version: 66.09
glider: 143
mission: 13
dive: 299
start: 11 24 111 20 56 9
data:
$ID,143
$MISSION,13
$DIVE,299
$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,-85454.078
$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,43
$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,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
$GPS1,241111,202249,6640.626,-5954.149,0,5109.0,0,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.98
$_SM_ANGLEo,-0.0
$GPS2,241111,202249,6640.626,-5954.149,0,5109.0,0,-33.8
$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,61.7,140668,-16.9,-9.167
$D_GRID,699
$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,-146.0,0.0,0.0,0,26,0.00,0.00,-7.97,0.000,2,0.000,0.000,2397,2900,2732,0,0,0,0,0,0
$GC,29,-0.73,-146.0,9.0,0.0,1,46,0.62,1.83,-10.55,0.000,4,0.079,0.055,2170,1808,3083,0,0,0,0,0,0
$GC,74,-0.73,-146.0,14.0,-10.8,7,81,0.00,1.20,0.00,0.000,6,0.000,0.052,2166,2499,3085,0,0,0,0,0,0
$GC,412,-0.73,-146.0,68.6,-15.2,58,421,0.00,1.15,0.00,0.000,4,0.000,0.067,2161,3212,3086,0,0,0,0,0,0
$GC,461,-0.73,-146.0,76.3,-15.9,65,468,0.00,1.10,0.00,0.000,6,0.000,0.032,2160,2503,3086,0,0,0,0,0,0
$GC,798,-0.73,-146.0,124.5,-14.4,116,804,0.00,1.20,0.00,0.000,4,0.000,0.063,2156,3217,3085,0,0,0,0,0,0
$GC,899,-0.73,-146.0,139.2,-14.9,131,906,0.00,1.10,0.00,0.000,6,0.000,0.031,2156,2508,3086,0,0,0,0,0,0
$GC,1236,-0.73,-146.0,185.4,-12.7,182,1244,0.00,1.08,0.00,0.000,4,0.000,0.040,2156,1814,3085,0,0,0,0,0,0
$GC,1252,-0.73,-146.0,187.4,-13.1,184,1259,0.00,1.20,0.00,0.000,6,0.000,0.052,2151,2515,3086,0,0,0,0,0,0
$GC,1591,-0.73,-146.0,229.0,-12.4,235,1598,0.00,1.12,0.00,0.000,4,0.000,0.067,2146,3219,3086,0,0,0,0,0,0
$GC,1691,-0.73,-146.0,241.8,-12.3,250,1700,0.00,1.10,0.00,0.000,6,0.000,0.032,2146,2503,3086,0,0,0,0,0,0
$GC,2025,-0.73,-146.0,285.0,-12.6,281,2028,0.00,1.20,0.00,0.000,4,0.000,0.062,2141,3220,3085,0,0,0,0,0,0
$GC,2065,-0.73,-146.0,290.1,-12.5,284,2068,0.00,1.10,0.00,0.000,6,0.000,0.031,2141,2509,3085,0,0,0,0,0,0
$GC,2395,-0.73,-146.0,329.5,-11.8,310,2398,0.00,1.17,0.00,0.000,4,0.000,0.060,2137,3214,3085,0,0,0,0,0,0
$GC,2413,-0.73,-146.0,331.1,-11.9,311,2421,0.00,1.10,0.00,0.000,6,0.000,0.029,2137,2505,3085,0,0,0,0,0,0
$GC,2737,-0.73,-146.0,370.7,-12.1,337,2741,0.00,1.17,0.00,0.000,4,0.000,0.060,2132,3213,3085,0,0,0,0,0,0
$GC,2888,-0.73,-146.0,387.9,-11.4,348,2896,0.12,1.10,0.00,0.000,6,0.164,0.029,2162,2502,3085,0,0,0,0,0,0
$GC,3211,-0.73,-146.0,420.9,-10.0,374,3214,0.00,1.17,0.00,0.000,4,0.000,0.060,2159,3211,3085,0,0,0,0,0,0
$GC,3278,-0.73,-146.0,427.7,-10.3,379,3282,0.00,1.08,0.00,0.000,6,0.000,0.028,2159,2501,3085,0,0,0,0,0,0
$GC,3610,-0.73,-146.0,462.0,-10.6,405,3614,0.00,1.17,0.00,0.000,4,0.000,0.060,2155,3211,3085,0,0,0,0,0,0
$GC,3663,-0.73,-146.0,468.1,-11.0,409,3666,0.00,1.08,0.00,0.000,6,0.000,0.027,2155,2498,3085,0,0,0,0,0,0
$GC,3986,-0.73,-146.0,504.3,-11.0,433,3989,0.00,1.20,0.00,0.000,4,0.000,0.060,2150,3220,3086,0,0,0,0,0,0
