version: 66.09
glider: 143
mission: 13
dive: 226
start: 11 11 111 13 50 31
data:
$ID,143
$MISSION,13
$DIVE,226
$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,-3
$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,-80803.406
$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,41
$R_STBD_OVSHOOT,22
$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,0
$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
$GPS1,111111,134423,6702.524,-5722.170,71,0.7,71,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-68.7
$GPS2,111111,135000,6702.559,-5722.168,20,0.9,20,-33.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,244.3,138807,-16.9,-9.167
$D_GRID,802
$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,16,-0.73,-146.0,0.0,0.0,0,47,0.00,0.00,-28.65,0.000,2,0.000,0.000,118,2514,1666,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.1,-1.3,4,156,8.85,1.20,-90.47,0.000,4,0.265,0.071,2158,1812,3081,0,0,0,0,0,0
$GC,409,-0.73,-146.0,48.2,-16.9,58,416,0.00,1.20,0.00,0.000,6,0.000,0.056,2155,2508,3084,0,0,0,0,0,0
$GC,746,-0.73,-146.0,95.7,-13.4,109,753,0.00,1.12,0.00,0.000,4,0.000,0.069,2150,3213,3084,0,0,0,0,0,0
$GC,812,-0.73,-146.0,104.6,-13.8,119,821,0.00,1.10,0.00,0.000,6,0.000,0.033,2150,2502,3084,0,0,0,0,0,0
$GC,1152,-0.73,-146.0,148.7,-13.3,170,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2502,3084,0,0,0,0,0,0
$GC,1488,-0.73,-146.0,192.6,-12.9,221,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2502,3084,0,0,0,0,0,0
$GC,1827,-0.73,-146.0,235.6,-12.4,272,1834,0.00,1.20,0.00,0.000,4,0.000,0.066,2145,3220,3083,0,0,0,0,0,0
$GC,2001,-0.73,-146.0,258.2,-12.5,294,2005,0.00,1.10,0.00,0.000,6,0.000,0.034,2145,2510,3083,0,0,0,0,0,0
$GC,2334,-0.73,-146.0,299.8,-12.4,320,2338,0.00,1.08,0.00,0.000,4,0.000,0.044,2145,1815,3083,0,0,0,0,0,0
$GC,2391,-0.73,-146.0,307.0,-12.6,324,2399,0.00,1.20,0.00,0.000,6,0.000,0.054,2141,2513,3083,0,0,0,0,0,0
$GC,2716,-0.73,-146.0,346.1,-11.3,350,2720,0.00,1.10,0.00,0.000,4,0.000,0.067,2136,3210,3083,0,0,0,0,0,0
$GC,2809,-0.73,-146.0,356.9,-11.6,357,2813,0.08,1.08,0.00,0.000,6,0.149,0.032,2159,2501,3082,0,0,0,0,0,0
$GC,3137,-0.73,-146.0,389.8,-9.8,383,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2500,3082,0,0,0,0,0,0
$GC,3455,-0.73,-146.0,421.4,-9.9,408,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2501,3083,0,0,0,0,0,0
$GC,3769,-0.73,-146.0,453.4,-10.3,433,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2501,3084,0,0,0,0,0,0
$GC,4085,-0.73,-146.0,485.2,-9.8,458,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2501,3085,0,0,0,0,0,0
$GC,4421,-0.73,-146.0,518.5,-9.8,476,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2501,3085,0,0,0,0,0,0
$GC,4726,-0.73,-146.0,548.2,-9.7,486,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2500,3086,0,0,0,0,0,0
$GC,5033,-0.73,-146.0,576.9,-9.4,496,5037,0.00,1.17,0.00,0.000,4,0.000,0.063,2157,3215,3086,0,0,0,0,0,0
