version: 66.09
glider: 143
mission: 13
dive: 314
start: 11 27 111 7 35 0
data:
$ID,143
$MISSION,13
$DIVE,314
$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,-86926.258
$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
$GPS1,271111,072837,6619.149,-5921.360,26,1.1,26,-33.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-30.9
$GPS2,271111,073428,6619.007,-5921.360,19,1.5,19,-33.2
$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,41.9,137490,-16.9,-9.167
$D_GRID,693
$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,-146.0,0.0,0.0,0,232,0.00,0.00,-212.45,0.000,6,0.000,0.000,114,2521,3080,0,0,0,0,0,0
$GC,235,-0.73,-146.0,2.1,-0.1,33,248,7.35,1.15,0.00,0.000,4,0.176,0.075,2155,3216,3082,0,0,0,0,0,0
$GC,500,-0.73,-146.0,2.0,0.4,73,507,0.00,1.12,0.00,0.000,6,0.000,0.037,2155,2508,3082,0,0,0,0,0,0
$GC,839,-0.73,-146.0,2.0,-0.0,124,848,0.00,1.25,0.00,0.000,4,0.000,0.073,2151,3220,3083,0,0,0,0,0,0
$GC,1100,-0.73,-146.0,2.1,-0.4,163,1107,0.00,1.12,0.00,0.000,6,0.000,0.037,2150,2509,3083,0,0,0,0,0,0
$GC,1439,-0.73,-146.0,2.0,-0.0,214,1445,0.00,1.23,0.00,0.000,4,0.000,0.071,2146,3213,3083,0,0,0,0,0,0
$GC,1696,-0.73,-146.0,2.1,-0.2,253,1703,0.00,1.12,0.00,0.000,6,0.000,0.037,2146,2500,3083,0,0,0,0,0,0
$GC,2033,-0.73,-146.0,2.1,-1.0,304,2040,0.00,1.25,0.00,0.000,4,0.000,0.071,2141,3220,3083,0,0,0,0,0,0
$GC,2293,-0.73,-146.0,2.1,0.0,343,2299,0.00,1.12,0.00,0.000,6,0.000,0.037,2141,2508,3083,0,0,0,0,0,0
$GC,2630,-0.73,-146.0,2.1,0.2,394,2637,0.00,1.23,0.00,0.000,4,0.000,0.073,2137,3213,3083,0,0,0,0,0,0
$GC,2889,-0.73,-146.0,2.0,-0.0,433,2896,0.00,1.12,0.00,0.000,6,0.000,0.037,2137,2499,3083,0,0,0,0,0,0
$GC,3229,-0.73,-146.0,2.1,-1.0,484,3236,0.00,1.25,0.00,0.000,4,0.000,0.072,2132,3220,3083,0,0,0,0,0,0
$GC,3491,-0.73,-146.0,1.9,1.7,523,3498,0.10,1.12,0.00,0.000,6,0.184,0.036,2158,2499,3083,0,0,0,0,0,0
$GC,3829,-0.73,-146.0,2.0,0.1,574,3836,0.00,1.25,0.00,0.000,4,0.000,0.072,2155,3220,3083,0,0,0,0,0,0
$GC,4087,-0.73,-146.0,2.1,0.1,613,4094,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2520,3083,0,0,0,0,0,0
$GC,4427,-0.73,-146.0,2.0,-0.0,664,4433,0.00,1.20,0.00,0.000,4,0.000,0.072,2151,3213,3083,0,0,0,0,0,0
$GC,4685,-0.73,-146.0,2.0,0.2,703,4693,0.00,1.10,0.00,0.000,6,0.000,0.035,2151,2509,3083,0,0,0,0,0,0
$GC,5022,-0.73,-146.0,2.1,0.0,754,5029,0.00,1.23,0.00,0.000,4,0.000,0.072,2146,3216,3083,0,0,0,0,0,0
