version: 66.09
glider: 143
mission: 13
dive: 296
start: 11 24 111 10 30 4
data:
$ID,143
$MISSION,13
$DIVE,296
$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,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,501.14789
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-85451.555
$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,24
$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,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
$GPS1,241111,082725,6642.196,-5958.543,0,7122.4,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-29.1
$GPS2,241111,082725,6642.196,-5958.543,181,99.0,181,-33.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6043.000
$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,285.2,32569,-16.9,-9.167
$D_GRID,652
$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,16,-0.73,-146.0,0.0,0.0,0,151,0.00,0.00,-132.32,0.000,2,0.000,0.000,118,2524,2264,0,0,0,0,0,0
$GC,155,-0.73,-146.0,3.3,-2.7,20,196,8.70,0.00,-26.23,0.000,6,0.256,0.000,2158,2524,3083,0,0,0,0,0,0
$GC,527,-0.73,-146.0,71.3,-16.5,76,534,0.00,1.12,0.00,0.000,4,0.000,0.063,2156,3213,3086,0,0,0,0,0,0
$GC,708,-0.73,-146.0,99.6,-15.1,103,714,0.00,1.10,0.00,0.000,6,0.000,0.032,2156,2504,3086,0,0,0,0,0,0
$GC,1044,-0.73,-146.0,150.7,-14.4,154,1053,0.00,1.17,0.00,0.000,4,0.000,0.061,2151,3207,3086,0,0,0,0,0,0
$GC,1134,-0.73,-146.0,163.7,-15.0,167,1141,0.00,1.08,0.00,0.000,6,0.000,0.030,2151,2508,3086,0,0,0,0,0,0
$GC,1471,-0.73,-146.0,211.4,-13.6,218,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3086,0,0,0,0,0,0
$GC,1814,-0.73,-146.0,257.0,-13.0,266,1818,0.00,1.17,0.00,0.000,4,0.000,0.061,2147,3212,3086,0,0,0,0,0,0
$GC,1925,-0.73,-146.0,270.6,-12.5,274,1935,0.00,1.10,0.00,0.000,6,0.000,0.031,2147,2507,3085,0,0,0,0,0,0
$GC,2250,-0.73,-146.0,310.8,-11.8,300,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2507,3086,0,0,0,0,0,0
$GC,2563,-0.73,-146.0,347.9,-11.7,325,2567,0.00,1.17,0.00,0.000,4,0.000,0.062,2142,3212,3085,0,0,0,0,0,0
$GC,2660,-0.73,-146.0,359.0,-12.0,332,2668,0.00,1.10,0.00,0.000,6,0.000,0.030,2142,2504,3086,0,0,0,0,0,0
$GC,2985,-0.73,-146.0,397.3,-11.4,358,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2504,3086,0,0,0,0,0,0
$GC,3301,-0.73,-146.0,433.6,-11.3,383,3304,0.00,1.17,0.00,0.000,4,0.000,0.062,2138,3210,3086,0,0,0,0,0,0
$GC,3380,-0.73,-146.0,443.0,-11.5,389,3384,0.00,1.08,0.00,0.000,6,0.000,0.031,2138,2506,3086,0,0,0,0,0,0
$GC,3712,-0.73,-146.0,481.0,-11.5,415,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2506,3086,0,0,0,0,0,0
$GC,4026,-0.73,-146.0,517.8,-11.2,433,4029,0.00,1.17,0.00,0.000,4,0.000,0.060,2133,3214,3087,0,0,0,0,0,0
$GC,4093,-0.73,-146.0,525.7,-11.6,435,4098,0.10,1.08,0.00,0.000,6,0.148,0.029,2164,2501,3087,0,0,0,0,0,0
