version: 66.09
glider: 143
mission: 13
dive: 323
start: 11 28 111 15 52 57
data:
$ID,143
$MISSION,13
$DIVE,323
$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,-86937.602
$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
$GPS1,281111,154653,6606.831,-5911.952,41,0.9,41,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-30.9
$GPS2,281111,155225,6606.890,-5911.888,20,1.6,20,-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,122.9,146954,-16.9,-9.167
$D_GRID,635
$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,-146.0,0.0,0.0,0,239,0.00,0.00,-213.90,0.000,6,0.000,0.000,115,2518,3081,0,0,0,0,0,0
$GC,242,-0.73,-146.0,1.9,0.1,34,256,7.40,1.17,0.00,0.000,4,0.177,0.045,2160,1815,3082,0,0,0,0,0,0
$GC,508,-0.73,-146.0,1.9,0.3,74,515,0.00,1.23,0.00,0.000,6,0.000,0.059,2157,2509,3083,0,0,0,0,0,0
$GC,846,-0.73,-146.0,1.9,0.0,125,853,0.00,1.17,0.00,0.000,4,0.000,0.047,2158,1814,3083,0,0,0,0,0,0
$GC,1105,-0.73,-146.0,1.9,0.5,164,1112,0.00,1.23,0.00,0.000,6,0.000,0.060,2153,2512,3083,0,0,0,0,0,0
$GC,1442,-0.73,-146.0,2.0,-1.0,215,1453,0.00,1.17,0.00,0.000,4,0.000,0.046,2153,1813,3083,0,0,0,0,0,0
$GC,1703,-0.73,-146.0,2.0,-1.2,254,1709,0.00,1.23,0.00,0.000,6,0.000,0.059,2148,2511,3083,0,0,0,0,0,0
$GC,2043,-0.73,-146.0,1.9,-0.1,305,2049,0.00,1.17,0.00,0.000,4,0.000,0.046,2149,1811,3083,0,0,0,0,0,0
$GC,2303,-0.73,-146.0,2.0,0.3,344,2309,0.00,1.23,0.00,0.000,6,0.000,0.059,2144,2511,3083,0,0,0,0,0,0
$GC,2641,-0.73,-146.0,2.0,-0.2,395,2647,0.00,1.17,0.00,0.000,4,0.000,0.047,2144,1812,3083,0,0,0,0,0,0
$GC,2898,-0.73,-146.0,1.9,0.0,434,2904,0.00,1.23,0.00,0.000,6,0.000,0.059,2139,2511,3083,0,0,0,0,0,0
$GC,3235,-0.73,-146.0,1.9,-0.2,485,3243,0.00,1.17,0.00,0.000,4,0.000,0.047,2139,1811,3083,0,0,0,0,0,0
$GC,3495,-0.73,-146.0,2.0,-0.3,524,3502,0.10,1.23,0.00,0.000,6,0.197,0.059,2159,2511,3084,0,0,0,0,0,0
$GC,3835,-0.73,-146.0,2.0,0.4,575,3842,0.00,1.17,0.00,0.000,4,0.000,0.046,2160,1811,3083,0,0,0,0,0,0
$GC,4093,-0.73,-146.0,2.0,-1.5,614,4100,0.00,1.23,0.00,0.000,6,0.000,0.059,2157,2511,3083,0,0,0,0,0,0
$GC,4430,-0.73,-146.0,1.9,0.1,665,4437,0.00,1.17,0.00,0.000,4,0.000,0.047,2157,1811,3083,0,0,0,0,0,0
$GC,4689,-0.73,-146.0,1.9,0.0,704,4698,0.00,1.23,0.00,0.000,6,0.000,0.060,2152,2511,3083,0,0,0,0,0,0
$GC,5027,-0.73,-146.0,1.9,0.0,755,5034,0.00,1.15,0.00,0.000,4,0.000,0.044,2153,1819,3083,0,0,0,0,0,0
$GC,5283,-0.73,-146.0,1.9,0.0,794,5290,0.00,1.20,0.00,0.000,6,0.000,0.060,2148,2507,3083,0,0,0,0,0,0
$GC,5624,-0.73,-146.0,1.9,-0.0,845,5630,0.00,1.15,0.00,0.000,4,0.000,0.046,2148,1818,3083,0,0,0,0,0,0
$GC,5882,-0.73,-146.0,1.9,0.2,884,5891,0.00,1.23,0.00,0.000,6,0.000,0.059,2143,2519,3083,0,0,0,0,0,0
$GC,6221,-0.73,-146.0,1.9,0.0,935,6228,0.00,1.17,0.00,0.000,4,0.000,0.047,2143,1816,3083,0,0,0,0,0,0
$GC,6480,-0.73,-146.0,1.9,-0.2,974,6486,0.00,1.20,0.00,0.000,6,0.000,0.059,2139,2503,3083,0,0,0,0,0,0
$GC,6819,-0.73,-146.0,1.9,-0.2,1025,6828,0.00,1.15,0.00,0.000,4,0.000,0.047,2139,1815,3083,0,0,0,0,0,0
$GC,7080,-0.73,-146.0,1.9,-0.5,1064,7087,0.10,1.23,0.00,0.000,6,0.196,0.060,2159,2515,3083,0,0,0,0,0,0
$GC,7420,-0.73,-146.0,1.9,-0.1,1115,7426,0.00,1.17,0.00,0.000,4,0.000,0.046,2159,1813,3083,0,0,0,0,0,0
$GC,7678,-0.73,-146.0,1.9,0.4,1154,7684,0.00,1.23,0.00,0.000,6,0.000,0.059,2157,2514,3083,0,0,0,0,0,0
$GC,8015,-0.73,-146.0,1.9,-0.0,1205,8022,0.00,1.17,0.00,0.000,4,0.000,0.047,2157,1812,3083,0,0,0,0,0,0
