version: 66.09
glider: 143
mission: 13
dive: 317
start: 11 27 111 18 24 38
data:
$ID,143
$MISSION,13
$DIVE,317
$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,-86930.039
$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,39
$R_STBD_OVSHOOT,19
$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
$GPS1,271111,181805,6613.931,-5916.630,34,0.9,34,-33.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-30.9
$GPS2,271111,182406,6613.820,-5916.509,20,1.0,20,-33.1
$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,37.8,140703,-16.9,-9.167
$D_GRID,680
$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,-146.0,0.0,0.0,0,234,0.00,0.00,-213.30,0.000,6,0.000,0.000,118,2512,3081,0,0,0,0,0,0
$GC,237,-0.73,-146.0,2.0,0.2,33,250,7.35,0.00,0.00,0.000,6,0.176,0.000,2159,2512,3082,0,0,0,0,0,0
$GC,582,-0.73,-146.0,2.1,-0.8,85,588,0.00,1.17,0.00,0.000,4,0.000,0.075,2156,3217,3082,0,0,0,0,0,0
$GC,842,-0.73,-146.0,2.0,-0.8,124,848,0.00,1.12,0.00,0.000,6,0.000,0.036,2156,2505,3082,0,0,0,0,0,0
$GC,1180,-0.73,-146.0,2.0,-0.0,175,1189,0.00,1.23,0.00,0.000,4,0.000,0.073,2152,3210,3082,0,0,0,0,0,0
$GC,1441,-0.73,-146.0,2.0,0.2,214,1447,0.00,1.10,0.00,0.000,6,0.000,0.036,2152,2510,3083,0,0,0,0,0,0
$GC,1777,-0.73,-146.0,2.0,0.1,265,1784,0.00,1.23,0.00,0.000,4,0.000,0.072,2147,3214,3083,0,0,0,0,0,0
$GC,2036,-0.73,-146.0,2.0,0.2,304,2043,0.00,1.12,0.00,0.000,6,0.000,0.036,2147,2501,3083,0,0,0,0,0,0
$GC,2376,-0.73,-146.0,2.0,-0.0,355,2382,0.00,1.23,0.00,0.000,4,0.000,0.073,2142,3209,3082,0,0,0,0,0,0
$GC,2634,-0.73,-146.0,2.1,-0.2,394,2643,0.00,1.10,0.00,0.000,6,0.000,0.036,2142,2509,3082,0,0,0,0,0,0
$GC,2974,-0.73,-146.0,2.1,-0.1,445,2980,0.00,1.23,0.00,0.000,4,0.000,0.073,2138,3214,3083,0,0,0,0,0,0
$GC,3232,-0.73,-146.0,2.0,0.1,484,3239,0.00,1.10,0.00,0.000,6,0.000,0.036,2138,2512,3083,0,0,0,0,0,0
$GC,3570,-0.73,-146.0,2.0,0.1,535,3579,0.00,1.23,0.00,0.000,4,0.000,0.073,2133,3217,3083,0,0,0,0,0,0
$GC,3830,-0.73,-146.0,2.0,-0.3,574,3837,0.10,1.12,0.00,0.000,6,0.187,0.036,2159,2496,3083,0,0,0,0,0,0
$GC,4170,-0.73,-146.0,2.0,0.1,625,4177,0.00,1.25,0.00,0.000,4,0.000,0.073,2156,3216,3083,0,0,0,0,0,0
$GC,4428,-0.73,-146.0,2.0,0.4,664,4436,0.00,1.10,0.00,0.000,6,0.000,0.036,2156,2515,3083,0,0,0,0,0,0
$GC,4768,-0.73,-146.0,2.0,-0.1,715,4775,0.00,1.20,0.00,0.000,4,0.000,0.073,2152,3210,3083,0,0,0,0,0,0
$GC,5026,-0.73,-146.0,2.1,-0.3,754,5033,0.00,1.10,0.00,0.000,6,0.000,0.035,2152,2504,3083,0,0,0,0,0,0
$GC,5365,-0.73,-146.0,2.0,0.0,805,5373,0.00,1.23,0.00,0.000,4,0.000,0.071,2147,3213,3083,0,0,0,0,0,0
$GC,5624,-0.73,-146.0,2.1,-0.2,844,5631,0.00,1.10,0.00,0.000,6,0.000,0.036,2147,2507,3083,0,0,0,0,0,0
$GC,5962,-0.73,-146.0,2.0,0.0,895,5968,0.00,1.23,0.00,0.000,4,0.000,0.072,2142,3214,3082,0,0,0,0,0,0
$GC,6222,-0.73,-146.0,2.0,-0.1,934,6229,0.00,1.10,0.00,0.000,6,0.000,0.036,2142,2512,3083,0,0,0,0,0,0
$GC,6561,-0.73,-146.0,2.0,-0.0,985,6569,0.00,1.23,0.00,0.000,4,0.000,0.073,2138,3217,3083,0,0,0,0,0,0
$GC,6821,-0.73,-146.0,2.0,0.1,1024,6828,0.00,1.10,0.00,0.000,6,0.000,0.035,2138,2512,3082,0,0,0,0,0,0
$GC,7161,-0.73,-146.0,2.0,0.1,1075,7167,0.00,1.23,0.00,0.000,4,0.000,0.073,2133,3219,3083,0,0,0,0,0,0
$GC,7418,-0.73,-146.0,2.0,0.1,1114,7426,0.10,1.10,0.00,0.000,6,0.187,0.036,2159,2507,3082,0,0,0,0,0,0
$GC,7757,-0.73,-146.0,2.0,-2.2,1165,7763,0.00,1.23,0.00,0.000,4,0.000,0.073,2157,3213,3083,0,0,0,0,0,0
$GC,8017,-0.73,-146.0,2.1,-0.2,1204,8024,0.00,1.10,0.00,0.000,6,0.000,0.037,2157,2512,3082,0,0,0,0,0,0