$GC,4433,-0.73,-146.0,559.3,-9.6,446,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2501,3087,0,0,0,0,0,0
$GC,4739,-0.73,-146.0,588.0,-9.4,456,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2501,3088,0,0,0,0,0,0
$GC,5045,-0.73,-146.0,619.1,-9.7,466,5049,0.00,1.17,0.00,0.000,4,0.000,0.059,2162,3212,3088,0,0,0,0,0,0
$GC,5103,-0.73,-146.0,622.4,-9.7,467,5110,0.00,1.08,0.00,0.000,6,0.000,0.026,2162,2506,3088,0,0,0,0,0,0
$STATE,5170,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5170,begin apogee
$GC,5176,-0.16,0.0,632.1,-10.3,470,5305,0.55,0.00,121.45,1.304,6,0.120,0.000,2342,2193,2484,0,0,0,0,0,0
$STATE,5306,end apogee,CONTROL_FINISHED_OK
$STATE,5306,begin climb
$GC,5308,0.73,146.0,637.8,0.0,474,5445,0.82,1.38,130.90,1.248,4,0.054,0.049,2635,2905,1888,0,0,0,0,0,0
$GC,5664,0.73,146.0,609.8,12.0,485,5669,0.00,1.20,0.00,0.000,6,0.000,0.032,2640,2207,1882,0,0,0,0,0,0
$GC,5992,0.73,146.0,569.6,12.2,496,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2207,1880,0,0,0,0,0,0
$GC,6298,0.73,146.0,536.9,10.7,506,6301,0.00,1.10,0.00,0.000,4,0.000,0.044,2645,1492,1879,0,0,0,0,0,0
$GC,6435,0.73,146.0,522.6,10.6,510,6440,0.00,1.20,0.00,0.000,6,0.000,0.040,2645,2217,1877,0,0,0,0,0,0
$GC,6760,0.73,146.0,486.6,11.4,526,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2217,1877,0,0,0,0,0,0
$GC,7077,0.73,146.0,450.6,11.0,551,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2217,1877,0,0,0,0,0,0
$GC,7396,0.73,146.0,415.6,10.6,576,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2217,1877,0,0,0,0,0,0
$GC,7720,0.73,146.0,382.3,9.7,602,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2217,1876,0,0,0,0,0,0
$GC,8036,0.73,152.2,352.8,8.9,627,8048,0.00,0.00,4.28,0.806,6,0.000,0.000,2645,2217,1863,0,0,0,0,0,0
$GC,8361,0.73,152.2,322.6,9.3,653,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2217,1863,0,0,0,0,0,0
$GC,8677,0.73,152.2,291.7,10.5,678,8681,0.00,1.08,0.00,0.000,4,0.000,0.054,2645,2898,1863,0,0,0,0,0,0
$GC,8920,0.73,152.2,266.7,10.1,696,8928,0.00,1.15,0.00,0.000,6,0.000,0.034,2650,2192,1863,0,0,0,0,0,0
$GC,9251,0.74,159.2,235.6,8.9,734,9266,0.00,1.10,7.65,0.943,4,0.000,0.047,2655,1490,1835,0,0,0,0,0,0
$GC,9445,0.75,165.1,218.2,8.9,763,9456,0.00,1.15,6.95,0.917,6,0.000,0.043,2655,2201,1812,0,0,0,0,0,0
$GC,9788,0.78,189.0,188.8,8.2,814,9815,0.00,0.00,21.80,1.017,6,0.000,0.000,2655,2201,1714,0,0,0,0,0,0
$GC,10146,0.78,190.2,154.8,9.1,868,10153,0.00,1.12,0.00,0.000,4,0.000,0.053,2654,2904,1712,0,0,0,0,0,0
$GC,10254,0.78,190.2,144.7,9.3,884,10261,0.00,1.15,0.00,0.000,6,0.000,0.034,2659,2194,1713,0,0,0,0,0,0
$GC,10594,0.81,213.6,115.8,8.2,935,10621,0.00,0.00,21.33,0.985,6,0.000,0.000,2659,2194,1614,0,0,0,0,0,0
