version: 66.09
glider: 143
mission: 13
dive: 333
start: 11 30 111 3 49 9
data:
$ID,143
$MISSION,13
$DIVE,333
$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,-87315.109
$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,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
$GPS1,301111,034022,6610.501,-5920.254,27,1.3,43,-33.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-31.5
$GPS2,301111,034837,6610.596,-5920.426,22,0.8,23,-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,126.6,146749,-20.9,-9.167
$D_GRID,662
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.79,-97.3,0.0,0.0,0,230,0.00,0.00,-208.45,0.000,6,0.000,0.000,118,2513,2882,0,0,0,0,0,0
$GC,233,-0.79,-97.3,1.7,0.0,3,244,7.38,1.17,0.00,0.000,4,0.183,0.044,2136,1811,2883,0,0,0,0,0,0
$GC,257,-0.79,-97.3,1.7,0.0,4,261,0.00,1.23,0.00,0.000,6,0.000,0.057,2133,2508,2883,0,0,0,0,0,0
$GC,925,-0.79,-97.3,1.7,0.0,15,928,0.00,1.17,0.00,0.000,4,0.000,0.076,2128,3213,2884,0,0,0,0,0,0
$GC,1181,-0.79,-97.3,1.7,0.0,18,1189,0.00,1.12,0.00,0.000,6,0.000,0.033,2128,2502,2884,0,0,0,0,0,0
$GC,1795,-0.79,-97.3,1.7,0.0,29,1798,0.00,1.23,0.00,0.000,4,0.000,0.070,2123,3210,2884,0,0,0,0,0,0
$GC,2053,-0.79,-97.3,1.7,0.0,32,2062,0.00,1.10,0.00,0.000,6,0.000,0.032,2123,2500,2884,0,0,0,0,0,0
$GC,2668,-0.79,-97.3,1.8,0.0,43,2672,0.00,1.23,0.00,0.000,4,0.000,0.070,2119,3212,2884,0,0,0,0,0,0
$GC,2925,-0.79,-97.3,1.7,0.0,46,2932,0.00,1.12,0.00,0.000,6,0.000,0.034,2118,2502,2884,0,0,0,0,0,0
$GC,3540,-0.79,-97.3,1.6,0.0,57,3543,0.00,1.23,0.00,0.000,4,0.000,0.069,2114,3212,2884,0,0,0,0,0,0
$GC,3796,-0.79,-97.3,1.7,0.0,60,3804,0.00,1.12,0.00,0.000,6,0.000,0.033,2114,2499,2884,0,0,0,0,0,0
$GC,4411,-0.79,-97.3,1.7,0.0,71,4415,0.12,1.25,0.00,0.000,4,0.211,0.070,2137,3219,2884,0,0,0,0,0,0
$GC,4667,-0.79,-97.3,1.7,0.0,74,4675,0.00,1.12,0.00,0.000,6,0.000,0.032,2137,2505,2884,0,0,0,0,0,0
$GC,5282,-0.79,-97.3,1.8,0.0,85,5285,0.00,1.23,0.00,0.000,4,0.000,0.070,2132,3213,2884,0,0,0,0,0,0
$GC,5538,-0.79,-97.3,1.7,0.0,88,5546,0.00,1.12,0.00,0.000,6,0.000,0.033,2132,2497,2884,0,0,0,0,0,0
$GC,6154,-0.79,-97.3,1.6,0.0,99,6158,0.00,1.08,0.00,0.000,4,0.000,0.047,2132,1822,2884,0,0,0,0,0,0
$GC,6167,-0.79,-97.3,1.6,0.0,99,6170,0.00,1.20,0.00,0.000,6,0.000,0.059,2128,2510,2884,0,0,0,0,0,0
$GC,6826,-0.79,-97.3,1.8,0.0,110,6830,0.00,1.15,0.00,0.000,4,0.000,0.073,2122,3211,2884,0,0,0,0,0,0
$GC,7082,-0.79,-97.3,1.6,0.0,113,7090,0.00,1.10,0.00,0.000,6,0.000,0.033,2122,2507,2884,0,0,0,0,0,0
$GC,7697,-0.79,-97.3,1.6,0.0,124,7700,0.00,1.23,0.00,0.000,4,0.000,0.070,2118,3219,2884,0,0,0,0,0,0
$GC,7953,-0.79,-97.3,1.7,0.0,127,7961,0.00,1.12,0.00,0.000,6,0.000,0.034,2118,2506,2884,0,0,0,0,0,0
