version: 66.09
glider: 143
mission: 13
dive: 340
start: 12 1 111 4 53 2
data:
$ID,143
$MISSION,13
$DIVE,340
$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,-87323.938
$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,22
$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
$GPS1,011211,044158,6608.596,-5910.134,43,1.4,47,-33.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-33.8
$GPS2,011211,045231,6608.618,-5910.237,30,1.3,30,-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,112.0,143855,-20.9,-9.167
$D_GRID,643
$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,-97.3,0.0,0.0,0,167,0.00,0.00,-144.82,0.000,6,0.000,0.000,117,2515,2881,0,0,0,0,0,0
$GC,170,-0.79,-97.3,1.9,0.0,2,181,7.50,1.12,0.00,0.000,4,0.191,0.069,2134,3212,2883,0,0,0,0,0,0
$GC,432,-0.79,-97.3,1.8,0.0,6,436,0.00,1.10,0.00,0.000,6,0.000,0.034,2134,2509,2884,0,0,0,0,0,0
$GC,1066,-0.79,-97.3,1.8,0.0,17,1069,0.00,1.23,0.00,0.000,4,0.000,0.069,2129,3217,2885,0,0,0,0,0,0
$GC,1323,-0.79,-97.3,1.8,0.0,20,1331,0.00,1.12,0.00,0.000,6,0.000,0.034,2129,2501,2885,0,0,0,0,0,0
$GC,1938,-0.79,-97.3,1.8,0.0,31,1941,0.00,1.23,0.00,0.000,4,0.000,0.067,2125,3214,2885,0,0,0,0,0,0
$GC,2194,-0.79,-97.3,1.8,0.0,34,2202,0.00,1.10,0.00,0.000,6,0.000,0.034,2125,2511,2885,0,0,0,0,0,0
$GC,2808,-0.79,-97.3,1.8,0.0,45,2812,0.00,1.20,0.00,0.000,4,0.000,0.067,2120,3211,2885,0,0,0,0,0,0
$GC,3065,-0.79,-97.3,1.8,0.0,48,3075,0.00,1.10,0.00,0.000,6,0.000,0.034,2120,2502,2885,0,0,0,0,0,0
$GC,3679,-0.79,-97.3,1.8,0.0,59,3683,0.00,1.23,0.00,0.000,4,0.000,0.067,2116,3216,2885,0,0,0,0,0,0
$GC,3935,-0.79,-97.3,1.9,0.0,62,3942,0.00,1.12,0.00,0.000,6,0.000,0.034,2116,2507,2885,0,0,0,0,0,0
$GC,4549,-0.79,-97.3,1.9,0.0,73,4552,0.00,1.20,0.00,0.000,4,0.000,0.067,2113,3209,2885,0,0,0,0,0,0
$GC,4805,-0.79,-97.3,1.8,0.0,76,4814,0.12,1.12,0.00,0.000,6,0.213,0.034,2139,2497,2885,0,0,0,0,0,0
$GC,5419,-0.79,-97.3,1.9,0.0,87,5423,0.00,1.23,0.00,0.000,4,0.000,0.068,2136,3212,2885,0,0,0,0,0,0
$GC,5677,-0.79,-97.3,1.8,0.0,90,5684,0.00,1.10,0.00,0.000,6,0.000,0.035,2136,2506,2884,0,0,0,0,0,0
$GC,6290,-0.79,-97.3,1.9,0.0,101,6294,0.00,1.23,0.00,0.000,4,0.000,0.069,2132,3217,2885,0,0,0,0,0,0
$GC,6546,-0.79,-97.3,1.9,0.0,104,6554,0.00,1.12,0.00,0.000,6,0.000,0.035,2132,2508,2885,0,0,0,0,0,0
$GC,7162,-0.79,-97.3,1.8,0.0,115,7166,0.00,1.20,0.00,0.000,4,0.000,0.068,2127,3210,2885,0,0,0,0,0,0
$GC,7418,-0.79,-97.3,1.8,0.0,118,7426,0.00,1.12,0.00,0.000,6,0.000,0.034,2127,2499,2885,0,0,0,0,0,0
$GC,8033,-0.79,-97.3,1.9,0.0,129,8036,0.00,1.23,0.00,0.000,4,0.000,0.067,2123,3215,2885,0,0,0,0,0,0
$GC,8290,-0.79,-97.3,1.8,0.0,132,8300,0.00,1.10,0.00,0.000,6,0.000,0.035,2123,2512,2885,0,0,0,0,0,0
