version: 66.09
glider: 143
mission: 13
dive: 2118
start: 1 27 112 2 25 36
data:
$ID,143
$MISSION,13
$DIVE,2118
$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,420
$T_MISSION,540
$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,120
$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,443.50238
$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,2
$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,-261220.33
$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,2300
$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,35
$C_ROLL_DIVE,3800
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2250
$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,645
$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
$GPS1,260112,210759,6051.570,-6030.894,181,99.0,181,-27.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-34.8
$GPS2,260112,210759,6051.570,-6030.894,181,99.0,181,-27.8
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6051.570,-6008.717
$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,72.8,20000,-27.5,-7.460
$D_GRID,1681
$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,21,-0.94,-40.7,0.0,0.0,0,80,0.00,0.00,-56.92,0.000,2,0.000,0.000,106,3828,1340,0,0,0,0,0,0
$GC,85,-1.01,-101.5,3.9,0.0,2,168,8.35,2.08,-68.25,0.000,4,0.257,0.062,1968,2567,2666,0,0,0,0,0,0
$GC,419,-1.01,-101.5,46.1,-15.7,12,423,0.00,2.00,0.00,0.000,6,0.000,0.045,1962,3802,2668,0,0,0,0,0,0
$GC,1082,-1.01,-101.5,152.0,-15.8,29,1086,0.00,2.00,0.00,0.000,4,0.000,0.047,1961,2566,2666,0,0,0,0,0,0
$GC,1340,-1.01,-101.5,182.6,-15.4,32,1349,0.00,2.00,0.00,0.000,6,0.000,0.044,1953,3806,2666,0,0,0,0,0,0
$GC,1955,-1.01,-101.5,274.8,-13.9,43,1959,0.00,2.00,0.00,0.000,4,0.000,0.046,1953,2563,2668,0,0,0,0,0,0
$GC,2214,-1.01,-101.5,301.1,-13.3,46,2221,0.12,2.00,0.00,0.000,6,0.163,0.044,1973,3803,2669,0,0,0,0,0,0
$GC,2830,-1.01,-101.5,387.2,-13.3,57,2834,0.00,2.00,0.00,0.000,4,0.000,0.044,1973,2557,2670,0,0,0,0,0,0
$GC,3088,-1.01,-101.5,411.9,-12.5,60,3097,0.00,2.03,0.00,0.000,6,0.000,0.044,1967,3813,2670,0,0,0,0,0,0
$GC,3702,-1.01,-101.5,492.6,-11.8,71,3706,0.00,0.17,0.00,0.000,4,0.000,0.083,1966,3931,2671,0,0,0,0,0,0
$GC,3960,-1.01,-101.5,515.9,-11.5,74,3967,0.00,0.28,0.00,0.000,6,0.000,0.050,1966,3769,2672,0,0,0,0,0,0
$GC,4576,-1.01,-101.5,595.9,-11.7,85,4580,0.00,1.83,0.00,0.000,4,0.000,0.045,1966,2583,2672,0,0,0,0,0,0
$GC,4834,-1.01,-101.5,619.2,-11.6,88,4843,0.00,1.98,0.00,0.000,6,0.000,0.044,1958,3807,2673,0,0,0,0,0,0
$GC,5449,-1.01,-101.5,713.7,-14.4,99,5452,0.00,1.95,0.00,0.000,4,0.000,0.044,1958,2589,2673,0,0,0,0,0,0
$GC,5707,-1.01,-101.5,741.8,-14.0,102,5717,0.00,1.98,0.00,0.000,6,0.000,0.044,1950,3812,2673,0,0,0,0,0,0
$GC,6322,-1.01,-101.5,844.6,-15.6,113,6326,0.00,1.98,0.00,0.000,4,0.000,0.044,1950,2573,2673,0,0,0,0,0,0
