version: 66.09
glider: 143
mission: 13
dive: 313
start: 11 27 111 4 0 8
data:
$ID,143
$MISSION,13
$DIVE,313
$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,-86925
$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,39
$R_STBD_OVSHOOT,20
$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
$GPS1,271111,034135,6623.288,-5921.015,31,0.9,31,-33.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-30.9
$GPS2,271111,035937,6623.050,-5921.041,17,1.0,17,-33.3
$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,44.5,132998,-16.9,-9.167
$D_GRID,717
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,238,0.00,0.00,-216.40,0.000,6,0.000,0.000,121,2511,3081,0,0,0,0,0,0
$GC,241,-0.73,-146.0,2.0,0.1,33,256,7.38,1.17,0.00,0.000,4,0.177,0.075,2158,3216,3082,0,0,0,0,0,0
$GC,508,-0.73,-146.0,2.0,0.1,73,517,0.00,1.12,0.00,0.000,6,0.000,0.037,2158,2507,3083,0,0,0,0,0,0
$GC,847,-0.73,-146.0,2.0,0.3,124,854,0.00,1.23,0.00,0.000,4,0.000,0.071,2153,3210,3083,0,0,0,0,0,0
$GC,1105,-0.73,-146.0,2.0,-0.2,163,1112,0.00,1.10,0.00,0.000,6,0.000,0.036,2153,2513,3083,0,0,0,0,0,0
$GC,1444,-0.73,-146.0,2.0,0.1,214,1450,0.00,1.23,0.00,0.000,4,0.000,0.073,2149,3216,3083,0,0,0,0,0,0
$GC,1701,-0.73,-146.0,2.1,-0.3,253,1708,0.00,1.12,0.00,0.000,6,0.000,0.037,2149,2504,3083,0,0,0,0,0,0
$GC,2040,-0.73,-146.0,2.1,-0.3,304,2049,0.00,1.23,0.00,0.000,4,0.000,0.072,2144,3211,3083,0,0,0,0,0,0
$GC,2299,-0.73,-146.0,2.0,-0.3,343,2306,0.00,1.10,0.00,0.000,6,0.000,0.036,2144,2510,3082,0,0,0,0,0,0
$GC,2636,-0.73,-146.0,2.0,0.1,394,2643,0.00,1.23,0.00,0.000,4,0.000,0.072,2139,3214,3083,0,0,0,0,0,0
$GC,2896,-0.73,-146.0,2.0,-0.0,433,2903,0.00,1.12,0.00,0.000,6,0.000,0.036,2139,2501,3083,0,0,0,0,0,0
$GC,3235,-0.73,-146.0,2.0,0.0,484,3241,0.00,1.23,0.00,0.000,4,0.000,0.072,2135,3210,3083,0,0,0,0,0,0
$GC,3493,-0.73,-146.0,2.0,0.0,523,3500,0.10,1.10,0.00,0.000,6,0.188,0.036,2161,2501,3083,0,0,0,0,0,0
$GC,3831,-0.73,-146.0,2.1,-0.3,574,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2501,3083,0,0,0,0,0,0
$GC,4166,-0.73,-146.0,2.0,0.0,625,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,4504,-0.73,-146.0,1.9,0.2,676,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,4839,-0.73,-146.0,2.0,0.0,727,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2500,3083,0,0,0,0,0,0
$GC,5175,-0.73,-146.0,2.0,0.1,778,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,5514,-0.73,-146.0,2.1,0.0,829,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,5851,-0.73,-146.0,2.1,-0.1,880,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,6189,-0.73,-146.0,1.9,0.0,931,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2500,3083,0,0,0,0,0,0
$GC,6526,-0.73,-146.0,2.0,0.5,982,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2500,3083,0,0,0,0,0,0
$GC,6863,-0.73,-146.0,2.0,0.0,1033,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,7200,-0.73,-146.0,2.0,-0.1,1084,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,7539,-0.73,-146.0,2.0,-0.4,1135,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,7876,-0.73,-146.0,2.0,-0.0,1186,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,8213,-0.73,-146.0,2.1,-0.3,1237,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2500,3083,0,0,0,0,0,0
$GC,8552,-0.73,-146.0,2.0,-0.1,1288,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2500,3083,0,0,0,0,0,0
$GC,8889,-0.73,-146.0,2.1,-0.0,1339,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2501,3083,0,0,0,0,0,0
