version: 66.09
glider: 143
mission: 13
dive: 336
start: 11 30 111 14 32 50
data:
$ID,143
$MISSION,13
$DIVE,336
$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,-87318.883
$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,42
$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
$GPS1,301111,142224,6610.874,-5918.849,39,1.0,39,-33.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-31.2
$GPS2,301111,143219,6610.930,-5918.688,20,1.1,20,-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,47.7,145400,-20.9,-9.167
$D_GRID,666
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.79,-97.3,0.0,0.0,0,172,0.00,0.00,-150.45,0.000,6,0.000,0.000,119,2514,2882,0,0,0,0,0,0
$GC,175,-0.79,-97.3,1.6,0.0,2,186,7.30,1.17,0.00,0.000,4,0.179,0.044,2139,1812,2884,0,0,0,0,0,0
$GC,437,-0.79,-97.3,1.6,0.0,6,441,0.00,1.25,0.00,0.000,6,0.000,0.057,2136,2514,2885,0,0,0,0,0,0
$GC,1064,-0.79,-97.3,1.7,0.0,17,1068,0.00,1.17,0.00,0.000,4,0.000,0.047,2135,1817,2885,0,0,0,0,0,0
$GC,1320,-0.79,-97.3,1.6,0.0,20,1329,0.00,1.25,0.00,0.000,6,0.000,0.058,2131,2519,2885,0,0,0,0,0,0
$GC,1935,-0.79,-97.3,1.7,0.0,31,1938,0.00,1.17,0.00,0.000,4,0.000,0.046,2131,1823,2885,0,0,0,0,0,0
$GC,2191,-0.79,-97.3,1.7,0.0,34,2199,0.00,1.23,0.00,0.000,6,0.000,0.057,2127,2513,2885,0,0,0,0,0,0
$GC,2805,-0.79,-97.3,1.7,0.0,45,2809,0.00,1.17,0.00,0.000,4,0.000,0.046,2127,1814,2885,0,0,0,0,0,0
$GC,3062,-0.79,-97.3,1.7,0.0,48,3069,0.00,1.25,0.00,0.000,6,0.000,0.057,2122,2519,2885,0,0,0,0,0,0
$GC,3676,-0.79,-97.3,1.7,0.0,59,3679,0.00,1.17,0.00,0.000,4,0.000,0.045,2122,1821,2885,0,0,0,0,0,0
$GC,3932,-0.79,-97.3,1.7,0.0,62,3940,0.00,1.23,0.00,0.000,6,0.000,0.057,2118,2512,2885,0,0,0,0,0,0
$GC,4546,-0.79,-97.3,1.7,0.0,73,4550,0.00,1.17,0.00,0.000,4,0.000,0.046,2118,1814,2885,0,0,0,0,0,0
$GC,4802,-0.79,-97.3,1.7,0.0,76,4811,0.12,1.25,0.00,0.000,6,0.210,0.057,2137,2520,2885,0,0,0,0,0,0
$GC,5416,-0.79,-97.3,1.6,0.0,87,5420,0.00,1.17,0.00,0.000,4,0.000,0.045,2138,1822,2885,0,0,0,0,0,0
$GC,5673,-0.79,-97.3,1.7,0.0,90,5680,0.00,1.23,0.00,0.000,6,0.000,0.057,2135,2514,2885,0,0,0,0,0,0
$GC,6290,-0.79,-97.3,1.7,0.0,101,6293,0.00,1.17,0.00,0.000,4,0.000,0.046,2135,1813,2885,0,0,0,0,0,0
$GC,6546,-0.79,-97.3,1.7,0.0,104,6554,0.00,1.25,0.00,0.000,6,0.000,0.057,2131,2520,2885,0,0,0,0,0,0
$GC,7164,-0.79,-97.3,1.7,0.0,115,7167,0.00,1.17,0.00,0.000,4,0.000,0.044,2131,1816,2885,0,0,0,0,0,0
$GC,7420,-0.79,-97.3,1.7,0.0,118,7428,0.00,1.23,0.00,0.000,6,0.000,0.057,2126,2509,2885,0,0,0,0,0,0
$GC,8035,-0.79,-97.3,1.7,0.0,129,8039,0.00,1.15,0.00,0.000,4,0.000,0.044,2126,1821,2885,0,0,0,0,0,0
$GC,8291,-0.79,-97.3,1.7,0.0,132,8301,0.00,1.23,0.00,0.000,6,0.000,0.057,2121,2515,2885,0,0,0,0,0,0
$GC,8906,-0.79,-97.3,1.7,0.0,143,8910,0.00,1.17,0.00,0.000,4,0.000,0.047,2122,1817,2885,0,0,0,0,0,0
