version: 66.09
glider: 143
mission: 13
dive: 337
start: 11 30 111 18 6 40
data:
$ID,143
$MISSION,13
$DIVE,337
$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,-87320.148
$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
$GPS1,301111,180105,6612.494,-5913.807,31,0.9,31,-33.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-31.2
$GPS2,301111,180607,6612.504,-5913.625,16,1.7,16,-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,75.8,140730,-20.9,-9.167
$D_GRID,671
$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,15,-0.79,-97.3,0.0,0.0,0,167,0.00,0.00,-147.43,0.000,6,0.000,0.000,116,2513,2882,0,0,0,0,0,0
$GC,170,-0.79,-97.3,1.8,0.0,2,181,7.35,1.17,0.00,0.000,4,0.181,0.042,2140,1809,2883,0,0,0,0,0,0
$GC,432,-0.79,-97.3,1.7,0.0,6,437,0.00,1.25,0.00,0.000,6,0.000,0.057,2137,2513,2885,0,0,0,0,0,0
$GC,1060,-0.79,-97.3,1.7,0.0,17,1064,0.00,1.17,0.00,0.000,4,0.000,0.045,2137,1815,2885,0,0,0,0,0,0
$GC,1317,-0.79,-97.3,1.8,0.0,20,1325,0.00,1.23,0.00,0.000,6,0.000,0.057,2133,2515,2885,0,0,0,0,0,0
$GC,1931,-0.79,-97.3,1.7,0.0,31,1934,0.00,1.17,0.00,0.000,4,0.000,0.047,2133,1817,2885,0,0,0,0,0,0
$GC,2188,-0.79,-97.3,1.8,0.0,34,2195,0.00,1.20,0.00,0.000,6,0.000,0.057,2128,2508,2884,0,0,0,0,0,0
$GC,2801,-0.79,-97.3,1.8,0.0,45,2805,0.00,1.15,0.00,0.000,4,0.000,0.044,2128,1818,2885,0,0,0,0,0,0
$GC,3058,-0.79,-97.3,1.8,0.0,48,3066,0.00,1.20,0.00,0.000,6,0.000,0.057,2124,2506,2885,0,0,0,0,0,0
$GC,3672,-0.79,-97.3,1.7,0.0,59,3676,0.00,1.15,0.00,0.000,4,0.000,0.044,2124,1820,2885,0,0,0,0,0,0
$GC,3929,-0.79,-97.3,1.8,0.0,62,3936,0.00,1.20,0.00,0.000,6,0.000,0.056,2119,2509,2885,0,0,0,0,0,0
$GC,4543,-0.79,-97.3,1.8,0.0,73,4546,0.00,1.15,0.00,0.000,4,0.000,0.043,2119,1816,2885,0,0,0,0,0,0
$GC,4799,-0.79,-97.3,1.7,0.0,76,4806,0.00,1.20,0.00,0.000,6,0.000,0.056,2115,2509,2885,0,0,0,0,0,0
$GC,5414,-0.79,-97.3,1.7,0.0,87,5418,0.12,1.15,0.00,0.000,4,0.210,0.043,2141,1819,2884,0,0,0,0,0,0
$GC,5672,-0.79,-97.3,1.7,0.0,90,5679,0.00,1.20,0.00,0.000,6,0.000,0.056,2138,2509,2885,0,0,0,0,0,0
$GC,6285,-0.79,-97.3,1.7,0.0,101,6289,0.00,1.15,0.00,0.000,4,0.000,0.044,2138,1818,2885,0,0,0,0,0,0
$GC,6542,-0.79,-97.3,1.7,0.0,104,6552,0.00,1.20,0.00,0.000,6,0.000,0.055,2134,2510,2884,0,0,0,0,0,0
$GC,7156,-0.79,-97.3,1.8,0.0,115,7159,0.00,1.15,0.00,0.000,4,0.000,0.044,2134,1815,2884,0,0,0,0,0,0
$GC,7412,-0.79,-97.3,1.8,0.0,118,7420,0.00,1.20,0.00,0.000,6,0.000,0.055,2128,2506,2885,0,0,0,0,0,0
$GC,8026,-0.79,-97.3,1.7,0.0,129,8030,0.00,1.15,0.00,0.000,4,0.000,0.044,2129,1814,2885,0,0,0,0,0,0
$GC,8282,-0.79,-97.3,1.8,0.0,132,8290,0.00,1.23,0.00,0.000,6,0.000,0.055,2125,2512,2885,0,0,0,0,0,0
$GC,8897,-0.79,-97.3,1.8,0.0,143,8900,0.00,1.15,0.00,0.000,4,0.000,0.044,2125,1821,2884,0,0,0,0,0,0
$GC,9153,-0.79,-97.3,1.8,0.0,146,9161,0.00,1.23,0.00,0.000,6,0.000,0.055,2120,2518,2885,0,0,0,0,0,0
