version: 66.09
glider: 143
mission: 13
dive: 321
start: 11 28 111 8 41 53
data:
$ID,143
$MISSION,13
$DIVE,321
$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,-86935.086
$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,22
$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
$GPS1,281111,083554,6605.092,-5911.340,36,0.9,36,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-31.0
$GPS2,281111,084121,6605.026,-5911.319,15,0.7,16,-32.9
$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,31.8,149129,-16.9,-9.167
$D_GRID,628
$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,-213.10,0.000,6,0.000,0.000,117,2517,3080,0,0,0,0,0,0
$GC,239,-0.73,-146.0,2.0,-0.2,34,253,7.38,0.00,0.00,0.000,6,0.177,0.000,2157,2517,3081,0,0,0,0,0,0
$GC,583,-0.73,-146.0,2.0,0.1,86,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2516,3082,0,0,0,0,0,0
$GC,924,-0.73,-146.0,2.0,-0.2,137,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2517,3082,0,0,0,0,0,0
$GC,1259,-0.73,-146.0,2.0,-0.3,188,1266,0.00,1.15,0.00,0.000,4,0.000,0.076,2155,3209,3082,0,0,0,0,0,0
$GC,1517,-0.73,-146.0,2.0,0.2,227,1523,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2509,3082,0,0,0,0,0,0
$GC,1857,-0.73,-146.0,2.0,-0.2,278,1863,0.00,1.23,0.00,0.000,4,0.000,0.072,2150,3213,3082,0,0,0,0,0,0
$GC,2116,-0.73,-146.0,2.0,0.0,317,2125,0.00,1.12,0.00,0.000,6,0.000,0.036,2150,2499,3082,0,0,0,0,0,0
$GC,2456,-0.73,-146.0,2.0,0.0,368,2463,0.00,1.23,0.00,0.000,4,0.000,0.072,2145,3207,3082,0,0,0,0,0,0
$GC,2713,-0.73,-146.0,2.0,0.0,407,2720,0.00,1.10,0.00,0.000,6,0.000,0.035,2145,2505,3082,0,0,0,0,0,0
$GC,3050,-0.73,-146.0,1.9,0.1,458,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2505,3082,0,0,0,0,0,0
$GC,3390,-0.73,-146.0,2.0,0.1,509,3396,0.00,1.23,0.00,0.000,4,0.000,0.073,2141,3210,3082,0,0,0,0,0,0
$GC,3649,-0.73,-146.0,2.0,-0.1,548,3656,0.00,1.10,0.00,0.000,6,0.000,0.035,2141,2506,3082,0,0,0,0,0,0
$GC,3986,-0.73,-146.0,1.9,-0.1,599,3993,0.00,1.23,0.00,0.000,4,0.000,0.071,2136,3213,3082,0,0,0,0,0,0
$GC,4245,-0.73,-146.0,1.9,0.1,638,4251,0.00,1.10,0.00,0.000,6,0.000,0.034,2136,2508,3082,0,0,0,0,0,0
$GC,4582,-0.73,-146.0,2.0,-0.2,689,4591,0.12,1.23,0.00,0.000,4,0.203,0.073,2160,3210,3082,0,0,0,0,0,0
$GC,4843,-0.73,-146.0,2.0,-0.1,728,4850,0.00,1.10,0.00,0.000,6,0.000,0.036,2159,2506,3082,0,0,0,0,0,0
$GC,5179,-0.73,-146.0,2.0,-0.2,779,5188,0.00,1.23,0.00,0.000,4,0.000,0.072,2155,3212,3082,0,0,0,0,0,0
$GC,5440,-0.73,-146.0,2.0,0.7,818,5447,0.00,1.10,0.00,0.000,6,0.000,0.034,2155,2500,3082,0,0,0,0,0,0
$GC,5779,-0.73,-146.0,2.0,-0.4,869,5786,0.00,1.23,0.00,0.000,4,0.000,0.072,2150,3210,3082,0,0,0,0,0,0
$GC,6039,-0.73,-146.0,2.0,0.1,908,6046,0.00,1.10,0.00,0.000,6,0.000,0.035,2150,2503,3082,0,0,0,0,0,0
$GC,6378,-0.73,-146.0,2.1,0.0,959,6385,0.00,1.23,0.00,0.000,4,0.000,0.072,2145,3211,3082,0,0,0,0,0,0
$GC,6636,-0.73,-146.0,1.9,0.2,998,6643,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2502,3082,0,0,0,0,0,0
$GC,6974,-0.73,-146.0,2.0,-0.1,1049,6981,0.00,1.23,0.00,0.000,4,0.000,0.071,2141,3212,3082,0,0,0,0,0,0
$GC,7233,-0.73,-146.0,1.9,0.1,1088,7240,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2502,3082,0,0,0,0,0,0
$GC,7570,-0.73,-146.0,1.9,-0.1,1139,7576,0.00,1.23,0.00,0.000,4,0.000,0.071,2136,3211,3082,0,0,0,0,0,0
