version: 66.09
glider: 143
mission: 13
dive: 312
start: 11 27 111 0 14 0
data:
$ID,143
$MISSION,13
$DIVE,312
$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,18
$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
$GPS1,261111,201850,6628.438,-5929.325,0,3112.3,0,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-30.9
$GPS2,261111,201850,6628.438,-5929.325,0,3112.3,0,-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,104.7,132926,-16.9,-9.167
$D_GRID,759
$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,-146.0,0.0,0.0,0,234,0.00,0.62,-209.65,0.000,6,0.000,0.113,2337,2512,3081,0,0,0,0,0,0
$GC,237,-0.73,-146.0,2.1,0.3,33,245,0.45,1.20,0.00,0.000,4,0.067,0.045,2167,1812,3082,0,0,0,0,0,0
$GC,498,-0.73,-146.0,2.1,-0.1,72,505,0.00,1.23,0.00,0.000,6,0.000,0.060,2161,2504,3083,0,0,0,0,0,0
$GC,834,-0.73,-146.0,2.1,0.0,123,841,0.00,1.15,0.00,0.000,4,0.000,0.047,2162,1820,3083,0,0,0,0,0,0
$GC,1095,-0.73,-146.0,2.1,0.0,162,1101,0.00,1.23,0.00,0.000,6,0.000,0.061,2157,2514,3083,0,0,0,0,0,0
$GC,1434,-0.73,-146.0,2.1,-0.4,213,1441,0.00,1.17,0.00,0.000,4,0.000,0.047,2158,1815,3083,0,0,0,0,0,0
$GC,1693,-0.73,-146.0,2.0,0.1,252,1699,0.00,1.23,0.00,0.000,6,0.000,0.060,2153,2511,3083,0,0,0,0,0,0
$GC,2032,-0.73,-146.0,2.0,0.2,303,2039,0.00,1.17,0.00,0.000,4,0.000,0.047,2153,1812,3083,0,0,0,0,0,0
$GC,2289,-0.73,-146.0,2.0,0.2,342,2297,0.00,1.23,0.00,0.000,6,0.000,0.060,2148,2508,3083,0,0,0,0,0,0
$GC,2628,-0.73,-146.0,2.1,0.0,393,2635,0.00,1.17,0.00,0.000,4,0.000,0.046,2148,1810,3083,0,0,0,0,0,0
$GC,2887,-0.73,-146.0,2.0,0.0,432,2894,0.00,1.23,0.00,0.000,6,0.000,0.060,2144,2508,3083,0,0,0,0,0,0
$GC,3225,-0.73,-146.0,2.0,0.1,483,3234,0.00,1.15,0.00,0.000,4,0.000,0.044,2144,1818,3083,0,0,0,0,0,0
$GC,3484,-0.73,-146.0,2.0,0.1,522,3491,0.00,1.23,0.00,0.000,6,0.000,0.060,2139,2515,3082,0,0,0,0,0,0
$GC,3822,-0.73,-146.0,2.1,-0.2,573,3829,0.00,1.17,0.00,0.000,4,0.000,0.047,2139,1815,3083,0,0,0,0,0,0
$GC,4081,-0.73,-146.0,2.1,0.2,612,4090,0.10,1.23,0.00,0.000,6,0.194,0.060,2160,2512,3083,0,0,0,0,0,0
$GC,4420,-0.73,-146.0,2.0,0.1,663,4427,0.00,1.17,0.00,0.000,4,0.000,0.046,2160,1811,3083,0,0,0,0,0,0
$GC,4679,-0.73,-146.0,2.0,0.0,702,4686,0.00,1.23,0.00,0.000,6,0.000,0.060,2157,2510,3083,0,0,0,0,0,0
$GC,5017,-0.73,-146.0,2.0,-0.0,753,5027,0.00,1.17,0.00,0.000,4,0.000,0.046,2157,1810,3083,0,0,0,0,0,0
$GC,5278,-0.73,-146.0,2.0,0.1,792,5285,0.00,1.23,0.00,0.000,6,0.000,0.060,2153,2510,3083,0,0,0,0,0,0
$GC,5614,-0.73,-146.0,2.0,0.0,843,5621,0.00,1.15,0.00,0.000,4,0.000,0.045,2153,1820,3083,0,0,0,0,0,0
$GC,5873,-0.73,-146.0,2.1,-0.0,882,5879,0.00,1.23,0.00,0.000,6,0.000,0.060,2148,2519,3083,0,0,0,0,0,0
$GC,6210,-0.73,-146.0,2.0,0.2,933,6217,0.00,1.17,0.00,0.000,4,0.000,0.046,2148,1815,3083,0,0,0,0,0,0
$GC,6470,-0.73,-146.0,2.1,-0.4,972,6476,0.00,1.23,0.00,0.000,6,0.000,0.060,2143,2513,3083,0,0,0,0,0,0
$GC,6807,-0.73,-146.0,2.0,0.1,1023,6817,0.00,1.17,0.00,0.000,4,0.000,0.047,2144,1811,3083,0,0,0,0,0,0
$GC,7068,-0.73,-146.0,2.1,0.1,1062,7075,0.00,1.23,0.00,0.000,6,0.000,0.060,2139,2509,3083,0,0,0,0,0,0
$GC,7405,-0.73,-146.0,2.0,0.0,1113,7412,0.00,1.15,0.00,0.000,4,0.000,0.045,2139,1818,3083,0,0,0,0,0,0
$GC,7664,-0.73,-146.0,2.1,0.0,1152,7673,0.10,1.23,0.00,0.000,6,0.194,0.060,2160,2516,3083,0,0,0,0,0,0
$GC,8004,-0.73,-146.0,2.0,0.1,1203,8011,0.00,1.17,0.00,0.000,4,0.000,0.045,2160,1812,3083,0,0,0,0,0,0