$GC,8274,-0.73,-146.0,1.9,0.2,1244,8283,0.00,1.23,0.00,0.000,6,0.000,0.060,2152,2512,3083,0,0,0,0,0,0
$GC,8612,-0.73,-146.0,1.9,0.0,1295,8619,0.00,1.17,0.00,0.000,4,0.000,0.047,2152,1811,3083,0,0,0,0,0,0
$GC,8869,-0.73,-146.0,2.0,0.0,1334,8877,0.00,1.23,0.00,0.000,6,0.000,0.060,2147,2511,3083,0,0,0,0,0,0
$GC,9207,-0.73,-146.0,1.9,-0.1,1385,9214,0.00,1.15,0.00,0.000,4,0.000,0.046,2147,1822,3083,0,0,0,0,0,0
$GC,9468,-0.73,-146.0,1.9,0.1,1424,9474,0.00,1.20,0.00,0.000,6,0.000,0.060,2143,2507,3083,0,0,0,0,0,0
$GC,9804,-0.73,-146.0,2.0,0.0,1475,9812,0.00,1.15,0.00,0.000,4,0.000,0.047,2143,1818,3083,0,0,0,0,0,0
$GC,10062,-0.73,-146.0,1.9,0.2,1514,10069,0.00,1.23,0.00,0.000,6,0.000,0.059,2138,2519,3083,0,0,0,0,0,0
$GC,10401,-0.73,-146.0,1.9,0.3,1565,10408,0.00,1.17,0.00,0.000,4,0.000,0.047,2138,1815,3083,0,0,0,0,0,0
$GC,10660,-0.73,-146.0,1.9,-0.1,1604,10667,0.10,1.23,0.00,0.000,6,0.196,0.058,2158,2517,3083,0,0,0,0,0,0
$GC,11000,-0.73,-146.0,2.0,-0.1,1655,11007,0.00,1.17,0.00,0.000,4,0.000,0.045,2158,1812,3083,0,0,0,0,0,0
$GC,11259,-0.73,-146.0,2.0,-0.3,1694,11268,0.00,1.23,0.00,0.000,6,0.000,0.059,2156,2515,3083,0,0,0,0,0,0
$GC,11600,-0.73,-146.0,2.0,0.1,1745,11607,0.00,1.17,0.00,0.000,4,0.000,0.045,2156,1812,3083,0,0,0,0,0,0
$GC,11858,-0.73,-146.0,1.9,-0.1,1784,11865,0.00,1.23,0.00,0.000,6,0.000,0.060,2151,2514,3083,0,0,0,0,0,0
$STATE,12008,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12008,begin apogee
$FREEZE,1.94,-1.314,-1.727,2,1,0
$GC,12015,-0.16,0.0,2.0,0.1,1807,12029,0.70,0.00,10.55,0.089,2,0.190,0.000,2340,2198,2989,0,0,0,0,0,0
$STATE,12030,end apogee,SURFACE_DEPTH_REACHED
$STATE,12030,begin surface coast
$FREEZE,1.99,-1.356,-1.730,2,1,0
$FREEZE,1.93,-1.330,-1.728,2,1,0
$FREEZE,1.93,-1.341,-1.729,2,1,0
$FINISH,1.9,1.025396
$STATE,12050,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12050,begin surface
$SM_CCo,12066,289.02,0.088,0,0,442,501.15
$SM_GC,1.89,6.03,0.60,289.02,0.046,0.062,0.088,114,2511,442,-7.08,-0.68,501.15,0,0,0,0,0,0
$RAFOS_CLK,833
$RAFOS,6,1322498944,16.833334,16.817778,69,68,59,0,0,0,201,226,177,0,0,0
$RAFOS,5,1322498465,16.700001,16.684723,67,65,58,0,0,0,154,194,209,0,0,0
$RAFOS,4,1322497983,16.566668,16.550833,66,59,53,0,0,0,215,150,123,0,0,0
$RAFOS,3,1322497503,16.433332,16.417500,91,59,59,0,0,0,596,174,122,0,0,0
$RAFOS,2,1322497024,16.299999,16.284445,83,59,55,0,0,0,695,186,133,0,0,0
$RAFOS,1,1322496546,16.166666,16.151667,105,67,58,0,0,0,798,213,165,0,0,0
$RAFOS,0,1322496062,16.033333,16.017221,61,60,59,0,0,0,186,169,160,0,0,0
$RAFOS_FIX,6610.978516,-5919.437988,281111,161612,3,93,5.89
$IRIDIUM_FIX,6537.93,-5912.18,281111,121217
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.17
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,14
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.1,38.938
$10V_AH,10.1,30.859
$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,14.425,48.950,10.550,289.025,0.000,0.000,0.000,208.300,3.750,0.000,21.960,4597.182,4408.352,654.088,2794.225,245.789,0.000,2106.901,0.000,2580.426,2520.000,2.808,0.000
$DEVICE_MAMPS,197.370,61.965,88.740,87.975,0.000,0.000,0.000,264.411,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1335.451,1280.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150204
$DATA_FILE_SIZE,63244,1811
$CAP_FILE_SIZE,139288,0
$CFSIZE,260165632,225558528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1439.8
$CURRENT,0.172, 77.6,1
$GPS,281111,192035,6607.174,-5909.086,43,1.0,43,-32.9