$GC,7828,-0.73,-146.0,2.0,0.0,1178,7835,0.00,1.10,0.00,0.000,6,0.000,0.034,2136,2501,3082,0,0,0,0,0,0
$GC,8167,-0.73,-146.0,1.9,0.1,1229,8177,0.12,1.23,0.00,0.000,4,0.205,0.073,2159,3207,3082,0,0,0,0,0,0
$GC,8428,-0.73,-146.0,2.0,-0.4,1268,8434,0.00,1.08,0.00,0.000,6,0.000,0.036,2160,2517,3082,0,0,0,0,0,0
$GC,8765,-0.73,-146.0,2.0,-0.3,1319,8772,0.00,1.20,0.00,0.000,4,0.000,0.073,2155,3211,3082,0,0,0,0,0,0
$GC,9024,-0.73,-146.0,1.9,-0.0,1358,9032,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2502,3082,0,0,0,0,0,0
$GC,9364,-0.73,-146.0,1.9,1.4,1409,9371,0.00,1.23,0.00,0.000,4,0.000,0.072,2150,3211,3082,0,0,0,0,0,0
$GC,9624,-0.73,-146.0,2.0,-0.2,1448,9631,0.00,1.08,0.00,0.000,6,0.000,0.034,2150,2512,3082,0,0,0,0,0,0
$GC,9963,-0.73,-146.0,1.9,-0.1,1499,9970,0.00,1.20,0.00,0.000,4,0.000,0.073,2146,3210,3082,0,0,0,0,0,0
$GC,10223,-0.73,-146.0,2.0,-0.1,1538,10229,0.00,1.10,0.00,0.000,6,0.000,0.036,2146,2502,3082,0,0,0,0,0,0
$GC,10559,-0.73,-146.0,1.9,0.1,1589,10568,0.00,1.23,0.00,0.000,4,0.000,0.071,2141,3212,3082,0,0,0,0,0,0
$GC,10819,-0.73,-146.0,1.9,0.3,1628,10825,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2501,3082,0,0,0,0,0,0
$GC,11154,-0.73,-146.0,2.0,0.1,1679,11161,0.00,1.23,0.00,0.000,4,0.000,0.071,2136,3212,3082,0,0,0,0,0,0
$GC,11413,-0.73,-146.0,2.0,0.3,1718,11420,0.00,1.10,0.00,0.000,6,0.000,0.034,2136,2500,3082,0,0,0,0,0,0
$GC,11751,-0.73,-146.0,1.9,0.2,1769,11760,0.12,1.25,0.00,0.000,4,0.203,0.073,2159,3217,3082,0,0,0,0,0,0
$STATE,12009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12010,begin apogee
$FREEZE,1.86,0.826,-1.603,2,1,0
$GC,12017,-0.16,0.0,1.9,0.1,1808,12028,0.65,0.00,7.88,0.089,2,0.184,0.000,2337,2196,3011,0,0,0,0,0,0
$STATE,12029,end apogee,SURFACE_DEPTH_REACHED
$STATE,12029,begin surface coast
$FREEZE,1.92,0.321,-1.630,2,1,0
$FREEZE,1.98,0.450,-1.623,2,1,0
$FREEZE,1.94,1.394,-1.573,2,1,0
$FREEZE,1.89,1.452,-1.570,2,1,0
$FREEZE,1.99,1.664,-1.559,2,1,0
$FREEZE,1.97,-0.307,-1.665,2,1,0
$FREEZE,1.91,1.651,-1.560,2,1,0
$FINISH,1.9,1.022860
$STATE,12077,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12077,begin surface
$SM_CCo,12080,291.35,0.087,0,0,441,501.15
$SM_GC,1.96,6.07,0.62,0.00,0.046,0.060,0.000,117,2518,435,-7.07,-0.45,503.11,0,0,0,0,0,0
$RAFOS_CLK,845
$RAFOS,6,1322470142,8.833333,8.817223,65,61,59,0,0,0,1015,161,196,0,0,0
$RAFOS,3,1322468703,8.433333,8.417500,131,59,57,0,0,0,621,196,212,0,0,0
$RAFOS_FIX,6608.828125,-5917.041016,281111,080842,3,106,0.00
$IRIDIUM_FIX,6543.17,-5911.30,281111,050527
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.41
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,15
$ALTIM_TOP_PING,1.9,999.0
$24V_AH,25.0,38.920
$10V_AH,10.0,30.643
$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,14.475,42.900,7.875,291.350,0.000,0.000,0.000,207.500,4.000,0.000,17.811,4631.104,4491.786,647.772,2792.097,251.764,0.000,2101.792,0.000,2588.823,720.000,2.809,0.000
$DEVICE_MAMPS,205.020,76.500,88.740,87.210,0.000,0.000,0.000,274.148,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1286.650,1344.099,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150144
$DATA_FILE_SIZE,66609,1816
$CAP_FILE_SIZE,137426,0
$CFSIZE,260165632,225697792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1444.4
$CURRENT,0.139,211.1,1
$GPS,281111,121123,6604.253,-5912.501,37,0.9,37,-32.9