version: 66.09
glider: 143
mission: 13
dive: 2079
start: 1 20 112 5 45 16
data:
$ID,143
$MISSION,13
$DIVE,2079
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,940
$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,350
$T_MISSION,400
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,6
$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,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,90
$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,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$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,-258642.36
$T_RSLEEP,5
$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,33
$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
$GPS1,180112,145830,6130.294,-6027.724,181,99.0,181,-28.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.36
$_SM_ANGLEo,3.6
$GPS2,180112,145830,6130.294,-6027.724,181,99.0,181,-28.4
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,6130.294,-6005.088
$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,132.8,20000,-16.6,-8.952
$D_GRID,1143
$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,14,begin dive
$GC,18,-0.71,-146.0,0.0,0.0,0,26,0.00,0.00,-5.62,0.000,2,0.000,0.000,2417,1494,2682,0,0,0,0,0,0
$GC,30,-0.71,-146.0,20.4,0.0,1,47,0.65,2.72,-6.57,0.000,4,0.067,0.050,2166,3222,3084,0,0,0,0,0,0
$GC,301,-0.71,-146.0,58.4,-14.7,41,308,0.00,1.15,0.00,0.000,6,0.000,0.047,2167,2512,3086,0,0,0,0,0,0
$GC,645,-0.71,-146.0,113.1,-17.7,87,648,0.00,1.10,0.00,0.000,4,0.000,0.046,2167,3205,3086,0,0,0,0,0,0
$GC,902,-0.71,-146.0,158.3,-17.1,106,910,0.00,1.12,0.00,0.000,6,0.000,0.047,2166,2513,3084,0,0,0,0,0,0
$GC,1230,-0.71,-146.0,206.1,-12.8,132,1233,0.00,1.12,0.00,0.000,4,0.000,0.057,2167,1810,3084,0,0,0,0,0,0
$GC,1284,-0.71,-146.0,213.2,-12.3,136,1288,0.00,1.12,0.00,0.000,6,0.000,0.036,2167,2516,3084,0,0,0,0,0,0
$GC,1613,-0.71,-146.0,252.9,-12.3,161,1617,0.00,1.05,0.00,0.000,4,0.000,0.048,2166,3213,3083,0,0,0,0,0,0
$GC,1778,-0.71,-146.0,273.7,-12.8,169,1782,0.00,1.15,0.00,0.000,6,0.000,0.047,2166,2504,3083,0,0,0,0,0,0
$GC,2103,-0.71,-146.0,318.6,-14.1,185,2106,0.00,1.12,0.00,0.000,4,0.000,0.045,2167,3213,3083,0,0,0,0,0,0
$GC,2363,-0.71,-146.0,356.0,-14.2,198,2367,0.00,1.15,0.00,0.000,6,0.000,0.047,2167,2503,3083,0,0,0,0,0,0
$GC,2695,-0.71,-146.0,403.9,-14.6,214,2699,0.00,1.12,0.00,0.000,4,0.000,0.045,2167,3211,3083,0,0,0,0,0,0
$GC,2955,-0.71,-146.0,442.5,-15.1,227,2958,0.00,1.15,0.00,0.000,6,0.000,0.047,2167,2500,3083,0,0,0,0,0,0
$GC,3286,-0.71,-146.0,491.7,-15.1,243,3290,0.00,1.12,0.00,0.000,4,0.000,0.045,2167,3210,3084,0,0,0,0,0,0
$GC,3544,-0.71,-146.0,526.6,-14.7,252,3551,0.00,1.15,0.00,0.000,6,0.000,0.046,2166,2500,3084,0,0,0,0,0,0
$GC,3859,-0.71,-146.0,575.8,-14.4,263,3862,0.00,1.10,0.00,0.000,4,0.000,0.055,2167,1807,3084,0,0,0,0,0,0
$GC,3938,-0.71,-146.0,585.4,-14.2,265,3941,0.00,1.12,0.00,0.000,6,0.000,0.035,2167,2516,3084,0,0,0,0,0,0
$GC,4266,-0.71,-146.0,634.3,-14.4,276,4269,0.00,1.05,0.00,0.000,4,0.000,0.048,2167,3213,3084,0,0,0,0,0,0
$GC,4405,-0.71,-146.0,653.5,-14.3,280,4409,0.00,1.15,0.00,0.000,6,0.000,0.046,2167,2501,3084,0,0,0,0,0,0
$GC,4742,-0.71,-146.0,700.9,-13.7,291,4745,0.00,1.12,0.00,0.000,4,0.000,0.046,2167,3210,3084,0,0,0,0,0,0
$GC,5000,-0.71,-146.0,733.8,-14.1,298,5007,0.00,1.12,0.00,0.000,6,0.000,0.046,2167,2510,3084,0,0,0,0,0,0
$GC,5315,-0.71,-146.0,781.7,-14.2,309,5318,0.00,1.10,0.00,0.000,4,0.000,0.046,2167,3206,3084,0,0,0,0,0,0
$GC,5572,-0.71,-146.0,813.7,-13.7,316,5579,0.00,1.12,0.00,0.000,6,0.000,0.045,2167,2510,3084,0,0,0,0,0,0
$GC,5887,-0.71,-146.0,858.7,-13.2,327,5890,0.00,1.12,0.00,0.000,4,0.000,0.055,2167,1804,3084,0,0,0,0,0,0
$GC,5966,-0.71,-146.0,867.5,-13.1,329,5970,0.00,1.12,0.00,0.000,6,0.000,0.036,2167,2508,3084,0,0,0,0,0,0
