version: 66.09
glider: 143
mission: 13
dive: 308
start: 11 26 111 10 15 45
data:
$ID,143
$MISSION,13
$DIVE,308
$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,150
$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,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,-86922.367
$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,44
$R_STBD_OVSHOOT,27
$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
$GPS1,261111,100929,6639.088,-5917.302,39,1.3,39,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-45.7
$GPS2,261111,101515,6639.000,-5917.199,21,1.6,21,-33.6
$SPEED_LIMITS,0.159,0.253
$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,56.2,116552,-16.9,-9.167
$D_GRID,883
$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,18,-0.73,-146.0,0.0,0.0,0,233,0.00,0.00,-210.90,0.000,6,0.000,0.000,121,2510,3081,0,0,0,0,0,0
$GC,236,-0.73,-146.0,2.3,0.2,32,252,7.55,1.20,0.00,0.000,4,0.198,0.044,2161,1813,3082,0,0,0,0,0,0
$GC,503,-0.73,-146.0,1.9,0.2,72,510,0.00,1.17,0.00,0.000,6,0.000,0.047,2158,2505,3083,0,0,0,0,0,0
$GC,843,-0.73,-146.0,2.0,0.5,123,850,0.00,1.15,0.00,0.000,4,0.000,0.047,2158,1824,3083,0,0,0,0,0,0
$GC,1102,-0.73,-146.0,2.0,-0.0,162,1110,0.00,1.17,0.00,0.000,6,0.000,0.047,2154,2517,3083,0,0,0,0,0,0
$GC,1441,-0.73,-146.0,2.0,0.0,213,1447,0.00,1.15,0.00,0.000,4,0.000,0.042,2154,1821,3083,0,0,0,0,0,0
$GC,1700,-0.73,-146.0,2.0,0.0,252,1707,0.00,1.17,0.00,0.000,6,0.000,0.054,2150,2505,3083,0,0,0,0,0,0
$GC,2039,-0.73,-146.0,2.0,0.2,303,2045,0.00,1.12,0.00,0.000,4,0.000,0.043,2150,1823,3083,0,0,0,0,0,0
$GC,2296,-0.73,-146.0,1.9,0.0,342,2303,0.00,1.17,0.00,0.000,6,0.000,0.052,2145,2512,3083,0,0,0,0,0,0
$GC,2634,-0.73,-146.0,2.1,0.0,393,2641,0.00,1.15,0.00,0.000,4,0.000,0.043,2145,1816,3082,0,0,0,0,0,0
$GC,2892,-0.73,-146.0,2.0,0.4,432,2900,0.00,1.20,0.00,0.000,6,0.000,0.054,2141,2517,3083,0,0,0,0,0,0
$GC,3232,-0.73,-146.0,2.0,0.1,483,3239,0.00,1.15,0.00,0.000,4,0.000,0.043,2141,1819,3082,0,0,0,0,0,0
$GC,3491,-0.73,-146.0,2.0,0.2,522,3498,0.00,1.17,0.00,0.000,6,0.000,0.052,2136,2511,3082,0,0,0,0,0,0
$GC,3828,-0.73,-146.0,2.3,0.0,573,3838,0.12,1.15,0.00,0.000,4,0.214,0.045,2162,1819,3082,0,0,0,0,0,0
$GC,4089,-0.73,-146.0,1.9,0.2,612,4096,0.00,1.20,0.00,0.000,6,0.000,0.057,2159,2514,3082,0,0,0,0,0,0
$GC,4428,-0.73,-146.0,2.0,-0.1,663,4435,0.00,1.15,0.00,0.000,4,0.000,0.042,2159,1816,3082,0,0,0,0,0,0
$GC,4688,-0.73,-146.0,2.1,-0.5,702,4695,0.00,1.20,0.00,0.000,6,0.000,0.055,2155,2516,3082,0,0,0,0,0,0
$GC,5025,-0.73,-146.0,2.0,0.1,753,5034,0.00,1.15,0.00,0.000,4,0.000,0.041,2155,1814,3082,0,0,0,0,0,0
