version: 66.09
glider: 143
mission: 13
dive: 320
start: 11 28 111 5 8 47
data:
$ID,143
$MISSION,13
$DIVE,320
$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,-86933.82
$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,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
$GPS1,281111,050238,6607.059,-5913.906,26,1.2,26,-33.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-30.9
$GPS2,281111,050815,6607.065,-5913.843,16,0.8,17,-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,70.7,147728,-16.9,-9.167
$D_GRID,639
$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,-146.0,0.0,0.0,0,239,0.00,0.00,-212.70,0.000,6,0.000,0.000,115,2510,3081,0,0,0,0,0,0
$GC,242,-0.73,-146.0,2.0,-0.3,34,256,7.35,1.15,0.00,0.000,4,0.177,0.044,2156,1809,3082,0,0,0,0,0,0
$GC,508,-0.73,-146.0,2.0,-0.2,74,515,0.00,1.23,0.00,0.000,6,0.000,0.058,2153,2505,3083,0,0,0,0,0,0
$GC,847,-0.73,-146.0,2.0,0.1,125,853,0.00,1.17,0.00,0.000,4,0.000,0.047,2153,1811,3083,0,0,0,0,0,0
$GC,1105,-0.73,-146.0,2.0,0.1,164,1112,0.00,1.23,0.00,0.000,6,0.000,0.059,2149,2508,3083,0,0,0,0,0,0
$GC,1443,-0.73,-146.0,1.9,0.3,215,1449,0.00,1.15,0.00,0.000,4,0.000,0.045,2149,1822,3083,0,0,0,0,0,0
$GC,1701,-0.73,-146.0,1.9,0.2,254,1708,0.00,1.20,0.00,0.000,6,0.000,0.059,2144,2505,3083,0,0,0,0,0,0
$GC,2039,-0.73,-146.0,2.0,-0.3,305,2047,0.00,1.15,0.00,0.000,4,0.000,0.047,2144,1820,3083,0,0,0,0,0,0
$GC,2299,-0.73,-146.0,2.0,-0.1,344,2305,0.00,1.23,0.00,0.000,6,0.000,0.060,2140,2517,3083,0,0,0,0,0,0
$GC,2637,-0.73,-146.0,1.9,0.0,395,2643,0.00,1.17,0.00,0.000,4,0.000,0.047,2140,1816,3083,0,0,0,0,0,0
$GC,2895,-0.73,-146.0,2.0,-0.4,434,2903,0.10,1.23,0.00,0.000,6,0.198,0.059,2160,2515,3083,0,0,0,0,0,0
$GC,3234,-0.73,-146.0,2.0,0.0,485,3241,0.00,1.17,0.00,0.000,4,0.000,0.047,2160,1815,3083,0,0,0,0,0,0
$GC,3493,-0.73,-146.0,1.9,0.0,524,3500,0.00,1.23,0.00,0.000,6,0.000,0.059,2157,2515,3083,0,0,0,0,0,0
$GC,3830,-0.73,-146.0,1.9,0.0,575,3837,0.00,1.17,0.00,0.000,4,0.000,0.046,2157,1814,3083,0,0,0,0,0,0
$GC,4091,-0.73,-146.0,2.0,-0.1,614,4097,0.00,1.23,0.00,0.000,6,0.000,0.058,2153,2514,3083,0,0,0,0,0,0
$GC,4428,-0.73,-146.0,1.9,0.6,665,4435,0.00,1.17,0.00,0.000,4,0.000,0.046,2153,1814,3083,0,0,0,0,0,0
$GC,4688,-0.73,-146.0,2.0,-0.3,704,4695,0.00,1.23,0.00,0.000,6,0.000,0.059,2148,2514,3083,0,0,0,0,0,0
$GC,5026,-0.73,-146.0,2.0,-0.3,755,5032,0.00,1.17,0.00,0.000,4,0.000,0.048,2148,1813,3083,0,0,0,0,0,0
$GC,5286,-0.73,-146.0,1.9,-0.0,794,5292,0.00,1.23,0.00,0.000,6,0.000,0.059,2144,2514,3083,0,0,0,0,0,0
$GC,5622,-0.73,-146.0,2.0,0.0,845,5628,0.00,1.17,0.00,0.000,4,0.000,0.047,2144,1813,3083,0,0,0,0,0,0
$GC,5878,-0.73,-146.0,2.0,-0.1,884,5885,0.00,1.23,0.00,0.000,6,0.000,0.060,2139,2514,3083,0,0,0,0,0,0
$GC,6217,-0.73,-146.0,2.0,0.3,935,6223,0.00,1.17,0.00,0.000,4,0.000,0.047,2139,1814,3083,0,0,0,0,0,0
$GC,6476,-0.73,-146.0,2.0,-0.4,974,6483,0.10,1.23,0.00,0.000,6,0.197,0.059,2159,2513,3084,0,0,0,0,0,0
$GC,6812,-0.73,-146.0,1.9,0.1,1025,6819,0.00,1.17,0.00,0.000,4,0.000,0.048,2160,1815,3083,0,0,0,0,0,0
$GC,7070,-0.73,-146.0,2.1,-0.3,1064,7079,0.00,1.23,0.00,0.000,6,0.000,0.060,2157,2514,3083,0,0,0,0,0,0
$GC,7410,-0.73,-146.0,1.9,0.0,1115,7417,0.00,1.17,0.00,0.000,4,0.000,0.048,2157,1815,3083,0,0,0,0,0,0