$GC,6294,-0.71,-146.0,912.4,-13.0,340,6298,0.00,1.05,0.00,0.000,4,0.000,0.048,2167,3204,3084,0,0,0,0,0,0
$GC,6466,-0.71,-146.0,935.9,-14.0,345,6470,0.00,1.12,0.00,0.000,6,0.000,0.046,2167,2507,3084,0,0,0,0,0,0
$STATE,6491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6491,begin apogee
$GC,6500,-0.16,0.0,940.5,-14.1,346,6634,0.47,0.00,125.75,1.440,6,0.061,0.000,2354,2186,2485,0,0,0,0,0,0
$STATE,6635,end apogee,CONTROL_FINISHED_OK
$STATE,6635,begin climb
$GC,6639,0.71,146.0,953.9,0.0,350,6787,0.75,1.23,137.20,1.400,4,0.033,0.057,2652,1501,1888,0,0,0,0,0,0
$GC,6807,1.29,617.5,969.7,-10.5,355,7147,0.45,1.20,332.12,1.372,6,0.041,0.030,2828,2207,441,0,0,0,0,0,0
$GC,7453,1.29,617.5,821.2,31.5,376,7457,0.00,1.17,0.00,0.000,4,0.000,0.041,2833,1486,437,0,0,0,0,0,0
$GC,7525,1.29,617.5,799.4,31.6,378,7529,0.00,1.15,0.00,0.000,6,0.000,0.044,2833,2188,437,0,0,0,0,0,0
$GC,7862,1.29,617.5,692.2,31.2,389,7865,0.00,1.12,0.00,0.000,4,0.000,0.048,2838,1493,436,0,0,0,0,0,0
$GC,7881,1.29,617.5,692.2,31.2,389,7885,0.00,1.15,0.00,0.000,6,0.000,0.039,2838,2212,436,0,0,0,0,0,0
$GC,8203,1.29,617.5,584.4,31.4,400,8207,0.00,1.17,0.00,0.000,4,0.000,0.043,2844,1479,436,0,0,0,0,0,0
$GC,8242,1.29,617.5,573.1,31.4,401,8246,0.00,1.15,0.00,0.000,6,0.000,0.041,2844,2204,436,0,0,0,0,0,0
$GC,8569,1.29,617.5,467.0,32.2,413,8573,0.00,1.15,0.00,0.000,4,0.000,0.043,2850,1478,436,0,0,0,0,0,0
$GC,8590,1.29,617.5,459.5,32.2,414,8595,0.10,1.15,0.00,0.000,6,0.157,0.047,2821,2194,436,0,0,0,0,0,0
$GC,8921,1.29,617.5,358.7,30.2,430,8924,0.00,1.12,0.00,0.000,4,0.000,0.045,2824,1489,436,0,0,0,0,0,0
$GC,9111,1.29,617.5,302.2,31.8,439,9118,0.00,1.15,0.00,0.000,6,0.000,0.044,2824,2209,436,0,0,0,0,0,0
$GC,9436,1.29,617.5,198.5,31.0,460,9440,0.00,1.15,0.00,0.000,4,0.000,0.048,2828,1493,435,0,0,0,0,0,0
$GC,9651,1.29,617.5,133.2,29.0,476,9655,0.00,1.12,0.00,0.000,6,0.000,0.044,2828,2200,435,0,0,0,0,0,0
$GC,9987,1.29,617.5,44.0,25.4,517,9994,0.00,1.15,0.00,0.000,4,0.000,0.048,2833,1486,436,0,0,0,0,0,0
$FREEZE,8.58,-1.494,-1.832,2,13,0
$FREEZE,6.96,-1.493,-1.831,2,13,0
$FREEZE,5.09,-1.507,-1.829,2,13,0
$FREEZE,3.50,-1.529,-1.828,2,13,0
$FREEZE,2.08,-1.529,-1.826,2,13,0
$FREEZE,1.66,-1.200,-1.747,2,13,0
$STATE,10151,end climb,SURFACE_DEPTH_REACHED
$STATE,10151,begin surface coast
$FREEZE,1.70,-0.995,-0.404,2,13,0
$FINISH,1.7,1.005807
$STATE,10160,end surface coast,FINISH_DEPTH_REACHED
$STATE,10160,begin surface
$SM_CCo,10244,0.00,0.000,0,0,436,502.62
$SM_GC,2.53,7.25,1.62,0.00,0.047,0.031,0.000,117,2518,436,-7.07,-1.10,502.62,0,0,0,0,0,0
$RAFOS_CLK,665
$RAFOS,3,1327047908,8.433333,8.418889,61,59,59,0,0,0,214,153,223,0,0,0
$RAFOS,2,1327047421,8.300000,8.283611,65,58,57,0,0,0,204,163,180,0,0,0
$RAFOS,1,1327046944,8.166667,8.151111,66,64,58,0,0,0,142,196,173,0,0,0
$RAFOS,0,1327046483,8.033334,8.023056,67,59,59,0,0,0,202,191,214,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6103.81,-6028.72,180112,141407
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.17
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,22.2,49.534
$10V_AH,9.8,64.299
$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,9.675,50.200,595.075,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,1633.967,6511.571,524.500,1395.245,241.324,0.000,1316.704,0.000,1366.140,1800.000,25.609,0.000
$DEVICE_MAMPS,156.825,56.610,1439.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.675,277.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270400
$DATA_FILE_SIZE,20073,543
$CAP_FILE_SIZE,92212,0
$CFSIZE,260165632,208678912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.6
$CURRENT,2.576,217.1,1
$GPS,200112,083724,6119.460,-6031.903,36,0.9,36,-28.2