$GC,5285,-0.73,-146.0,1.9,-0.3,792,5291,0.00,1.20,0.00,0.000,6,0.000,0.054,2150,2514,3082,0,0,0,0,0,0
$GC,5623,-0.73,-146.0,2.0,0.0,843,5629,0.00,1.15,0.00,0.000,4,0.000,0.044,2150,1818,3082,0,0,0,0,0,0
$GC,5881,-0.73,-146.0,2.0,-0.1,882,5889,0.00,1.17,0.00,0.000,6,0.000,0.051,2146,2508,3082,0,0,0,0,0,0
$GC,6219,-0.73,-146.0,2.0,0.4,933,6226,0.00,1.12,0.00,0.000,4,0.000,0.042,2146,1825,3081,0,0,0,0,0,0
$GC,6479,-0.73,-146.0,2.0,-0.1,972,6486,0.00,1.17,0.00,0.000,6,0.000,0.055,2141,2508,3082,0,0,0,0,0,0
$GC,6817,-0.73,-146.0,2.0,0.3,1023,6826,0.00,1.12,0.00,0.000,4,0.000,0.041,2142,1821,3081,0,0,0,0,0,0
$GC,7078,-0.73,-146.0,2.0,0.3,1062,7085,0.00,1.20,0.00,0.000,6,0.000,0.057,2137,2515,3082,0,0,0,0,0,0
$GC,7414,-0.73,-146.0,2.1,-0.1,1113,7420,0.00,1.15,0.00,0.000,4,0.000,0.041,2137,1814,3081,0,0,0,0,0,0
$GC,7673,-0.73,-146.0,2.1,0.1,1152,7680,0.10,1.20,0.00,0.000,6,0.190,0.056,2159,2509,3081,0,0,0,0,0,0
$GC,8012,-0.73,-146.0,2.0,0.0,1203,8018,0.00,1.15,0.00,0.000,4,0.000,0.044,2159,1815,3082,0,0,0,0,0,0
$GC,8270,-0.73,-146.0,2.1,-0.0,1242,8277,0.00,1.20,0.00,0.000,6,0.000,0.054,2156,2515,3082,0,0,0,0,0,0
$GC,8608,-0.73,-146.0,2.0,0.1,1293,8618,0.00,1.15,0.00,0.000,4,0.000,0.041,2156,1814,3081,0,0,0,0,0,0
$GC,8870,-0.73,-146.0,2.1,0.6,1332,8876,0.00,1.20,0.00,0.000,6,0.000,0.055,2152,2510,3082,0,0,0,0,0,0
$GC,9207,-0.73,-146.0,2.1,0.1,1383,9214,0.00,1.15,0.00,0.000,4,0.000,0.043,2152,1812,3082,0,0,0,0,0,0
$GC,9465,-0.73,-146.0,2.2,-0.2,1422,9471,0.00,1.20,0.00,0.000,6,0.000,0.056,2147,2509,3081,0,0,0,0,0,0
$GC,9801,-0.73,-146.0,2.1,-0.3,1473,9807,0.00,1.15,0.00,0.000,4,0.000,0.043,2147,1812,3082,0,0,0,0,0,0
$GC,10061,-0.73,-146.0,2.1,0.0,1512,10067,0.00,1.20,0.00,0.000,6,0.000,0.056,2143,2511,3081,0,0,0,0,0,0
$GC,10398,-0.73,-146.0,2.0,0.3,1563,10404,0.00,1.12,0.00,0.000,4,0.000,0.041,2143,1824,3081,0,0,0,0,0,0
$GC,10656,-0.73,-146.0,2.1,-0.3,1602,10663,0.00,1.17,0.00,0.000,6,0.000,0.054,2139,2511,3081,0,0,0,0,0,0
$GC,10994,-0.73,-146.0,2.0,0.2,1653,11002,0.00,1.15,0.00,0.000,4,0.000,0.043,2139,1813,3081,0,0,0,0,0,0
$GC,11254,-0.73,-146.0,2.2,-0.2,1692,11261,0.10,1.20,0.00,0.000,6,0.191,0.055,2160,2510,3081,0,0,0,0,0,0
$GC,11593,-0.73,-146.0,2.1,-0.1,1743,11601,0.00,1.15,0.00,0.000,4,0.000,0.042,2160,1812,3081,0,0,0,0,0,0
$GC,11853,-0.73,-146.0,2.0,0.1,1782,11863,0.00,1.20,0.00,0.000,6,0.000,0.055,2157,2509,3081,0,0,0,0,0,0
$STATE,12005,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12005,begin apogee
$FREEZE,2.12,0.866,-1.617,2,1,0
$FREEZE,2.06,1.685,-1.574,2,1,0
$FREEZE,2.05,-0.497,-1.693,2,1,0
$FREEZE,2.09,0.519,-1.636,2,1,0
$FREEZE,2.15,-1.167,-1.732,2,1,0
