version: 66.09
glider: 143
mission: 13
dive: 339
start: 12 1 111 1 13 18
data:
$ID,143
$MISSION,13
$DIVE,339
$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,100
$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,300
$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,-87322.672
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,011211,010835,6608.134,-5908.543,40,1.4,40,-33.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-33.9
$GPS2,011211,011245,6608.114,-5908.593,20,1.8,20,-33.0
$SPEED_LIMITS,0.159,0.210
$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,33.0,143668,-20.9,-9.167
$D_GRID,638
$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,-0.79,-97.3,0.0,0.0,0,163,0.00,0.00,-142.88,0.000,6,0.000,0.000,115,2518,2881,0,0,0,0,0,0
$GC,166,-0.79,-97.3,1.9,0.0,2,177,7.55,1.17,0.00,0.000,4,0.191,0.045,2141,1809,2882,0,0,0,0,0,0
$GC,428,-0.79,-97.3,1.9,0.0,6,433,0.00,1.23,0.00,0.000,6,0.000,0.056,2139,2506,2884,0,0,0,0,0,0
$GC,1062,-0.79,-97.3,1.9,0.0,17,1065,0.00,1.15,0.00,0.000,4,0.000,0.046,2139,1822,2884,0,0,0,0,0,0
$GC,1319,-0.79,-97.3,1.8,0.0,20,1326,0.00,1.20,0.00,0.000,6,0.000,0.057,2134,2508,2884,0,0,0,0,0,0
$GC,1934,-0.79,-97.3,1.9,0.0,31,1937,0.00,1.17,0.00,0.000,4,0.000,0.046,2134,1814,2884,0,0,0,0,0,0
$GC,2191,-0.79,-97.3,1.9,0.0,34,2198,0.00,1.20,0.00,0.000,6,0.000,0.056,2130,2503,2885,0,0,0,0,0,0
$GC,2805,-0.79,-97.3,1.9,0.0,45,2808,0.00,1.15,0.00,0.000,4,0.000,0.047,2130,1818,2885,0,0,0,0,0,0
$GC,3061,-0.79,-97.3,1.8,0.0,48,3072,0.00,1.20,0.00,0.000,6,0.000,0.057,2125,2504,2884,0,0,0,0,0,0
$GC,3675,-0.79,-97.3,1.8,0.0,59,3679,0.00,1.15,0.00,0.000,4,0.000,0.046,2125,1823,2885,0,0,0,0,0,0
$GC,3932,-0.79,-97.3,1.8,0.0,62,3939,0.00,1.20,0.00,0.000,6,0.000,0.057,2122,2515,2885,0,0,0,0,0,0
$GC,4546,-0.79,-97.3,1.8,0.0,73,4549,0.00,1.17,0.00,0.000,4,0.000,0.047,2122,1815,2884,0,0,0,0,0,0
$GC,4803,-0.79,-97.3,1.9,0.0,76,4810,0.00,1.20,0.00,0.000,6,0.000,0.057,2118,2508,2885,0,0,0,0,0,0
$GC,5416,-0.79,-97.3,1.9,0.0,87,5420,0.00,1.17,0.00,0.000,4,0.000,0.046,2118,1815,2885,0,0,0,0,0,0
$GC,5673,-0.79,-97.3,1.8,0.0,90,5682,0.10,1.23,0.00,0.000,6,0.201,0.055,2138,2521,2884,0,0,0,0,0,0
$GC,6287,-0.79,-97.3,1.8,0.0,101,6291,0.00,1.17,0.00,0.000,4,0.000,0.044,2138,1819,2885,0,0,0,0,0,0
$GC,6544,-0.79,-97.3,1.9,0.0,104,6551,0.00,1.20,0.00,0.000,6,0.000,0.056,2136,2512,2885,0,0,0,0,0,0
$GC,7159,-0.79,-97.3,1.9,0.0,115,7163,0.00,1.17,0.00,0.000,4,0.000,0.046,2136,1818,2884,0,0,0,0,0,0
$GC,7415,-0.79,-97.3,1.9,0.0,118,7423,0.00,1.23,0.00,0.000,6,0.000,0.056,2131,2513,2884,0,0,0,0,0,0
$GC,8030,-0.79,-97.3,1.7,0.0,129,8033,0.00,1.17,0.00,0.000,4,0.000,0.047,2131,1818,2885,0,0,0,0,0,0
$GC,8286,-0.79,-97.3,1.9,0.0,132,8297,0.00,1.23,0.00,0.000,6,0.000,0.055,2127,2514,2885,0,0,0,0,0,0
