version: 66.09
glider: 143
mission: 13
dive: 220
start: 11 10 111 14 23 1
data:
$ID,143
$MISSION,13
$DIVE,220
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$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,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80792.977
$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,44
$R_STBD_OVSHOOT,26
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,101111,141724,6702.968,-5703.223,63,0.8,63,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-67.3
$GPS2,101111,142230,6702.942,-5703.287,18,0.9,18,-33.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,245.2,152390,-16.9,-9.167
$D_GRID,683
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,45,0.00,0.00,-25.98,0.000,2,0.000,0.000,118,2518,1648,0,0,0,0,0,0
$GC,48,-0.73,-146.0,3.0,-1.8,4,149,8.35,1.15,-83.05,0.000,4,0.246,0.093,2157,3212,3083,0,0,0,0,0,0
$GC,402,-0.73,-146.0,50.2,-17.0,57,411,0.00,1.08,0.00,0.000,6,0.000,0.031,2157,2505,3084,0,0,0,0,0,0
$GC,741,-0.73,-146.0,98.2,-12.9,108,748,0.00,1.17,0.00,0.000,4,0.000,0.062,2153,3214,3084,0,0,0,0,0,0
$GC,943,-0.73,-146.0,122.7,-12.2,138,950,0.00,1.08,0.00,0.000,6,0.000,0.028,2153,2505,3084,0,0,0,0,0,0
$GC,1280,-0.73,-146.0,165.7,-12.1,189,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3083,0,0,0,0,0,0
$GC,1619,-0.73,-146.0,207.1,-11.6,240,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2505,3083,0,0,0,0,0,0
$GC,1955,-0.73,-146.0,247.6,-11.4,291,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2505,3082,0,0,0,0,0,0
$GC,2284,-0.73,-146.0,283.0,-10.0,319,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2505,3083,0,0,0,0,0,0
$GC,2600,-0.73,-146.0,316.0,-10.8,344,2604,0.00,1.15,0.00,0.000,4,0.000,0.062,2148,3206,3083,0,0,0,0,0,0
$GC,2684,-0.73,-146.0,324.7,-10.7,350,2692,0.00,1.08,0.00,0.000,6,0.000,0.028,2148,2502,3082,0,0,0,0,0,0
$GC,3009,-0.73,-146.0,361.2,-11.2,376,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2502,3083,0,0,0,0,0,0
$GC,3325,-0.73,-146.0,396.3,-10.8,401,3328,0.00,1.15,0.00,0.000,4,0.000,0.060,2144,3208,3082,0,0,0,0,0,0
$GC,3394,-0.73,-146.0,403.9,-11.5,406,3401,0.00,1.08,0.00,0.000,6,0.000,0.028,2144,2500,3082,0,0,0,0,0,0
$GC,3719,-0.73,-146.0,440.5,-11.0,432,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2501,3083,0,0,0,0,0,0
$GC,4032,-0.73,-146.0,474.8,-10.8,457,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2501,3083,0,0,0,0,0,0
$GC,4365,-0.73,-146.0,510.1,-10.6,479,4368,0.00,1.15,0.00,0.000,4,0.000,0.059,2139,3208,3084,0,0,0,0,0,0
$GC,4465,-0.73,-146.0,521.0,-10.9,482,4469,0.00,1.05,0.00,0.000,6,0.000,0.028,2139,2504,3084,0,0,0,0,0,0
$GC,4805,-0.73,-146.0,557.4,-10.5,493,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2503,3084,0,0,0,0,0,0
$GC,5110,-0.73,-146.0,590.6,-10.9,503,5114,0.00,1.15,0.00,0.000,4,0.000,0.058,2134,3211,3085,0,0,0,0,0,0
$GC,5188,-0.73,-146.0,598.2,-11.2,505,5193,0.12,1.08,0.00,0.000,6,0.166,0.028,2165,2496,3084,0,0,0,0,0,0
$GC,5516,-0.73,-146.0,629.7,-8.9,516,5519,0.00,1.17,0.00,0.000,4,0.000,0.061,2162,3216,3085,0,0,0,0,0,0
$GC,5594,-0.73,-146.0,635.8,-9.0,518,5598,0.00,1.08,0.00,0.000,6,0.000,0.028,2162,2500,3085,0,0,0,0,0,0
$GC,5923,-0.73,-146.0,665.9,-8.9,529,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2500,3085,0,0,0,0,0,0
$STATE,6132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6133,begin apogee
$GC,6138,-0.16,0.0,684.7,-8.6,536,6265,0.55,0.00,118.70,1.294,6,0.127,0.000,2342,2191,2485,0,0,0,0,0,0
$STATE,6265,end apogee,CONTROL_FINISHED_OK
$STATE,6265,begin climb
$GC,6268,0.73,146.0,688.1,0.0,540,6403,0.82,1.17,126.88,1.244,4,0.067,0.046,2634,1510,1888,0,0,0,0,0,0
$GC,6549,0.73,146.0,663.7,12.5,549,6553,0.00,1.17,0.00,0.000,6,0.000,0.041,2634,2205,1883,0,0,0,0,0,0
$GC,6888,0.73,146.0,622.1,12.1,560,6892,0.00,1.12,0.00,0.000,4,0.000,0.051,2634,2896,1881,0,0,0,0,0,0
$GC,6959,0.73,146.0,613.9,12.1,562,6963,0.00,1.15,0.00,0.000,6,0.000,0.034,2639,2200,1879,0,0,0,0,0,0