$GC,8355,-0.73,-146.0,2.1,-0.1,1255,8363,0.00,1.23,0.00,0.000,4,0.000,0.073,2152,3217,3083,0,0,0,0,0,0
$GC,8617,-0.73,-146.0,2.1,0.0,1294,8624,0.00,1.10,0.00,0.000,6,0.000,0.036,2152,2513,3083,0,0,0,0,0,0
$GC,8955,-0.73,-146.0,2.0,0.0,1345,8965,0.00,1.23,0.00,0.000,4,0.000,0.073,2147,3219,3083,0,0,0,0,0,0
$GC,9216,-0.73,-146.0,2.0,0.5,1384,9223,0.00,1.12,0.00,0.000,6,0.000,0.036,2147,2499,3082,0,0,0,0,0,0
$GC,9553,-0.73,-146.0,2.0,-0.2,1435,9560,0.00,1.23,0.00,0.000,4,0.000,0.072,2142,3210,3083,0,0,0,0,0,0
$GC,9812,-0.73,-146.0,2.0,0.0,1474,9819,0.00,1.10,0.00,0.000,6,0.000,0.035,2142,2506,3082,0,0,0,0,0,0
$GC,10151,-0.73,-146.0,2.0,0.0,1525,10158,0.00,1.23,0.00,0.000,4,0.000,0.072,2138,3212,3082,0,0,0,0,0,0
$GC,10409,-0.73,-146.0,2.1,-0.1,1564,10417,0.00,1.10,0.00,0.000,6,0.000,0.035,2138,2504,3083,0,0,0,0,0,0
$GC,10747,-0.73,-146.0,2.0,-0.0,1615,10754,0.00,1.23,0.00,0.000,4,0.000,0.073,2133,3213,3083,0,0,0,0,0,0
$GC,11006,-0.73,-146.0,2.0,0.1,1654,11013,0.00,1.10,0.00,0.000,6,0.000,0.034,2133,2505,3083,0,0,0,0,0,0
$GC,11343,-0.73,-146.0,2.0,-0.1,1705,11353,0.12,1.23,0.00,0.000,4,0.203,0.073,2157,3209,3083,0,0,0,0,0,0
$GC,11605,-0.73,-146.0,2.1,-0.3,1744,11612,0.00,1.10,0.00,0.000,6,0.000,0.036,2156,2505,3083,0,0,0,0,0,0
$GC,11945,-0.73,-146.0,2.0,-0.0,1795,11951,0.00,1.23,0.00,0.000,4,0.000,0.073,2152,3212,3083,0,0,0,0,0,0
$STATE,12009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12009,begin apogee
$FREEZE,2.10,1.756,-1.551,2,1,0
$FREEZE,2.06,1.771,-1.550,2,1,0
$FREEZE,1.98,-1.348,-1.721,2,1,0
$GC,12016,-0.16,0.0,2.0,0.0,1805,12045,0.68,0.00,25.88,0.086,2,0.183,0.000,2337,2199,2847,0,0,0,0,0,0
$STATE,12047,end apogee,SURFACE_DEPTH_REACHED
$STATE,12047,begin surface coast
$FREEZE,2.03,-1.363,-1.722,2,1,0
$FINISH,2.0,1.025295
$STATE,12053,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12053,begin surface
$SM_CCo,12057,272.67,0.087,0,0,441,501.15
$SM_GC,2.00,6.07,0.62,0.00,0.046,0.061,0.000,119,2521,434,-7.07,-0.37,503.11,0,0,0,0,0,0
$RAFOS_CLK,842
$RAFOS,6,1322426946,20.833334,20.818333,58,56,52,0,0,0,209,184,120,0,0,0
$RAFOS,5,1322426464,20.700001,20.684444,56,52,52,0,0,0,194,145,157,0,0,0
$RAFOS,4,1322425986,20.566668,20.551666,67,60,56,0,0,0,802,214,178,0,0,0
$RAFOS,3,1322425503,20.433332,20.417500,122,61,60,0,0,0,592,183,161,0,0,0
$RAFOS,2,1322425024,20.299999,20.284445,91,58,58,0,0,0,683,187,215,0,0,0
$RAFOS,1,1322424545,20.166666,20.151388,83,63,58,0,0,0,799,162,217,0,0,0
$RAFOS,0,1322424065,20.033333,20.018055,59,59,57,0,0,0,169,198,217,0,0,0
$RAFOS_FIX,6614.265625,-5918.691406,271111,202028,4,91,0.26
$IRIDIUM_FIX,6548.42,-5922.32,271111,141404
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.80
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,17
$ALTIM_TOP_PING,2.1,999.0
$24V_AH,25.0,38.884
$10V_AH,10.0,30.215
$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,14.425,47.700,25.875,272.675,0.000,0.000,0.000,241.025,4.500,0.000,21.370,4568.369,4550.049,649.301,2817.676,255.058,0.000,2134.742,0.000,2578.153,2520.000,2.809,0.000
$DEVICE_MAMPS,202.725,74.970,86.445,87.210,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1322.846,1287.705,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150132
$DATA_FILE_SIZE,66652,1809
$CAP_FILE_SIZE,139383,0
$CFSIZE,260165632,225972224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.5
$CURRENT,0.723,170.6,1
$GPS,271111,215400,6609.031,-5914.490,37,1.9,37,-33.0