$GC,4037,-0.73,-146.0,508.3,-11.0,434,4042,0.00,1.10,0.00,0.000,6,0.000,0.026,2150,2504,3086,0,0,0,0,0,0
$GC,4357,-0.73,-146.0,544.8,-10.6,445,4361,0.00,1.17,0.00,0.000,4,0.000,0.060,2146,3213,3086,0,0,0,0,0,0
$GC,4438,-0.73,-146.0,551.7,-10.4,447,4443,0.00,1.08,0.00,0.000,6,0.000,0.025,2146,2516,3086,0,0,0,0,0,0
$GC,4765,-0.73,-146.0,587.4,-10.6,458,4768,0.00,1.15,0.00,0.000,4,0.000,0.061,2141,3210,3086,0,0,0,0,0,0
$GC,4849,-0.73,-146.0,594.3,-10.5,460,4854,0.00,1.10,0.00,0.000,6,0.000,0.027,2142,2496,3086,0,0,0,0,0,0
$GC,5171,-0.73,-146.0,632.7,-11.3,471,5175,0.00,1.20,0.00,0.000,4,0.000,0.061,2137,3217,3087,0,0,0,0,0,0
$GC,5255,-0.73,-146.0,640.6,-11.6,473,5260,0.00,1.10,0.00,0.000,6,0.000,0.026,2137,2499,3087,0,0,0,0,0,0
$GC,5576,-0.73,-146.0,677.7,-11.3,484,5580,0.00,1.17,0.00,0.000,4,0.000,0.060,2132,3210,3087,0,0,0,0,0,0
$GC,5686,-0.73,-146.0,688.7,-11.1,487,5692,0.12,1.08,0.00,0.000,6,0.166,0.026,2163,2511,3087,0,0,0,0,0,0
$STATE,5736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5736,begin apogee
$GC,5742,-0.16,0.0,695.5,-10.7,489,5871,0.55,0.00,121.90,1.341,6,0.124,0.000,2345,2192,2484,0,0,0,0,0,0
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5874,0.73,146.0,703.2,0.0,493,6010,0.85,0.00,132.15,1.285,6,0.064,0.000,2635,2191,1889,0,0,0,0,0,0
$GC,6297,0.73,146.0,668.9,11.7,507,6301,0.00,1.10,0.00,0.000,4,0.000,0.048,2640,1504,1881,0,0,0,0,0,0
$GC,6414,0.73,146.0,658.2,10.7,510,6419,0.00,1.20,0.00,0.000,6,0.000,0.041,2640,2209,1879,0,0,0,0,0,0
$GC,6735,0.73,146.0,617.9,12.2,521,6739,0.00,1.12,0.00,0.000,4,0.000,0.051,2640,2902,1878,0,0,0,0,0,0
$GC,6859,0.73,146.0,604.8,12.9,524,6867,0.00,1.15,0.00,0.000,6,0.000,0.032,2645,2203,1877,0,0,0,0,0,0
$GC,7174,0.73,146.0,565.4,11.3,535,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1877,0,0,0,0,0,0
$GC,7479,0.73,146.0,531.1,11.0,545,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1876,0,0,0,0,0,0
$GC,7792,0.73,146.0,495.0,11.5,557,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1876,0,0,0,0,0,0
$GC,8108,0.73,146.0,460.0,10.7,582,8111,0.00,1.08,0.00,0.000,4,0.000,0.048,2649,1496,1875,0,0,0,0,0,0
$GC,8214,0.73,146.0,448.7,10.6,590,8218,0.00,1.12,0.00,0.000,6,0.000,0.041,2650,2199,1875,0,0,0,0,0,0
$GC,8544,0.73,146.0,413.6,10.6,616,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2199,1875,0,0,0,0,0,0
$GC,8859,0.73,146.0,379.9,10.9,641,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2199,1875,0,0,0,0,0,0
$GC,9174,0.73,146.0,347.9,10.3,666,9178,0.00,1.12,0.00,0.000,4,0.000,0.044,2654,1494,1875,0,0,0,0,0,0
$GC,9253,0.73,146.0,339.7,10.5,672,9257,0.00,1.12,0.00,0.000,6,0.000,0.042,2654,2196,1875,0,0,0,0,0,0
$GC,9583,0.73,146.0,306.0,10.2,698,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2196,1875,0,0,0,0,0,0
$GC,9899,0.73,146.0,275.3,9.3,723,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2196,1875,0,0,0,0,0,0
$GC,10216,0.73,146.0,246.0,9.3,751,10223,0.00,1.12,0.00,0.000,4,0.000,0.054,2654,2901,1875,0,0,0,0,0,0
$GC,10297,0.73,146.0,238.0,9.5,763,10304,0.00,1.12,0.00,0.000,6,0.000,0.035,2659,2195,1875,0,0,0,0,0,0