$GC,5138,-0.73,-146.0,586.7,-9.7,499,5142,0.00,1.08,0.00,0.000,6,0.000,0.028,2156,2508,3086,0,0,0,0,0,0
$GC,5471,-0.73,-146.0,619.8,-9.8,510,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2508,3086,0,0,0,0,0,0
$GC,5779,-0.73,-146.0,649.9,-9.8,520,5782,0.00,1.17,0.00,0.000,4,0.000,0.062,2152,3221,3086,0,0,0,0,0,0
$GC,5845,-0.73,-146.0,656.6,-9.9,522,5848,0.00,1.08,0.00,0.000,6,0.000,0.028,2152,2511,3086,0,0,0,0,0,0
$GC,6184,-0.73,-146.0,689.7,-9.6,533,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3086,0,0,0,0,0,0
$GC,6490,-0.73,-146.0,719.0,-9.6,543,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2510,3086,0,0,0,0,0,0
$GC,6796,-0.73,-146.0,747.9,-9.3,553,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3086,0,0,0,0,0,0
$GC,7103,-0.73,-146.0,777.3,-9.8,563,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3086,0,0,0,0,0,0
$STATE,7377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7377,begin apogee
$GC,7383,-0.16,0.0,803.1,-9.3,572,7511,0.60,0.00,121.68,1.405,6,0.129,0.000,2346,2193,2485,0,0,0,0,0,0
$STATE,7512,end apogee,CONTROL_FINISHED_OK
$STATE,7512,begin climb
$GC,7514,0.73,146.0,807.4,0.0,576,7658,0.82,1.23,131.70,1.346,4,0.065,0.047,2635,1500,1887,0,0,0,0,0,0
$GC,7857,0.73,146.0,777.6,12.6,587,7861,0.00,1.20,0.00,0.000,6,0.000,0.044,2635,2201,1881,0,0,0,0,0,0
$GC,8196,0.73,146.0,736.7,11.8,598,8200,0.00,1.15,0.00,0.000,4,0.000,0.054,2635,2900,1879,0,0,0,0,0,0
$GC,8234,0.73,146.0,732.7,11.8,599,8238,0.00,1.17,0.00,0.000,6,0.000,0.035,2640,2201,1878,0,0,0,0,0,0
$GC,8568,0.73,146.0,691.6,12.1,610,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1877,0,0,0,0,0,0
$GC,8876,0.73,146.0,655.1,11.8,620,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1876,0,0,0,0,0,0
$GC,9181,0.73,146.0,618.0,12.1,630,9185,0.00,1.08,0.00,0.000,4,0.000,0.050,2645,1498,1874,0,0,0,0,0,0
$GC,9233,0.73,146.0,613.9,12.0,631,9237,0.00,1.15,0.00,0.000,6,0.000,0.045,2645,2204,1875,0,0,0,0,0,0
$GC,9553,0.73,146.0,573.4,12.1,642,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1875,0,0,0,0,0,0
$GC,9860,0.73,146.0,536.9,11.8,652,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1874,0,0,0,0,0,0
$GC,10166,0.73,146.0,500.4,12.0,662,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1874,0,0,0,0,0,0
$GC,10486,0.73,146.0,462.8,11.6,686,10490,0.00,1.12,0.00,0.000,4,0.000,0.057,2645,2904,1874,0,0,0,0,0,0
$GC,10592,0.73,146.0,449.7,12.3,694,10596,0.00,1.15,0.00,0.000,6,0.000,0.038,2650,2192,1873,0,0,0,0,0,0
$GC,10922,0.73,146.0,411.1,11.6,720,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2192,1873,0,0,0,0,0,0
$GC,11238,0.73,146.0,374.6,11.8,745,11242,0.00,1.20,0.00,0.000,4,0.000,0.052,2650,2908,1872,0,0,0,0,0,0
$GC,11309,0.73,146.0,366.3,12.2,750,11317,0.00,1.17,0.00,0.000,6,0.000,0.037,2654,2188,1872,0,0,0,0,0,0
$GC,11635,0.73,146.0,327.8,11.3,776,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2187,1872,0,0,0,0,0,0
