version: 66.09
glider: 143
mission: 13
dive: 329
start: 11 29 111 13 22 55
data:
$ID,143
$MISSION,13
$DIVE,329
$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,-86945.141
$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,42
$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
$GPS1,291111,131205,6603.466,-5910.031,39,1.1,39,-32.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-31.0
$GPS2,291111,132224,6603.570,-5910.091,18,1.4,18,-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,90.2,150476,-16.9,-9.167
$D_GRID,618
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.73,-146.0,0.0,0.0,0,245,0.00,0.00,-220.52,0.000,6,0.000,0.000,116,2518,3081,0,0,0,0,0,0
$GC,248,-0.73,-146.0,1.9,-0.2,34,262,7.43,1.15,0.00,0.000,4,0.179,0.042,2161,1812,3082,0,0,0,0,0,0
$GC,515,-0.73,-146.0,1.8,-0.2,74,521,0.00,1.23,0.00,0.000,6,0.000,0.058,2158,2511,3083,0,0,0,0,0,0
$GC,854,-0.73,-146.0,1.9,0.1,125,861,0.00,1.15,0.00,0.000,4,0.000,0.043,2159,1821,3083,0,0,0,0,0,0
$GC,1113,-0.73,-146.0,1.8,0.0,164,1119,0.00,1.20,0.00,0.000,6,0.000,0.057,2153,2509,3083,0,0,0,0,0,0
$GC,1449,-0.73,-146.0,1.8,0.3,215,1456,0.00,1.15,0.00,0.000,4,0.000,0.043,2154,1816,3083,0,0,0,0,0,0
$GC,1706,-0.73,-146.0,1.8,0.1,254,1713,0.00,1.20,0.00,0.000,6,0.000,0.057,2149,2509,3083,0,0,0,0,0,0
$GC,2043,-0.73,-146.0,1.8,0.0,305,2049,0.00,1.15,0.00,0.000,4,0.000,0.043,2149,1816,3083,0,0,0,0,0,0
$GC,2300,-0.73,-146.0,1.8,0.2,344,2309,0.00,1.20,0.00,0.000,6,0.000,0.057,2144,2507,3083,0,0,0,0,0,0
$GC,2640,-0.73,-146.0,1.8,0.7,395,2647,0.00,1.15,0.00,0.000,4,0.000,0.044,2145,1813,3083,0,0,0,0,0,0
$GC,2898,-0.73,-146.0,1.8,0.6,434,2906,0.00,1.20,0.00,0.000,6,0.000,0.057,2140,2505,3083,0,0,0,0,0,0
$GC,3236,-0.73,-146.0,1.8,0.2,485,3243,0.00,1.15,0.00,0.000,4,0.000,0.044,2140,1812,3083,0,0,0,0,0,0
$GC,3497,-0.73,-146.0,1.9,-0.2,524,3504,0.10,1.23,0.00,0.000,6,0.197,0.057,2160,2518,3083,0,0,0,0,0,0
$GC,3835,-0.73,-146.0,1.9,0.0,575,3842,0.00,1.17,0.00,0.000,4,0.000,0.045,2160,1811,3083,0,0,0,0,0,0
$GC,4092,-0.73,-146.0,1.8,0.0,614,4099,0.00,1.23,0.00,0.000,6,0.000,0.058,2157,2518,3083,0,0,0,0,0,0
$GC,4430,-0.73,-146.0,1.9,-0.2,665,4437,0.00,1.17,0.00,0.000,4,0.000,0.045,2157,1812,3083,0,0,0,0,0,0
$GC,4689,-0.73,-146.0,1.9,-0.0,704,4696,0.00,1.20,0.00,0.000,6,0.000,0.058,2153,2502,3083,0,0,0,0,0,0
$GC,5026,-0.73,-146.0,1.8,0.0,755,5033,0.00,1.15,0.00,0.000,4,0.000,0.045,2153,1813,3083,0,0,0,0,0,0
