version: 66.09
glider: 143
mission: 13
dive: 309
start: 11 26 111 13 42 5
data:
$ID,143
$MISSION,13
$DIVE,309
$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,-86922.367
$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,37
$R_STBD_OVSHOOT,21
$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
$GPS1,261111,122716,6638.335,-5918.788,0,7096.0,0,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-31.0
$GPS2,261111,122716,6638.335,-5918.788,0,7096.0,0,-33.6
$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,77.2,118084,-16.9,-9.167
$D_GRID,867
$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,17,-0.73,-146.0,0.0,0.0,0,125,0.00,0.62,-103.40,0.000,6,0.000,0.107,2429,2522,3080,0,0,0,0,0,0
$GC,130,-0.73,-146.0,2.1,0.2,17,137,0.70,1.12,0.00,0.000,4,0.061,0.038,2167,1813,3080,0,0,0,0,0,0
$GC,389,-0.73,-146.0,2.1,-0.0,56,398,0.00,1.20,0.00,0.000,6,0.000,0.054,2162,2509,3082,0,0,0,0,0,0
$GC,729,-0.73,-146.0,2.1,0.0,107,735,0.00,1.15,0.00,0.000,4,0.000,0.041,2162,1814,3082,0,0,0,0,0,0
$GC,987,-0.73,-146.0,2.1,0.1,146,994,0.00,1.20,0.00,0.000,6,0.000,0.054,2157,2510,3082,0,0,0,0,0,0
$GC,1324,-0.73,-146.0,2.1,0.4,197,1331,0.00,1.15,0.00,0.000,4,0.000,0.042,2157,1812,3082,0,0,0,0,0,0
$GC,1581,-0.73,-146.0,2.1,0.0,236,1587,0.00,1.20,0.00,0.000,6,0.000,0.054,2153,2509,3082,0,0,0,0,0,0
$GC,1920,-0.73,-146.0,2.1,-0.2,287,1927,0.00,1.15,0.00,0.000,4,0.000,0.041,2153,1812,3082,0,0,0,0,0,0
$GC,2177,-0.73,-146.0,2.1,0.0,326,2185,0.00,1.20,0.00,0.000,6,0.000,0.054,2148,2509,3082,0,0,0,0,0,0
$GC,2514,-0.73,-146.0,2.1,0.1,377,2521,0.00,1.15,0.00,0.000,4,0.000,0.041,2148,1812,3082,0,0,0,0,0,0
$GC,2773,-0.73,-146.0,2.0,0.2,416,2780,0.00,1.20,0.00,0.000,6,0.000,0.054,2143,2510,3082,0,0,0,0,0,0
$GC,3113,-0.73,-146.0,2.1,-0.1,467,3120,0.00,1.15,0.00,0.000,4,0.000,0.042,2144,1813,3082,0,0,0,0,0,0
$GC,3371,-0.73,-146.0,2.1,-0.1,506,3380,0.00,1.20,0.00,0.000,6,0.000,0.054,2139,2510,3082,0,0,0,0,0,0
$GC,3711,-0.73,-146.0,2.1,0.1,557,3717,0.00,1.15,0.00,0.000,4,0.000,0.041,2139,1811,3082,0,0,0,0,0,0
$GC,3969,-0.73,-146.0,2.0,0.1,596,3978,0.10,1.20,0.00,0.000,6,0.197,0.055,2160,2509,3082,0,0,0,0,0,0
$GC,4309,-0.73,-146.0,2.1,-0.0,647,4316,0.00,1.15,0.00,0.000,4,0.000,0.044,2160,1812,3083,0,0,0,0,0,0
$GC,4568,-0.73,-146.0,2.1,-0.2,686,4575,0.00,1.20,0.00,0.000,6,0.000,0.055,2157,2510,3082,0,0,0,0,0,0
$GC,4905,-0.73,-146.0,2.1,0.3,737,4913,0.00,1.15,0.00,0.000,4,0.000,0.042,2157,1812,3082,0,0,0,0,0,0
$GC,5165,-0.73,-146.0,2.1,-0.2,776,5171,0.00,1.20,0.00,0.000,6,0.000,0.054,2153,2510,3082,0,0,0,0,0,0
$GC,5504,-0.73,-146.0,2.1,0.1,827,5511,0.00,1.15,0.00,0.000,4,0.000,0.042,2153,1812,3083,0,0,0,0,0,0
$GC,5761,-0.73,-146.0,2.0,0.0,866,5768,0.00,1.20,0.00,0.000,6,0.000,0.055,2148,2510,3083,0,0,0,0,0,0
$GC,6098,-0.73,-146.0,2.1,-0.3,917,6105,0.00,1.15,0.00,0.000,4,0.000,0.042,2148,1813,3083,0,0,0,0,0,0
$GC,6358,-0.73,-146.0,2.0,0.3,956,6364,0.00,1.20,0.00,0.000,6,0.000,0.054,2144,2509,3082,0,0,0,0,0,0
$GC,6695,-0.73,-146.0,2.1,-0.4,1007,6701,0.00,1.15,0.00,0.000,4,0.000,0.042,2143,1813,3083,0,0,0,0,0,0
$GC,6954,-0.73,-146.0,2.1,0.1,1046,6961,0.00,1.20,0.00,0.000,6,0.000,0.054,2139,2511,3083,0,0,0,0,0,0
$GC,7293,-0.73,-146.0,2.1,-0.0,1097,7300,0.00,1.15,0.00,0.000,4,0.000,0.043,2139,1813,3082,0,0,0,0,0,0
$GC,7552,-0.73,-146.0,2.1,-0.1,1136,7559,0.10,1.20,0.00,0.000,6,0.197,0.055,2160,2509,3082,0,0,0,0,0,0