$GC,7668,-0.73,-146.0,2.0,0.0,1154,7675,0.00,1.23,0.00,0.000,6,0.000,0.060,2152,2516,3083,0,0,0,0,0,0
$GC,8007,-0.73,-146.0,2.0,-0.2,1205,8015,0.00,1.17,0.00,0.000,4,0.000,0.048,2152,1816,3083,0,0,0,0,0,0
$GC,8266,-0.73,-146.0,2.0,-0.0,1244,8273,0.00,1.23,0.00,0.000,6,0.000,0.060,2148,2515,3083,0,0,0,0,0,0
$GC,8605,-0.73,-146.0,1.9,0.1,1295,8611,0.00,1.17,0.00,0.000,4,0.000,0.048,2148,1815,3083,0,0,0,0,0,0
$GC,8864,-0.73,-146.0,2.0,-0.1,1334,8872,0.00,1.23,0.00,0.000,6,0.000,0.060,2143,2514,3083,0,0,0,0,0,0
$GC,9204,-0.73,-146.0,2.0,-0.0,1385,9211,0.00,1.17,0.00,0.000,4,0.000,0.048,2143,1815,3083,0,0,0,0,0,0
$GC,9462,-0.73,-146.0,1.9,-0.3,1424,9469,0.00,1.23,0.00,0.000,6,0.000,0.060,2138,2514,3083,0,0,0,0,0,0
$GC,9800,-0.73,-146.0,1.9,0.2,1475,9810,0.00,1.17,0.00,0.000,4,0.000,0.047,2139,1813,3083,0,0,0,0,0,0
$GC,10061,-0.73,-146.0,1.9,0.0,1514,10069,0.10,1.23,0.00,0.000,6,0.196,0.060,2159,2514,3083,0,0,0,0,0,0
$GC,10399,-0.73,-146.0,2.0,0.4,1565,10405,0.00,1.17,0.00,0.000,4,0.000,0.048,2159,1814,3083,0,0,0,0,0,0
$GC,10657,-0.73,-146.0,1.9,0.0,1604,10663,0.00,1.23,0.00,0.000,6,0.000,0.060,2157,2517,3083,0,0,0,0,0,0
$GC,10995,-0.73,-146.0,1.9,0.2,1655,11002,0.00,1.17,0.00,0.000,4,0.000,0.047,2156,1816,3083,0,0,0,0,0,0
$GC,11252,-0.73,-146.0,2.0,-0.4,1694,11261,0.00,1.23,0.00,0.000,6,0.000,0.060,2152,2516,3083,0,0,0,0,0,0
$GC,11593,-0.73,-146.0,2.0,0.1,1745,11600,0.00,1.17,0.00,0.000,4,0.000,0.048,2152,1816,3083,0,0,0,0,0,0
$GC,11851,-0.73,-146.0,2.0,-0.4,1784,11858,0.00,1.23,0.00,0.000,6,0.000,0.060,2147,2516,3083,0,0,0,0,0,0
$STATE,12007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12007,begin apogee
$FREEZE,2.01,2.128,-1.535,2,1,0
$FREEZE,1.96,1.421,-1.571,2,1,0
$GC,12015,-0.16,0.0,1.9,0.4,1808,12037,0.70,0.00,18.62,0.087,2,0.190,0.000,2336,2190,2913,0,0,0,0,0,0
$STATE,12039,end apogee,SURFACE_DEPTH_REACHED
$STATE,12039,begin surface coast
$FREEZE,1.94,-0.049,-1.650,2,1,0
$FINISH,1.9,1.024233
$STATE,12047,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12047,begin surface
$SM_CCo,12063,280.45,0.087,0,0,441,501.15
$SM_GC,1.97,6.00,0.62,280.45,0.047,0.062,0.087,117,2517,441,-7.07,-0.51,501.15,0,0,0,0,0,0
$RAFOS_CLK,838
$RAFOS,2,1322468226,8.300000,8.285000,122,63,62,0,0,0,703,174,188,0,0,0
$RAFOS,1,1322467746,8.166667,8.151667,73,73,57,0,0,0,134,819,167,0,0,0
$RAFOS,0,1322467263,8.033334,8.017500,62,62,60,0,0,0,187,211,164,0,0,0
$RAFOS_FIX,6611.016602,-5918.302246,281111,040404,4,88,0.74
$IRIDIUM_FIX,6537.93,-5914.02,281111,010129
$TT8_MAMPS,0.027713,0.027713
$HUMID,53.30
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,17
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.0,38.911
$10V_AH,10.1,30.537
$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,14.350,49.100,18.625,280.450,0.000,0.000,0.000,218.900,4.500,0.000,19.045,4620.726,4363.365,646.692,2795.139,257.411,0.000,2109.897,0.000,2580.216,1440.000,2.808,0.000
$DEVICE_MAMPS,198.135,61.965,87.210,87.210,0.000,0.000,0.000,260.666,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1309.181,1322.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150220
$DATA_FILE_SIZE,69935,1811
$CAP_FILE_SIZE,138124,0
$CFSIZE,260165632,225763328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.7
$CURRENT,0.336,153.4,1
$GPS,281111,083554,6605.092,-5911.340,36,0.9,36,-32.9