version: 66.09
glider: 143
mission: 13
dive: 318
start: 11 27 111 22 0 8
data:
$ID,143
$MISSION,13
$DIVE,318
$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,-86931.297
$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,38
$R_STBD_OVSHOOT,19
$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
$GPS1,271111,215400,6609.031,-5914.490,37,1.9,37,-33.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-30.9
$GPS2,271111,215938,6608.919,-5914.492,15,2.0,15,-33.0
$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,34.6,145681,-16.9,-9.167
$D_GRID,652
$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,-146.0,0.0,0.0,0,238,0.00,0.00,-213.02,0.000,6,0.000,0.000,119,2521,3080,0,0,0,0,0,0
$GC,241,-0.73,-146.0,2.0,-0.1,34,254,7.32,1.12,0.00,0.000,4,0.177,0.073,2153,3220,3081,0,0,0,0,0,0
$GC,506,-0.73,-146.0,2.0,-0.3,74,514,0.00,1.12,0.00,0.000,6,0.000,0.036,2153,2508,3082,0,0,0,0,0,0
$GC,847,-0.73,-146.0,2.0,-0.1,125,853,0.00,1.23,0.00,0.000,4,0.000,0.073,2148,3210,3082,0,0,0,0,0,0
$GC,1107,-0.73,-146.0,2.1,-0.2,164,1114,0.00,1.10,0.00,0.000,6,0.000,0.034,2148,2503,3082,0,0,0,0,0,0
$GC,1444,-0.73,-146.0,2.0,0.0,215,1450,0.00,1.23,0.00,0.000,4,0.000,0.072,2144,3211,3082,0,0,0,0,0,0
$GC,1702,-0.73,-146.0,2.1,-0.2,254,1709,0.00,1.10,0.00,0.000,6,0.000,0.036,2144,2509,3081,0,0,0,0,0,0
$GC,2040,-0.73,-146.0,2.0,-0.2,305,2050,0.00,1.23,0.00,0.000,4,0.000,0.072,2139,3214,3082,0,0,0,0,0,0
$GC,2302,-0.73,-146.0,2.1,-0.3,344,2309,0.00,1.10,0.00,0.000,6,0.000,0.035,2139,2512,3082,0,0,0,0,0,0
$GC,2639,-0.73,-146.0,2.1,-0.1,395,2646,0.00,1.23,0.00,0.000,4,0.000,0.073,2134,3217,3082,0,0,0,0,0,0
$GC,2899,-0.73,-146.0,2.1,-0.2,434,2906,0.10,1.10,0.00,0.000,6,0.190,0.035,2161,2505,3082,0,0,0,0,0,0
$GC,3238,-0.73,-146.0,2.0,-0.1,485,3244,0.00,1.23,0.00,0.000,4,0.000,0.073,2157,3211,3082,0,0,0,0,0,0
$GC,3496,-0.73,-146.0,2.0,0.1,524,3503,0.00,1.10,0.00,0.000,6,0.000,0.036,2157,2508,3082,0,0,0,0,0,0
$GC,3837,-0.73,-146.0,2.0,0.1,575,3843,0.00,1.23,0.00,0.000,4,0.000,0.073,2153,3212,3082,0,0,0,0,0,0
$GC,4095,-0.73,-146.0,1.9,0.2,614,4101,0.00,1.10,0.00,0.000,6,0.000,0.035,2153,2506,3082,0,0,0,0,0,0
$GC,4433,-0.73,-146.0,2.0,0.0,665,4439,0.00,1.23,0.00,0.000,4,0.000,0.073,2149,3213,3082,0,0,0,0,0,0
$GC,4691,-0.73,-146.0,2.0,0.0,704,4698,0.00,1.10,0.00,0.000,6,0.000,0.035,2148,2505,3082,0,0,0,0,0,0
$GC,5028,-0.73,-146.0,2.1,0.1,755,5034,0.00,1.23,0.00,0.000,4,0.000,0.072,2144,3213,3082,0,0,0,0,0,0
$GC,5286,-0.73,-146.0,2.0,-0.1,794,5293,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2504,3082,0,0,0,0,0,0
$GC,5625,-0.73,-146.0,2.0,-0.1,845,5634,0.00,1.23,0.00,0.000,4,0.000,0.073,2139,3213,3082,0,0,0,0,0,0
$GC,5885,-0.73,-146.0,2.0,0.0,884,5892,0.00,1.10,0.00,0.000,6,0.000,0.035,2139,2504,3082,0,0,0,0,0,0
$GC,6223,-0.73,-146.0,2.0,0.0,935,6230,0.00,1.23,0.00,0.000,4,0.000,0.073,2134,3213,3082,0,0,0,0,0,0
$GC,6481,-0.73,-146.0,2.0,-0.2,974,6490,0.10,1.10,0.00,0.000,6,0.191,0.035,2160,2500,3082,0,0,0,0,0,0
$GC,6822,-0.73,-146.0,2.0,0.3,1025,6829,0.00,1.25,0.00,0.000,4,0.000,0.074,2157,3219,3082,0,0,0,0,0,0
$GC,7082,-0.73,-146.0,2.1,-0.5,1064,7089,0.00,1.10,0.00,0.000,6,0.000,0.036,2157,2518,3082,0,0,0,0,0,0
$GC,7420,-0.73,-146.0,2.0,0.0,1115,7426,0.00,1.20,0.00,0.000,4,0.000,0.073,2153,3211,3082,0,0,0,0,0,0
$GC,7678,-0.73,-146.0,2.1,0.0,1154,7685,0.00,1.10,0.00,0.000,6,0.000,0.035,2153,2506,3082,0,0,0,0,0,0
