version: 66.09
glider: 143
mission: 13
dive: 331
start: 11 29 111 20 31 48
data:
$ID,143
$MISSION,13
$DIVE,331
$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,-86947.664
$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
$GPS1,291111,202523,6608.503,-5909.850,38,1.0,38,-33.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-31.0
$GPS2,291111,203118,6608.509,-5909.895,15,1.6,15,-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,123.1,143820,-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,-146.0,0.0,0.0,0,247,0.00,0.00,-224.12,0.000,6,0.000,0.000,121,2511,3081,0,0,0,0,0,0
$GC,250,-0.73,-146.0,1.8,-0.7,35,263,7.40,1.15,0.00,0.000,4,0.178,0.070,2155,3219,3082,0,0,0,0,0,0
$GC,514,-0.73,-146.0,1.7,0.1,75,523,0.00,1.12,0.00,0.000,6,0.000,0.034,2155,2502,3083,0,0,0,0,0,0
$GC,854,-0.73,-146.0,1.7,-0.0,126,861,0.00,1.23,0.00,0.000,4,0.000,0.070,2150,3210,3082,0,0,0,0,0,0
$GC,1113,-0.73,-146.0,1.8,-0.7,165,1119,0.00,1.10,0.00,0.000,6,0.000,0.033,2151,2503,3083,0,0,0,0,0,0
$GC,1451,-0.73,-146.0,1.8,-0.2,216,1457,0.00,1.23,0.00,0.000,4,0.000,0.069,2146,3213,3083,0,0,0,0,0,0
$GC,1708,-0.73,-146.0,1.7,-0.0,255,1717,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2502,3083,0,0,0,0,0,0
$GC,2048,-0.73,-146.0,1.7,-0.1,306,2055,0.00,1.23,0.00,0.000,4,0.000,0.070,2141,3213,3083,0,0,0,0,0,0
$GC,2306,-0.73,-146.0,1.7,0.2,345,2313,0.00,1.10,0.00,0.000,6,0.000,0.033,2141,2501,3083,0,0,0,0,0,0
$GC,2644,-0.73,-146.0,1.8,0.1,396,2653,0.00,1.23,0.00,0.000,4,0.000,0.070,2137,3212,3083,0,0,0,0,0,0
$GC,2905,-0.73,-146.0,1.8,-0.2,435,2911,0.00,1.10,0.00,0.000,6,0.000,0.034,2137,2501,3083,0,0,0,0,0,0
$GC,3243,-0.73,-146.0,1.9,0.0,486,3249,0.00,1.23,0.00,0.000,4,0.000,0.070,2132,3213,3083,0,0,0,0,0,0
$GC,3500,-0.73,-146.0,1.7,-0.0,525,3508,0.10,1.10,0.00,0.000,6,0.188,0.033,2158,2496,3083,0,0,0,0,0,0
$GC,3838,-0.73,-146.0,1.7,0.5,576,3845,0.00,1.25,0.00,0.000,4,0.000,0.072,2155,3218,3083,0,0,0,0,0,0
$GC,4097,-0.73,-146.0,1.7,0.0,615,4104,0.00,1.10,0.00,0.000,6,0.000,0.034,2155,2511,3083,0,0,0,0,0,0
$GC,4435,-0.73,-146.0,1.7,-0.0,666,4444,0.00,1.20,0.00,0.000,4,0.000,0.071,2151,3209,3083,0,0,0,0,0,0
$GC,4695,-0.73,-146.0,1.8,-0.0,705,4702,0.00,1.08,0.00,0.000,6,0.000,0.032,2151,2506,3083,0,0,0,0,0,0
$GC,5034,-0.73,-146.0,1.8,-0.1,756,5041,0.00,1.23,0.00,0.000,4,0.000,0.070,2146,3217,3083,0,0,0,0,0,0
$GC,5291,-0.73,-146.0,1.7,-0.0,795,5298,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2505,3083,0,0,0,0,0,0
$GC,5628,-0.73,-146.0,1.7,0.0,846,5634,0.00,1.23,0.00,0.000,4,0.000,0.071,2141,3213,3083,0,0,0,0,0,0
$GC,5888,-0.73,-146.0,1.7,0.0,885,5896,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2500,3083,0,0,0,0,0,0
$GC,6228,-0.73,-146.0,1.7,0.0,936,6234,0.00,1.23,0.00,0.000,4,0.000,0.070,2137,3212,3083,0,0,0,0,0,0
$GC,6486,-0.73,-146.0,1.8,0.0,975,6493,0.08,1.08,0.00,0.000,6,0.196,0.034,2156,2503,3083,0,0,0,0,0,0
$GC,6823,-0.73,-146.0,1.7,-0.1,1026,6833,0.00,1.23,0.00,0.000,4,0.000,0.070,2153,3214,3083,0,0,0,0,0,0
$GC,7083,-0.73,-146.0,1.7,-0.2,1065,7090,0.00,1.08,0.00,0.000,6,0.000,0.034,2153,2521,3083,0,0,0,0,0,0
$GC,7421,-0.73,-146.0,1.8,-1.7,1116,7428,0.00,1.20,0.00,0.000,4,0.000,0.072,2149,3216,3083,0,0,0,0,0,0
$GC,7679,-0.73,-146.0,1.7,0.3,1155,7685,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2504,3083,0,0,0,0,0,0
$GC,8015,-0.73,-146.0,1.7,0.2,1206,8024,0.00,1.23,0.00,0.000,4,0.000,0.071,2144,3214,3083,0,0,0,0,0,0