$GC,7891,-0.73,-146.0,2.0,0.0,1187,7898,0.00,1.15,0.00,0.000,4,0.000,0.043,2161,1812,3083,0,0,0,0,0,0
$GC,8150,-0.73,-146.0,2.1,-0.1,1226,8157,0.00,1.20,0.00,0.000,6,0.000,0.055,2158,2508,3083,0,0,0,0,0,0
$GC,8489,-0.73,-146.0,2.1,0.0,1277,8496,0.00,1.15,0.00,0.000,4,0.000,0.041,2158,1809,3083,0,0,0,0,0,0
$GC,8747,-0.73,-146.0,2.1,0.0,1316,8754,0.00,1.23,0.00,0.000,6,0.000,0.055,2153,2520,3083,0,0,0,0,0,0
$GC,9085,-0.73,-146.0,2.1,0.1,1367,9093,0.00,1.17,0.00,0.000,4,0.000,0.043,2153,1808,3082,0,0,0,0,0,0
$GC,9344,-0.73,-146.0,2.1,0.4,1406,9351,0.00,1.20,0.00,0.000,6,0.000,0.054,2149,2508,3082,0,0,0,0,0,0
$GC,9681,-0.73,-146.0,2.1,0.0,1457,9688,0.00,1.15,0.00,0.000,4,0.000,0.042,2149,1810,3083,0,0,0,0,0,0
$GC,9939,-0.73,-146.0,2.1,-0.0,1496,9948,0.00,1.20,0.00,0.000,6,0.000,0.055,2144,2508,3082,0,0,0,0,0,0
$GC,10280,-0.73,-146.0,2.0,0.3,1547,10286,0.00,1.15,0.00,0.000,4,0.000,0.042,2144,1809,3082,0,0,0,0,0,0
$GC,10539,-0.73,-146.0,2.1,0.5,1586,10546,0.00,1.20,0.00,0.000,6,0.000,0.055,2140,2508,3083,0,0,0,0,0,0
$GC,10874,-0.73,-146.0,2.1,0.2,1637,10883,0.00,1.15,0.00,0.000,4,0.000,0.042,2140,1811,3082,0,0,0,0,0,0
$GC,11134,-0.73,-146.0,2.0,0.3,1676,11141,0.10,1.20,0.00,0.000,6,0.197,0.055,2161,2508,3082,0,0,0,0,0,0
$GC,11473,-0.73,-146.0,2.1,0.0,1727,11480,0.00,1.15,0.00,0.000,4,0.000,0.041,2161,1811,3082,0,0,0,0,0,0
$GC,11730,-0.73,-146.0,2.1,0.1,1766,11737,0.00,1.20,0.00,0.000,6,0.000,0.055,2158,2509,3083,0,0,0,0,0,0
$STATE,12006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12006,begin apogee
$FREEZE,2.03,-0.841,-1.713,2,2,0
$FREEZE,1.96,-0.269,-1.680,2,2,0
$GC,12012,-0.16,0.0,2.1,0.1,1808,12034,0.65,0.00,17.88,0.087,2,0.190,0.000,2336,2190,2917,0,0,0,0,0,0
$STATE,12035,end apogee,SURFACE_DEPTH_REACHED
$STATE,12035,begin surface coast
$FREEZE,2.15,-0.260,-1.680,2,2,0
$FINISH,2.1,1.024654
$STATE,12042,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12042,begin surface
$SM_CCo,12045,280.75,0.087,0,0,441,501.15
$RAFOS_CLK,898
$RAFOS,6,1322326143,16.833334,16.817499,123,65,64,0,0,0,815,191,144,0,0,0
$RAFOS,5,1322325666,16.700001,16.684999,104,55,53,0,0,0,818,199,219,0,0,0
$RAFOS,4,1322325182,16.566668,16.550556,88,66,61,0,0,0,656,179,166,0,0,0
$RAFOS,3,1322324703,16.433332,16.417500,171,70,62,0,0,0,621,190,220,0,0,0
$RAFOS,2,1322324221,16.299999,16.283611,67,61,60,0,0,0,610,137,192,0,0,0
$RAFOS,1,1322323743,16.166666,16.150833,107,56,56,0,0,0,653,177,130,0,0,0
$RAFOS,0,1322323267,16.033333,16.018612,97,63,59,0,0,0,735,220,169,0,0,0
$RAFOS_FIX,6635.946777,-5922.109375,261111,161607,7,108,0.35
$IRIDIUM_FIX,6609.62,-5928.22,261111,050553
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.1,38.815
$10V_AH,10.3,29.351
$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,1.650,48.200,17.875,280.750,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4640.246,4590.324,546.902,2583.042,202.984,0.000,1770.942,0.000,2578.247,2520.000,2.809,0.000
$DEVICE_MAMPS,197.370,107.100,87.210,87.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1344.983,1235.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150240
$DATA_FILE_SIZE,66589,1811
$CAP_FILE_SIZE,131844,0
$CFSIZE,260165632,226521088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.9
$CURRENT,0.515,208.3,1
$GPS,261111,162707,6635.947,-5922.109,0,7108.1,0,-33.6