version: 66.09
glider: 143
mission: 13
dive: 355
start: 12 3 111 7 51 4
data:
$ID,143
$MISSION,13
$DIVE,355
$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,501.14789
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-87706.289
$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,24
$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,48
$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
$GPS1,031211,074306,6540.911,-5917.704,42,1.3,43,-32.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-34.2
$GPS2,031211,075032,6540.961,-5917.772,16,1.9,17,-32.5
$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,112.9,186500,-20.9,-9.167
$D_GRID,464
$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,-97.3,0.0,0.0,0,213,0.00,0.00,-192.00,0.000,6,0.000,0.000,122,2519,2882,0,0,0,0,0,0
$GC,216,-0.79,-97.3,2.0,0.0,3,227,7.50,1.17,0.00,0.000,4,0.192,0.045,2138,1816,2884,0,0,0,0,0,0
$GC,478,-0.79,-97.3,2.0,0.0,7,483,0.00,1.20,0.00,0.000,6,0.000,0.050,2135,2508,2885,0,0,0,0,0,0
$GC,1128,-0.79,-97.3,2.0,0.0,18,1131,0.00,1.17,0.00,0.000,4,0.000,0.046,2136,1816,2885,0,0,0,0,0,0
$GC,1385,-0.79,-97.3,2.0,0.0,21,1392,0.00,1.20,0.00,0.000,6,0.000,0.050,2131,2511,2885,0,0,0,0,0,0
$GC,2000,-0.79,-97.3,2.1,0.0,32,2003,0.00,1.17,0.00,0.000,4,0.000,0.045,2131,1814,2885,0,0,0,0,0,0
$GC,2256,-0.79,-97.3,2.0,0.0,35,2264,0.00,1.23,0.00,0.000,6,0.000,0.050,2126,2516,2885,0,0,0,0,0,0
$GC,2870,-0.79,-97.3,2.0,0.0,46,2873,0.00,1.17,0.00,0.000,4,0.000,0.047,2127,1816,2885,0,0,0,0,0,0
$GC,3126,-0.79,-97.3,2.0,0.0,49,3134,0.00,1.23,0.00,0.000,6,0.000,0.050,2122,2520,2884,0,0,0,0,0,0
$GC,3740,-0.79,-97.3,2.1,0.0,60,3744,0.00,1.17,0.00,0.000,4,0.000,0.045,2123,1821,2885,0,0,0,0,0,0
$GC,3996,-0.79,-97.3,2.1,0.0,63,4004,0.00,1.20,0.00,0.000,6,0.000,0.050,2117,2511,2885,0,0,0,0,0,0
$GC,4612,-0.79,-97.3,2.1,0.0,74,4615,0.00,1.15,0.00,0.000,4,0.000,0.045,2117,1822,2885,0,0,0,0,0,0
$GC,4868,-0.79,-97.3,2.0,0.0,77,4877,0.12,1.20,0.00,0.000,6,0.219,0.050,2137,2512,2885,0,0,0,0,0,0
$GC,5483,-0.79,-97.3,2.0,0.0,88,5486,0.00,1.17,0.00,0.000,4,0.000,0.045,2138,1813,2885,0,0,0,0,0,0
$GC,5739,-0.79,-97.3,2.0,0.0,91,5749,0.00,1.23,0.00,0.000,6,0.000,0.050,2135,2517,2885,0,0,0,0,0,0
$GC,6353,-0.79,-97.3,2.1,0.0,102,6357,0.00,1.17,0.00,0.000,4,0.000,0.046,2135,1816,2885,0,0,0,0,0,0
$GC,6609,-0.79,-97.3,2.0,0.0,105,6617,0.00,1.23,0.00,0.000,6,0.000,0.050,2130,2520,2884,0,0,0,0,0,0
$GC,7224,-0.79,-97.3,2.0,0.0,116,7227,0.00,1.17,0.00,0.000,4,0.000,0.045,2130,1820,2885,0,0,0,0,0,0
$GC,7480,-0.79,-97.3,2.0,0.0,119,7488,0.00,1.20,0.00,0.000,6,0.000,0.051,2126,2510,2885,0,0,0,0,0,0
$GC,8094,-0.79,-97.3,2.0,0.0,130,8098,0.00,1.17,0.00,0.000,4,0.000,0.046,2126,1812,2885,0,0,0,0,0,0
$GC,8350,-0.79,-97.3,2.0,0.0,133,8358,0.00,1.23,0.00,0.000,6,0.000,0.050,2121,2516,2885,0,0,0,0,0,0
$GC,8964,-0.79,-97.3,2.1,0.0,144,8968,0.00,1.17,0.00,0.000,4,0.000,0.045,2121,1815,2885,0,0,0,0,0,0
$GC,9221,-0.79,-97.3,2.0,0.0,147,9229,0.00,1.23,0.00,0.000,6,0.000,0.051,2117,2519,2885,0,0,0,0,0,0
