version: 66.09
glider: 143
mission: 13
dive: 316
start: 11 27 111 14 46 33
data:
$ID,143
$MISSION,13
$DIVE,316
$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,-86928.781
$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,18
$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
$GPS1,271111,144014,6615.463,-5920.269,31,1.3,31,-33.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-30.9
$GPS2,271111,144601,6615.471,-5920.201,19,1.0,19,-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,73.5,140815,-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,-146.0,0.0,0.0,0,234,0.00,0.00,-213.27,0.000,6,0.000,0.000,117,2520,3081,0,0,0,0,0,0
$GC,237,-0.73,-146.0,2.0,0.1,33,253,7.30,1.15,0.00,0.000,4,0.177,0.045,2157,1817,3082,0,0,0,0,0,0
$GC,504,-0.73,-146.0,2.0,0.3,73,510,0.00,1.23,0.00,0.000,6,0.000,0.061,2155,2509,3083,0,0,0,0,0,0
$GC,841,-0.73,-146.0,1.9,0.0,124,847,0.00,1.17,0.00,0.000,4,0.000,0.047,2155,1813,3083,0,0,0,0,0,0
$GC,1099,-0.73,-146.0,2.0,0.0,163,1106,0.00,1.23,0.00,0.000,6,0.000,0.060,2150,2511,3083,0,0,0,0,0,0
$GC,1436,-0.73,-146.0,2.1,-0.2,214,1444,0.00,1.17,0.00,0.000,4,0.000,0.047,2150,1814,3083,0,0,0,0,0,0
$GC,1696,-0.73,-146.0,2.1,-1.4,253,1702,0.00,1.23,0.00,0.000,6,0.000,0.060,2146,2509,3084,0,0,0,0,0,0
$GC,2033,-0.73,-146.0,2.1,-0.2,304,2040,0.00,1.17,0.00,0.000,4,0.000,0.046,2146,1810,3083,0,0,0,0,0,0
$GC,2290,-0.73,-146.0,2.1,-0.1,343,2299,0.00,1.23,0.00,0.000,6,0.000,0.059,2141,2509,3083,0,0,0,0,0,0
$GC,2630,-0.73,-146.0,2.0,0.0,394,2637,0.00,1.15,0.00,0.000,4,0.000,0.046,2141,1821,3083,0,0,0,0,0,0
$GC,2889,-0.73,-146.0,2.0,0.3,433,2896,0.00,1.20,0.00,0.000,6,0.000,0.059,2137,2505,3083,0,0,0,0,0,0
$GC,3227,-0.73,-146.0,2.0,0.2,484,3233,0.00,1.15,0.00,0.000,4,0.000,0.047,2137,1819,3083,0,0,0,0,0,0
$GC,3487,-0.73,-146.0,2.1,-0.5,523,3495,0.10,1.23,0.00,0.000,6,0.196,0.060,2157,2515,3083,0,0,0,0,0,0
$GC,3824,-0.73,-146.0,2.1,0.0,574,3831,0.00,1.17,0.00,0.000,4,0.000,0.047,2158,1815,3083,0,0,0,0,0,0
$GC,4083,-0.73,-146.0,2.0,0.0,613,4090,0.00,1.23,0.00,0.000,6,0.000,0.060,2155,2514,3083,0,0,0,0,0,0
$GC,4422,-0.73,-146.0,2.0,0.3,664,4430,0.00,1.17,0.00,0.000,4,0.000,0.046,2155,1813,3083,0,0,0,0,0,0
$GC,4680,-0.73,-146.0,2.0,0.2,703,4687,0.00,1.23,0.00,0.000,6,0.000,0.060,2150,2512,3083,0,0,0,0,0,0
$GC,5020,-0.73,-146.0,2.0,-0.3,754,5026,0.00,1.17,0.00,0.000,4,0.000,0.048,2150,1813,3083,0,0,0,0,0,0
$GC,5279,-0.73,-146.0,2.1,-0.4,793,5288,0.00,1.23,0.00,0.000,6,0.000,0.060,2146,2512,3083,0,0,0,0,0,0
$GC,5619,-0.73,-146.0,2.0,0.3,844,5625,0.00,1.15,0.00,0.000,4,0.000,0.047,2146,1821,3083,0,0,0,0,0,0
$GC,5879,-0.73,-146.0,2.0,0.1,883,5885,0.00,1.20,0.00,0.000,6,0.000,0.061,2141,2507,3083,0,0,0,0,0,0
$GC,6216,-0.73,-146.0,2.1,0.1,934,6225,0.00,1.15,0.00,0.000,4,0.000,0.047,2141,1819,3083,0,0,0,0,0,0
$GC,6476,-0.73,-146.0,2.0,0.3,973,6483,0.00,1.20,0.00,0.000,6,0.000,0.060,2137,2506,3083,0,0,0,0,0,0
$GC,6816,-0.73,-146.0,2.0,-0.1,1024,6823,0.00,1.15,0.00,0.000,4,0.000,0.047,2137,1815,3083,0,0,0,0,0,0
$GC,7075,-0.73,-146.0,2.0,-0.6,1063,7083,0.10,1.20,0.00,0.000,6,0.195,0.059,2157,2505,3083,0,0,0,0,0,0
$GC,7416,-0.73,-146.0,1.9,0.3,1114,7422,0.00,1.15,0.00,0.000,4,0.000,0.047,2158,1816,3083,0,0,0,0,0,0
$GC,7675,-0.73,-146.0,2.1,-0.1,1153,7681,0.00,1.20,0.00,0.000,6,0.000,0.060,2155,2505,3083,0,0,0,0,0,0
$GC,8012,-0.73,-146.0,2.0,0.3,1204,8021,0.00,1.15,0.00,0.000,4,0.000,0.047,2155,1816,3083,0,0,0,0,0,0
$GC,8273,-0.73,-146.0,2.1,0.0,1243,8280,0.00,1.20,0.00,0.000,6,0.000,0.059,2151,2505,3083,0,0,0,0,0,0