$GC,6580,-1.01,-101.5,875.6,-15.5,116,6590,0.12,2.00,0.00,0.000,6,0.155,0.044,1971,3818,2673,0,0,0,0,0,0
$STATE,7009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7009,begin apogee
$GC,7021,-0.16,0.0,945.6,-14.1,124,7123,0.85,0.03,92.53,1.447,6,0.126,0.099,2240,1705,2250,0,0,0,0,0,0
$STATE,7124,end apogee,CONTROL_FINISHED_OK
$STATE,7124,begin climb
$GC,7128,1.01,101.5,950.7,0.0,125,7234,1.05,2.25,96.35,1.414,4,0.035,0.034,2644,2951,1836,0,0,0,0,0,0
$GC,7262,1.09,162.4,961.6,0.0,127,7326,0.00,2.25,59.47,1.385,6,0.000,0.047,2653,1692,1587,0,0,0,0,0,0
$GC,7936,1.09,162.4,913.7,9.4,138,7940,0.00,2.00,0.00,0.000,4,0.000,0.037,2653,2955,1579,0,0,0,0,0,0
$GC,7995,1.09,162.4,913.7,9.4,138,8002,0.00,2.05,0.00,0.000,6,0.000,0.047,2662,1691,1577,0,0,0,0,0,0
$GC,8612,1.09,162.4,850.1,9.0,149,8617,0.00,2.00,0.00,0.000,4,0.000,0.037,2662,2961,1577,0,0,0,0,0,0
$GC,8665,1.09,162.4,850.1,9.0,149,8669,0.00,2.03,0.00,0.000,6,0.000,0.046,2670,1698,1577,0,0,0,0,0,0
$GC,9280,1.09,162.4,785.6,9.8,159,9283,0.00,1.98,0.00,0.000,4,0.000,0.039,2670,2949,1576,0,0,0,0,0,0
$GC,9446,1.09,162.4,772.8,9.6,161,9450,0.00,2.03,0.00,0.000,6,0.000,0.045,2679,1697,1576,0,0,0,0,0,0
$GC,10087,1.09,162.4,706.2,10.6,172,10090,0.00,1.98,0.00,0.000,4,0.000,0.037,2679,2955,1575,0,0,0,0,0,0
$GC,10252,1.09,162.4,692.3,10.7,174,10257,0.15,2.03,0.00,0.000,6,0.174,0.046,2652,1698,1576,0,0,0,0,0,0
$GC,10895,1.09,162.4,627.8,9.7,185,10898,0.00,1.98,0.00,0.000,4,0.000,0.037,2651,2955,1575,0,0,0,0,0,0
$GC,11094,1.09,162.4,607.3,10.1,188,11098,0.00,2.00,0.00,0.000,6,0.000,0.045,2659,1699,1575,0,0,0,0,0,0
$GC,11768,1.09,162.4,543.8,9.2,199,11771,0.00,1.98,0.00,0.000,4,0.000,0.036,2659,2960,1575,0,0,0,0,0,0
$GC,11992,1.09,162.4,523.8,9.8,202,11996,0.00,2.03,0.00,0.000,6,0.000,0.044,2667,1698,1575,0,0,0,0,0,0
$GC,12641,1.09,162.4,465.7,8.1,213,12645,0.00,1.98,0.00,0.000,4,0.000,0.037,2668,2944,1575,0,0,0,0,0,0
$GC,12858,1.09,162.6,450.9,7.4,216,12862,0.00,2.00,0.00,0.000,6,0.000,0.045,2676,1692,1575,0,0,0,0,0,0
$GC,13512,1.09,163.7,403.9,7.3,227,13516,0.00,1.95,0.00,0.000,4,0.000,0.037,2676,2959,1575,0,0,0,0,0,0
$GC,13625,1.09,163.7,398.5,7.6,228,13630,0.15,2.03,0.00,0.000,6,0.171,0.044,2648,1690,1575,0,0,0,0,0,0
$GC,14245,1.09,163.7,341.7,9.4,239,14249,0.00,1.98,0.00,0.000,4,0.000,0.036,2648,2955,1575,0,0,0,0,0,0
$GC,14502,1.09,163.7,323.0,9.5,242,14509,0.00,2.03,0.00,0.000,6,0.000,0.044,2655,1698,1574,0,0,0,0,0,0
$GC,15118,1.09,163.7,261.2,8.9,253,15122,0.00,1.95,0.00,0.000,4,0.000,0.035,2656,2951,1575,0,0,0,0,0,0
$GC,15375,1.09,163.7,244.1,8.6,256,15384,0.00,2.03,0.00,0.000,6,0.000,0.044,2664,1693,1575,0,0,0,0,0,0
$GC,15990,1.10,172.0,195.1,6.4,267,16002,0.00,2.05,7.57,0.838,4,0.000,0.035,2664,2964,1547,0,0,0,0,0,0