$GC,11948,0.73,146.0,291.6,11.2,801,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2187,1873,0,0,0,0,0,0
$GC,12264,0.73,146.0,254.8,11.6,826,12267,0.00,1.20,0.00,0.000,4,0.000,0.050,2654,2908,1872,0,0,0,0,0,0
$GC,12357,0.73,146.0,244.0,11.7,836,12364,0.00,1.12,0.00,0.000,6,0.000,0.036,2659,2198,1873,0,0,0,0,0,0
$GC,12696,0.73,146.0,208.1,10.0,887,12704,0.00,1.17,0.00,0.000,4,0.000,0.050,2659,2905,1873,0,0,0,0,0,0
$GC,12751,0.73,146.0,202.3,10.6,895,12761,0.08,1.12,0.00,0.000,6,0.153,0.036,2639,2197,1872,0,0,0,0,0,0
$GC,13090,0.73,146.0,170.5,9.4,946,13097,0.00,1.05,0.00,0.000,4,0.000,0.050,2643,1495,1873,0,0,0,0,0,0
$GC,13252,0.73,149.4,156.2,9.0,970,13258,0.00,1.12,0.00,0.000,6,0.000,0.046,2643,2200,1872,0,0,0,0,0,0
$GC,13588,0.77,179.7,127.6,7.9,1021,13622,0.00,1.10,26.88,0.971,4,0.000,0.053,2643,2910,1751,0,0,0,0,0,0
$GC,13874,0.77,179.7,100.9,9.7,1064,13881,0.00,1.15,0.00,0.000,6,0.000,0.036,2648,2199,1749,0,0,0,0,0,0
$GC,14211,0.79,195.4,70.4,8.5,1115,14232,0.00,0.00,14.27,0.920,6,0.000,0.000,2647,2200,1687,0,0,0,0,0,0
$GC,14565,0.91,299.0,44.3,4.8,1168,14658,0.15,0.00,87.22,0.923,6,0.081,0.000,2707,2199,1264,0,0,0,0,0,0
$STATE,14910,end climb,SURFACE_DEPTH_REACHED
$STATE,14911,begin surface coast
$FINISH,1.9,1.016855
$STATE,14923,end surface coast,CONTROL_FINISHED_OK
$STATE,14923,begin surface
$SM_CCo,15000,0.00,0.000,0,0,1251,302.70
$SM_GC,2.94,7.07,0.60,0.00,0.043,0.054,0.000,118,2514,1251,-7.08,-0.71,302.70,0,0,0,0,0,0
$RAFOS_CLK,974
$RAFOS,6,1321030148,16.833334,16.818890,81,57,56,0,0,0,725,161,185,0,0,0
$RAFOS,5,1321029663,16.700001,16.684166,99,59,58,0,0,0,553,190,205,0,0,0
$RAFOS,4,1321029196,16.566668,16.554445,99,68,66,0,0,0,717,152,208,0,0,0
$RAFOS,3,1321028706,16.433332,16.418333,65,64,62,0,0,0,225,130,216,0,0,0
$RAFOS,2,1321028241,16.299999,16.289167,58,56,54,0,0,0,113,196,145,0,0,0
$RAFOS,1,1321027751,16.166666,16.153055,68,67,65,0,0,0,206,131,181,0,0,0
$RAFOS,0,1321027265,16.033333,16.018055,62,59,56,0,0,0,119,199,185,0,0,0
$RAFOS_FIX,6701.028320,-5733.605469,111111,161622,3,93,0.84
$IRIDIUM_FIX,6631.12,-5708.95,111111,090950
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.50
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.3,17.0
$ALTIM_BOTTOM_PING,701.5,115.1
$24V_AH,22.7,28.421
$10V_AH,10.2,21.809
$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,17.650,37.625,381.750,0.000,0.000,0.000,0.000,218.875,7.000,0.000,21.380,3323.551,9108.619,504.680,2199.701,210.910,0.000,1755.978,0.000,1953.289,2520.000,21.494,0.000
$DEVICE_MAMPS,265.455,71.145,1404.540,0.000,0.000,0.000,0.000,268.905,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.839,664.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,46695,1222
$CAP_FILE_SIZE,127287,0
$CFSIZE,260165632,232366080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.1
$CURRENT,0.131, 19.4,1
$GPS,111111,180206,6701.289,-5724.745,39,0.8,39,-33.6