version: 66.09
glider: 143
mission: 13
dive: 334
start: 11 30 111 7 20 51
data:
$ID,143
$MISSION,13
$DIVE,334
$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,-87316.359
$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,43
$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
$GPS1,301111,071554,6611.897,-5924.028,36,1.2,36,-33.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-31.2
$GPS2,301111,072018,6611.857,-5924.089,14,1.5,14,-33.1
$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,128.1,147231,-20.9,-9.167
$D_GRID,667
$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,-97.3,0.0,0.0,0,170,0.00,0.00,-150.15,0.000,6,0.000,0.000,115,2517,2882,0,0,0,0,0,0
$GC,173,-0.79,-97.3,1.6,0.0,2,185,7.28,1.12,0.00,0.000,4,0.177,0.072,2130,3217,2883,0,0,0,0,0,0
$GC,436,-0.79,-97.3,1.6,0.0,6,440,0.00,1.12,0.00,0.000,6,0.000,0.034,2130,2499,2884,0,0,0,0,0,0
$GC,1063,-0.79,-97.3,1.6,0.0,17,1067,0.00,1.23,0.00,0.000,4,0.000,0.070,2126,3210,2884,0,0,0,0,0,0
$GC,1320,-0.79,-97.3,1.7,0.0,20,1327,0.00,1.10,0.00,0.000,6,0.000,0.032,2125,2501,2884,0,0,0,0,0,0
$GC,1934,-0.79,-97.3,1.7,0.0,31,1937,0.00,1.23,0.00,0.000,4,0.000,0.069,2121,3211,2884,0,0,0,0,0,0
$GC,2190,-0.79,-97.3,1.6,0.0,34,2198,0.00,1.10,0.00,0.000,6,0.000,0.032,2121,2502,2884,0,0,0,0,0,0
$GC,2804,-0.79,-97.3,1.7,0.0,45,2808,0.00,1.23,0.00,0.000,4,0.000,0.069,2117,3213,2884,0,0,0,0,0,0
$GC,3061,-0.79,-97.3,1.6,0.0,48,3068,0.00,1.08,0.00,0.000,6,0.000,0.031,2117,2511,2884,0,0,0,0,0,0
$GC,3676,-0.79,-97.3,1.7,0.0,59,3680,0.00,1.20,0.00,0.000,4,0.000,0.070,2113,3210,2884,0,0,0,0,0,0
$GC,3932,-0.79,-97.3,1.6,0.0,62,3941,0.12,1.10,0.00,0.000,6,0.207,0.031,2138,2500,2884,0,0,0,0,0,0
$GC,4547,-0.79,-97.3,1.7,0.0,73,4550,0.00,1.23,0.00,0.000,4,0.000,0.070,2135,3211,2884,0,0,0,0,0,0
$GC,4803,-0.79,-97.3,1.7,0.0,76,4814,0.00,1.10,0.00,0.000,6,0.000,0.032,2135,2506,2884,0,0,0,0,0,0
$GC,5417,-0.79,-97.3,1.7,0.0,87,5421,0.00,1.23,0.00,0.000,4,0.000,0.071,2130,3214,2885,0,0,0,0,0,0
$GC,5674,-0.79,-97.3,1.7,0.0,90,5681,0.00,1.10,0.00,0.000,6,0.000,0.033,2130,2513,2884,0,0,0,0,0,0
$GC,6288,-0.79,-97.3,1.7,0.0,101,6291,0.00,1.23,0.00,0.000,4,0.000,0.071,2125,3222,2884,0,0,0,0,0,0
$GC,6544,-0.79,-97.3,1.6,0.0,104,6552,0.00,1.12,0.00,0.000,6,0.000,0.034,2126,2508,2884,0,0,0,0,0,0
$GC,7158,-0.79,-97.3,1.6,0.0,115,7162,0.00,1.23,0.00,0.000,4,0.000,0.070,2122,3214,2884,0,0,0,0,0,0
$GC,7416,-0.79,-97.3,1.7,0.0,118,7423,0.00,1.10,0.00,0.000,6,0.000,0.034,2121,2505,2884,0,0,0,0,0,0
$GC,8029,-0.79,-97.3,1.8,0.0,129,8033,0.00,1.23,0.00,0.000,4,0.000,0.072,2117,3211,2884,0,0,0,0,0,0
$GC,8285,-0.79,-97.3,1.6,0.0,132,8293,0.00,1.12,0.00,0.000,6,0.000,0.034,2117,2499,2885,0,0,0,0,0,0
$GC,8901,-0.79,-97.3,1.8,0.0,143,8904,0.00,1.23,0.00,0.000,4,0.000,0.070,2112,3211,2884,0,0,0,0,0,0
