version: 66.09
glider: 143
mission: 13
dive: 663
start: 12 26 111 1 55 43
data:
$ID,143
$MISSION,13
$DIVE,663
$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,-4
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,110
$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,-103814.22
$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,32
$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
$GPS1,051211,182027,6518.163,-5941.124,181,99.0,181,-32.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.05
$_SM_ANGLEo,-33.2
$GPS2,051211,182027,6518.163,-5941.124,181,99.0,181,-32.1
$SPEED_LIMITS,0.159,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6514.469,-5916.893
$TGT_RADIUS,1852.000
$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,142.1,20000,-20.9,-9.167
$D_GRID,420
$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,-97.3,0.0,0.0,0,67,0.00,0.52,-45.83,0.000,6,0.000,0.119,2426,2512,2882,0,0,0,0,0,0
$GC,70,-0.79,-97.3,0.0,0.0,0,74,0.77,1.10,0.00,0.000,4,0.057,0.060,2132,3213,2883,0,0,0,0,0,0
$STATE,269,end dive,NO_VERTICAL_VELOCITY
$STATE,269,begin apogee
$FREEZE,4.10,-1.623,-1.773,2,322,0
$FREEZE,4.10,-1.623,-1.773,2,322,0
$FREEZE,4.10,-1.623,-1.773,2,322,0
$FREEZE,4.10,-1.623,-1.773,2,322,0
$FREEZE,4.10,-1.623,-1.773,2,322,0
$FREEZE,4.10,-1.623,-1.773,2,322,0
$FREEZE,4.10,-1.623,-1.773,2,322,0
$FREEZE,4.10,-1.623,-1.773,2,322,0
$GC,276,-0.16,0.0,4.1,0.0,3,325,0.75,0.00,44.80,0.091,6,0.188,0.000,2335,2196,2485,0,0,0,0,0,0
$STATE,328,end apogee,CONTROL_FINISHED_OK
$STATE,328,begin climb
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$GC,330,0.79,97.3,4.1,0.0,3,385,1.15,1.12,46.95,0.090,4,0.190,0.065,2648,1499,2087,0,0,0,0,0,0
$FREEZE,4.12,-1.623,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.13,-1.622,-1.773,2,322,0
$FREEZE,4.08,-1.622,-1.773,2,322,0
$STATE,466,end climb,NO_VERTICAL_VELOCITY
$STATE,466,begin subsurface finish
$FINISH1,4.1,1.026012,73
$GC,475,0.09,72.5,4.1,0.1,6,479,0.60,0.00,-1.48,0.000,2,0.060,0.000,2424,2208,2098,0,0,0,0,0,0
$FINISH2,4.1
$STATE,480,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,480,begin surface
$RAFOS_CLK,58
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6451.58,-6049.73,051211,181842
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.04
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,4.1,10.1
$24V_AH,24.9,40.487
$10V_AH,10.2,39.343
$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,3.275,5.575,91.750,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,121.857,172.411,112.139,102.498,24.365,0.000,203.188,0.000,113.296,0.000,2.597,0.000
$DEVICE_MAMPS,190.485,118.575,91.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,4.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,237752
$DATA_FILE_SIZE,205,6
$CAP_FILE_SIZE,12375,0
$CFSIZE,260165632,217899008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1438.0
$GPS,051211,182027,6518.163,-5941.124,181,99.0,181,-32.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,460