version: 66.09
glider: 143
mission: 13
dive: 338
start: 11 30 111 21 40 4
data:
$ID,143
$MISSION,13
$DIVE,338
$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,-87321.414
$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
$GPS1,301111,213504,6610.942,-5907.715,41,1.8,44,-33.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-31.6
$GPS2,301111,213931,6610.873,-5907.612,20,1.8,20,-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,34.2,139587,-20.9,-9.167
$D_GRID,646
$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,-97.3,0.0,0.0,0,165,0.00,0.00,-144.57,0.000,6,0.000,0.000,117,2519,2881,0,0,0,0,0,0
$GC,168,-0.79,-97.3,1.8,0.0,2,179,7.35,1.17,0.00,0.000,4,0.182,0.044,2138,1814,2883,0,0,0,0,0,0
$GC,430,-0.79,-97.3,1.8,0.0,6,434,0.00,1.25,0.00,0.000,6,0.000,0.057,2136,2518,2884,0,0,0,0,0,0
$GC,1064,-0.79,-97.3,1.8,0.0,17,1068,0.00,1.17,0.00,0.000,4,0.000,0.046,2136,1821,2885,0,0,0,0,0,0
$GC,1321,-0.79,-97.3,1.9,0.0,20,1329,0.00,1.20,0.00,0.000,6,0.000,0.057,2132,2504,2885,0,0,0,0,0,0
$GC,1935,-0.79,-97.3,1.8,0.0,31,1938,0.00,1.15,0.00,0.000,4,0.000,0.046,2131,1822,2885,0,0,0,0,0,0
$GC,2192,-0.79,-97.3,1.8,0.0,34,2199,0.00,1.20,0.00,0.000,6,0.000,0.057,2127,2508,2885,0,0,0,0,0,0
$GC,2806,-0.79,-97.3,1.8,0.0,45,2809,0.00,1.15,0.00,0.000,4,0.000,0.044,2127,1819,2885,0,0,0,0,0,0
$GC,3062,-0.79,-97.3,1.8,0.0,48,3070,0.00,1.20,0.00,0.000,6,0.000,0.057,2122,2505,2885,0,0,0,0,0,0
$GC,3678,-0.79,-97.3,1.8,0.0,59,3681,0.00,1.15,0.00,0.000,4,0.000,0.045,2123,1816,2885,0,0,0,0,0,0
$GC,3934,-0.79,-97.3,1.8,0.0,62,3942,0.00,1.23,0.00,0.000,6,0.000,0.056,2118,2522,2884,0,0,0,0,0,0
$GC,4548,-0.79,-97.3,1.8,0.0,73,4552,0.00,1.17,0.00,0.000,4,0.000,0.045,2118,1819,2885,0,0,0,0,0,0
$GC,4805,-0.79,-97.3,1.8,0.0,76,4815,0.00,1.20,0.00,0.000,6,0.000,0.057,2114,2509,2885,0,0,0,0,0,0
$GC,5419,-0.79,-97.3,1.8,0.0,87,5423,0.12,1.15,0.00,0.000,4,0.216,0.044,2140,1823,2885,0,0,0,0,0,0
$GC,5677,-0.79,-97.3,1.8,0.0,90,5683,0.00,1.20,0.00,0.000,6,0.000,0.056,2137,2514,2885,0,0,0,0,0,0
$GC,6289,-0.79,-97.3,1.8,0.0,101,6293,0.00,1.15,0.00,0.000,4,0.000,0.045,2137,1825,2885,0,0,0,0,0,0
$GC,6546,-0.79,-97.3,1.8,0.0,104,6554,0.00,1.20,0.00,0.000,6,0.000,0.055,2132,2514,2884,0,0,0,0,0,0
$GC,7160,-0.79,-97.3,1.9,0.0,115,7163,0.00,1.17,0.00,0.000,4,0.000,0.047,2132,1817,2885,0,0,0,0,0,0
$GC,7417,-0.79,-97.3,1.9,0.0,118,7424,0.00,1.20,0.00,0.000,6,0.000,0.055,2128,2508,2884,0,0,0,0,0,0
$GC,8031,-0.79,-97.3,1.8,0.0,129,8034,0.00,1.15,0.00,0.000,4,0.000,0.045,2128,1820,2885,0,0,0,0,0,0
$GC,8287,-0.79,-97.3,1.9,0.0,132,8295,0.00,1.20,0.00,0.000,6,0.000,0.056,2124,2515,2885,0,0,0,0,0,0
$GC,8904,-0.79,-97.3,1.9,0.0,143,8907,0.00,1.17,0.00,0.000,4,0.000,0.046,2124,1814,2885,0,0,0,0,0,0
$GC,9160,-0.79,-97.3,1.8,0.0,146,9168,0.00,1.23,0.00,0.000,6,0.000,0.055,2120,2511,2885,0,0,0,0,0,0
