version: 66.09
glider: 143
mission: 13
dive: 330
start: 11 29 111 16 58 2
data:
$ID,143
$MISSION,13
$DIVE,330
$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,-86946.406
$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,41
$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
$GPS1,291111,165135,6606.766,-5909.727,35,0.8,36,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-30.9
$GPS2,291111,165732,6606.872,-5909.691,18,1.3,18,-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,122.4,145860,-16.9,-9.167
$D_GRID,631
$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,-146.0,0.0,0.0,0,242,0.00,0.00,-220.80,0.000,6,0.000,0.000,114,2516,3081,0,0,0,0,0,0
$GC,245,-0.73,-146.0,1.8,0.2,35,261,7.43,1.12,0.00,0.000,4,0.179,0.072,2153,3217,3082,0,0,0,0,0,0
$GC,512,-0.73,-146.0,1.8,-0.3,75,519,0.00,1.12,0.00,0.000,6,0.000,0.035,2153,2503,3083,0,0,0,0,0,0
$GC,851,-0.73,-146.0,1.8,0.0,126,858,0.00,1.23,0.00,0.000,4,0.000,0.070,2149,3212,3083,0,0,0,0,0,0
$GC,1110,-0.73,-146.0,1.8,0.1,165,1116,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2505,3083,0,0,0,0,0,0
$GC,1446,-0.73,-146.0,1.8,0.2,216,1452,0.00,1.23,0.00,0.000,4,0.000,0.070,2144,3213,3083,0,0,0,0,0,0
$GC,1705,-0.73,-146.0,1.8,-0.0,255,1711,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2505,3083,0,0,0,0,0,0
$GC,2043,-0.73,-146.0,1.7,0.1,306,2050,0.00,1.23,0.00,0.000,4,0.000,0.070,2140,3213,3083,0,0,0,0,0,0
$GC,2302,-0.73,-146.0,1.8,-0.1,345,2309,0.00,1.10,0.00,0.000,6,0.000,0.034,2140,2505,3083,0,0,0,0,0,0
$GC,2642,-0.73,-146.0,1.7,0.4,396,2648,0.00,1.23,0.00,0.000,4,0.000,0.071,2135,3213,3083,0,0,0,0,0,0
$GC,2898,-0.73,-146.0,1.7,0.5,435,2906,0.10,1.10,0.00,0.000,6,0.190,0.034,2161,2499,3083,0,0,0,0,0,0
$GC,3237,-0.73,-146.0,1.7,-0.1,486,3244,0.00,1.23,0.00,0.000,4,0.000,0.072,2158,3210,3083,0,0,0,0,0,0
$GC,3496,-0.73,-146.0,1.8,0.1,525,3505,0.00,1.08,0.00,0.000,6,0.000,0.034,2158,2520,3083,0,0,0,0,0,0
$GC,3835,-0.73,-146.0,1.8,0.0,576,3841,0.00,1.20,0.00,0.000,4,0.000,0.070,2153,3217,3083,0,0,0,0,0,0
$GC,4093,-0.73,-146.0,1.8,0.3,615,4100,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2510,3083,0,0,0,0,0,0
$GC,4431,-0.73,-146.0,1.8,-0.5,666,4438,0.00,1.20,0.00,0.000,4,0.000,0.070,2149,3209,3083,0,0,0,0,0,0
$GC,4690,-0.73,-146.0,1.8,0.0,705,4696,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2500,3083,0,0,0,0,0,0
$GC,5027,-0.73,-146.0,1.8,-0.0,756,5036,0.00,1.23,0.00,0.000,4,0.000,0.070,2144,3213,3083,0,0,0,0,0,0
$GC,5288,-0.73,-146.0,1.8,-0.0,795,5294,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2502,3083,0,0,0,0,0,0
$GC,5626,-0.73,-146.0,1.8,0.0,846,5633,0.00,1.23,0.00,0.000,4,0.000,0.070,2139,3214,3083,0,0,0,0,0,0
$GC,5884,-0.73,-146.0,1.8,-0.2,885,5890,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2503,3083,0,0,0,0,0,0
$GC,6220,-0.73,-146.0,1.8,-0.2,936,6227,0.00,1.23,0.00,0.000,4,0.000,0.070,2135,3217,3083,0,0,0,0,0,0
$GC,6480,-0.73,-146.0,1.8,-0.1,975,6487,0.10,1.10,0.00,0.000,6,0.194,0.034,2160,2501,3083,0,0,0,0,0,0
$GC,6819,-0.73,-146.0,1.8,0.0,1026,6826,0.00,1.23,0.00,0.000,4,0.000,0.070,2157,3213,3083,0,0,0,0,0,0
$GC,7078,-0.73,-146.0,1.8,-0.2,1065,7085,0.00,1.08,0.00,0.000,6,0.000,0.034,2157,2518,3083,0,0,0,0,0,0
$GC,7414,-0.73,-146.0,1.8,0.0,1116,7421,0.00,1.20,0.00,0.000,4,0.000,0.071,2153,3214,3083,0,0,0,0,0,0