$GC,8903,-0.79,-97.3,1.8,0.0,143,8907,0.00,1.20,0.00,0.000,4,0.000,0.068,2118,3212,2885,0,0,0,0,0,0
$GC,9160,-0.79,-97.3,1.9,0.0,146,9168,0.00,1.12,0.00,0.000,6,0.000,0.034,2118,2501,2884,0,0,0,0,0,0
$GC,9774,-0.79,-97.3,1.9,0.0,157,9777,0.00,1.23,0.00,0.000,4,0.000,0.067,2114,3216,2885,0,0,0,0,0,0
$GC,10030,-0.79,-97.3,1.9,0.0,160,10039,0.12,1.12,0.00,0.000,6,0.218,0.034,2138,2503,2885,0,0,0,0,0,0
$GC,10644,-0.79,-97.3,1.9,0.0,171,10648,0.00,1.23,0.00,0.000,4,0.000,0.067,2135,3215,2885,0,0,0,0,0,0
$GC,10902,-0.79,-97.3,1.8,0.0,174,10908,0.00,1.10,0.00,0.000,6,0.000,0.034,2135,2509,2885,0,0,0,0,0,0
$GC,11515,-0.79,-97.3,1.9,0.0,185,11518,0.00,1.23,0.00,0.000,4,0.000,0.067,2131,3217,2885,0,0,0,0,0,0
$GC,11771,-0.79,-97.3,1.8,0.0,188,11778,0.00,1.12,0.00,0.000,6,0.000,0.034,2131,2509,2885,0,0,0,0,0,0
$STATE,12019,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12019,begin apogee
$FREEZE,1.89,0.904,-1.620,2,1,0
$GC,12025,-0.16,0.0,1.9,0.0,193,12032,0.77,0.00,4.40,0.090,2,0.199,0.000,2337,2189,2846,0,0,0,0,0,0
$STATE,12033,end apogee,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.89,0.904,-1.620,2,1,0
$FREEZE,1.82,0.014,-1.669,2,1,0
$FREEZE,1.91,0.556,-1.639,2,1,0
$FREEZE,1.78,0.556,-1.639,2,1,0
$FINISH,1.8,1.024048
$STATE,12214,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12214,begin surface
$SM_CCo,12229,182.10,0.086,0,0,1260,300.00
$SM_GC,1.75,6.05,0.62,182.10,0.048,0.057,0.086,116,2519,1260,-7.08,-0.42,300.00,0,0,0,0,0,0
$RAFOS_CLK,869
$RAFOS,1,1322726945,8.166667,8.151389,58,55,53,0,0,0,222,131,195,0,0,0
$RAFOS,0,1322726512,8.033334,8.031111,57,55,52,0,0,0,201,134,189,0,0,0
$RAFOS,4,1322714016,4.566667,4.560000,67,67,65,0,0,0,197,629,213,0,0,0
$RAFOS_FIX,6612.059570,-5913.792480,011211,040450,3,102,0.74
$IRIDIUM_FIX,6543.17,-5914.02,011211,040436
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.74
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,15.90
$XPDR_PINGS,26
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.1,39.066
$10V_AH,9.9,32.287
$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,14.575,33.675,4.400,182.100,0.000,0.000,0.000,402.525,6.750,0.000,32.085,820.941,10230.626,387.617,1469.699,155.227,0.000,1350.217,0.000,1059.152,720.000,2.808,0.000
$DEVICE_MAMPS,218.025,68.850,90.270,86.445,0.000,0.000,0.000,242.690,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.537,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150156
$DATA_FILE_SIZE,6843,196
$CAP_FILE_SIZE,78274,0
$CFSIZE,260165632,224772096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1444.0
$CURRENT,0.130,333.5,1
$GPS,011211,082123,6609.399,-5911.208,40,0.9,40,-33.0