$GC,5284,-0.73,-146.0,1.8,0.1,794,5290,0.00,1.23,0.00,0.000,6,0.000,0.058,2148,2519,3083,0,0,0,0,0,0
$GC,5621,-0.73,-146.0,1.8,0.4,845,5630,0.00,1.17,0.00,0.000,4,0.000,0.045,2148,1812,3083,0,0,0,0,0,0
$GC,5883,-0.73,-146.0,1.9,-0.3,884,5890,0.00,1.23,0.00,0.000,6,0.000,0.059,2144,2517,3083,0,0,0,0,0,0
$GC,6222,-0.73,-146.0,1.8,0.0,935,6229,0.00,1.15,0.00,0.000,4,0.000,0.044,2144,1822,3083,0,0,0,0,0,0
$GC,6480,-0.73,-146.0,1.9,-0.1,974,6488,0.00,1.20,0.00,0.000,6,0.000,0.059,2139,2512,3083,0,0,0,0,0,0
$GC,6819,-0.73,-146.0,1.8,0.1,1025,6826,0.00,1.15,0.00,0.000,4,0.000,0.044,2139,1819,3083,0,0,0,0,0,0
$GC,7079,-0.73,-146.0,1.8,-0.3,1064,7086,0.10,1.20,0.00,0.000,6,0.197,0.058,2159,2510,3083,0,0,0,0,0,0
$GC,7415,-0.73,-146.0,1.9,0.2,1115,7422,0.00,1.15,0.00,0.000,4,0.000,0.044,2160,1818,3083,0,0,0,0,0,0
$GC,7674,-0.73,-146.0,1.9,0.1,1154,7681,0.00,1.20,0.00,0.000,6,0.000,0.057,2157,2511,3083,0,0,0,0,0,0
$GC,8012,-0.73,-146.0,1.8,0.0,1205,8019,0.00,1.15,0.00,0.000,4,0.000,0.044,2157,1816,3083,0,0,0,0,0,0
$GC,8270,-0.73,-146.0,1.7,0.2,1244,8278,0.00,1.20,0.00,0.000,6,0.000,0.057,2152,2509,3083,0,0,0,0,0,0
$GC,8610,-0.73,-146.0,1.9,-0.1,1295,8617,0.00,1.15,0.00,0.000,4,0.000,0.071,2147,3213,3083,0,0,0,0,0,0
$GC,8644,-0.73,-146.0,1.9,-0.2,1300,8651,0.00,1.10,0.00,0.000,6,0.000,0.031,2147,2497,3083,0,0,0,0,0,0
$GC,8982,-0.73,-146.0,1.9,0.7,1351,8989,0.00,1.23,0.00,0.000,4,0.000,0.070,2142,3211,3083,0,0,0,0,0,0
$GC,9242,-0.73,-146.0,1.9,-1.1,1390,9249,0.00,1.08,0.00,0.000,6,0.000,0.034,2142,2515,3083,0,0,0,0,0,0
$GC,9580,-0.73,-146.0,1.8,-0.0,1441,9586,0.00,1.20,0.00,0.000,4,0.000,0.070,2138,3213,3083,0,0,0,0,0,0
$GC,9838,-0.73,-146.0,1.8,0.3,1480,9844,0.00,1.10,0.00,0.000,6,0.000,0.034,2138,2502,3083,0,0,0,0,0,0
$GC,10175,-0.73,-146.0,1.8,0.0,1531,10182,0.00,1.23,0.00,0.000,4,0.000,0.070,2133,3212,3083,0,0,0,0,0,0
$GC,10434,-0.73,-146.0,1.8,-0.1,1570,10442,0.10,1.10,0.00,0.000,6,0.193,0.034,2158,2493,3083,0,0,0,0,0,0
$GC,10775,-0.73,-146.0,1.8,-0.1,1621,10781,0.00,1.25,0.00,0.000,4,0.000,0.072,2155,3217,3083,0,0,0,0,0,0
$GC,11032,-0.73,-146.0,1.8,0.0,1660,11039,0.00,1.08,0.00,0.000,6,0.000,0.034,2155,2525,3082,0,0,0,0,0,0
$GC,11371,-0.73,-146.0,1.8,-0.1,1711,11377,0.00,1.17,0.00,0.000,4,0.000,0.070,2151,3211,3083,0,0,0,0,0,0
$GC,11630,-0.73,-146.0,1.9,-0.3,1750,11636,0.00,1.10,0.00,0.000,6,0.000,0.034,2151,2499,3083,0,0,0,0,0,0
