version: 66.09
glider: 143
mission: 13
dive: 2126
start: 1 28 112 17 1 11
data:
$ID,143
$MISSION,13
$DIVE,2126
$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,-261227.83
$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,32
$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,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,4
$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
$GPS1,280112,165306,6043.954,-6033.145,27,0.8,27,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-60.6
$GPS2,280112,170037,6043.945,-6033.351,16,1.2,17,-27.7
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6043.945,-6011.261
$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,124.7,20000,-15.9,-7.460
$D_GRID,1564
$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,-0.66,-116.8,0.0,0.0,0,141,0.00,0.00,-120.30,0.000,2,0.000,0.000,111,3784,2317,0,0,0,0,0,0
$GC,149,-0.66,-116.8,4.6,-2.8,4,172,8.68,0.20,-10.30,0.000,4,0.248,0.213,2083,3916,2728,0,0,0,0,0,0
$GC,412,-0.66,-116.8,47.4,-13.0,12,415,0.00,0.25,0.00,0.000,6,0.000,0.051,2083,3768,2730,0,0,0,0,0,0
$GC,1059,-0.66,-116.8,112.6,-9.5,31,1063,0.00,1.83,0.00,0.000,4,0.000,0.044,2083,2573,2728,0,0,0,0,0,0
$GC,1144,-0.66,-116.8,119.6,-9.7,32,1148,0.00,2.03,0.00,0.000,6,0.000,0.046,2077,3823,2727,0,0,0,0,0,0
$GC,1799,-0.66,-116.8,183.4,-9.4,43,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3823,2729,0,0,0,0,0,0
$GC,2406,-0.66,-116.8,238.3,-8.9,53,2410,0.00,1.98,0.00,0.000,4,0.000,0.042,2077,2579,2729,0,0,0,0,0,0
$GC,2564,-0.66,-116.8,250.4,-8.9,55,2568,0.00,1.98,0.00,0.000,6,0.000,0.045,2071,3809,2729,0,0,0,0,0,0
$GC,3212,-0.66,-116.8,308.7,-8.4,66,3216,0.00,0.17,0.00,0.000,4,0.000,0.085,2070,3927,2730,0,0,0,0,0,0
$GC,3318,-0.66,-116.8,314.6,-8.5,67,3322,0.00,0.25,0.00,0.000,6,0.000,0.052,2070,3765,2730,0,0,0,0,0,0
$GC,3953,-0.66,-116.8,378.2,-9.9,78,3956,0.00,0.28,0.00,0.000,4,0.000,0.067,2070,3915,2731,0,0,0,0,0,0
$GC,4045,-0.66,-116.8,385.2,-10.0,79,4048,0.00,0.17,0.00,0.000,6,0.000,0.054,2070,3839,2732,0,0,0,0,0,0
$GC,4693,-0.66,-116.8,456.6,-11.0,90,4697,0.00,0.17,0.00,0.000,4,0.000,0.075,2070,3916,2732,0,0,0,0,0,0
$GC,4766,-0.66,-116.8,464.2,-11.0,91,4770,0.00,0.25,0.00,0.000,6,0.000,0.050,2070,3737,2732,0,0,0,0,0,0
$GC,5435,-0.66,-116.8,544.4,-12.2,102,5438,0.00,0.32,0.00,0.000,4,0.000,0.066,2070,3912,2733,0,0,0,0,0,0
$GC,5480,-0.66,-116.8,544.4,-12.2,102,5484,0.00,0.25,0.00,0.000,6,0.000,0.051,2070,3731,2733,0,0,0,0,0,0
$GC,6110,-0.66,-116.8,627.2,-12.0,113,6114,0.00,0.32,0.00,0.000,4,0.000,0.067,2070,3914,2733,0,0,0,0,0,0
