version: 66.09
glider: 143
mission: 13
dive: 332
start: 11 30 111 0 11 41
data:
$ID,143
$MISSION,13
$DIVE,332
$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,-87313.852
$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,42
$R_STBD_OVSHOOT,21
$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
$GPS1,291111,203118,6608.509,-5909.895,181,99.0,181,-33.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-33.0
$GPS2,291111,203118,6608.509,-5909.895,181,99.0,181,-33.0
$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,123.4,143820,-16.9,-9.167
$D_GRID,640
$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,-146.0,0.0,0.0,0,240,0.00,0.00,-216.82,0.000,6,0.000,0.000,122,2512,3081,0,0,0,0,0,0
$GC,244,-0.73,-146.0,1.9,0.1,34,257,7.53,1.15,0.00,0.000,4,0.189,0.069,2154,3222,3082,0,0,0,0,0,0
$GC,508,-0.73,-146.0,1.8,0.4,74,515,0.00,1.12,0.00,0.000,6,0.000,0.034,2154,2502,3082,0,0,0,0,0,0
$GC,843,-0.73,-146.0,1.9,0.0,125,850,0.00,1.23,0.00,0.000,4,0.000,0.070,2149,3210,3083,0,0,0,0,0,0
$GC,1101,-0.73,-146.0,2.0,0.0,164,1108,0.00,1.10,0.00,0.000,6,0.000,0.033,2150,2502,3083,0,0,0,0,0,0
$GC,1439,-0.73,-146.0,1.8,0.4,215,1446,0.00,1.23,0.00,0.000,4,0.000,0.069,2145,3212,3083,0,0,0,0,0,0
$GC,1699,-0.73,-146.0,1.9,0.1,254,1705,0.00,1.10,0.00,0.000,6,0.000,0.034,2145,2502,3083,0,0,0,0,0,0
$GC,2034,-0.73,-146.0,1.9,0.1,305,2043,0.00,1.23,0.00,0.000,4,0.000,0.070,2140,3212,3083,0,0,0,0,0,0
$GC,2294,-0.73,-146.0,1.9,-0.2,344,2301,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2504,3083,0,0,0,0,0,0
$GC,2632,-0.73,-146.0,1.9,0.1,395,2639,0.00,1.23,0.00,0.000,4,0.000,0.069,2136,3213,3083,0,0,0,0,0,0
$GC,2890,-0.73,-146.0,1.7,0.1,434,2897,0.00,1.10,0.00,0.000,6,0.000,0.034,2136,2502,3083,0,0,0,0,0,0
$GC,3227,-0.73,-146.0,1.7,-0.1,485,3236,0.12,1.23,0.00,0.000,4,0.206,0.071,2159,3209,3083,0,0,0,0,0,0
$GC,3488,-0.73,-146.0,1.7,0.1,524,3495,0.00,1.08,0.00,0.000,6,0.000,0.034,2159,2511,3083,0,0,0,0,0,0
$GC,3825,-0.73,-146.0,1.7,0.1,575,3832,0.00,1.20,0.00,0.000,4,0.000,0.071,2155,3209,3083,0,0,0,0,0,0
$GC,4086,-0.73,-146.0,1.7,0.0,614,4093,0.00,1.08,0.00,0.000,6,0.000,0.034,2154,2510,3083,0,0,0,0,0,0
$GC,4425,-0.73,-146.0,1.7,0.2,665,4432,0.00,1.23,0.00,0.000,4,0.000,0.075,2149,3213,3083,0,0,0,0,0,0
$GC,4682,-0.73,-146.0,1.7,0.5,704,4691,0.00,1.10,0.00,0.000,6,0.000,0.033,2148,2502,3083,0,0,0,0,0,0
$GC,5023,-0.73,-146.0,1.7,-0.4,755,5030,0.00,1.23,0.00,0.000,4,0.000,0.073,2142,3212,3084,0,0,0,0,0,0