$GC,9775,-0.79,-97.3,1.8,0.0,157,9778,0.00,1.15,0.00,0.000,4,0.000,0.045,2120,1823,2885,0,0,0,0,0,0
$GC,10031,-0.79,-97.3,1.9,0.0,160,10041,0.00,1.23,0.00,0.000,6,0.000,0.055,2116,2521,2885,0,0,0,0,0,0
$GC,10645,-0.79,-97.3,1.9,0.0,171,10649,0.00,1.17,0.00,0.000,4,0.000,0.044,2115,1820,2885,0,0,0,0,0,0
$GC,10901,-0.79,-97.3,1.9,0.0,174,10909,0.15,1.23,0.00,0.000,6,0.218,0.055,2141,2518,2884,0,0,0,0,0,0
$GC,11515,-0.79,-97.3,1.8,0.0,185,11518,0.00,1.17,0.00,0.000,4,0.000,0.047,2141,1818,2885,0,0,0,0,0,0
$GC,11771,-0.79,-97.3,1.9,0.0,188,11779,0.00,1.23,0.00,0.000,6,0.000,0.056,2139,2514,2885,0,0,0,0,0,0
$STATE,12019,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12019,begin apogee
$FREEZE,1.86,-0.259,-1.685,2,1,0
$GC,12025,-0.16,0.0,1.9,0.0,193,12035,0.75,0.00,6.78,0.090,2,0.197,0.000,2336,2202,2824,0,0,0,0,0,0
$STATE,12036,end apogee,SURFACE_DEPTH_REACHED
$STATE,12036,begin surface coast
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.86,-0.259,-1.685,2,1,0
$FREEZE,1.88,-1.175,-1.739,2,1,0
$FREEZE,1.92,-1.193,-1.740,2,1,0
$FREEZE,1.90,-1.224,-1.741,2,1,0
$FINISH,1.9,1.025572
$STATE,12218,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12218,begin surface
$SM_CCo,12234,179.43,0.087,0,0,1262,300.00
$SM_GC,1.88,6.05,0.60,179.43,0.048,0.059,0.087,116,2518,1262,-7.08,-0.54,300.00,0,0,0,0,0,0
$RAFOS_CLK,876
$RAFOS,6,1322700595,0.833333,0.831944,60,59,58,0,0,0,160,215,201,0,0,0
$RAFOS,5,1322700064,0.700000,0.684444,64,62,60,0,0,0,215,188,152,0,0,0
$RAFOS,4,1322699604,0.566667,0.556667,58,56,54,0,0,0,203,188,218,0,0,0
$RAFOS,3,1322699101,0.433333,0.416944,131,61,60,0,0,0,605,194,208,0,0,0
$RAFOS,2,1322698673,0.300000,0.298056,91,56,54,0,0,0,432,167,181,0,0,0
$RAFOS,1,1322698144,0.166667,0.151111,65,59,54,0,0,0,171,137,186,0,0,0
$RAFOS,0,1322697678,0.033333,0.021667,76,67,55,0,0,0,186,220,200,0,0,0
$RAFOS_FIX,6612.511719,-5913.997559,011211,000028,2,111,0.57
$IRIDIUM_FIX,6543.17,-5920.45,301111,181835
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.63
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,15.90
$XPDR_PINGS,13
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.1,39.054
$10V_AH,10.1,32.171
$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,14.425,34.400,6.775,179.425,0.000,0.000,0.000,166.350,3.500,0.000,22.208,812.185,10134.477,386.592,1234.567,141.895,0.000,1109.853,0.000,1058.370,2520.000,2.809,0.000
$DEVICE_MAMPS,218.025,58.905,89.505,87.210,0.000,0.000,0.000,225.463,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150084
$DATA_FILE_SIZE,6835,196
$CAP_FILE_SIZE,74602,0
$CFSIZE,260165632,224841728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1442.2
$CURRENT,0.410,187.8,1
$GPS,011211,010835,6608.134,-5908.543,40,1.4,40,-33.0