$GC,16234,1.11,183.6,183.4,6.0,270,16250,0.00,2.03,11.52,0.893,6,0.000,0.044,2673,1695,1501,0,0,0,0,0,0
$GC,16924,1.11,183.6,129.2,8.0,282,16927,0.00,1.95,0.00,0.000,4,0.000,0.036,2673,2959,1500,0,0,0,0,0,0
$GC,17030,1.11,183.6,123.2,8.2,283,17034,0.00,2.05,0.00,0.000,6,0.000,0.044,2682,1690,1499,0,0,0,0,0,0
$GC,17667,1.11,183.6,63.4,8.0,300,17671,0.00,1.98,0.00,0.000,4,0.000,0.035,2682,2961,1500,0,0,0,0,0,0
$GC,17911,1.11,183.6,46.4,7.5,307,17916,0.12,2.03,0.00,0.000,6,0.177,0.044,2662,1697,1500,0,0,0,0,0,0
$GC,18537,1.17,232.6,20.0,1.4,328,18570,0.00,2.05,26.48,0.121,4,0.000,0.035,2662,2964,1300,0,0,0,0,0,0
$FREEZE,6.73,NaN,-0.005,2,5,0
$FREEZE,6.73,NaN,-0.005,2,5,0
$FREEZE,6.73,NaN,-0.005,2,5,0
$FREEZE,6.73,NaN,-0.005,2,5,0
$FREEZE,6.73,NaN,-0.005,2,5,0
$FREEZE,2.28,-1.515,-1.849,2,5,0
$GC,18772,1.17,232.6,2.3,10.0,335,18776,0.00,2.05,0.00,0.000,6,0.000,0.045,2669,1696,1296,0,0,0,0,0,0
$FREEZE,2.28,-1.515,-1.849,2,5,0
$FREEZE,2.28,-1.515,-1.849,2,5,0
$FREEZE,2.28,-1.515,-1.849,2,5,0
$FREEZE,1.92,NaN,-0.001,2,5,0
$STATE,18802,end climb,SURFACE_DEPTH_REACHED
$STATE,18802,begin surface coast
$FREEZE,1.83,-1.539,-1.849,2,5,0
$FINISH,1.8,1.027112
$STATE,18837,end surface coast,CONTROL_FINISHED_OK
$STATE,18837,begin surface
$SM_CCo,18862,97.65,0.075,0,0,442,443.50
$SM_GC,2.24,7.22,3.42,97.65,0.070,0.037,0.075,110,3810,442,-6.77,-0.65,443.50,0,0,0,0,0,0
$RAFOS_CLK,1264
$RAFOS,6,1327639752,4.833333,4.820000,64,56,54,0,0,0,178,169,211,0,0,0
$RAFOS,5,1327639317,4.700000,4.699167,66,64,60,0,0,0,207,198,165,0,0,0
$RAFOS,4,1327638826,4.566667,4.562778,64,58,57,0,0,0,198,220,210,0,0,0
$RAFOS,3,1327638304,4.433333,4.417778,62,59,52,0,0,0,152,201,169,0,0,0
$RAFOS,2,1327637844,4.300000,4.290000,72,60,56,0,0,0,177,210,168,0,0,0
$RAFOS,1,1327637393,4.166667,4.164722,60,60,54,0,0,0,193,211,169,0,0,0
$RAFOS,0,1327636908,4.033333,4.030000,67,59,57,0,0,0,211,164,223,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6032.86,-6033.96,260112,101034
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.34
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,17.20
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.0,16.6
$24V_AH,22.0,55.932
$10V_AH,9.8,66.563
$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,18.150,95.825,293.925,97.650,0.000,0.000,0.000,125.525,5.000,0.000,182.094,1301.400,15479.551,526.747,1889.129,430.055,0.000,1506.785,0.000,1545.638,2520.000,29.294,0.000
$DEVICE_MAMPS,257.040,99.450,1447.380,74.970,0.000,0.000,0.000,235.935,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,208.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270376
$DATA_FILE_SIZE,16858,337
$CAP_FILE_SIZE,110767,0
$CFSIZE,260165632,208596992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.163,138.8,1
$GPS,270112,074305,6049.694,-6033.265,34,0.9,34,-27.8