$GC,11968,-0.73,-146.0,1.8,0.2,1801,11975,0.00,1.23,0.00,0.000,4,0.000,0.070,2146,3213,3083,0,0,0,0,0,0
$STATE,12006,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12006,begin apogee
$FREEZE,1.77,1.366,-1.581,2,1,0
$GC,12013,-0.16,0.0,1.8,-0.8,1807,12024,0.70,0.00,7.75,0.089,2,0.188,0.000,2336,2200,3014,0,0,0,0,0,0
$STATE,12026,end apogee,SURFACE_DEPTH_REACHED
$STATE,12026,begin surface coast
$FREEZE,1.85,-0.241,-1.669,2,1,0
$FREEZE,1.79,0.942,-1.604,2,1,0
$FREEZE,1.76,1.363,-1.581,2,1,0
$FREEZE,1.86,1.095,-1.596,2,1,0
$FREEZE,1.77,1.125,-1.594,2,1,0
$FREEZE,1.84,2.000,-1.549,2,1,0
$FREEZE,1.79,2.062,-1.546,2,1,0
$FREEZE,1.72,1.986,-1.550,2,1,0
$FREEZE,1.78,2.114,-1.543,2,1,0
$FREEZE,1.86,1.879,-1.555,2,1,0
$FREEZE,1.72,2.016,-1.548,2,1,0
$FREEZE,1.84,2.142,-1.542,2,1,0
$FREEZE,1.80,2.310,-1.534,2,1,0
$FREEZE,1.78,2.269,-1.536,2,1,0
$FINISH,1.8,1.022476
$STATE,12119,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12119,begin surface
$SM_CCo,12134,292.15,0.087,0,0,442,501.15
$SM_GC,1.78,6.03,0.60,292.15,0.046,0.060,0.087,114,2517,442,-7.08,-0.54,501.15,0,0,0,0,0,0
$RAFOS_CLK,841
$RAFOS,4,1322584383,16.566668,16.550833,62,58,58,0,0,0,811,224,206,0,0,0
$RAFOS,3,1322583906,16.433332,16.418333,89,60,57,0,0,0,570,172,119,0,0,0
$RAFOS,2,1322583422,16.299999,16.283890,131,62,62,0,0,0,704,162,138,0,0,0
$RAFOS,1,1322582942,16.166666,16.150555,61,58,57,0,0,0,206,222,163,0,0,0
$RAFOS,0,1322582466,16.033333,16.018333,64,59,59,0,0,0,183,165,219,0,0,0
$RAFOS_FIX,6609.785156,-5913.503906,291111,161601,3,94,1.06
$IRIDIUM_FIX,6537.93,-5907.63,291111,131318
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.95
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,28
$ALTIM_TOP_PING,1.8,999.0
$24V_AH,25.1,38.992
$10V_AH,9.9,31.520
$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,14.450,50.325,7.750,292.150,0.000,0.000,0.000,376.925,7.250,0.000,20.097,4669.582,4497.637,656.748,2970.060,261.896,0.000,2285.031,0.000,2595.535,2160.000,2.808,0.000
$DEVICE_MAMPS,197.370,71.910,88.740,87.210,0.000,0.000,0.000,267.407,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1323.689,1304.778,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150232
$DATA_FILE_SIZE,66575,1822
$CAP_FILE_SIZE,144572,0
$CFSIZE,260165632,225153024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1445.2
$CURRENT,0.475,  3.6,1
$GPS,291111,165135,6606.766,-5909.727,35,0.8,36,-32.9