$GC,9162,-0.79,-97.3,1.7,0.0,146,9170,0.00,1.23,0.00,0.000,6,0.000,0.057,2117,2510,2885,0,0,0,0,0,0
$GC,9777,-0.79,-97.3,1.7,0.0,157,9781,0.00,1.15,0.00,0.000,4,0.000,0.045,2117,1822,2885,0,0,0,0,0,0
$GC,10034,-0.79,-97.3,1.8,0.0,160,10042,0.12,1.23,0.00,0.000,6,0.211,0.057,2137,2514,2885,0,0,0,0,0,0
$GC,10649,-0.79,-97.3,1.8,0.0,171,10652,0.00,1.17,0.00,0.000,4,0.000,0.045,2138,1816,2885,0,0,0,0,0,0
$GC,10905,-0.79,-97.3,1.7,0.0,174,10913,0.00,1.23,0.00,0.000,6,0.000,0.057,2135,2509,2885,0,0,0,0,0,0
$GC,11520,-0.79,-97.3,1.7,0.0,185,11523,0.00,1.15,0.00,0.000,4,0.000,0.045,2135,1819,2885,0,0,0,0,0,0
$GC,11776,-0.79,-97.3,1.8,0.0,188,11784,0.00,1.23,0.00,0.000,6,0.000,0.057,2130,2512,2885,0,0,0,0,0,0
$STATE,12024,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12024,begin apogee
$FREEZE,1.67,1.257,-1.602,2,1,0
$GC,12031,-0.16,0.0,1.7,0.0,193,12038,0.77,0.00,4.18,0.091,2,0.189,0.000,2337,2199,2848,0,0,0,0,0,0
$STATE,12039,end apogee,SURFACE_DEPTH_REACHED
$STATE,12039,begin surface coast
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.67,1.257,-1.602,2,1,0
$FREEZE,1.69,-1.318,-1.747,2,1,0
$FREEZE,1.72,-1.327,-1.748,2,1,0
$FREEZE,1.73,-1.331,-1.748,2,1,0
$FINISH,1.7,1.025676
$STATE,12220,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12220,begin surface
$SM_CCo,12236,181.85,0.086,0,0,1261,300.00
$SM_GC,1.81,6.03,0.60,181.85,0.046,0.060,0.086,116,2513,1261,-7.07,-0.65,300.00,0,0,0,0,0,0
$RAFOS_CLK,872
$RAFOS,6,1322671748,16.833334,16.818890,62,61,58,0,0,0,172,206,194,0,0,0
$RAFOS,5,1322671299,16.700001,16.694166,59,58,56,0,0,0,215,197,172,0,0,0
$RAFOS,4,1322670783,16.566668,16.550833,62,55,55,0,0,0,212,194,151,0,0,0
$RAFOS,3,1322670304,16.433332,16.417778,75,63,57,0,0,0,557,205,161,0,0,0
$RAFOS,2,1322669854,16.299999,16.292778,75,67,64,0,0,0,495,223,210,0,0,0
$RAFOS,1,1322669369,16.166666,16.158056,69,56,56,0,0,0,223,213,204,0,0,0
$RAFOS,0,1322668863,16.033333,16.017500,56,56,55,0,0,0,200,212,187,0,0,0
$RAFOS_FIX,6616.832031,-5917.368164,301111,161628,2,75,1.65
$IRIDIUM_FIX,6543.17,-6001.46,301111,141414
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.67
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,15.80
$XPDR_PINGS,29
$ALTIM_TOP_PING,1.7,999.0
$24V_AH,25.1,39.042
$10V_AH,10.0,32.071
$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,14.350,34.800,4.175,181.850,0.000,0.000,0.000,375.625,7.500,0.000,21.635,809.844,10238.770,393.731,1442.684,145.656,0.000,1326.412,0.000,1059.262,2520.000,2.810,0.000
$DEVICE_MAMPS,211.140,59.670,91.035,86.445,0.000,0.000,0.000,220.969,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150108
$DATA_FILE_SIZE,6820,196
$CAP_FILE_SIZE,75957,0
$CFSIZE,260165632,224907264
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1445.2
$CURRENT,0.374, 51.6,1
$GPS,301111,180105,6612.494,-5913.807,31,0.9,31,-33.1