410
$STATE,10587,end surface coast,CONTROL_FINISHED_OK
$STATE,10587,begin surface
$SM_CCo,10604,9.45,0.090,0,0,1262,300.00
$SM_GC,3.96,7.03,0.55,9.45,0.050,0.059,0.090,122,2519,1262,-7.06,-0.57,300.00,0,0,0,0,0,0
$RAFOS_CLK,690
$RAFOS,6,1320151745,12.833333,12.818055,93,61,55,0,0,0,814,211,130,0,0,0
$RAFOS,5,1320151263,12.700000,12.684167,115,56,55,0,0,0,944,219,163,0,0,0
$RAFOS,4,1320150784,12.566667,12.551111,82,67,65,0,0,0,712,213,181,0,0,0
$RAFOS,3,1320150308,12.433333,12.418889,61,58,57,0,0,0,166,183,219,0,0,0
$RAFOS,2,1320149822,12.300000,12.283889,115,63,59,0,0,0,651,186,201,0,0,0
$RAFOS,1,1320149343,12.166667,12.150833,120,61,59,0,0,0,546,180,223,0,0,0
$RAFOS,0,1320148865,12.033333,12.018056,66,60,59,0,0,0,616,223,124,0,0,0
$RAFOS_FIX,6645.038086,-6009.820801,011111,121222,6,98,0.83
$IRIDIUM_FIX,6620.33,-6015.98,011111,080831
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.44
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,500.9,77.2
$24V_AH,22.8,21.205
$10V_AH,10.2,16.605
$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,17.125,42.800,351.425,9.450,0.000,0.000,0.000,205.625,5.500,0.000,19.195,2986.778,5286.126,496.858,1989.198,196.087,0.000,1636.640,0.000,1766.713,2520.000,12.692,0.000
$DEVICE_MAMPS,259.335,71.910,1261.485,89.505,0.000,0.000,0.000,245.686,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.603,625.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150328
$DATA_FILE_SIZE,40079,1100
$CAP_FILE_SIZE,111923,0
$CFSIZE,260165632,236462080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.0
$CURRENT,0.182,222.9,1
$GPS,011111,140805,6645.378,-6014.034,28,1.0,28,-33.9