version: 66.09
glider: 143
mission: 13
dive: 322
start: 11 28 111 12 17 50
data:
$ID,143
$MISSION,13
$DIVE,322
$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,-86936.344
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,281111,121123,6604.253,-5912.501,37,0.9,37,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-30.9
$GPS2,281111,121720,6604.294,-5912.545,17,0.7,18,-32.9
$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,69.7,150720,-16.9,-9.167
$D_GRID,628
$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,-146.0,0.0,0.0,0,237,0.00,0.00,-214.35,0.000,6,0.000,0.000,116,2518,3079,0,0,0,0,0,0
$GC,240,-0.73,-146.0,1.9,0.0,34,255,7.40,1.20,0.00,0.000,4,0.177,0.047,2162,1814,3080,0,0,0,0,0,0
$GC,506,-0.73,-146.0,2.0,-0.1,74,513,0.00,1.23,0.00,0.000,6,0.000,0.060,2159,2508,3081,0,0,0,0,0,0
$GC,844,-0.73,-146.0,1.9,0.0,125,850,0.00,1.15,0.00,0.000,4,0.000,0.046,2159,1820,3081,0,0,0,0,0,0
$GC,1102,-0.73,-146.0,1.9,0.2,164,1108,0.00,1.23,0.00,0.000,6,0.000,0.060,2155,2517,3082,0,0,0,0,0,0
$GC,1442,-0.73,-146.0,1.9,-0.3,215,1449,0.00,1.17,0.00,0.000,4,0.000,0.047,2154,1818,3081,0,0,0,0,0,0
$GC,1699,-0.73,-146.0,1.9,0.1,254,1706,0.00,1.23,0.00,0.000,6,0.000,0.060,2150,2516,3081,0,0,0,0,0,0
$GC,2040,-0.73,-146.0,1.9,0.1,305,2047,0.00,1.17,0.00,0.000,4,0.000,0.047,2150,1816,3081,0,0,0,0,0,0
$GC,2298,-0.73,-146.0,2.0,-0.1,344,2308,0.00,1.23,0.00,0.000,6,0.000,0.060,2146,2515,3081,0,0,0,0,0,0
$GC,2639,-0.73,-146.0,2.1,-0.9,395,2646,0.00,1.17,0.00,0.000,4,0.000,0.048,2146,1816,3082,0,0,0,0,0,0
$GC,2898,-0.73,-146.0,2.0,-1.4,434,2905,0.00,1.23,0.00,0.000,6,0.000,0.060,2141,2515,3081,0,0,0,0,0,0
$GC,3237,-0.73,-146.0,2.0,0.0,485,3244,0.00,1.17,0.00,0.000,4,0.000,0.047,2141,1814,3081,0,0,0,0,0,0
$GC,3497,-0.73,-146.0,2.0,-0.1,524,3503,0.00,1.23,0.00,0.000,6,0.000,0.059,2136,2515,3081,0,0,0,0,0,0
$GC,3833,-0.73,-146.0,1.9,0.1,575,3843,0.12,1.17,0.00,0.000,4,0.220,0.047,2162,1818,3081,0,0,0,0,0,0
$GC,4095,-0.73,-146.0,1.9,0.1,614,4102,0.00,1.20,0.00,0.000,6,0.000,0.059,2159,2505,3081,0,0,0,0,0,0
$GC,4434,-0.73,-146.0,1.9,0.0,665,4440,0.00,1.15,0.00,0.000,4,0.000,0.047,2159,1819,3082,0,0,0,0,0,0
$GC,4692,-0.73,-146.0,2.0,0.0,704,4701,0.00,1.20,0.00,0.000,6,0.000,0.060,2154,2506,3081,0,0,0,0,0,0
$GC,5031,-0.73,-146.0,1.9,0.2,755,5037,0.00,1.15,0.00,0.000,4,0.000,0.047,2154,1818,3081,0,0,0,0,0,0