$GC,10951,0.81,213.6,84.0,9.4,989,10958,0.00,1.08,0.00,0.000,4,0.000,0.047,2665,1490,1611,0,0,0,0,0,0
$GC,11125,0.87,264.4,70.6,7.0,1015,11174,0.00,1.15,43.30,0.966,6,0.000,0.042,2665,2201,1407,0,0,0,0,0,0
$GC,11508,0.87,264.5,36.1,9.2,1072,11515,0.00,1.12,0.00,0.000,4,0.000,0.052,2665,2901,1400,0,0,0,0,0,0
$GC,11607,0.87,264.5,26.4,9.7,1087,11617,0.00,1.15,0.00,0.000,6,0.000,0.033,2669,2192,1399,0,0,0,0,0,0
$FREEZE,8.55,-1.289,-1.735,2,6,0
$FREEZE,7.97,1.008,-1.605,2,6,0
$FREEZE,7.38,0.450,-1.635,2,6,0
$FREEZE,6.87,1.020,-1.604,2,6,0
$FREEZE,6.38,-1.141,-1.725,2,6,0
$FREEZE,5.64,-1.309,-1.734,2,6,0
$FREEZE,5.19,-1.224,-1.729,2,6,0
$FREEZE,4.69,0.011,-1.657,2,6,0
$FREEZE,4.12,0.046,-1.654,2,6,0
$FREEZE,3.54,0.121,-1.649,2,6,0
$FREEZE,2.88,1.032,-1.600,2,6,0
$FREEZE,2.41,1.039,-1.599,2,6,0
$FREEZE,1.88,-0.966,-1.710,2,6,0
$STATE,11891,end climb,SURFACE_DEPTH_REACHED
$STATE,11891,begin surface coast
$FREEZE,2.11,-1.053,-1.716,2,6,0
$FREEZE,1.78,-4.017,-1.906,2,6,0
$FREEZE,1.93,-0.901,-1.707,2,6,0
$FINISH,1.9,1.025064
$STATE,11912,end surface coast,CONTROL_FINISHED_OK
$STATE,11912,begin surface
$SM_CCo,11929,110.85,0.086,0,0,441,501.15
$SM_GC,2.11,6.88,0.57,110.85,0.045,0.045,0.086,122,2507,441,-7.07,-1.05,501.15,0,0,0,0,0,0
$RAFOS_CLK,872
$RAFOS,6,1322138951,12.833333,12.819722,128,63,61,0,0,0,771,184,215,0,0,0
$RAFOS,5,1322138472,12.700000,12.686666,104,63,60,0,0,0,860,226,198,0,0,0
$RAFOS,4,1322137993,12.566667,12.553611,171,58,57,0,0,0,641,210,150,0,0,0
$RAFOS,3,1322137513,12.433333,12.420278,145,58,57,0,0,0,696,196,216,0,0,0
$RAFOS,2,1322137024,12.300000,12.284445,111,69,65,0,0,0,610,214,175,0,0,0
$RAFOS,1,1322136562,12.166667,12.156111,121,73,56,0,0,0,421,223,200,0,0,0
$RAFOS,0,1322136061,12.033333,12.016945,60,60,59,0,0,0,174,188,651,0,0,0
$RAFOS_FIX,6641.398438,-5954.558105,241111,121237,5,132,0.22
$IRIDIUM_FIX,6620.33,-5953.65,231111,171757
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.18
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,550.3,95.6
$24V_AH,22.6,37.395
$10V_AH,10.1,28.114
$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,17.050,32.925,357.650,110.850,0.000,0.000,0.000,123.000,4.000,0.000,183.381,3072.355,6527.738,648.206,2133.410,318.992,0.000,1721.846,0.000,1817.996,2520.000,16.137,0.000
$DEVICE_MAMPS,255.510,63.495,1304.325,85.680,0.000,0.000,0.000,238.931,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.108,636.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150160
$DATA_FILE_SIZE,43368,1133
$CAP_FILE_SIZE,117344,0
$CFSIZE,260165632,227483648
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$CURRENT,0.306,347.3,1
$GPS,241111,135229,6643.692,-6004.834,40,0.9,40,-33.8