version: 66.09
glider: 143
mission: 13
dive: 315
start: 11 27 111 11 10 9
data:
$ID,143
$MISSION,13
$DIVE,315
$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,-86927.523
$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,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
$GPS1,271111,110402,6615.626,-5921.142,41,0.8,41,-33.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-30.9
$GPS2,271111,110939,6615.583,-5921.136,16,0.8,17,-33.1
$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,39.6,141213,-16.9,-9.167
$D_GRID,680
$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,-0.73,-146.0,0.0,0.0,0,236,0.00,0.00,-212.27,0.000,6,0.000,0.000,120,2515,3080,0,0,0,0,0,0
$GC,239,-0.73,-146.0,2.0,0.0,34,250,7.38,1.20,0.00,0.000,4,0.176,0.076,2159,3221,3081,0,0,0,0,0,0
$GC,500,-0.73,-146.0,2.0,0.3,73,507,0.00,1.12,0.00,0.000,6,0.000,0.036,2160,2512,3082,0,0,0,0,0,0
$GC,838,-0.73,-146.0,2.0,0.0,124,845,0.00,1.23,0.00,0.000,4,0.000,0.073,2155,3212,3082,0,0,0,0,0,0
$GC,1095,-0.73,-146.0,2.0,0.0,163,1104,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2506,3082,0,0,0,0,0,0
$GC,1435,-0.73,-146.0,2.0,-0.0,214,1442,0.00,1.23,0.00,0.000,4,0.000,0.072,2150,3211,3082,0,0,0,0,0,0
$GC,1694,-0.73,-146.0,2.0,0.0,253,1701,0.00,1.10,0.00,0.000,6,0.000,0.036,2150,2509,3082,0,0,0,0,0,0
$GC,2032,-0.73,-146.0,2.1,-0.7,304,2039,0.00,1.23,0.00,0.000,4,0.000,0.072,2146,3214,3082,0,0,0,0,0,0
$GC,2289,-0.73,-146.0,2.0,-0.5,343,2296,0.00,1.10,0.00,0.000,6,0.000,0.035,2146,2513,3083,0,0,0,0,0,0
$GC,2627,-0.73,-146.0,2.1,0.2,394,2634,0.00,1.23,0.00,0.000,4,0.000,0.073,2141,3217,3083,0,0,0,0,0,0
$GC,2886,-0.73,-146.0,2.0,0.3,433,2893,0.00,1.10,0.00,0.000,6,0.000,0.035,2141,2512,3082,0,0,0,0,0,0
$GC,3224,-0.73,-146.0,2.0,-0.5,484,3231,0.00,1.20,0.00,0.000,4,0.000,0.072,2137,3207,3082,0,0,0,0,0,0
$GC,3482,-0.73,-146.0,2.0,1.1,523,3489,0.00,1.10,0.00,0.000,6,0.000,0.036,2137,2504,3082,0,0,0,0,0,0
$GC,3820,-0.73,-146.0,2.0,-0.1,574,3830,0.12,1.25,0.00,0.000,4,0.203,0.073,2160,3219,3082,0,0,0,0,0,0
$GC,4080,-0.73,-146.0,2.0,0.0,613,4087,0.00,1.12,0.00,0.000,6,0.000,0.035,2160,2501,3083,0,0,0,0,0,0
$GC,4420,-0.73,-146.0,1.9,-0.1,664,4426,0.00,1.23,0.00,0.000,4,0.000,0.072,2155,3210,3083,0,0,0,0,0,0
$GC,4678,-0.73,-146.0,2.0,-0.2,703,4688,0.00,1.10,0.00,0.000,6,0.000,0.034,2155,2499,3083,0,0,0,0,0,0
$GC,5020,-0.73,-146.0,2.0,0.0,754,5026,0.00,1.23,0.00,0.000,4,0.000,0.071,2151,3210,3083,0,0,0,0,0,0
$GC,5276,-0.73,-146.0,2.0,0.0,793,5283,0.00,1.10,0.00,0.000,6,0.000,0.035,2150,2502,3082,0,0,0,0,0,0
$GC,5615,-0.73,-146.0,2.0,0.2,844,5622,0.00,1.23,0.00,0.000,4,0.000,0.072,2146,3212,3082,0,0,0,0,0,0
$GC,5872,-0.73,-146.0,2.1,-0.2,883,5879,0.00,1.10,0.00,0.000,6,0.000,0.035,2146,2502,3083,0,0,0,0,0,0
$GC,6208,-0.73,-146.0,2.0,0.0,934,6214,0.00,1.23,0.00,0.000,4,0.000,0.072,2141,3212,3083,0,0,0,0,0,0
$GC,6466,-0.73,-146.0,2.0,0.0,973,6476,0.00,1.10,0.00,0.000,6,0.000,0.036,2141,2505,3082,0,0,0,0,0,0
$GC,6807,-0.73,-146.0,2.1,-0.1,1024,6814,0.00,1.23,0.00,0.000,4,0.000,0.073,2137,3213,3083,0,0,0,0,0,0
$GC,7066,-0.73,-146.0,1.9,0.3,1063,7074,0.08,1.10,0.00,0.000,6,0.191,0.036,2156,2501,3082,0,0,0,0,0,0
$GC,7405,-0.73,-146.0,2.0,-0.1,1114,7412,0.00,1.23,0.00,0.000,4,0.000,0.073,2153,3211,3082,0,0,0,0,0,0
$GC,7662,-0.73,-146.0,2.0,0.2,1153,7671,0.00,1.08,0.00,0.000,6,0.000,0.034,2154,2518,3083,0,0,0,0,0,0
$GC,8002,-0.73,-146.0,2.0,0.2,1204,8009,0.00,1.20,0.00,0.000,4,0.000,0.073,2149,3211,3082,0,0,0,0,0,0
$GC,8261,-0.73,-146.0,2.0,0.0,1243,8268,0.00,1.10,0.00,0.000,6,0.000,0.035,2149,2503,3082,0,0,0,0,0,0