$GC,8278,-0.73,-146.0,1.7,0.2,1245,8284,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2501,3083,0,0,0,0,0,0
$GC,8616,-0.73,-146.0,1.7,0.1,1296,8623,0.00,1.23,0.00,0.000,4,0.000,0.070,2140,3213,3083,0,0,0,0,0,0
$GC,8875,-0.73,-146.0,1.7,0.1,1335,8884,0.00,1.08,0.00,0.000,6,0.000,0.033,2140,2513,3083,0,0,0,0,0,0
$GC,9216,-0.73,-146.0,1.9,-0.3,1386,9223,0.00,1.20,0.00,0.000,4,0.000,0.071,2135,3210,3083,0,0,0,0,0,0
$GC,9472,-0.73,-146.0,1.8,0.0,1425,9480,0.10,1.08,0.00,0.000,6,0.198,0.033,2160,2501,3083,0,0,0,0,0,0
$GC,9812,-0.73,-146.0,1.8,-0.4,1476,9819,0.00,1.23,0.00,0.000,4,0.000,0.071,2158,3212,3083,0,0,0,0,0,0
$GC,10072,-0.73,-146.0,1.8,0.2,1515,10078,0.00,1.08,0.00,0.000,6,0.000,0.034,2157,2517,3083,0,0,0,0,0,0
$GC,10410,-0.73,-146.0,1.8,0.3,1566,10419,0.00,1.20,0.00,0.000,4,0.000,0.071,2153,3213,3083,0,0,0,0,0,0
$GC,10669,-0.73,-146.0,1.9,0.3,1605,10676,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2501,3083,0,0,0,0,0,0
$GC,11007,-0.73,-146.0,1.9,0.0,1656,11014,0.00,1.23,0.00,0.000,4,0.000,0.070,2148,3214,3083,0,0,0,0,0,0
$GC,11264,-0.73,-146.0,1.9,-0.1,1695,11273,0.00,1.10,0.00,0.000,6,0.000,0.034,2148,2502,3083,0,0,0,0,0,0
$GC,11605,-0.73,-146.0,2.0,-0.6,1746,11611,0.00,1.23,0.00,0.000,4,0.000,0.070,2144,3214,3083,0,0,0,0,0,0
$GC,11864,-0.73,-146.0,2.0,-0.9,1785,11871,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2503,3083,0,0,0,0,0,0
$STATE,12008,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12008,begin apogee
$FREEZE,1.99,1.225,-1.589,2,1,0
$GC,12015,-0.16,0.0,1.9,-0.1,1807,12028,0.73,0.00,10.25,0.089,2,0.196,0.000,2337,2197,2989,0,0,0,0,0,0
$STATE,12030,end apogee,SURFACE_DEPTH_REACHED
$STATE,12030,begin surface coast
$FREEZE,1.93,1.908,-1.554,2,1,0
$FREEZE,2.00,1.847,-1.557,2,1,0
$FREEZE,1.91,1.527,-1.573,2,1,0
$FREEZE,1.97,1.637,-1.567,2,1,0
$FREEZE,1.91,1.889,-1.554,2,1,0
$FREEZE,1.86,1.906,-1.554,2,1,0
$FREEZE,1.88,1.764,-1.561,2,1,0
$FREEZE,1.93,1.835,-1.557,2,1,0
$FREEZE,1.86,-1.361,-1.734,2,1,0
$FREEZE,1.98,-0.132,-1.662,2,1,0
$FREEZE,1.91,-1.164,-1.722,2,1,0
$FINISH,1.9,1.025294
$STATE,12101,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12101,begin surface
$SM_CCo,12117,289.52,0.087,0,0,441,501.15
$SM_GC,1.85,6.03,0.60,289.52,0.049,0.060,0.087,122,2512,441,-7.06,-0.65,501.15,0,0,0,0,0,0
$RAFOS_CLK,841
$RAFOS,6,1322599747,20.833334,20.818611,67,60,56,0,0,0,214,190,153,0,0,0
$RAFOS,5,1322599263,20.700001,20.684166,69,67,61,0,0,0,201,936,162,0,0,0
$RAFOS,4,1322598787,20.566668,20.551945,72,62,57,0,0,0,213,192,172,0,0,0
$RAFOS,2,1322597822,20.299999,20.283890,66,64,59,0,0,0,162,190,221,0,0,0
$RAFOS_FIX,6610.340332,-5909.040527,291111,161656,4,87,0.00
$IRIDIUM_FIX,6537.93,-5916.73,291111,161629
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,18
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.1,39.010
$10V_AH,10.0,31.737
$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,14.425,47.300,10.250,289.525,0.000,0.000,0.000,236.625,4.750,0.000,17.107,4608.936,4414.188,661.701,2833.287,242.858,0.000,2151.554,0.000,2592.237,1080.000,2.809,0.000
$DEVICE_MAMPS,198.135,71.910,88.740,87.210,0.000,0.000,0.000,266.658,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1349.077,1253.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150172
$DATA_FILE_SIZE,66599,1819
$CAP_FILE_SIZE,141601,0
$CFSIZE,260165632,225017856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1446.5
$CURRENT,1.299,242.5,1
$GPS,291111,203118,6608.509,-5909.895,181,99.0,181,-33.0