version: 66.09
glider: 143
mission: 13
dive: 521
start: 12 17 111 16 37 37
data:
$ID,143
$MISSION,13
$DIVE,521
$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,-4
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,110
$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,1
$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,-98325.906
$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,41
$R_STBD_OVSHOOT,29
$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,48
$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
$GPS1,051211,182027,6518.163,-5941.124,181,99.0,181,-32.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-34.4
$GPS2,051211,182027,6518.163,-5941.124,181,99.0,181,-32.1
$SPEED_LIMITS,0.159,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6514.469,-5916.893
$TGT_RADIUS,1852.000
$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,142.1,20000,-20.9,-9.167
$D_GRID,420
$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,-0.79,-97.3,0.0,0.0,0,211,0.00,0.00,-192.05,0.000,6,0.000,0.000,118,2512,2881,0,0,0,0,0,0
$GC,214,-0.79,-97.3,1.9,0.0,3,226,7.53,1.10,0.00,0.000,4,0.192,0.057,2133,3216,2883,0,0,0,0,0,0
$GC,477,-0.79,-97.3,2.0,0.0,7,482,0.00,1.12,0.00,0.000,6,0.000,0.032,2133,2503,2884,0,0,0,0,0,0
$GC,1125,-0.79,-97.3,2.0,0.0,18,1129,0.00,1.20,0.00,0.000,4,0.000,0.057,2128,3209,2884,0,0,0,0,0,0
$GC,1382,-0.79,-97.3,2.0,0.0,21,1389,0.00,1.12,0.00,0.000,6,0.000,0.032,2128,2499,2884,0,0,0,0,0,0
$GC,1996,-0.79,-97.3,2.0,0.0,32,1999,0.00,1.20,0.00,0.000,4,0.000,0.057,2124,3211,2884,0,0,0,0,0,0
$GC,2252,-0.79,-97.3,2.0,0.0,35,2260,0.00,1.12,0.00,0.000,6,0.000,0.032,2123,2501,2884,0,0,0,0,0,0
$GC,2866,-0.79,-97.3,2.0,0.0,46,2870,0.00,1.20,0.00,0.000,4,0.000,0.057,2119,3209,2884,0,0,0,0,0,0
$GC,3122,-0.79,-97.3,2.0,0.0,49,3130,0.00,1.12,0.00,0.000,6,0.000,0.031,2119,2499,2884,0,0,0,0,0,0
$GC,3737,-0.79,-97.3,2.0,0.0,60,3740,0.00,1.20,0.00,0.000,4,0.000,0.057,2114,3211,2884,0,0,0,0,0,0
$GC,3993,-0.79,-97.3,2.0,0.0,63,4001,0.12,1.12,0.00,0.000,6,0.200,0.032,2140,2499,2884,0,0,0,0,0,0
$GC,4607,-0.79,-97.3,2.0,0.0,74,4611,0.00,1.20,0.00,0.000,4,0.000,0.057,2137,3210,2884,0,0,0,0,0,0
$GC,4863,-0.79,-97.3,2.0,0.0,77,4871,0.00,1.12,0.00,0.000,6,0.000,0.032,2137,2499,2884,0,0,0,0,0,0
$GC,5478,-0.79,-97.3,2.0,0.0,88,5481,0.00,1.20,0.00,0.000,4,0.000,0.057,2132,3213,2884,0,0,0,0,0,0
$GC,5734,-0.79,-97.3,2.0,0.0,91,5742,0.00,1.12,0.00,0.000,6,0.000,0.032,2132,2501,2884,0,0,0,0,0,0
$GC,6348,-0.79,-97.3,2.0,0.0,102,6352,0.00,1.17,0.00,0.000,4,0.000,0.056,2127,3204,2884,0,0,0,0,0,0
$GC,6604,-0.79,-97.3,2.0,0.0,105,6612,0.00,1.10,0.00,0.000,6,0.000,0.031,2127,2509,2884,0,0,0,0,0,0
$GC,7218,-0.79,-97.3,2.0,0.0,116,7222,0.00,1.17,0.00,0.000,4,0.000,0.056,2122,3208,2884,0,0,0,0,0,0
$GC,7475,-0.79,-97.3,1.9,0.0,119,7482,0.00,1.12,0.00,0.000,6,0.000,0.031,2123,2497,2884,0,0,0,0,0,0