$GC,5282,-0.73,-146.0,2.0,-0.0,793,5288,0.00,1.10,0.00,0.000,6,0.000,0.036,2146,2513,3083,0,0,0,0,0,0
$GC,5621,-0.73,-146.0,2.0,0.2,844,5628,0.00,1.20,0.00,0.000,4,0.000,0.072,2142,3210,3083,0,0,0,0,0,0
$GC,5879,-0.73,-146.0,2.0,0.0,883,5886,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2498,3083,0,0,0,0,0,0
$GC,6217,-0.73,-146.0,2.1,-0.4,934,6224,0.00,1.23,0.00,0.000,4,0.000,0.071,2137,3211,3083,0,0,0,0,0,0
$GC,6476,-0.73,-146.0,2.0,0.1,973,6482,0.00,1.10,0.00,0.000,6,0.000,0.036,2137,2505,3083,0,0,0,0,0,0
$GC,6815,-0.73,-146.0,2.0,0.0,1024,6821,0.00,1.23,0.00,0.000,4,0.000,0.072,2132,3214,3083,0,0,0,0,0,0
$GC,7072,-0.73,-146.0,2.0,-0.0,1063,7082,0.10,1.10,0.00,0.000,6,0.186,0.035,2158,2501,3083,0,0,0,0,0,0
$GC,7412,-0.73,-146.0,2.0,0.2,1114,7419,0.00,1.23,0.00,0.000,4,0.000,0.072,2156,3211,3083,0,0,0,0,0,0
$GC,7672,-0.73,-146.0,2.0,0.1,1153,7678,0.00,1.10,0.00,0.000,6,0.000,0.036,2156,2506,3083,0,0,0,0,0,0
$GC,8009,-0.73,-146.0,2.0,0.0,1204,8016,0.00,1.23,0.00,0.000,4,0.000,0.072,2151,3216,3083,0,0,0,0,0,0
$GC,8269,-0.73,-146.0,2.0,-0.1,1243,8278,0.00,1.10,0.00,0.000,6,0.000,0.035,2151,2510,3083,0,0,0,0,0,0
$GC,8609,-0.73,-146.0,2.1,0.0,1294,8615,0.00,1.23,0.00,0.000,4,0.000,0.072,2147,3219,3083,0,0,0,0,0,0
$GC,8868,-0.73,-146.0,2.0,0.3,1333,8875,0.00,1.10,0.00,0.000,6,0.000,0.035,2146,2514,3083,0,0,0,0,0,0
$GC,9207,-0.73,-146.0,2.0,0.1,1384,9214,0.00,1.23,0.00,0.000,4,0.000,0.073,2142,3220,3083,0,0,0,0,0,0
$GC,9467,-0.73,-146.0,2.0,0.3,1423,9474,0.00,1.12,0.00,0.000,6,0.000,0.036,2142,2502,3082,0,0,0,0,0,0
$GC,9804,-0.73,-146.0,1.9,1.4,1474,9813,0.00,1.23,0.00,0.000,4,0.000,0.072,2137,3211,3083,0,0,0,0,0,0
$GC,10064,-0.73,-146.0,2.1,0.0,1513,10070,0.00,1.10,0.00,0.000,6,0.000,0.036,2137,2504,3083,0,0,0,0,0,0
$GC,10401,-0.73,-146.0,2.1,-0.2,1564,10408,0.00,1.23,0.00,0.000,4,0.000,0.071,2132,3213,3083,0,0,0,0,0,0
$GC,10660,-0.73,-146.0,2.1,-0.3,1603,10670,0.08,1.10,0.00,0.000,6,0.187,0.036,2152,2501,3083,0,0,0,0,0,0
$GC,11000,-0.73,-146.0,2.0,0.3,1654,11006,0.00,1.23,0.00,0.000,4,0.000,0.072,2149,3213,3083,0,0,0,0,0,0
$GC,11257,-0.73,-146.0,2.1,-0.1,1693,11264,0.00,1.10,0.00,0.000,6,0.000,0.036,2149,2505,3083,0,0,0,0,0,0
$GC,11595,-0.73,-146.0,2.0,0.0,1744,11602,0.00,1.23,0.00,0.000,4,0.000,0.073,2144,3213,3083,0,0,0,0,0,0
$GC,11851,-0.73,-146.0,2.0,-0.1,1783,11860,0.00,1.10,0.00,0.000,6,0.000,0.035,2145,2506,3083,0,0,0,0,0,0
$STATE,12010,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12010,begin apogee
