version: 66.09
glider: 143
mission: 13
dive: 532
start: 12 18 111 14 40 37
data:
$ID,143
$MISSION,13
$DIVE,532
$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,-99057.805
$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,45
$R_STBD_OVSHOOT,25
$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,2.14
$_SM_ANGLEo,-32.6
$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,-97.3,0.0,0.0,0,206,0.00,0.00,-186.43,0.000,6,0.000,0.000,118,2504,2882,0,0,0,0,0,0
$GC,209,-0.79,-97.3,2.2,0.0,3,220,7.47,1.12,0.00,0.000,4,0.190,0.058,2130,3214,2883,0,0,0,0,0,0
$GC,471,-0.79,-97.3,2.1,0.0,7,475,0.00,1.10,0.00,0.000,6,0.000,0.032,2131,2510,2884,0,0,0,0,0,0
$GC,1124,-0.79,-97.3,2.1,0.0,18,1128,0.00,1.20,0.00,0.000,4,0.000,0.059,2126,3216,2884,0,0,0,0,0,0
$GC,1381,-0.79,-97.3,2.2,0.0,21,1388,0.00,1.12,0.00,0.000,6,0.000,0.031,2126,2509,2884,0,0,0,0,0,0
$GC,1995,-0.79,-97.3,2.2,0.0,32,1998,0.00,1.17,0.00,0.000,4,0.000,0.058,2122,3207,2884,0,0,0,0,0,0
$GC,2251,-0.79,-97.3,2.2,0.0,35,2259,0.00,1.12,0.00,0.000,6,0.000,0.031,2122,2497,2885,0,0,0,0,0,0
$GC,2865,-0.79,-97.3,2.1,0.0,46,2869,0.00,1.23,0.00,0.000,4,0.000,0.058,2117,3214,2885,0,0,0,0,0,0
$GC,3122,-0.79,-97.3,2.2,0.0,49,3129,0.00,1.12,0.00,0.000,6,0.000,0.031,2117,2505,2884,0,0,0,0,0,0
$GC,3736,-0.79,-97.3,2.1,0.0,60,3739,0.00,1.20,0.00,0.000,4,0.000,0.058,2112,3214,2885,0,0,0,0,0,0
$GC,3992,-0.79,-97.3,2.1,0.0,63,4001,0.12,1.12,0.00,0.000,6,0.194,0.031,2138,2502,2885,0,0,0,0,0,0
$GC,4606,-0.79,-97.3,2.1,0.0,74,4610,0.00,1.20,0.00,0.000,4,0.000,0.059,2135,3210,2884,0,0,0,0,0,0
$GC,4863,-0.79,-97.3,2.2,0.0,77,4870,0.00,1.10,0.00,0.000,6,0.000,0.031,2136,2509,2885,0,0,0,0,0,0
$GC,5477,-0.79,-97.3,2.1,0.0,88,5480,0.00,1.17,0.00,0.000,4,0.000,0.057,2131,3210,2885,0,0,0,0,0,0
$GC,5733,-0.79,-97.3,2.1,0.0,91,5741,0.00,1.10,0.00,0.000,6,0.000,0.030,2131,2507,2885,0,0,0,0,0,0
$GC,6347,-0.79,-97.3,2.1,0.0,102,6351,0.00,1.20,0.00,0.000,4,0.000,0.057,2126,3215,2885,0,0,0,0,0,0
$GC,6604,-0.79,-97.3,2.2,0.0,105,6611,0.00,1.12,0.00,0.000,6,0.000,0.031,2126,2501,2884,0,0,0,0,0,0
$GC,7219,-0.79,-97.3,2.1,0.0,116,7222,0.00,1.20,0.00,0.000,4,0.000,0.057,2122,3216,2884,0,0,0,0,0,0
$GC,7475,-0.79,-97.3,2.2,0.0,119,7483,0.00,1.12,0.00,0.000,6,0.000,0.031,2122,2503,2884,0,0,0,0,0,0
$GC,8089,-0.79,-97.3,2.1,0.0,130,8093,0.00,1.20,0.00,0.000,4,0.000,0.057,2117,3213,2884,0,0,0,0,0,0
$GC,8346,-0.79,-97.3,2.1,0.0,133,8353,0.00,1.12,0.00,0.000,6,0.000,0.030,2117,2498,2884,0,0,0,0,0,0
$GC,8960,-0.79,-97.3,2.1,0.0,144,8963,0.00,1.20,0.00,0.000,4,0.000,0.057,2113,3213,2884,0,0,0,0,0,0
$GC,9216,-0.79,-97.3,2.1,0.0,147,9225,0.12,1.12,0.00,0.000,6,0.196,0.030,2138,2498,2885,0,0,0,0,0,0
$GC,9830,-0.79,-97.3,2.1,0.0,158,9834,0.00,1.20,0.00,0.000,4,0.000,0.058,2135,3211,2885,0,0,0,0,0,0
$GC,10087,-0.79,-97.3,2.1,0.0,161,10094,0.00,1.12,0.00,0.000,6,0.000,0.031,2135,2498,2885,0,0,0,0,0,0