$GC,8089,-0.79,-97.3,2.0,0.0,130,8092,0.00,1.20,0.00,0.000,4,0.000,0.057,2118,3210,2884,0,0,0,0,0,0
$GC,8345,-0.79,-97.3,2.0,0.0,133,8353,0.00,1.12,0.00,0.000,6,0.000,0.032,2118,2498,2884,0,0,0,0,0,0
$GC,8959,-0.79,-97.3,2.0,0.0,144,8963,0.00,1.20,0.00,0.000,4,0.000,0.057,2113,3211,2884,0,0,0,0,0,0
$GC,9216,-0.79,-97.3,2.0,0.0,147,9224,0.12,1.12,0.00,0.000,6,0.200,0.031,2139,2498,2884,0,0,0,0,0,0
$GC,9830,-0.79,-97.3,2.0,0.0,158,9833,0.00,1.20,0.00,0.000,4,0.000,0.057,2136,3214,2884,0,0,0,0,0,0
$GC,10086,-0.79,-97.3,2.0,0.0,161,10094,0.00,1.12,0.00,0.000,6,0.000,0.032,2136,2503,2884,0,0,0,0,0,0
$GC,10700,-0.79,-97.3,2.0,0.0,172,10704,0.00,1.17,0.00,0.000,4,0.000,0.056,2132,3205,2884,0,0,0,0,0,0
$GC,10957,-0.79,-97.3,2.0,0.0,175,10965,0.00,1.10,0.00,0.000,6,0.000,0.031,2132,2510,2884,0,0,0,0,0,0
$GC,11571,-0.79,-97.3,2.0,0.0,186,11574,0.00,1.17,0.00,0.000,4,0.000,0.057,2127,3212,2883,0,0,0,0,0,0
$GC,11827,-0.79,-97.3,1.9,0.0,189,11834,0.00,1.12,0.00,0.000,6,0.000,0.031,2127,2499,2884,0,0,0,0,0,0
$STATE,12015,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12015,begin apogee
$FREEZE,1.97,-1.528,-1.762,2,180,2
$GC,12021,-0.16,0.0,2.0,0.0,193,12028,0.77,0.00,3.95,0.093,2,0.190,0.000,2337,2197,2850,0,0,0,0,0,0
$STATE,12029,end apogee,SURFACE_DEPTH_REACHED
$STATE,12029,begin surface coast
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,1.97,-1.528,-1.762,2,180,2
$FREEZE,2.09,-0.840,-1.721,2,180,2
$FREEZE,1.98,-0.745,-1.715,2,180,2
$FINISH,2.0,1.025180
$STATE,12149,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12149,begin surface
$SM_CCo,12152,277.67,0.090,0,0,442,501.15
$SM_GC,2.04,6.12,0.60,0.00,0.047,0.047,0.000,121,2518,431,-7.07,-0.68,503.85,0,0,0,0,0,0
$RAFOS_CLK,976
$RAFOS,6,1324140554,16.833334,16.820555,61,58,53,0,0,0,151,171,114,0,0,0
$RAFOS,5,1324140066,16.700001,16.684999,68,60,57,0,0,0,207,217,173,0,0,0
$RAFOS,2,1324138622,16.299999,16.283890,65,61,57,0,0,0,189,209,198,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6451.58,-6049.73,051211,181842
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.65
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,2.0,999.0
$24V_AH,25.1,39.935
$10V_AH,9.9,36.974
$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,14.675,33.375,3.950,277.675,0.000,0.000,0.000,123.575,0.500,0.000,180.969,748.711,10372.637,511.784,1383.300,260.331,0.000,1211.283,0.000,1069.271,720.000,2.810,0.000
$DEVICE_MAMPS,200.430,57.375,92.565,89.505,0.000,0.000,0.000,200.746,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,135.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,237652
$DATA_FILE_SIZE,6842,195
$CAP_FILE_SIZE,75302,0
$CFSIZE,260165632,220684288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1438.2
$GPS,051211,182027,6518.163,-5941.124,181,99.0,181,-32.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,460