$GC,8611,-0.73,-146.0,2.0,0.1,1294,8617,0.00,1.15,0.00,0.000,4,0.000,0.046,2151,1816,3084,0,0,0,0,0,0
$GC,8869,-0.73,-146.0,2.0,-0.0,1333,8878,0.00,1.23,0.00,0.000,6,0.000,0.059,2146,2518,3083,0,0,0,0,0,0
$GC,9209,-0.73,-146.0,1.9,0.1,1384,9216,0.00,1.17,0.00,0.000,4,0.000,0.047,2146,1815,3083,0,0,0,0,0,0
$GC,9467,-0.73,-146.0,2.0,0.2,1423,9474,0.00,1.23,0.00,0.000,6,0.000,0.060,2141,2516,3083,0,0,0,0,0,0
$GC,9805,-0.73,-146.0,2.0,0.1,1474,9814,0.00,1.17,0.00,0.000,4,0.000,0.047,2141,1814,3083,0,0,0,0,0,0
$GC,10065,-0.73,-146.0,2.0,0.0,1513,10072,0.00,1.23,0.00,0.000,6,0.000,0.060,2137,2515,3083,0,0,0,0,0,0
$GC,10405,-0.73,-146.0,2.0,-0.2,1564,10412,0.00,1.17,0.00,0.000,4,0.000,0.047,2137,1811,3083,0,0,0,0,0,0
$GC,10663,-0.73,-146.0,2.0,-0.0,1603,10671,0.10,1.23,0.00,0.000,6,0.194,0.060,2157,2511,3083,0,0,0,0,0,0
$GC,11001,-0.73,-146.0,2.0,0.0,1654,11008,0.00,1.15,0.00,0.000,4,0.000,0.046,2157,1821,3083,0,0,0,0,0,0
$GC,11260,-0.73,-146.0,2.0,0.3,1693,11266,0.00,1.23,0.00,0.000,6,0.000,0.060,2155,2520,3083,0,0,0,0,0,0
$GC,11598,-0.73,-146.0,2.1,-0.3,1744,11607,0.00,1.17,0.00,0.000,4,0.000,0.046,2154,1815,3083,0,0,0,0,0,0
$GC,11859,-0.73,-146.0,2.0,0.1,1783,11865,0.00,1.23,0.00,0.000,6,0.000,0.059,2150,2519,3083,0,0,0,0,0,0
$STATE,12008,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12009,begin apogee
$FREEZE,1.94,-1.412,-1.723,2,1,0
$GC,12014,-0.16,0.0,2.0,0.2,1806,12025,0.70,0.00,7.80,0.089,2,0.188,0.000,2340,2190,3013,0,0,0,0,0,0
$STATE,12027,end apogee,SURFACE_DEPTH_REACHED
$STATE,12027,begin surface coast
$FREEZE,2.04,-0.944,-1.695,2,1,0
$FREEZE,2.02,-1.354,-1.720,2,1,0
$FREEZE,2.01,-1.370,-1.721,2,1,0
$FREEZE,2.03,-1.371,-1.721,2,1,0
$FREEZE,2.02,-1.367,-1.720,2,1,0
$FREEZE,1.99,-1.375,-1.721,2,1,0
$FREEZE,2.02,-1.380,-1.721,2,1,0
$FINISH,2.0,1.025285
$STATE,12075,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12075,begin surface
$SM_CCo,12078,291.75,0.087,0,0,442,501.15
$SM_GC,2.00,6.10,0.62,0.00,0.046,0.062,0.000,118,2512,433,-7.07,-0.68,503.36,0,0,0,0,0,0
$RAFOS_CLK,854
$RAFOS,6,1322412547,16.833334,16.818611,64,57,56,0,0,0,191,920,206,0,0,0
$RAFOS,5,1322412067,16.700001,16.685278,60,59,56,0,0,0,177,240,227,0,0,0
$RAFOS,4,1322411587,16.566668,16.551945,72,67,66,0,0,0,756,192,213,0,0,0
$RAFOS,3,1322411103,16.433332,16.417500,95,61,56,0,0,0,560,157,217,0,0,0
$RAFOS,2,1322410624,16.299999,16.284445,123,65,63,0,0,0,645,210,187,0,0,0
$RAFOS,1,1322410142,16.166666,16.150555,67,66,58,0,0,0,770,201,227,0,0,0
$RAFOS,0,1322409667,16.033333,16.018612,65,60,55,0,0,0,799,190,200,0,0,0
$RAFOS_FIX,6618.257324,-5920.236816,271111,161637,5,84,0.92
$IRIDIUM_FIX,6548.42,-5919.60,271111,111156
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,18
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.0,38.876
$10V_AH,10.0,30.106
$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,14.400,48.800,7.800,291.750,0.000,0.000,0.000,226.500,4.750,0.000,21.102,4599.151,4642.368,653.756,2815.329,249.073,0.000,2126.577,0.000,2586.267,2520.000,2.808,0.000
$DEVICE_MAMPS,195.840,61.965,88.740,87.210,0.000,0.000,0.000,263.662,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1357.671,1259.111,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,63272,1814
$CAP_FILE_SIZE,139807,0
$CFSIZE,260165632,226045952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1437.9
$CURRENT,0.310,137.7,1
$GPS,271111,181805,6613.931,-5916.630,34,0.9,34,-33.1