$GC,6189,-0.66,-116.8,635.4,-11.9,114,6192,0.00,0.25,0.00,0.000,6,0.000,0.050,2070,3731,2734,0,0,0,0,0,0
$GC,6851,-0.66,-116.8,707.8,-10.4,125,6855,0.00,0.32,0.00,0.000,4,0.000,0.068,2069,3913,2733,0,0,0,0,0,0
$GC,6891,-0.66,-116.8,707.8,-10.4,125,6894,0.00,0.25,0.00,0.000,6,0.000,0.050,2069,3734,2733,0,0,0,0,0,0
$GC,7525,-0.66,-116.8,772.7,-9.4,136,7529,0.00,0.32,0.00,0.000,4,0.000,0.068,2069,3915,2733,0,0,0,0,0,0
$GC,7593,-0.66,-116.8,779.1,-9.3,137,7597,0.00,0.25,0.00,0.000,6,0.000,0.049,2070,3730,2733,0,0,0,0,0,0
$GC,8267,-0.66,-116.8,843.3,-9.8,148,8271,0.00,0.32,0.00,0.000,4,0.000,0.068,2069,3911,2733,0,0,0,0,0,0
$GC,8319,-0.66,-116.8,843.3,-9.8,148,8323,0.00,0.25,0.00,0.000,6,0.000,0.050,2069,3728,2733,0,0,0,0,0,0
$GC,8941,-0.66,-116.8,913.6,-10.5,159,8945,0.00,0.32,0.00,0.000,4,0.000,0.067,2069,3908,2733,0,0,0,0,0,0
$GC,9013,-0.66,-116.8,920.8,-10.5,160,9017,0.00,0.25,0.00,0.000,6,0.000,0.050,2069,3722,2733,0,0,0,0,0,0
$STATE,9192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9192,begin apogee
$GC,9204,-0.16,0.0,940.9,-10.8,163,9313,0.52,0.00,105.03,1.440,6,0.111,0.000,2244,1701,2250,0,0,0,0,0,0
$STATE,9317,end apogee,CONTROL_FINISHED_OK
$STATE,9317,begin climb
$GC,9321,0.66,116.8,947.3,0.0,164,9444,0.75,2.25,111.68,1.405,4,0.049,0.034,2518,2948,1773,0,0,0,0,0,0
$GC,9471,1.06,444.0,962.8,-6.6,167,9794,0.35,2.22,309.77,1.375,6,0.047,0.047,2661,1690,442,0,0,0,0,0,0
$GC,10428,1.06,444.0,842.8,13.5,183,10432,0.00,2.03,0.00,0.000,4,0.000,0.046,2662,2955,436,0,0,0,0,0,0
$GC,10498,1.06,444.0,833.0,13.8,184,10502,0.00,2.00,0.00,0.000,6,0.000,0.035,2671,1681,435,0,0,0,0,0,0
$GC,11173,1.06,444.0,724.8,16.6,195,11177,0.00,1.90,0.00,0.000,4,0.000,0.054,2680,459,435,0,0,0,0,0,0
$GC,11430,1.06,444.0,688.9,17.7,198,11438,0.15,1.92,0.00,0.000,6,0.130,0.033,2638,1723,434,0,0,0,0,0,0
$GC,12044,1.06,444.0,587.7,14.2,209,12048,0.00,1.88,0.00,0.000,4,0.000,0.047,2637,2940,434,0,0,0,0,0,0
$GC,12125,1.06,444.0,578.0,14.1,210,12129,0.00,1.95,0.00,0.000,6,0.000,0.037,2645,1688,434,0,0,0,0,0,0
$GC,12782,1.06,444.0,489.3,13.1,221,12786,0.00,1.98,0.00,0.000,4,0.000,0.048,2644,2935,434,0,0,0,0,0,0
$GC,12895,1.06,444.0,480.8,13.1,222,12899,0.00,1.92,0.00,0.000,6,0.000,0.036,2653,1693,435,0,0,0,0,0,0
$GC,13516,1.06,444.0,387.1,13.7,233,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1693,434,0,0,0,0,0,0
$GC,14123,1.06,444.0,313.5,11.5,243,14127,0.00,1.98,0.00,0.000,4,0.000,0.047,2652,2941,434,0,0,0,0,0,0
$GC,14170,1.06,444.0,313.5,11.5,243,14173,0.00,1.92,0.00,0.000,6,0.000,0.037,2661,1699,434,0,0,0,0,0,0