$GC,8017,-0.73,-146.0,2.1,-0.1,1205,8026,0.00,1.23,0.00,0.000,4,0.000,0.072,2148,3213,3082,0,0,0,0,0,0
$GC,8277,-0.73,-146.0,2.0,-0.0,1244,8283,0.00,1.10,0.00,0.000,6,0.000,0.035,2149,2507,3082,0,0,0,0,0,0
$GC,8614,-0.73,-146.0,2.0,0.0,1295,8621,0.00,1.23,0.00,0.000,4,0.000,0.073,2144,3215,3082,0,0,0,0,0,0
$GC,8872,-0.73,-146.0,2.0,0.0,1334,8879,0.00,1.10,0.00,0.000,6,0.000,0.035,2144,2508,3082,0,0,0,0,0,0
$GC,9210,-0.73,-146.0,2.0,0.0,1385,9216,0.00,1.23,0.00,0.000,4,0.000,0.072,2139,3216,3082,0,0,0,0,0,0
$GC,9468,-0.73,-146.0,2.0,-0.1,1424,9476,0.00,1.10,0.00,0.000,6,0.000,0.035,2139,2508,3082,0,0,0,0,0,0
$GC,9808,-0.73,-146.0,2.0,-0.2,1475,9814,0.00,1.23,0.00,0.000,4,0.000,0.072,2134,3216,3082,0,0,0,0,0,0
$GC,10066,-0.73,-146.0,1.9,0.2,1514,10074,0.10,1.10,0.00,0.000,6,0.193,0.035,2160,2503,3082,0,0,0,0,0,0
$GC,10404,-0.73,-146.0,1.9,0.1,1565,10411,0.00,1.23,0.00,0.000,4,0.000,0.072,2158,3213,3082,0,0,0,0,0,0
$GC,10663,-0.73,-146.0,2.0,-0.2,1604,10671,0.00,1.08,0.00,0.000,6,0.000,0.035,2158,2520,3082,0,0,0,0,0,0
$GC,11002,-0.73,-146.0,2.0,0.3,1655,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2520,3082,0,0,0,0,0,0
$GC,11340,-0.73,-146.0,2.0,-0.1,1706,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2521,3082,0,0,0,0,0,0
$GC,11677,-0.73,-146.0,2.0,0.2,1757,11684,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2521,3082,0,0,0,0,0,0
$STATE,12006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12007,begin apogee
$FREEZE,1.93,-0.545,-1.674,2,1,0
$GC,12012,-0.16,0.0,2.0,-0.1,1807,12024,0.65,0.00,7.97,0.090,2,0.187,0.000,2336,2205,3010,0,0,0,0,0,0
$STATE,12025,end apogee,SURFACE_DEPTH_REACHED
$STATE,12025,begin surface coast
$FREEZE,2.00,-1.267,-1.716,2,1,0
$FREEZE,2.00,-1.044,-1.703,2,1,0
$FINISH,2.0,1.025016
$STATE,12039,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12039,begin surface
$SM_CCo,12056,291.48,0.087,0,0,441,501.15
$SM_GC,1.95,6.00,0.60,291.48,0.047,0.063,0.087,119,2517,441,-7.07,-0.51,501.15,0,0,0,0,0,0
$RAFOS_CLK,834
$RAFOS,6,1322441346,0.833333,0.818333,68,59,58,0,0,0,185,218,195,0,0,0
$RAFOS,5,1322440862,0.700000,0.683889,63,62,59,0,0,0,192,201,215,0,0,0
$RAFOS,4,1322440382,0.566667,0.550556,64,59,58,0,0,0,199,181,217,0,0,0
$RAFOS,3,1322439906,0.433333,0.418333,83,75,66,0,0,0,591,215,154,0,0,0
$RAFOS,2,1322439422,0.300000,0.283889,91,62,61,0,0,0,700,210,190,0,0,0
$RAFOS,1,1322438944,0.166667,0.151111,64,64,56,0,0,0,205,219,126,0,0,0
$RAFOS,0,1322438467,0.033333,0.018611,64,59,59,0,0,0,152,195,207,0,0,0
$RAFOS_FIX,6611.070312,-5919.050293,281111,000028,2,87,0.61
$IRIDIUM_FIX,6548.42,-5920.45,271111,181857
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.66
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,13
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.0,38.893
$10V_AH,10.0,30.322
$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,14.275,42.850,7.975,291.475,0.000,0.000,0.000,217.925,3.500,0.000,16.904,4588.010,4409.824,646.790,2794.930,251.151,0.000,2106.630,0.000,2579.423,2520.000,2.808,0.000
$DEVICE_MAMPS,192.780,74.205,89.505,87.210,0.000,0.000,0.000,268.156,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1306.282,1307.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150172
$DATA_FILE_SIZE,69793,1810
$CAP_FILE_SIZE,138068,0
$CFSIZE,260165632,225898496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1443.4
$CURRENT,0.310,186.7,1
$GPS,281111,012735,6606.899,-5915.061,42,0.9,43,-33.0