version: 66.09
glider: 143
mission: 13
dive: 319
start: 11 28 111 1 33 45
data:
$ID,143
$MISSION,13
$DIVE,319
$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,-86932.555
$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,21
$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
$GPS1,281111,012735,6606.899,-5915.061,42,0.9,43,-33.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-30.9
$GPS2,281111,013313,6606.893,-5915.068,18,2.0,18,-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,33.6,148583,-16.9,-9.167
$D_GRID,638
$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,-212.23,0.000,6,0.000,0.000,119,2517,3081,0,0,0,0,0,0
$GC,237,-0.73,-146.0,2.1,-0.2,33,249,7.35,0.00,0.00,0.000,6,0.177,0.000,2156,2517,3082,0,0,0,0,0,0
$GC,579,-0.73,-146.0,2.0,-0.1,85,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,916,-0.73,-146.0,2.0,-0.2,136,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,1252,-0.73,-146.0,2.0,0.0,187,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,1589,-0.73,-146.0,2.0,0.2,238,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2517,3083,0,0,0,0,0,0
$GC,1925,-0.73,-146.0,2.0,0.7,289,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,2264,-0.73,-146.0,1.9,0.2,340,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,2600,-0.73,-146.0,1.9,0.0,391,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,2937,-0.73,-146.0,2.0,-0.1,442,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,3277,-0.73,-146.0,2.0,0.1,493,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,3613,-0.73,-146.0,1.9,1.9,544,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,3949,-0.73,-146.0,2.0,-0.0,595,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,4286,-0.73,-146.0,2.0,0.9,646,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,4624,-0.73,-146.0,2.0,-0.2,697,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,4962,-0.73,-146.0,2.0,0.1,748,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,5299,-0.73,-146.0,2.0,-0.1,799,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3082,0,0,0,0,0,0
$GC,5636,-0.73,-146.0,2.0,0.1,850,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,5973,-0.73,-146.0,2.0,-0.2,901,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,6311,-0.73,-146.0,2.0,0.3,952,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2517,3083,0,0,0,0,0,0
$GC,6649,-0.73,-146.0,2.0,0.3,1003,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,6988,-0.73,-146.0,1.9,0.0,1054,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,7324,-0.73,-146.0,2.1,-0.2,1105,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2517,3083,0,0,0,0,0,0
$GC,7660,-0.73,-146.0,2.0,0.1,1156,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,7998,-0.73,-146.0,1.9,0.3,1207,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,8336,-0.73,-146.0,2.0,-0.2,1258,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,8674,-0.73,-146.0,2.0,0.2,1309,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2517,3083,0,0,0,0,0,0
$GC,9011,-0.73,-146.0,2.0,-0.3,1360,9020,0.00,1.15,0.00,0.000,4,0.000,0.077,2153,3211,3083,0,0,0,0,0,0
$GC,9272,-0.73,-146.0,2.0,-0.3,1399,9279,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2502,3083,0,0,0,0,0,0
$GC,9611,-0.73,-146.0,2.0,-0.2,1450,9617,0.00,1.23,0.00,0.000,4,0.000,0.071,2148,3211,3083,0,0,0,0,0,0