$GC,9157,-0.79,-97.3,1.6,0.0,146,9166,0.12,1.10,0.00,0.000,6,0.206,0.034,2137,2507,2885,0,0,0,0,0,0
$GC,9772,-0.79,-97.3,1.6,0.0,157,9775,0.00,1.23,0.00,0.000,4,0.000,0.071,2134,3214,2884,0,0,0,0,0,0
$GC,10029,-0.79,-97.3,1.7,0.0,160,10039,0.00,1.10,0.00,0.000,6,0.000,0.034,2134,2505,2885,0,0,0,0,0,0
$GC,10642,-0.79,-97.3,1.7,0.0,171,10646,0.00,1.23,0.00,0.000,4,0.000,0.071,2130,3210,2884,0,0,0,0,0,0
$GC,10899,-0.79,-97.3,1.7,0.0,174,10907,0.00,1.10,0.00,0.000,6,0.000,0.033,2130,2509,2884,0,0,0,0,0,0
$GC,11514,-0.79,-97.3,1.7,0.0,185,11518,0.00,1.23,0.00,0.000,4,0.000,0.072,2125,3216,2884,0,0,0,0,0,0
$GC,11770,-0.79,-97.3,1.7,0.0,188,11778,0.00,1.12,0.00,0.000,6,0.000,0.034,2125,2502,2884,0,0,0,0,0,0
$STATE,12018,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12018,begin apogee
$FREEZE,1.66,1.049,-1.612,2,1,0
$GC,12024,-0.16,0.0,1.7,0.0,193,12034,0.80,0.00,6.68,0.089,2,0.187,0.000,2340,2196,2824,0,0,0,0,0,0
$STATE,12035,end apogee,SURFACE_DEPTH_REACHED
$STATE,12035,begin surface coast
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,1.049,-1.612,2,1,0
$FREEZE,1.66,-1.298,-1.746,2,1,0
$FREEZE,1.66,-1.313,-1.747,2,1,0
$FREEZE,1.67,-1.310,-1.746,2,1,0
$FINISH,1.7,1.025648
$STATE,12216,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12216,begin surface
$SM_CCo,12231,178.60,0.086,0,0,1261,300.00
$SM_GC,1.69,6.03,0.60,178.60,0.046,0.059,0.086,120,2511,1261,-7.06,-0.71,300.00,0,0,0,0,0,0
$RAFOS_CLK,873
$RAFOS,5,1322642520,8.700000,8.700000,66,57,57,0,0,0,221,194,185,0,0,0
$RAFOS,4,1322642013,8.566667,8.559167,68,58,58,0,0,0,206,151,162,0,0,0
$RAFOS,3,1322641503,8.433333,8.417500,91,60,59,0,0,0,589,174,216,0,0,0
$RAFOS,2,1322641081,8.300000,8.300278,66,63,53,0,0,0,206,218,119,0,0,0
$RAFOS,1,1322640544,8.166667,8.151111,65,58,57,0,0,0,206,124,156,0,0,0
$RAFOS,0,1322640089,8.033334,8.024722,57,53,53,0,0,0,166,177,201,0,0,0
$RAFOS_FIX,6612.541992,-5917.414062,301111,000028,2,129,0.67
$IRIDIUM_FIX,6543.17,-5918.59,301111,030337
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,15.90
$XPDR_PINGS,14
$ALTIM_TOP_PING,1.7,999.0
$24V_AH,25.1,39.030
$10V_AH,10.1,31.959
$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,14.350,33.575,6.675,178.600,0.000,0.000,0.000,170.525,3.750,0.000,15.268,815.252,10114.613,390.047,1234.784,139.854,0.000,1119.372,0.000,1058.133,2160.000,2.807,0.000
$DEVICE_MAMPS,207.315,71.910,88.740,86.445,0.000,0.000,0.000,227.710,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150140
$DATA_FILE_SIZE,6823,196
$CAP_FILE_SIZE,74582,0
$CFSIZE,260165632,224972800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1441.6
$CURRENT,0.201,144.7,1
$GPS,301111,104906,6610.750,-5922.161,36,1.1,36,-33.1