$GC,5281,-0.73,-146.0,1.6,-0.0,794,5288,0.00,1.10,0.00,0.000,6,0.000,0.032,2142,2496,3084,0,0,0,0,0,0
$GC,5619,-0.73,-146.0,1.6,0.2,845,5626,0.00,1.23,0.00,0.000,4,0.000,0.070,2137,3210,3084,0,0,0,0,0,0
$GC,5880,-0.73,-146.0,1.7,-0.3,884,5887,0.00,1.08,0.00,0.000,6,0.000,0.034,2137,2512,3083,0,0,0,0,0,0
$GC,6217,-0.73,-146.0,1.7,-0.1,935,6224,0.00,1.20,0.00,0.000,4,0.000,0.072,2132,3209,3084,0,0,0,0,0,0
$GC,6469,-0.73,-146.0,1.6,0.2,973,6477,0.10,1.08,0.00,0.000,6,0.195,0.034,2158,2502,3083,0,0,0,0,0,0
$GC,6810,-0.73,-146.0,1.7,-0.3,1024,6817,0.00,1.05,0.00,0.000,4,0.000,0.046,2158,1834,3084,0,0,0,0,0,0
$GC,7068,-0.73,-146.0,1.6,-0.1,1063,7075,0.00,1.17,0.00,0.000,6,0.000,0.060,2156,2507,3083,0,0,0,0,0,0
$GC,7406,-0.73,-146.0,1.7,0.1,1114,7412,0.00,1.12,0.00,0.000,4,0.000,0.045,2156,1831,3084,0,0,0,0,0,0
$GC,7667,-0.73,-146.0,1.7,-0.1,1153,7673,0.00,1.17,0.00,0.000,6,0.000,0.058,2151,2505,3083,0,0,0,0,0,0
$GC,8004,-0.73,-146.0,1.7,0.0,1204,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2505,3083,0,0,0,0,0,0
$GC,8339,-0.73,-146.0,1.7,0.4,1255,8346,0.00,1.12,0.00,0.000,4,0.000,0.044,2151,1829,3084,0,0,0,0,0,0
$GC,8599,-0.73,-146.0,1.6,0.0,1294,8605,0.00,1.17,0.00,0.000,6,0.000,0.057,2147,2505,3083,0,0,0,0,0,0
$GC,8936,-0.73,-146.0,1.7,0.0,1345,8943,0.00,1.12,0.00,0.000,4,0.000,0.044,2147,1833,3084,0,0,0,0,0,0
$GC,9194,-0.73,-146.0,1.7,0.3,1384,9200,0.00,1.17,0.00,0.000,6,0.000,0.057,2142,2508,3084,0,0,0,0,0,0
$GC,9530,-0.73,-146.0,1.6,0.0,1435,9538,0.00,1.15,0.00,0.000,4,0.000,0.073,2137,3210,3084,0,0,0,0,0,0
$GC,9553,-0.73,-146.0,1.7,0.0,1438,9560,0.00,1.08,0.00,0.000,6,0.000,0.031,2137,2510,3084,0,0,0,0,0,0
$GC,9888,-0.73,-146.0,1.7,0.0,1489,9895,0.00,1.20,0.00,0.000,4,0.000,0.068,2132,3211,3083,0,0,0,0,0,0
$GC,10147,-0.73,-146.0,1.7,-0.0,1528,10157,0.10,1.08,0.00,0.000,6,0.189,0.033,2158,2501,3084,0,0,0,0,0,0
$GC,10490,-0.73,-146.0,1.7,-0.4,1579,10497,0.00,1.08,0.00,0.000,4,0.000,0.046,2158,1825,3083,0,0,0,0,0,0
$GC,10510,-0.73,-146.0,1.6,0.3,1582,10519,0.00,1.20,0.00,0.000,6,0.000,0.057,2156,2517,3083,0,0,0,0,0,0
$GC,10848,-0.73,-146.0,1.7,0.0,1633,10855,0.00,1.15,0.00,0.000,4,0.000,0.045,2156,1825,3084,0,0,0,0,0,0
$GC,11106,-0.73,-146.0,1.7,-0.1,1672,11113,0.00,1.20,0.00,0.000,6,0.000,0.057,2151,2517,3083,0,0,0,0,0,0
$GC,11444,-0.73,-146.0,1.6,-0.3,1723,11451,0.00,1.15,0.00,0.000,4,0.000,0.075,2146,3216,3083,0,0,0,0,0,0
$GC,11471,-0.73,-146.0,1.7,-0.1,1727,11478,0.00,1.08,0.00,0.000,6,0.000,0.032,2147,2518,3084,0,0,0,0,0,0