$GC,5291,-0.73,-146.0,2.0,-0.1,794,5298,0.00,1.20,0.00,0.000,6,0.000,0.059,2150,2507,3081,0,0,0,0,0,0
$GC,5629,-0.73,-146.0,2.0,-0.2,845,5636,0.00,1.15,0.00,0.000,4,0.000,0.046,2150,1818,3082,0,0,0,0,0,0
$GC,5888,-0.73,-146.0,1.9,-0.0,884,5895,0.00,1.20,0.00,0.000,6,0.000,0.059,2145,2508,3081,0,0,0,0,0,0
$GC,6227,-0.73,-146.0,1.9,-0.0,935,6236,0.00,1.15,0.00,0.000,4,0.000,0.046,2146,1818,3081,0,0,0,0,0,0
$GC,6488,-0.73,-146.0,1.9,-0.0,974,6495,0.00,1.20,0.00,0.000,6,0.000,0.059,2141,2506,3082,0,0,0,0,0,0
$GC,6826,-0.73,-146.0,2.0,0.0,1025,6833,0.00,1.15,0.00,0.000,4,0.000,0.046,2141,1816,3081,0,0,0,0,0,0
$GC,7085,-0.73,-146.0,2.0,-0.3,1064,7091,0.00,1.20,0.00,0.000,6,0.000,0.058,2136,2506,3081,0,0,0,0,0,0
$GC,7422,-0.73,-146.0,2.0,-0.2,1115,7429,0.12,1.17,0.00,0.000,4,0.218,0.047,2162,1809,3081,0,0,0,0,0,0
$GC,7680,-0.73,-146.0,1.9,0.1,1154,7689,0.00,1.23,0.00,0.000,6,0.000,0.058,2159,2513,3082,0,0,0,0,0,0
$GC,8020,-0.73,-146.0,2.0,-0.2,1205,8026,0.00,1.17,0.00,0.000,4,0.000,0.047,2159,1812,3081,0,0,0,0,0,0
$GC,8280,-0.73,-146.0,1.9,0.2,1244,8286,0.00,1.23,0.00,0.000,6,0.000,0.059,2154,2514,3081,0,0,0,0,0,0
$GC,8616,-0.73,-146.0,1.9,-1.1,1295,8625,0.00,1.17,0.00,0.000,4,0.000,0.047,2154,1811,3081,0,0,0,0,0,0
$GC,8876,-0.73,-146.0,2.0,0.0,1334,8882,0.00,1.23,0.00,0.000,6,0.000,0.059,2150,2514,3081,0,0,0,0,0,0
$GC,9213,-0.73,-146.0,1.9,0.1,1385,9220,0.00,1.17,0.00,0.000,4,0.000,0.047,2149,1813,3082,0,0,0,0,0,0
$GC,9473,-0.73,-146.0,2.0,0.1,1424,9480,0.00,1.23,0.00,0.000,6,0.000,0.060,2145,2515,3081,0,0,0,0,0,0
$GC,9810,-0.73,-146.0,2.0,-0.3,1475,9816,0.00,1.17,0.00,0.000,4,0.000,0.047,2145,1813,3081,0,0,0,0,0,0
$GC,10071,-0.73,-146.0,1.9,0.5,1514,10077,0.00,1.23,0.00,0.000,6,0.000,0.060,2140,2515,3081,0,0,0,0,0,0
$GC,10410,-0.73,-146.0,2.0,-0.0,1565,10419,0.00,1.17,0.00,0.000,4,0.000,0.047,2140,1813,3082,0,0,0,0,0,0
$GC,10671,-0.73,-146.0,2.0,-0.2,1604,10677,0.00,1.23,0.00,0.000,6,0.000,0.060,2136,2514,3081,0,0,0,0,0,0
$GC,11008,-0.73,-146.0,1.9,0.1,1655,11015,0.12,1.17,0.00,0.000,4,0.218,0.048,2161,1819,3081,0,0,0,0,0,0
$GC,11266,-0.73,-146.0,1.9,-0.1,1694,11273,0.00,1.20,0.00,0.000,6,0.000,0.060,2159,2507,3081,0,0,0,0,0,0
$GC,11605,-0.73,-146.0,2.0,-0.1,1745,11611,0.00,1.15,0.00,0.000,4,0.000,0.047,2158,1818,3081,0,0,0,0,0,0
$GC,11863,-0.73,-146.0,1.8,0.0,1784,11870,0.00,1.23,0.00,0.000,6,0.000,0.060,2154,2519,3081,0,0,0,0,0,0
$STATE,12007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12007,begin apogee