$GC,7674,-0.73,-146.0,1.7,0.0,1155,7680,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2502,3083,0,0,0,0,0,0
$GC,8011,-0.73,-146.0,1.8,0.1,1206,8018,0.00,1.23,0.00,0.000,4,0.000,0.070,2148,3215,3083,0,0,0,0,0,0
$GC,8270,-0.73,-146.0,1.7,-0.0,1245,8278,0.00,1.08,0.00,0.000,6,0.000,0.034,2148,2519,3083,0,0,0,0,0,0
$GC,8608,-0.73,-146.0,1.8,0.0,1296,8614,0.00,1.20,0.00,0.000,4,0.000,0.072,2144,3213,3083,0,0,0,0,0,0
$GC,8867,-0.73,-146.0,1.8,-0.3,1335,8874,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2502,3083,0,0,0,0,0,0
$GC,9205,-0.73,-146.0,1.8,-0.2,1386,9212,0.00,1.23,0.00,0.000,4,0.000,0.070,2139,3213,3083,0,0,0,0,0,0
$GC,9464,-0.73,-146.0,1.7,0.0,1425,9470,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2501,3083,0,0,0,0,0,0
$GC,9802,-0.73,-146.0,1.8,0.0,1476,9811,0.00,1.23,0.00,0.000,4,0.000,0.070,2134,3213,3083,0,0,0,0,0,0
$GC,10063,-0.73,-146.0,1.8,-0.4,1515,10070,0.10,1.10,0.00,0.000,6,0.193,0.034,2160,2494,3083,0,0,0,0,0,0
$GC,10403,-0.73,-146.0,1.8,-0.2,1566,10410,0.00,1.25,0.00,0.000,4,0.000,0.072,2157,3217,3083,0,0,0,0,0,0
$GC,10662,-0.73,-146.0,1.7,-0.0,1605,10668,0.00,1.08,0.00,0.000,6,0.000,0.034,2157,2522,3083,0,0,0,0,0,0
$GC,10999,-0.73,-146.0,1.8,0.0,1656,11006,0.00,1.17,0.00,0.000,4,0.000,0.070,2153,3209,3083,0,0,0,0,0,0
$GC,11258,-0.73,-146.0,1.8,0.0,1695,11265,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2499,3083,0,0,0,0,0,0
$GC,11597,-0.73,-146.0,1.7,0.1,1746,11603,0.00,1.23,0.00,0.000,4,0.000,0.070,2148,3213,3083,0,0,0,0,0,0
$GC,11854,-0.73,-146.0,1.7,0.2,1785,11863,0.00,1.10,0.00,0.000,6,0.000,0.034,2148,2500,3083,0,0,0,0,0,0
$STATE,12006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12008,begin apogee
$FREEZE,1.75,1.525,-1.573,2,1,0
$GC,12014,-0.16,0.0,1.8,-0.1,1808,12028,0.70,0.00,10.38,0.088,2,0.189,0.000,2338,2196,2989,0,0,0,0,0,0
$STATE,12029,end apogee,SURFACE_DEPTH_REACHED
$STATE,12030,begin surface coast
$FREEZE,1.80,1.961,-1.551,2,1,0
$FREEZE,1.68,1.604,-1.569,2,1,0
$FINISH,1.7,1.022991
$STATE,12042,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12042,begin surface
$SM_CCo,12058,288.88,0.087,0,0,442,501.15
$SM_GC,1.73,6.00,0.60,288.88,0.047,0.060,0.087,121,2511,442,-7.06,-0.68,501.15,0,0,0,0,0,0
$RAFOS_CLK,834
$RAFOS,1,1322597344,20.166666,20.151112,67,62,60,0,0,0,806,205,154,0,0,0
$RAFOS,0,1322596865,20.033333,20.018055,65,65,57,0,0,0,205,223,151,0,0,0
$RAFOS,5,1322584866,16.700001,16.684999,67,61,58,0,0,0,911,185,174,0,0,0
$RAFOS_FIX,6610.340332,-5909.040527,291111,161656,4,87,0.00
$IRIDIUM_FIX,6537.93,-5909.46,291111,131333
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.85
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,18
$ALTIM_TOP_PING,1.8,999.0
$24V_AH,25.1,39.001
$10V_AH,10.0,31.628
$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,14.425,47.275,10.375,288.875,0.000,0.000,0.000,233.500,4.750,0.000,19.406,4613.869,4382.150,648.333,2818.457,248.281,0.000,2131.012,0.000,2582.902,1080.000,2.809,0.000
$DEVICE_MAMPS,193.545,71.910,87.975,87.210,0.000,0.000,0.000,268.156,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1340.574,1249.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150116
$DATA_FILE_SIZE,66541,1811
$CAP_FILE_SIZE,140632,0
$CFSIZE,260165632,225083392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1447.4
$CURRENT,0.246,359.1,1
$GPS,291111,202523,6608.503,-5909.850,38,1.0,38,-33.0