$GC,8598,-0.73,-146.0,2.0,0.1,1294,8605,0.00,1.23,0.00,0.000,4,0.000,0.072,2144,3212,3083,0,0,0,0,0,0
$GC,8856,-0.73,-146.0,2.0,0.0,1333,8862,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2502,3082,0,0,0,0,0,0
$GC,9192,-0.73,-146.0,2.0,-0.1,1384,9199,0.00,1.23,0.00,0.000,4,0.000,0.072,2140,3212,3083,0,0,0,0,0,0
$GC,9450,-0.73,-146.0,2.0,0.1,1423,9457,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2503,3083,0,0,0,0,0,0
$GC,9787,-0.73,-146.0,2.0,0.3,1474,9794,0.00,1.23,0.00,0.000,4,0.000,0.072,2135,3212,3082,0,0,0,0,0,0
$GC,10046,-0.73,-146.0,2.0,0.0,1513,10054,0.10,1.10,0.00,0.000,6,0.190,0.034,2161,2497,3082,0,0,0,0,0,0
$GC,10385,-0.73,-146.0,2.0,-0.1,1564,10393,0.00,1.23,0.00,0.000,4,0.000,0.073,2158,3207,3083,0,0,0,0,0,0
$GC,10645,-0.73,-146.0,2.0,0.0,1603,10652,0.00,1.08,0.00,0.000,6,0.000,0.034,2158,2515,3082,0,0,0,0,0,0
$GC,10984,-0.73,-146.0,2.0,0.0,1654,10991,0.00,1.23,0.00,0.000,4,0.000,0.072,2154,3219,3082,0,0,0,0,0,0
$GC,11243,-0.73,-146.0,2.1,-0.2,1693,11249,0.00,1.10,0.00,0.000,6,0.000,0.035,2154,2511,3083,0,0,0,0,0,0
$GC,11580,-0.73,-146.0,2.0,-0.2,1744,11587,0.00,1.20,0.00,0.000,4,0.000,0.072,2149,3209,3083,0,0,0,0,0,0
$GC,11836,-0.73,-146.0,2.0,0.0,1783,11843,0.00,1.10,0.00,0.000,6,0.000,0.035,2149,2502,3083,0,0,0,0,0,0
$STATE,12008,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12008,begin apogee
$FREEZE,2.03,-1.363,-1.714,2,1,0
$FREEZE,2.02,0.016,-1.635,2,1,0
$FREEZE,1.99,-1.047,-1.695,2,1,0
$GC,12014,-0.16,0.0,1.9,0.4,1809,12043,0.70,0.00,25.95,0.087,2,0.186,0.000,2340,2201,2845,0,0,0,0,0,0
$STATE,12045,end apogee,SURFACE_DEPTH_REACHED
$STATE,12045,begin surface coast
$FREEZE,2.04,-0.177,-1.646,2,1,0
$FREEZE,2.06,0.116,-1.629,2,1,0
$FREEZE,2.04,0.759,-1.595,2,1,0
$FREEZE,2.03,0.751,-1.595,2,1,0
$FREEZE,2.07,0.546,-1.606,2,1,0
$FREEZE,2.01,0.162,-1.628,2,1,0
$FREEZE,2.00,0.523,-1.607,2,1,0
$FREEZE,2.07,0.501,-1.608,2,1,0
$FREEZE,1.97,0.606,-1.603,2,1,0
$FINISH,2.0,1.023529
$STATE,12104,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12104,begin surface
$SM_CCo,12107,273.02,0.088,0,0,442,501.15
$SM_GC,2.03,6.10,0.62,0.00,0.047,0.061,0.000,117,2519,434,-7.07,-0.40,503.11,0,0,0,0,0,0
$RAFOS_CLK,846
$RAFOS,6,1322398144,12.833333,12.817778,63,60,56,0,0,0,206,189,149,0,0,0
$RAFOS,5,1322397667,12.700000,12.685278,60,59,59,0,0,0,159,213,888,0,0,0
$RAFOS,4,1322397187,12.566667,12.551945,59,59,59,0,0,0,193,219,755,0,0,0
$RAFOS,3,1322396706,12.433333,12.418333,105,61,57,0,0,0,549,189,208,0,0,0
$RAFOS,2,1322396226,12.300000,12.285000,97,58,58,0,0,0,625,219,209,0,0,0
$RAFOS,1,1322395742,12.166667,12.150556,75,57,54,0,0,0,767,187,163,0,0,0
$RAFOS,0,1322395264,12.033333,12.017777,63,61,55,0,0,0,203,213,168,0,0,0
$RAFOS_FIX,6619.879883,-5919.281250,271111,121233,3,92,1.93
$IRIDIUM_FIX,6553.70,-5928.81,271111,070730
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.96
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,17
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.0,38.866
$10V_AH,10.1,29.997
$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,14.475,47.525,25.950,273.025,0.000,0.000,0.000,218.225,4.500,0.000,18.478,4637.356,4512.832,641.875,2808.662,259.749,0.000,2112.568,0.000,2594.998,2520.000,2.811,0.000
$DEVICE_MAMPS,202.725,76.500,87.210,87.975,0.000,0.000,0.000,260.666,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1359.349,1264.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150180
$DATA_FILE_SIZE,66560,1821
$CAP_FILE_SIZE,140644,0
$CFSIZE,260165632,226111488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1440.0
$CURRENT,0.054,115.1,1
$GPS,271111,144014,6615.463,-5920.269,31,1.3,31,-33.1