$GC,9835,-0.79,-97.3,2.0,0.0,158,9838,0.00,1.17,0.00,0.000,4,0.000,0.045,2117,1815,2885,0,0,0,0,0,0
$GC,10091,-0.79,-97.3,2.1,0.0,161,10100,0.12,1.23,0.00,0.000,6,0.216,0.050,2136,2520,2885,0,0,0,0,0,0
$GC,10706,-0.79,-97.3,2.0,0.0,172,10709,0.00,1.17,0.00,0.000,4,0.000,0.044,2137,1820,2885,0,0,0,0,0,0
$GC,10962,-0.79,-97.3,2.0,0.0,175,10970,0.00,1.20,0.00,0.000,6,0.000,0.050,2134,2512,2885,0,0,0,0,0,0
$GC,11576,-0.79,-97.3,2.1,0.0,186,11580,0.00,1.17,0.00,0.000,4,0.000,0.047,2134,1817,2885,0,0,0,0,0,0
$GC,11832,-0.79,-97.3,2.0,0.0,189,11840,0.00,1.23,0.00,0.000,6,0.000,0.050,2129,2522,2885,0,0,0,0,0,0
$STATE,12020,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12020,begin apogee
$FREEZE,2.06,-1.281,-1.748,2,14,0
$FREEZE,2.06,-1.281,-1.748,2,14,0
$FREEZE,2.06,-1.281,-1.748,2,14,0
$FREEZE,2.06,-1.281,-1.748,2,14,0
$FREEZE,2.06,-1.281,-1.748,2,14,0
$FREEZE,2.06,-1.281,-1.748,2,14,0
$FREEZE,2.06,-1.281,-1.748,2,14,0
$FREEZE,2.06,-1.281,-1.748,2,14,0
$GC,12026,-0.16,0.0,2.1,0.0,193,12074,0.77,0.00,44.40,0.088,6,0.199,0.000,2335,2194,2484,0,0,0,0,0,0
$STATE,12077,end apogee,CONTROL_FINISHED_OK
$STATE,12077,begin climb
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$GC,12079,0.79,97.3,2.1,0.0,193,12131,1.17,1.27,45.58,0.086,4,0.205,0.057,2639,2917,2087,0,0,0,0,0,0
$FREEZE,2.02,-1.222,-1.745,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.09,-1.267,-1.748,2,14,0
$FREEZE,2.06,-1.272,-1.748,2,14,0
$STATE,12211,end climb,NO_VERTICAL_VELOCITY
$STATE,12211,begin subsurface finish
$FINISH1,2.1,1.025663,90
$GC,12220,0.11,89.6,2.1,0.0,196,12224,0.57,0.00,-1.45,0.000,2,0.074,0.000,2434,2193,2088,0,0,0,0,0,0
$FINISH2,2.1
$STATE,12226,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12226,begin surface
$RAFOS_CLK,860
$RAFOS,6,1322902159,8.833333,8.821944,59,58,56,0,0,0,213,177,188,0,0,0
$RAFOS,5,1322901664,8.700000,8.684444,59,55,53,0,0,0,199,173,125,0,0,0
$RAFOS,4,1322901228,8.566667,8.563334,65,61,58,0,0,0,190,171,137,0,0,0
$RAFOS,3,1322900707,8.433333,8.418612,66,61,59,0,0,0,171,220,201,0,0,0
$RAFOS,2,1322900236,8.300000,8.287778,67,59,58,0,0,0,178,148,117,0,0,0
$RAFOS,1,1322899787,8.166667,8.163055,59,58,57,0,0,0,214,197,114,0,0,0
$RAFOS,0,1322899302,8.033334,8.028334,58,58,55,0,0,0,115,139,221,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6512.01,-5918.30,031211,070701
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.20
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.80
$XPDR_PINGS,5
$ALTIM_TOP_PING,2.1,999.0
$24V_AH,25.1,39.172
$10V_AH,10.0,33.022
$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,10.275,36.475,89.975,0.000,0.000,0.000,0.000,146.425,1.500,0.000,18.680,808.436,10098.824,300.557,1269.826,205.681,0.000,1045.551,0.000,1093.719,2520.000,2.807,0.000
$DEVICE_MAMPS,218.790,56.610,87.975,0.000,0.000,0.000,0.000,237.433,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150244
$DATA_FILE_SIZE,6859,196
$CAP_FILE_SIZE,75023,0
$CFSIZE,260165632,224272384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1439.1
$CURRENT,0.122,335.9,1
$GPS,031211,075032,6540.961,-5917.772,16,1.9,17,-32.5