$GC,14799,1.06,444.0,229.9,12.3,254,14802,0.00,1.90,0.00,0.000,4,0.000,0.053,2670,475,434,0,0,0,0,0,0
$GC,14904,1.06,444.0,221.3,12.3,255,14908,0.00,1.88,0.00,0.000,6,0.000,0.032,2670,1708,435,0,0,0,0,0,0
$GC,15540,1.06,444.0,143.8,10.4,266,15544,0.00,1.98,0.00,0.000,4,0.000,0.052,2679,464,435,0,0,0,0,0,0
$GC,15646,1.06,444.0,136.3,10.3,267,15650,0.08,1.92,0.00,0.000,6,0.113,0.033,2637,1698,435,0,0,0,0,0,0
$GC,16284,1.06,444.0,79.4,10.3,281,16287,0.00,1.88,0.00,0.000,4,0.000,0.041,2637,2935,435,0,0,0,0,0,0
$GC,16362,1.06,444.0,71.4,11.2,283,16366,0.00,1.95,0.00,0.000,6,0.000,0.044,2644,1700,435,0,0,0,0,0,0
$FREEZE,8.59,-1.607,-1.856,2,1,0
$FREEZE,5.88,NaN,-0.004,2,1,0
$FREEZE,2.67,-1.633,-1.851,2,1,0
$FREEZE,1.93,NaN,-0.001,2,1,0
$STATE,16992,end climb,SURFACE_DEPTH_REACHED
$STATE,16992,begin surface coast
$FREEZE,1.88,-1.637,-1.850,2,1,0
$FINISH,1.9,1.027129
$STATE,17028,end surface coast,CONTROL_FINISHED_OK
$STATE,17028,begin surface
$SM_CCo,17113,0.00,0.000,0,0,436,444.97
$SM_GC,2.55,7.10,3.42,0.00,0.068,0.041,0.000,112,3801,436,-6.76,-0.85,444.97,0,0,0,0,0,0
$RAFOS_CLK,1056
$RAFOS,6,1327783765,20.833334,20.823610,61,59,59,0,0,0,214,190,236,0,0,0
$RAFOS,5,1327783280,20.700001,20.688889,60,59,56,0,0,0,164,207,140,0,0,0
$RAFOS,4,1327782786,20.566668,20.551666,59,58,57,0,0,0,225,213,171,0,0,0
$RAFOS,3,1327782301,20.433332,20.416945,59,58,56,0,0,0,168,208,144,0,0,0
$RAFOS,2,1327781869,20.299999,20.296944,63,62,60,0,0,0,148,195,184,0,0,0
$RAFOS,1,1327781347,20.166666,20.151945,67,60,57,0,0,0,217,154,139,0,0,0
$RAFOS,0,1327780876,20.033333,20.021111,60,55,55,0,0,0,172,136,206,0,0,0
$RAFOS,6,1327769361,16.833334,16.822500,61,59,56,0,0,0,155,219,136,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6024.11,-6026.78,280112,111157
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.44
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_TOP_PING,18.8,16.2
$24V_AH,22.0,57.360
$10V_AH,9.9,67.050
$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,17.625,55.150,526.475,0.000,0.000,0.000,0.000,237.875,7.750,0.000,17.914,1111.331,14182.187,554.379,1340.470,380.398,0.000,1495.412,0.000,1108.266,2520.000,25.604,0.000
$DEVICE_MAMPS,247.860,213.435,1440.495,0.000,0.000,0.000,0.000,242.690,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270332
$DATA_FILE_SIZE,13544,305
$CAP_FILE_SIZE,92312,0
$CFSIZE,260165632,208240640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.065,328.9,1
$GPS,280112,214753,6043.190,-6030.154,40,0.9,41,-27.7