$GC,8567,-0.79,-97.3,1.8,0.0,138,8571,0.00,1.23,0.00,0.000,4,0.000,0.070,2113,3216,2884,0,0,0,0,0,0
$GC,8823,-0.79,-97.3,1.7,0.0,141,8832,0.12,1.12,0.00,0.000,6,0.207,0.034,2139,2500,2884,0,0,0,0,0,0
$GC,9439,-0.79,-97.3,1.6,0.0,152,9443,0.00,1.23,0.00,0.000,4,0.000,0.070,2136,3213,2884,0,0,0,0,0,0
$GC,9697,-0.79,-97.3,1.7,0.0,155,9704,0.00,1.10,0.00,0.000,6,0.000,0.034,2135,2505,2884,0,0,0,0,0,0
$GC,10310,-0.79,-97.3,1.7,0.0,166,10314,0.00,1.23,0.00,0.000,4,0.000,0.070,2131,3216,2884,0,0,0,0,0,0
$GC,10566,-0.79,-97.3,1.7,0.0,169,10576,0.00,1.12,0.00,0.000,6,0.000,0.034,2131,2503,2884,0,0,0,0,0,0
$GC,11180,-0.79,-97.3,1.6,0.0,180,11184,0.00,1.23,0.00,0.000,4,0.000,0.070,2126,3212,2884,0,0,0,0,0,0
$GC,11437,-0.79,-97.3,1.7,0.0,183,11445,0.00,1.10,0.00,0.000,6,0.000,0.032,2126,2508,2884,0,0,0,0,0,0
$STATE,12049,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12049,begin apogee
$FREEZE,1.69,-1.299,-1.738,2,1,0
$GC,12055,-0.16,0.0,1.7,0.0,194,12063,0.77,0.00,4.28,0.090,2,0.184,0.000,2338,2203,2847,0,0,0,0,0,0
$STATE,12064,end apogee,SURFACE_DEPTH_REACHED
$STATE,12064,begin surface coast
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.69,-1.299,-1.738,2,1,0
$FREEZE,1.65,0.689,-1.624,2,1,0
$FINISH,1.7,1.023830
$STATE,12123,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12123,begin surface
$SM_CCo,12139,180.45,0.086,0,0,1262,300.00
$SM_GC,1.60,6.03,0.60,180.45,0.046,0.059,0.086,115,2517,1262,-7.08,-0.51,300.00,0,0,0,0,0,0
$RAFOS_CLK,864
$RAFOS,6,1322628545,4.833333,4.818056,64,59,54,0,0,0,208,147,189,0,0,0
$RAFOS,5,1322628061,4.700000,4.683611,67,63,57,0,0,0,223,206,190,0,0,0
$RAFOS,4,1322627612,4.566667,4.558889,65,64,56,0,0,0,198,218,143,0,0,0
$RAFOS,3,1322627127,4.433333,4.424167,99,55,54,0,0,0,447,205,216,0,0,0
$RAFOS,2,1322626681,4.300000,4.300278,65,63,61,0,0,0,130,201,218,0,0,0
$RAFOS,1,1322626196,4.166667,4.165555,62,59,57,0,0,0,193,218,146,0,0,0
$RAFOS,0,1322625688,4.033333,4.024445,63,62,60,0,0,0,156,183,137,0,0,0
$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,55.71
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,15.90
$XPDR_PINGS,25
$ALTIM_TOP_PING,1.7,999.0
$24V_AH,25.1,39.024
$10V_AH,9.9,31.910
$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,14.425,33.750,4.275,180.450,0.000,0.000,0.000,345.850,6.500,0.000,24.345,806.269,10066.320,429.134,1339.772,172.020,0.000,1317.996,0.000,993.828,2520.000,2.809,0.000
$DEVICE_MAMPS,211.140,75.735,90.270,85.680,0.000,0.000,0.000,291.375,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,6858,195
$CAP_FILE_SIZE,74853,0
$CFSIZE,260165632,225005568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1438.8
$CURRENT,0.291,311.9,1
$GPS,301111,071554,6611.897,-5924.028,36,1.2,36,-33.1