$GC,9867,-0.73,-146.0,1.9,0.0,1489,9874,0.00,1.10,0.00,0.000,6,0.000,0.034,2148,2500,3083,0,0,0,0,0,0
$GC,10204,-0.73,-146.0,1.9,0.4,1540,10211,0.00,1.23,0.00,0.000,4,0.000,0.071,2144,3210,3083,0,0,0,0,0,0
$GC,10463,-0.73,-146.0,1.9,-0.1,1579,10470,0.00,1.10,0.00,0.000,6,0.000,0.034,2143,2502,3083,0,0,0,0,0,0
$GC,10804,-0.73,-146.0,2.0,0.0,1630,10811,0.00,1.23,0.00,0.000,4,0.000,0.071,2139,3212,3083,0,0,0,0,0,0
$GC,11063,-0.73,-146.0,2.0,0.0,1669,11070,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2502,3083,0,0,0,0,0,0
$GC,11400,-0.73,-146.0,2.0,0.1,1720,11407,0.00,1.23,0.00,0.000,4,0.000,0.070,2134,3212,3083,0,0,0,0,0,0
$GC,11659,-0.73,-146.0,2.0,0.2,1759,11667,0.10,1.10,0.00,0.000,6,0.190,0.034,2160,2497,3083,0,0,0,0,0,0
$GC,11997,-0.73,-146.0,2.0,0.3,1810,12004,0.00,1.25,0.00,0.000,4,0.000,0.073,2157,3217,3083,0,0,0,0,0,0
$STATE,12008,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12008,begin apogee
$FREEZE,2.00,-1.375,-1.723,2,1,0
$FREEZE,1.98,-1.390,-1.724,2,1,0
$GC,12015,-0.16,0.0,1.9,0.0,1812,12037,0.65,0.00,18.15,0.087,2,0.183,0.000,2337,2211,2917,0,0,0,0,0,0
$STATE,12038,end apogee,SURFACE_DEPTH_REACHED
$STATE,12038,begin surface coast
$FREEZE,1.96,-1.390,-1.723,2,1,0
$FREEZE,1.94,-1.390,-1.723,2,1,0
$FREEZE,2.00,-1.392,-1.724,2,1,0
$FREEZE,2.08,-1.392,-1.724,2,1,0
$FREEZE,1.97,-1.391,-1.724,2,1,0
$FREEZE,1.95,-1.391,-1.724,2,1,0
$FREEZE,1.98,-1.391,-1.724,2,1,0
$FREEZE,2.04,-1.395,-1.724,2,1,0
$FREEZE,1.88,-1.396,-1.724,2,1,0
$FREEZE,1.97,-1.388,-1.723,2,1,0
$FREEZE,1.99,-1.382,-1.723,2,1,0
$FREEZE,1.98,-1.383,-1.723,2,1,0
$FREEZE,2.01,-1.390,-1.724,2,1,0
$FREEZE,1.97,-1.385,-1.723,2,1,0
$FREEZE,1.96,-1.382,-1.723,2,1,0
$FREEZE,2.02,-1.361,-1.722,2,1,0
$FINISH,2.0,1.025293
$STATE,12145,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12145,begin surface
$SM_CCo,12161,281.80,0.087,0,0,441,501.15
$SM_GC,1.91,6.03,0.57,281.80,0.047,0.061,0.087,115,2510,441,-7.08,-0.74,501.15,0,0,0,0,0,0
$RAFOS_CLK,840
$RAFOS,6,1322455743,4.833333,4.817500,88,60,59,0,0,0,986,210,135,0,0,0
$RAFOS,5,1322455264,4.700000,4.684444,66,58,57,0,0,0,226,200,166,0,0,0
$RAFOS,4,1322454786,4.566667,4.551667,67,60,57,0,0,0,810,134,144,0,0,0
$RAFOS,3,1322454306,4.433333,4.418334,115,69,60,0,0,0,582,213,162,0,0,0
$RAFOS,2,1322453824,4.300000,4.284444,83,66,61,0,0,0,689,213,157,0,0,0
$RAFOS,1,1322453342,4.166667,4.150556,67,64,56,0,0,0,150,202,170,0,0,0
$RAFOS,0,1322452862,4.033333,4.017222,67,60,55,0,0,0,193,215,170,0,0,0
$RAFOS_FIX,6611.016602,-5918.302246,281111,040404,4,88,0.74
$IRIDIUM_FIX,6543.17,-5920.45,271111,212102
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.01
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,16
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.0,38.902
$10V_AH,10.1,30.430
$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,14.125,15.000,18.150,281.800,0.000,0.000,0.000,214.325,4.250,0.000,20.026,4696.625,4403.123,628.902,2819.202,247.184,0.000,2093.724,0.000,2608.268,2520.000,2.809,0.000
$DEVICE_MAMPS,190.485,77.265,87.210,87.210,0.000,0.000,0.000,268.905,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1362.426,1286.357,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150168
$DATA_FILE_SIZE,63264,1830
$CAP_FILE_SIZE,132738,0
$CFSIZE,260165632,225841152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1439.5
$CURRENT,0.072, 73.5,1
$GPS,281111,050238,6607.059,-5913.906,26,1.2,26,-33.0