$FREEZE,2.11,-1.354,-1.744,2,1,0
$FREEZE,2.08,-1.335,-1.743,2,1,0
$FREEZE,2.16,-1.173,-1.733,2,1,0
$GC,12012,-0.16,0.0,2.1,-0.2,1805,12084,0.65,0.00,65.28,0.086,6,0.184,0.000,2339,2189,2483,0,0,0,0,0,0
$STATE,12087,end apogee,CONTROL_FINISHED_OK
$STATE,12087,begin climb
$FREEZE,2.11,-1.362,-1.744,2,1,0
$FREEZE,2.07,-1.366,-1.744,2,1,0
$FREEZE,2.08,-0.760,-1.708,2,1,0
$FREEZE,2.11,-0.980,-1.721,2,1,0
$FREEZE,2.12,-1.354,-1.744,2,1,0
$FREEZE,2.10,-1.358,-1.744,2,1,0
$FREEZE,2.07,-1.356,-1.744,2,1,0
$FREEZE,2.08,-1.352,-1.743,2,1,0
$FREEZE,2.07,-1.351,-1.743,2,1,0
$GC,12089,0.73,146.0,2.1,0.0,1814,12172,1.02,1.30,66.93,0.085,4,0.184,0.059,2618,2918,1885,0,0,0,0,0,0
$FREEZE,2.10,-1.377,-1.745,2,1,0
$FREEZE,2.04,-1.355,-1.744,2,1,0
$FREEZE,2.10,-1.365,-1.744,2,1,0
$FREEZE,2.05,-1.376,-1.745,2,1,0
$FREEZE,2.04,-1.374,-1.745,2,1,0
$FREEZE,2.15,-1.389,-1.746,2,1,0
$FREEZE,2.09,-1.384,-1.746,2,1,0
$STATE,12219,end climb,NO_VERTICAL_VELOCITY
$STATE,12219,begin subsurface finish
$FINISH1,2.1,1.025632,91
$GC,12227,0.11,91.1,2.1,-0.1,1831,12236,0.50,0.00,-5.78,0.000,2,0.070,0.000,2431,2199,1936,0,0,0,0,0,0
$FINISH2,2.0
$STATE,12237,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12237,begin surface
$RAFOS_CLK,821
$RAFOS,6,1322311743,12.833333,12.817500,114,60,59,0,0,0,794,196,115,0,0,0
$RAFOS,5,1322311266,12.700000,12.685000,83,65,60,0,0,0,799,195,153,0,0,0
$RAFOS,4,1322310786,12.566667,12.551666,98,70,59,0,0,0,616,204,220,0,0,0
$RAFOS,3,1322310303,12.433333,12.417500,72,64,62,0,0,0,634,220,207,0,0,0
$RAFOS,2,1322309824,12.300000,12.284445,91,69,59,0,0,0,616,196,209,0,0,0
$RAFOS,1,1322309346,12.166667,12.151667,99,59,58,0,0,0,645,200,124,0,0,0
$RAFOS,0,1322308862,12.033333,12.017222,115,55,54,0,0,0,773,152,195,0,0,0
$RAFOS_FIX,6638.335449,-5918.787598,261111,121216,7,96,0.21
$IRIDIUM_FIX,6609.62,-5928.22,261111,050553
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,15.90
$XPDR_PINGS,18
$ALTIM_TOP_PING,2.1,999.0
$24V_AH,25.2,38.807
$10V_AH,10.1,29.266
$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,10.050,49.775,132.200,0.000,0.000,0.000,0.000,222.650,4.750,0.000,22.363,4685.045,4348.777,469.947,2818.024,270.623,0.000,1968.078,0.000,2609.666,2520.000,2.808,0.000
$DEVICE_MAMPS,214.200,58.905,85.680,0.000,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.010,1245.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150164
$DATA_FILE_SIZE,73088,1832
$CAP_FILE_SIZE,142011,0
$CFSIZE,260165632,226582528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.9
$CURRENT,0.218,219.5,1
$GPS,261111,122716,6638.335,-5918.788,0,7096.0,0,-33.6