$FREEZE,1.95,-1.404,-1.723,2,1,0
$GC,12017,-0.16,0.0,2.0,0.0,1807,12030,0.70,0.00,9.55,0.089,2,0.185,0.000,2337,2203,2997,0,0,0,0,0,0
$STATE,12031,end apogee,SURFACE_DEPTH_REACHED
$STATE,12031,begin surface coast
$FREEZE,2.07,0.495,-1.615,2,1,0
$FREEZE,2.02,-1.398,-1.723,2,1,0
$FREEZE,2.02,-1.408,-1.723,2,1,0
$FREEZE,2.09,-1.396,-1.723,2,1,0
$FREEZE,2.00,-1.395,-1.722,2,1,0
$FREEZE,2.04,-1.395,-1.722,2,1,0
$FREEZE,2.01,-1.411,-1.723,2,1,0
$FREEZE,1.98,-1.411,-1.723,2,1,0
$FREEZE,1.99,-1.408,-1.723,2,1,0
$FREEZE,2.04,-1.410,-1.723,2,1,0
$FREEZE,1.99,-1.407,-1.723,2,1,0
$FREEZE,2.06,-1.406,-1.723,2,1,0
$FREEZE,1.98,-1.409,-1.723,2,1,0
$FREEZE,2.04,-1.414,-1.724,2,1,0
$FREEZE,1.99,-1.408,-1.723,2,1,0
$FINISH,2.0,1.025314
$STATE,12130,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12130,begin surface
$SM_CCo,12146,290.15,0.087,0,0,441,501.15
$SM_GC,2.10,6.00,0.60,290.15,0.047,0.061,0.087,119,2515,441,-7.06,-0.54,501.15,0,0,0,0,0,0
$RAFOS_CLK,845
$RAFOS,6,1322383745,8.833333,8.818055,73,66,63,0,0,0,929,210,184,0,0,0
$RAFOS,5,1322383266,8.700000,8.685000,67,67,59,0,0,0,192,896,202,0,0,0
$RAFOS,4,1322382785,8.566667,8.551389,89,67,64,0,0,0,760,213,147,0,0,0
$RAFOS,3,1322382307,8.433333,8.418612,144,53,53,0,0,0,541,194,173,0,0,0
$RAFOS,2,1322381822,8.300000,8.283889,138,58,57,0,0,0,645,140,215,0,0,0
$RAFOS,1,1322381345,8.166667,8.151389,89,68,60,0,0,0,747,229,141,0,0,0
$RAFOS,0,1322380862,8.033334,8.017222,74,59,58,0,0,0,810,201,117,0,0,0
$RAFOS_FIX,6620.660156,-5922.329102,271111,080832,6,101,1.05
$IRIDIUM_FIX,6558.99,-6011.31,271111,030317
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.29
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,17
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.0,38.857
$10V_AH,10.1,29.889
$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,14.325,47.725,9.550,290.150,0.000,0.000,0.000,230.575,4.500,0.000,20.935,4661.498,4413.557,647.229,2831.671,250.128,0.000,2129.085,0.000,2597.736,2520.000,2.808,0.000
$DEVICE_MAMPS,187.425,74.970,88.740,87.210,0.000,0.000,0.000,263.662,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1363.115,1262.717,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150216
$DATA_FILE_SIZE,63333,1823
$CAP_FILE_SIZE,141073,0
$CFSIZE,260165632,226185216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.5
$CURRENT,0.505,178.8,1
$GPS,271111,110402,6615.626,-5921.142,41,0.8,41,-33.1