$GC,8264,-0.73,-146.0,2.0,-0.1,1242,8270,0.00,1.23,0.00,0.000,6,0.000,0.060,2157,2510,3083,0,0,0,0,0,0
$GC,8601,-0.73,-146.0,2.1,0.2,1293,8608,0.00,1.17,0.00,0.000,4,0.000,0.047,2157,1809,3083,0,0,0,0,0,0
$GC,8861,-0.73,-146.0,1.9,0.4,1332,8868,0.00,1.23,0.00,0.000,6,0.000,0.060,2152,2510,3083,0,0,0,0,0,0
$GC,9198,-0.73,-146.0,2.0,1.0,1383,9205,0.00,1.15,0.00,0.000,4,0.000,0.044,2152,1816,3083,0,0,0,0,0,0
$GC,9456,-0.73,-146.0,2.0,0.0,1422,9462,0.00,1.20,0.00,0.000,6,0.000,0.059,2148,2505,3083,0,0,0,0,0,0
$GC,9793,-0.73,-146.0,2.0,0.3,1473,9799,0.00,1.15,0.00,0.000,4,0.000,0.045,2148,1814,3083,0,0,0,0,0,0
$GC,10052,-0.73,-146.0,2.0,0.0,1512,10059,0.00,1.23,0.00,0.000,6,0.000,0.059,2143,2515,3083,0,0,0,0,0,0
$GC,10390,-0.73,-146.0,2.1,-0.3,1563,10396,0.00,1.17,0.00,0.000,4,0.000,0.045,2143,1810,3083,0,0,0,0,0,0
$GC,10647,-0.73,-146.0,2.1,-0.3,1602,10654,0.00,1.23,0.00,0.000,6,0.000,0.060,2139,2511,3083,0,0,0,0,0,0
$GC,10985,-0.73,-146.0,2.1,0.0,1653,10994,0.00,1.15,0.00,0.000,4,0.000,0.044,2139,1817,3083,0,0,0,0,0,0
$GC,11245,-0.73,-146.0,2.0,-0.1,1692,11253,0.10,1.23,0.00,0.000,6,0.195,0.059,2159,2516,3083,0,0,0,0,0,0
$GC,11585,-0.73,-146.0,2.0,0.1,1743,11593,0.00,1.17,0.00,0.000,4,0.000,0.044,2160,1811,3083,0,0,0,0,0,0
$GC,11844,-0.73,-146.0,2.1,-0.1,1782,11854,0.00,1.23,0.00,0.000,6,0.000,0.060,2157,2513,3083,0,0,0,0,0,0
$STATE,12013,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12013,begin apogee
$FREEZE,1.99,-1.417,-1.708,2,5,0
$GC,12019,-0.16,0.0,2.1,-0.2,1807,12032,0.68,0.00,9.90,0.088,2,0.189,0.000,2340,2197,2994,0,0,0,0,0,0
$STATE,12033,end apogee,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FREEZE,2.05,1.567,-1.545,2,5,0
$FREEZE,2.11,-1.409,-1.708,2,5,0
$FREEZE,2.03,-1.399,-1.707,2,5,0
$FINISH,2.0,1.025082
$STATE,12053,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12053,begin surface
$SM_CCo,12069,289.88,0.087,0,0,441,501.15
$SM_GC,2.07,6.03,0.60,289.88,0.048,0.060,0.087,122,2510,441,-7.06,-0.74,501.15,0,0,0,0,0,0
$RAFOS_CLK,888
$RAFOS,6,1322354943,0.833333,0.817500,88,72,69,0,0,0,881,191,174,0,0,0
$RAFOS,5,1322354464,0.700000,0.684444,104,67,54,0,0,0,866,200,131,0,0,0
$RAFOS,4,1322353985,0.566667,0.551389,75,65,65,0,0,0,705,219,195,0,0,0
$RAFOS,3,1322353502,0.433333,0.417222,99,59,59,0,0,0,571,203,144,0,0,0
$RAFOS,2,1322353023,0.300000,0.284167,123,67,59,0,0,0,607,191,178,0,0,0
$RAFOS,0,1322352062,0.033333,0.017222,75,59,58,0,0,0,784,159,172,0,0,0
$RAFOS_FIX,6627.519043,-5921.157715,271111,000052,6,94,0.42
$IRIDIUM_FIX,6609.62,-5928.22,261111,050553
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.74
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.0,38.839
$10V_AH,10.1,29.607
$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,7.450,49.600,9.900,289.875,0.000,0.000,0.000,0.000,0.250,0.000,0.000,4647.730,4359.861,641.974,2585.224,203.540,0.000,1881.560,0.000,2578.915,1800.000,2.807,0.000
$DEVICE_MAMPS,195.075,113.220,87.975,87.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1351.202,1235.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150188
$DATA_FILE_SIZE,63267,1811
$CAP_FILE_SIZE,133629,0
$CFSIZE,260165632,226324480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.6
$CURRENT,0.917,147.3,1
$GPS,271111,034135,6623.288,-5921.015,31,0.9,31,-33.3