$GC,9227,-0.73,-146.0,2.0,-0.1,1390,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2500,3083,0,0,0,0,0,0
$GC,9564,-0.73,-146.0,2.1,-0.5,1441,9571,0.00,1.23,0.00,0.000,4,0.000,0.074,2158,3208,3083,0,0,0,0,0,0
$GC,9824,-0.73,-146.0,2.1,-0.1,1480,9831,0.00,1.10,0.00,0.000,6,0.000,0.037,2158,2510,3082,0,0,0,0,0,0
$GC,10163,-0.73,-146.0,2.0,-0.0,1531,10170,0.00,1.23,0.00,0.000,4,0.000,0.073,2154,3216,3083,0,0,0,0,0,0
$GC,10423,-0.73,-146.0,2.0,0.1,1570,10429,0.00,1.12,0.00,0.000,6,0.000,0.037,2154,2502,3083,0,0,0,0,0,0
$GC,10763,-0.73,-146.0,2.0,-0.1,1621,10770,0.00,1.23,0.00,0.000,4,0.000,0.073,2149,3211,3083,0,0,0,0,0,0
$GC,11021,-0.73,-146.0,2.0,0.0,1660,11030,0.00,1.10,0.00,0.000,6,0.000,0.037,2149,2510,3082,0,0,0,0,0,0
$GC,11361,-0.73,-146.0,2.1,-0.1,1711,11368,0.00,1.23,0.00,0.000,4,0.000,0.073,2144,3214,3083,0,0,0,0,0,0
$GC,11619,-0.73,-146.0,2.1,-0.2,1750,11626,0.00,1.10,0.00,0.000,6,0.000,0.037,2144,2516,3083,0,0,0,0,0,0
$GC,11957,-0.73,-146.0,2.0,-0.0,1801,11965,0.00,1.20,0.00,0.000,4,0.000,0.073,2140,3211,3083,0,0,0,0,0,0
$STATE,12010,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12010,begin apogee
$FREEZE,1.99,-1.402,-1.711,2,1,0
$GC,12017,-0.16,0.0,2.0,0.2,1809,12031,0.73,0.00,10.38,0.088,2,0.183,0.000,2339,2196,2989,0,0,0,0,0,0
$STATE,12031,end apogee,SURFACE_DEPTH_REACHED
$STATE,12032,begin surface coast
$FREEZE,2.11,2.657,-1.494,2,1,0
$FREEZE,1.97,2.294,-1.512,2,1,0
$FREEZE,2.06,2.602,-1.497,2,1,0
$FREEZE,2.06,2.617,-1.496,2,1,0
$FREEZE,1.98,1.789,-1.536,2,1,0
$FREEZE,1.98,1.513,-1.550,2,1,0
$FREEZE,2.06,2.214,-1.515,2,1,0
$FREEZE,1.99,1.921,-1.530,2,1,0
$FREEZE,2.04,1.858,-1.533,2,1,0
$FREEZE,2.08,-0.273,-1.645,2,1,0
$FREEZE,2.02,1.629,-1.544,2,1,0
$FREEZE,1.98,1.474,-1.552,2,1,0
$FREEZE,2.07,2.045,-1.524,2,1,0
$FINISH,2.1,1.022319
$STATE,12118,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12118,begin surface
$SM_CCo,12134,288.90,0.087,0,0,441,501.15
$SM_GC,2.10,6.03,0.62,288.90,0.047,0.063,0.087,114,2520,441,-7.08,-0.37,501.15,0,0,0,0,0,0
$RAFOS_CLK,838
$RAFOS,6,1322369342,4.833333,4.817222,69,68,65,0,0,0,197,909,161,0,0,0
$RAFOS,5,1322368864,4.700000,4.684444,75,72,61,0,0,0,883,204,145,0,0,0
$RAFOS,4,1322368385,4.566667,4.551389,117,65,60,0,0,0,726,205,175,0,0,0
$RAFOS,3,1322367903,4.433333,4.417500,131,63,60,0,0,0,558,137,193,0,0,0
$RAFOS,2,1322367425,4.300000,4.284722,122,67,60,0,0,0,606,215,185,0,0,0
$RAFOS,1,1322366943,4.166667,4.150833,123,68,65,0,0,0,722,198,219,0,0,0
$RAFOS,0,1322366462,4.033333,4.017222,80,65,65,0,0,0,206,194,125,0,0,0
$RAFOS_FIX,6624.939941,-5919.972656,271111,040431,5,114,2.15
$IRIDIUM_FIX,6558.99,-5916.00,271111,030351
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.54
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,47
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.0,38.848
$10V_AH,9.7,29.780
$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,14.225,26.775,10.375,288.900,0.000,0.000,0.000,825.500,12.000,0.000,19.688,4676.613,4450.771,637.739,3378.712,372.538,0.000,2709.572,0.000,2597.825,2520.000,2.809,0.000
$DEVICE_MAMPS,188.190,74.970,87.975,87.210,0.000,0.000,0.000,318.339,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1364.444,1261.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150128
$DATA_FILE_SIZE,66504,1823
$CAP_FILE_SIZE,143505,0
$CFSIZE,260165632,226246656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.1
$CURRENT,0.583,182.0,1
$GPS,271111,072837,6619.149,-5921.360,26,1.1,26,-33.2