$GC,11809,-0.73,-146.0,1.7,-0.2,1778,11818,0.00,1.10,0.00,0.000,4,0.000,0.048,2146,1822,3084,0,0,0,0,0,0
$GC,11839,-0.73,-146.0,1.7,0.0,1782,11846,0.00,1.20,0.00,0.000,6,0.000,0.059,2141,2513,3083,0,0,0,0,0,0
$STATE,12012,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12012,begin apogee
$FREEZE,1.66,-7.305,-2.166,2,2,0
$GC,12018,-0.16,0.0,1.7,0.6,1808,12032,0.73,0.00,10.75,0.089,2,0.197,0.000,2335,2199,2985,0,0,0,0,0,0
$STATE,12033,end apogee,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FREEZE,1.66,0.242,-1.646,2,2,0
$FREEZE,1.61,-0.788,-1.704,2,2,0
$FREEZE,1.66,-3.875,-1.901,2,2,0
$FREEZE,1.75,1.369,-1.585,2,2,0
$FREEZE,1.74,-0.689,-1.698,2,2,0
$FREEZE,1.65,0.693,-1.621,2,2,0
$FREEZE,1.68,1.908,-1.557,2,2,0
$FREEZE,1.81,-4.113,-1.918,2,2,0
$FREEZE,1.69,1.396,-1.584,2,2,0
$FREEZE,1.67,1.816,-1.562,2,2,0
$FREEZE,1.77,1.812,-1.563,2,2,0
$FREEZE,1.62,1.669,-1.570,2,2,0
$FREEZE,1.64,1.430,-1.582,2,2,0
$FINISH,1.6,1.023191
$STATE,12118,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12118,begin surface
$SM_CCo,12134,288.92,0.087,0,0,441,501.15
$SM_GC,1.66,6.00,0.60,288.92,0.046,0.060,0.087,119,2513,441,-7.07,-0.62,501.15,0,0,0,0,0,0
$RAFOS_CLK,923
$RAFOS,6,1322614147,0.833333,0.818611,60,59,58,0,0,0,208,138,189,0,0,0
$RAFOS,5,1322613664,0.700000,0.684444,63,54,53,0,0,0,185,216,128,0,0,0
$RAFOS,4,1322613186,0.566667,0.551667,64,64,60,0,0,0,192,223,213,0,0,0
$RAFOS,3,1322612702,0.433333,0.417222,153,56,55,0,0,0,596,235,218,0,0,0
$RAFOS,2,1322612223,0.300000,0.284167,105,63,57,0,0,0,684,221,198,0,0,0
$RAFOS_FIX,6612.541992,-5917.414062,301111,000028,2,129,0.67
$IRIDIUM_FIX,6543.17,-5918.59,291111,202025
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.13
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,1.7,999.0
$24V_AH,25.1,39.018
$10V_AH,10.1,31.841
$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,14.575,49.300,10.750,288.925,0.000,0.000,0.000,123.800,0.500,0.000,182.316,4682.912,4453.797,666.944,2896.315,266.287,0.000,2048.452,0.000,2596.702,1800.000,2.809,0.000
$DEVICE_MAMPS,205.785,74.970,88.740,87.210,0.000,0.000,0.000,240.429,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.763,1253.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150184
$DATA_FILE_SIZE,69883,1822
$CAP_FILE_SIZE,142640,0
$CFSIZE,260165632,224948224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1439.6
$CURRENT,0.685,295.6,1
$GPS,301111,034022,6610.501,-5920.254,27,1.3,43,-33.0