$GC,9770,-0.79,-97.3,1.8,0.0,157,9773,0.00,1.17,0.00,0.000,4,0.000,0.044,2120,1814,2885,0,0,0,0,0,0
$GC,10026,-0.79,-97.3,1.8,0.0,160,10034,0.00,1.25,0.00,0.000,6,0.000,0.057,2115,2522,2885,0,0,0,0,0,0
$GC,10642,-0.79,-97.3,1.8,0.0,171,10646,0.00,1.17,0.00,0.000,4,0.000,0.044,2115,1820,2885,0,0,0,0,0,0
$GC,10898,-0.79,-97.3,1.9,0.0,174,10906,0.15,1.23,0.00,0.000,6,0.205,0.057,2142,2515,2885,0,0,0,0,0,0
$GC,11512,-0.79,-97.3,1.8,0.0,185,11516,0.00,1.17,0.00,0.000,4,0.000,0.045,2142,1811,2885,0,0,0,0,0,0
$GC,11769,-0.79,-97.3,1.8,0.0,188,11779,0.00,1.25,0.00,0.000,6,0.000,0.057,2140,2520,2885,0,0,0,0,0,0
$STATE,12018,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12018,begin apogee
$FREEZE,1.78,-0.928,-1.724,2,1,0
$GC,12024,-0.16,0.0,1.8,0.0,193,12034,0.75,0.00,6.72,0.090,2,0.190,0.000,2339,2188,2825,0,0,0,0,0,0
$STATE,12035,end apogee,SURFACE_DEPTH_REACHED
$STATE,12035,begin surface coast
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.78,-0.928,-1.724,2,1,0
$FREEZE,1.80,0.860,-1.623,2,1,0
$FREEZE,1.81,-0.172,-1.680,2,1,0
$FREEZE,1.74,0.650,-1.635,2,1,0
$FINISH,1.7,1.023977
$STATE,12216,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12216,begin surface
$SM_CCo,12232,179.32,0.086,0,0,1262,300.00
$SM_GC,1.79,6.03,0.62,179.32,0.047,0.059,0.086,117,2519,1262,-7.07,-0.51,300.00,0,0,0,0,0,0
$RAFOS_CLK,878
$RAFOS,6,1322686165,20.833334,20.823610,63,55,55,0,0,0,208,196,166,0,0,0
$RAFOS,5,1322685680,20.700001,20.688889,59,55,55,0,0,0,201,190,211,0,0,0
$RAFOS,4,1322685233,20.566668,20.564722,60,60,55,0,0,0,198,210,135,0,0,0
$RAFOS,3,1322684749,20.433332,20.430277,99,69,60,0,0,0,325,213,159,0,0,0
$RAFOS,2,1322684242,20.299999,20.289444,60,58,56,0,0,0,198,131,218,0,0,0
$RAFOS,1,1322683746,20.166666,20.151667,80,58,58,0,0,0,787,224,177,0,0,0
$RAFOS,0,1322683311,20.033333,20.030834,60,58,58,0,0,0,193,122,217,0,0,0
$RAFOS_FIX,6614.549316,-5902.741699,301111,202012,2,90,1.12
$IRIDIUM_FIX,6543.17,-5923.16,301111,141420
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.74
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,15.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,1.8,999.0
$24V_AH,25.1,39.048
$10V_AH,10.1,32.123
$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,14.400,34.500,6.725,179.325,0.000,0.000,0.000,204.325,4.250,0.000,17.540,807.286,10130.229,388.371,1269.255,139.322,0.000,1150.890,0.000,1059.731,2520.000,2.809,0.000
$DEVICE_MAMPS,210.375,58.905,89.505,86.445,0.000,0.000,0.000,226.961,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150252
$DATA_FILE_SIZE,6847,196
$CAP_FILE_SIZE,74183,0
$CFSIZE,260165632,224874496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1443.0
$CURRENT,0.424,123.0,1
$GPS,301111,213504,6610.942,-5907.715,41,1.8,44,-33.0