$GC,10701,-0.79,-97.3,2.1,0.0,172,10704,0.00,1.20,0.00,0.000,4,0.000,0.057,2131,3213,2884,0,0,0,0,0,0
$GC,10958,-0.79,-97.3,2.1,0.0,175,10965,0.00,1.10,0.00,0.000,6,0.000,0.031,2131,2501,2885,0,0,0,0,0,0
$GC,11572,-0.79,-97.3,2.1,0.0,186,11576,0.00,1.20,0.00,0.000,4,0.000,0.057,2126,3211,2884,0,0,0,0,0,0
$GC,11828,-0.79,-97.3,2.2,0.0,189,11836,0.00,1.10,0.00,0.000,6,0.000,0.030,2126,2507,2884,0,0,0,0,0,0
$STATE,12015,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12015,begin apogee
$FREEZE,2.17,-1.548,-1.769,2,191,0
$FREEZE,2.17,-1.548,-1.769,2,191,0
$FREEZE,2.17,-1.548,-1.769,2,191,0
$FREEZE,2.17,-1.548,-1.769,2,191,0
$FREEZE,2.17,-1.548,-1.769,2,191,0
$FREEZE,2.17,-1.548,-1.769,2,191,0
$FREEZE,2.17,-1.548,-1.769,2,191,0
$FREEZE,2.17,-1.548,-1.769,2,191,0
$GC,12022,-0.16,0.0,2.2,0.0,193,12072,0.77,0.00,44.42,0.089,6,0.185,0.000,2337,2201,2484,0,0,0,0,0,0
$STATE,12074,end apogee,CONTROL_FINISHED_OK
$STATE,12074,begin climb
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$GC,12076,0.79,97.3,2.2,0.0,193,12130,1.12,1.12,46.17,0.088,4,0.194,0.053,2647,1497,2087,0,0,0,0,0,0
$FREEZE,2.11,-1.532,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.10,-1.533,-1.768,2,191,0
$FREEZE,2.15,-1.532,-1.768,2,191,0
$STATE,12211,end climb,NO_VERTICAL_VELOCITY
$STATE,12211,begin subsurface finish
$FINISH1,2.2,1.025951,76
$GC,12219,0.09,75.5,2.2,-0.1,196,12223,0.57,0.00,-1.42,0.000,2,0.062,0.000,2430,2216,2087,0,0,0,0,0,0
$FINISH2,2.2
$STATE,12225,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12225,begin surface
$RAFOS_CLK,949
$RAFOS,6,1324226960,16.833334,16.822222,70,63,59,0,0,0,215,162,191,0,0,0
$RAFOS,5,1324226466,16.700001,16.684999,58,56,53,0,0,0,152,118,162,0,0,0
$RAFOS,4,1324226028,16.566668,16.563334,65,59,58,0,0,0,213,194,184,0,0,0
$RAFOS,3,1324225521,16.433332,16.422501,60,58,53,0,0,0,199,174,129,0,0,0
$RAFOS,2,1324225036,16.299999,16.287777,63,62,58,0,0,0,214,205,187,0,0,0
$RAFOS,1,1324224590,16.166666,16.163889,65,62,54,0,0,0,211,167,193,0,0,0
$RAFOS,0,1324224065,16.033333,16.018055,70,68,62,0,0,0,187,117,209,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6451.58,-6049.73,051211,181842
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,2.2,12.1
$24V_AH,25.1,39.980
$10V_AH,9.9,37.229
$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,10.200,35.100,90.600,0.000,0.000,0.000,0.000,123.575,0.250,0.000,181.969,766.738,10133.359,293.986,1411.232,263.608,0.000,1018.924,0.000,1097.379,2520.000,2.607,0.000
$DEVICE_MAMPS,195.840,58.905,88.740,0.000,0.000,0.000,0.000,198.499,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,136.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,237696
$DATA_FILE_SIZE,3530,196
$CAP_FILE_SIZE,76870,0
$CFSIZE,260165632,220442624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1438.3
$GPS,051211,182027,6518.163,-5941.124,181,99.0,181,-32.1
$ESCAPE_REASON,NO_RECENT_FIX
$ESCAPE_STARTED_DIVE,460