$GC,10634,0.73,146.0,205.5,9.3,814,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2195,1875,0,0,0,0,0,0
$GC,10974,0.78,189.5,178.9,7.3,865,11016,0.00,0.00,35.40,1.023,6,0.000,0.000,2659,2195,1712,0,0,0,0,0,0
$GC,11345,0.78,189.5,145.4,9.7,921,11352,0.00,1.05,0.00,0.000,4,0.000,0.049,2664,1501,1706,0,0,0,0,0,0
$GC,11531,0.78,189.5,127.4,9.2,949,11538,0.00,1.12,0.00,0.000,6,0.000,0.042,2664,2195,1706,0,0,0,0,0,0
$GC,11869,0.81,216.1,98.1,8.0,1000,11896,0.00,0.00,22.65,0.976,6,0.000,0.000,2663,2194,1602,0,0,0,0,0,0
$GC,12227,0.81,216.4,67.9,9.2,1054,12236,0.00,1.12,0.00,0.000,4,0.000,0.052,2664,2895,1600,0,0,0,0,0,0
$GC,12450,0.86,257.0,49.7,7.5,1087,12490,0.00,1.12,35.00,0.955,6,0.000,0.034,2668,2198,1436,0,0,0,0,0,0
$GC,12823,0.89,278.5,19.4,8.3,1143,12843,0.00,1.10,11.02,0.128,4,0.000,0.048,2673,1496,1348,0,0,0,0,0,0
$FREEZE,8.43,0.549,-1.625,2,2,0
$FREEZE,7.75,-0.871,-1.704,2,2,0
$FREEZE,7.07,0.319,-1.636,2,2,0
$FREEZE,6.44,-1.041,-1.713,2,2,0
$FREEZE,5.67,0.056,-1.650,2,2,0
$FREEZE,4.99,0.586,-1.620,2,2,0
$FREEZE,4.34,0.624,-1.618,2,2,0
$FREEZE,3.58,0.096,-1.646,2,2,0
$FREEZE,2.77,0.728,-1.611,2,2,0
$FREEZE,2.00,0.408,-1.627,2,2,0
$FREEZE,2.04,0.638,-1.615,2,2,0
$FREEZE,1.91,0.668,-1.613,2,2,0
$STATE,13011,end climb,SURFACE_DEPTH_REACHED
$STATE,13011,begin surface coast
$FREEZE,1.67,0.651,-1.614,2,2,0
$FREEZE,1.84,0.778,-1.607,2,2,0
$FREEZE,2.23,-1.278,-1.724,2,2,0
$FREEZE,2.33,-0.444,-1.675,2,2,0
$FREEZE,2.19,0.272,-1.635,2,2,0
$FINISH,2.2,1.023993
$STATE,13046,end surface coast,CONTROL_FINISHED_OK
$STATE,13046,begin surface
$SM_CCo,13063,104.32,0.086,0,0,441,501.15
$SM_GC,2.51,7.03,1.70,104.32,0.054,0.041,0.086,119,2515,441,-7.06,-0.79,501.15,0,0,0,0,0,0
$RAFOS_CLK,914
$RAFOS,3,1322180703,0.433333,0.417500,93,68,63,0,0,0,710,206,139,0,0,0
$RAFOS,2,1322180221,0.300000,0.283611,155,58,58,0,0,0,607,217,143,0,0,0
$RAFOS,1,1322179744,0.166667,0.151111,155,68,63,0,0,0,551,214,193,0,0,0
$RAFOS,0,1322179262,0.033333,0.017222,163,65,60,0,0,0,684,204,221,0,0,0
$RAFOS,6,1322167741,20.833334,20.816944,70,65,58,0,0,0,825,196,205,0,0,0
$RAFOS_FIX,6641.074707,-5953.704590,241111,202022,6,102,3.27
$IRIDIUM_FIX,6620.33,-6003.82,241111,131351
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.82
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,551.7,158.6
$24V_AH,22.5,37.766
$10V_AH,10.1,28.399
$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,9.300,53.750,358.125,104.325,0.000,0.000,0.000,0.000,2.750,0.000,0.000,3239.344,7347.212,541.051,1935.681,184.590,0.000,1542.534,0.000,1915.095,1800.000,16.310,0.000
$DEVICE_MAMPS,166.005,67.320,1341.045,86.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.716,656.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150224
$DATA_FILE_SIZE,46727,1177
$CAP_FILE_SIZE,123689,0
$CFSIZE,260165632,227262464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$CURRENT,2.103, 40.7,1
$GPS,241111,202249,6640.626,-5954.149,181,99.0,181,-33.8