$GC,7293,0.73,146.0,573.2,12.2,573,7297,0.00,1.17,0.00,0.000,4,0.000,0.050,2639,2896,1878,0,0,0,0,0,0
$GC,7343,0.73,146.0,568.9,12.5,574,7348,0.00,1.15,0.00,0.000,6,0.000,0.035,2643,2194,1877,0,0,0,0,0,0
$GC,7665,0.73,146.0,525.5,12.8,585,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2194,1876,0,0,0,0,0,0
$GC,7980,0.73,146.0,483.2,13.9,600,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2194,1877,0,0,0,0,0,0
$GC,8298,0.73,146.0,439.6,13.5,625,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2194,1877,0,0,0,0,0,0
$GC,8612,0.73,146.0,399.3,12.4,650,8616,0.00,1.17,0.00,0.000,4,0.000,0.048,2644,2901,1876,0,0,0,0,0,0
$GC,8656,0.73,146.0,393.9,13.1,653,8667,0.00,1.15,0.00,0.000,6,0.000,0.036,2648,2191,1877,0,0,0,0,0,0
$GC,8981,0.73,146.0,351.9,12.8,679,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2191,1877,0,0,0,0,0,0
$GC,9295,0.73,146.0,313.5,11.9,704,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2191,1876,0,0,0,0,0,0
$GC,9613,0.73,146.0,275.1,12.4,729,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2190,1876,0,0,0,0,0,0
$GC,9935,0.73,146.0,236.6,11.9,762,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2191,1877,0,0,0,0,0,0
$GC,10271,0.73,146.0,198.9,10.4,813,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2190,1877,0,0,0,0,0,0
$GC,10611,0.73,146.0,163.0,9.8,864,10618,0.00,1.05,0.00,0.000,4,0.000,0.048,2653,1490,1877,0,0,0,0,0,0
$GC,10664,0.73,146.0,157.6,10.2,872,10670,0.00,1.12,0.00,0.000,6,0.000,0.043,2653,2202,1877,0,0,0,0,0,0
$GC,11000,0.75,166.6,126.3,8.3,923,11022,0.00,1.15,16.42,0.916,4,0.000,0.053,2653,2907,1805,0,0,0,0,0,0
$GC,11267,0.75,166.6,101.1,9.6,963,11274,0.00,1.12,0.00,0.000,6,0.000,0.036,2658,2201,1804,0,0,0,0,0,0
$GC,11607,0.80,204.0,69.8,7.6,1014,11646,0.00,0.00,32.05,0.910,6,0.000,0.000,2658,2201,1652,0,0,0,0,0,0
$GC,11979,0.80,204.0,39.4,10.0,1070,11986,0.00,1.08,0.00,0.000,4,0.000,0.049,2663,1491,1648,0,0,0,0,0,0
$GC,12113,0.80,204.0,25.4,10.4,1090,12120,0.00,1.15,0.00,0.000,6,0.000,0.044,2663,2204,1648,0,0,0,0,0,0
$GC,12452,0.89,278.3,7.7,6.0,1141,12494,0.00,1.10,36.08,0.086,4,0.000,0.049,2663,2912,1349,0,0,0,0,0,0
$GC,12508,0.89,279.8,3.6,9.1,1149,12517,0.00,1.12,0.00,0.000,6,0.000,0.029,2668,2194,1346,0,0,0,0,0,0
$STATE,12528,end climb,SURFACE_DEPTH_REACHED
$STATE,12528,begin surface coast
$FINISH,1.7,1.002519
$STATE,12556,end surface coast,CONTROL_FINISHED_OK
$STATE,12556,begin surface
$SM_CCo,12573,8.93,0.080,0,0,1261,300.00
$SM_GC,4.36,6.80,0.57,8.93,0.042,0.047,0.080,116,2509,1261,-7.08,-0.90,300.00,0,0,0,0,0,0
$RAFOS_CLK,772
$RAFOS,6,1320943744,16.833334,16.817778,66,64,61,0,0,0,799,119,216,0,0,0
$RAFOS,5,1320943274,16.700001,16.687222,59,58,56,0,0,0,206,546,187,0,0,0
$RAFOS,4,1320942796,16.566668,16.554445,65,57,52,0,0,0,205,148,125,0,0,0
$RAFOS,3,1320942304,16.433332,16.417778,59,58,53,0,0,0,214,190,201,0,0,0
$RAFOS,2,1320941836,16.299999,16.287777,65,59,57,0,0,0,190,213,131,0,0,0
$RAFOS,1,1320941344,16.166666,16.151112,59,57,56,0,0,0,208,192,123,0,0,0
$RAFOS,0,1320940869,16.033333,16.019167,59,59,59,0,0,0,158,168,211,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6631.12,-5656.72,101111,101038
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.90
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,550.8,172.8
$24V_AH,23.0,27.723
$10V_AH,10.3,21.293
$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,16.650,34.800,330.125,8.925,0.000,0.000,0.000,194.575,6.750,0.000,19.350,3123.883,7038.874,478.319,2054.268,198.476,0.000,1640.881,0.000,1842.888,2520.000,14.725,0.000
$DEVICE_MAMPS,246.330,92.565,1294.380,80.325,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.094,642.674,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,43324,1156
$CAP_FILE_SIZE,116996,0
$CFSIZE,260165632,232779776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1464.6
$CURRENT,0.092, 67.5,1
$GPS,101111,175405,6701.288,-5705.271,35,0.8,35,-33.5