$FREEZE,1.99,-1.371,-1.729,2,1,0
$GC,12013,-0.16,0.0,1.8,1.4,1806,12024,0.68,0.00,7.85,0.089,2,0.188,0.000,2337,2191,3011,0,0,0,0,0,0
$STATE,12026,end apogee,SURFACE_DEPTH_REACHED
$STATE,12026,begin surface coast
$FREEZE,1.97,-1.371,-1.729,2,1,0
$FREEZE,1.99,-1.379,-1.729,2,1,0
$FREEZE,1.93,1.247,-1.582,2,1,0
$FREEZE,1.88,1.622,-1.563,2,1,0
$FREEZE,1.88,0.671,-1.613,2,1,0
$FREEZE,1.96,0.820,-1.605,2,1,0
$FREEZE,1.96,0.644,-1.614,2,1,0
$FREEZE,1.96,0.547,-1.620,2,1,0
$FREEZE,2.00,0.078,-1.645,2,1,0
$FREEZE,1.98,0.102,-1.644,2,1,0
$FREEZE,1.94,0.119,-1.643,2,1,0
$FREEZE,1.89,0.118,-1.643,2,1,0
$FREEZE,1.91,1.541,-1.567,2,1,0
$FREEZE,1.97,-1.369,-1.729,2,1,0
$FREEZE,1.93,-1.373,-1.729,2,1,0
$FREEZE,1.96,-1.373,-1.729,2,1,0
$FREEZE,2.00,-1.371,-1.729,2,1,0
$FREEZE,1.91,-1.369,-1.729,2,1,0
$FINISH,1.9,1.025392
$STATE,12144,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12144,begin surface
$SM_CCo,12159,291.83,0.087,0,0,441,501.15
$SM_GC,1.95,6.03,0.62,291.83,0.046,0.062,0.087,115,2518,441,-7.08,-0.48,501.15,0,0,0,0,0,0
$RAFOS_CLK,840
$RAFOS,6,1322484545,12.833333,12.818055,59,53,52,0,0,0,187,198,162,0,0,0
$RAFOS,5,1322484063,12.700000,12.684167,65,59,59,0,0,0,170,205,219,0,0,0
$RAFOS,4,1322483584,12.566667,12.551111,67,66,63,0,0,0,181,833,206,0,0,0
$RAFOS,3,1322483101,12.433333,12.416945,120,59,58,0,0,0,627,136,147,0,0,0
$RAFOS,0,1322481663,12.033333,12.017500,60,56,55,0,0,0,195,213,234,0,0,0
$RAFOS_FIX,6608.828125,-5917.041016,281111,080842,3,106,0.00
$IRIDIUM_FIX,6537.93,-5909.46,281111,080850
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.74
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,18
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.0,38.929
$10V_AH,9.9,30.752
$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,14.475,48.875,7.850,291.825,0.000,0.000,0.000,233.900,4.750,0.000,19.740,4625.346,4446.206,652.766,2843.158,240.097,0.000,2138.843,0.000,2600.822,1440.000,2.808,0.000
$DEVICE_MAMPS,219.555,61.965,88.740,87.210,0.000,0.000,0.000,265.160,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1348.441,1289.687,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150196
$DATA_FILE_SIZE,63196,1825
$CAP_FILE_SIZE,140010,0
$CFSIZE,260165632,225628160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1438.1
$CURRENT,0.372,  5.3,1
$GPS,281111,154653,6606.831,-5911.952,41,0.9,41,-32.9