$GC,8901,-0.79,-97.3,2.0,0.0,143,8904,0.00,1.17,0.00,0.000,4,0.000,0.047,2127,1816,2884,0,0,0,0,0,0
$GC,9157,-0.79,-97.3,1.9,0.0,146,9165,0.00,1.23,0.00,0.000,6,0.000,0.055,2122,2513,2884,0,0,0,0,0,0
$GC,9771,-0.79,-97.3,1.8,0.0,157,9775,0.00,1.17,0.00,0.000,4,0.000,0.046,2122,1811,2885,0,0,0,0,0,0
$GC,10027,-0.79,-97.3,1.9,0.0,160,10035,0.00,1.23,0.00,0.000,6,0.000,0.055,2118,2510,2885,0,0,0,0,0,0
$GC,10642,-0.79,-97.3,1.9,0.0,171,10645,0.00,1.15,0.00,0.000,4,0.000,0.045,2117,1822,2885,0,0,0,0,0,0
$GC,10897,-0.79,-97.3,1.9,0.0,174,10906,0.12,1.23,0.00,0.000,6,0.218,0.055,2137,2518,2884,0,0,0,0,0,0
$GC,11515,-0.79,-97.3,1.9,0.0,185,11518,0.00,1.17,0.00,0.000,4,0.000,0.046,2139,1815,2885,0,0,0,0,0,0
$GC,11770,-0.79,-97.3,1.9,0.0,188,11778,0.00,1.23,0.00,0.000,6,0.000,0.054,2136,2512,2885,0,0,0,0,0,0
$STATE,12021,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12021,begin apogee
$FREEZE,1.85,0.603,-1.637,2,1,0
$GC,12027,-0.16,0.0,1.9,0.0,193,12034,0.77,0.00,3.92,0.091,2,0.198,0.000,2339,2198,2850,0,0,0,0,0,0
$STATE,12035,end apogee,SURFACE_DEPTH_REACHED
$STATE,12035,begin surface coast
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.85,0.603,-1.637,2,1,0
$FREEZE,1.84,-0.183,-1.681,2,1,0
$FREEZE,1.94,0.422,-1.647,2,1,0
$FREEZE,1.90,0.570,-1.638,2,1,0
$FINISH,1.9,1.024035
$STATE,12216,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12216,begin surface
$SM_CCo,12231,182.40,0.086,0,0,1261,300.00
$SM_GC,1.89,6.05,0.60,182.40,0.047,0.057,0.086,117,2515,1261,-7.07,-0.62,300.00,0,0,0,0,0,0
$RAFOS_CLK,872
$RAFOS,3,1322713507,4.433333,4.418611,115,62,60,0,0,0,561,200,166,0,0,0
$RAFOS,2,1322713022,4.300000,4.283889,99,64,60,0,0,0,694,208,187,0,0,0
$RAFOS,1,1322712577,4.166667,4.160278,91,59,57,0,0,0,628,210,134,0,0,0
$RAFOS,0,1322712092,4.033333,4.025556,56,56,54,0,0,0,195,210,156,0,0,0
$RAFOS_FIX,6612.059570,-5913.792480,011211,040450,3,102,0.74
$IRIDIUM_FIX,6543.17,-5908.57,301111,212135
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.71
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,15.80
$XPDR_PINGS,12
$ALTIM_TOP_PING,1.9,7.9
$24V_AH,25.1,39.060
$10V_AH,10.0,32.218
$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,14.600,34.500,3.925,182.400,0.000,0.000,0.000,151.225,3.250,0.000,21.948,834.546,10113.489,387.943,1219.654,140.507,0.000,1094.652,0.000,1056.835,1800.000,2.600,0.000
$DEVICE_MAMPS,218.025,57.375,91.035,86.445,0.000,0.000,0.000,225.463,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,6844,196
$CAP_FILE_SIZE,74156,0
$CFSIZE,260165632,224808960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1442.0
$CURRENT,0.116,307.9,1
$GPS,011211,044158,6608.596,-5910.134,43,1.4,47,-33.0