version: 66.09
glider: 143
mission: 13
dive: 222
start: 11 10 111 21 43 57
data:
$ID,143
$MISSION,13
$DIVE,222
$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,-80795.484
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,101111,213800,6700.584,-5707.161,39,0.9,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.8
$GPS2,101111,214325,6700.554,-5707.074,17,1.3,17,-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,310.8,148721,-16.9,-9.167
$D_GRID,733
$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,16,-0.73,-146.0,0.0,0.0,0,41,0.00,0.00,-22.62,0.000,2,0.000,0.000,113,2467,1602,0,0,0,0,0,0
$GC,44,-0.73,-146.0,3.1,-2.4,3,156,8.25,1.27,-97.72,0.000,4,0.241,0.088,2158,3216,3082,0,0,0,0,0,0
$GC,285,-0.73,-146.0,28.8,-20.4,39,292,0.00,1.10,0.00,0.000,6,0.000,0.030,2158,2495,3083,0,0,0,0,0,0
$GC,623,-0.73,-146.0,79.3,-13.5,90,632,0.00,1.17,0.00,0.000,4,0.000,0.066,2153,3200,3083,0,0,0,0,0,0
$GC,731,-0.73,-146.0,93.5,-12.9,106,740,0.00,1.05,0.00,0.000,6,0.000,0.028,2153,2509,3083,0,0,0,0,0,0
$GC,1071,-0.73,-146.0,135.6,-12.1,157,1078,0.00,1.15,0.00,0.000,4,0.000,0.060,2149,3207,3083,0,0,0,0,0,0
$GC,1230,-0.73,-146.0,155.3,-13.1,181,1237,0.00,1.05,0.00,0.000,6,0.000,0.028,2149,2506,3083,0,0,0,0,0,0
$GC,1568,-0.73,-146.0,195.5,-11.4,232,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2506,3083,0,0,0,0,0,0
$GC,1905,-0.73,-146.0,231.6,-11.1,283,1912,0.00,1.15,0.00,0.000,4,0.000,0.063,2144,3203,3082,0,0,0,0,0,0
$GC,1933,-0.73,-146.0,234.9,-11.5,287,1940,0.00,1.05,0.00,0.000,6,0.000,0.028,2144,2499,3082,0,0,0,0,0,0
$GC,2269,-0.73,-146.0,273.7,-11.5,323,2273,0.00,1.17,0.00,0.000,4,0.000,0.061,2140,3212,3082,0,0,0,0,0,0
$GC,2300,-0.73,-146.0,276.9,-11.8,325,2308,0.00,1.08,0.00,0.000,6,0.000,0.027,2140,2503,3082,0,0,0,0,0,0
$GC,2626,-0.73,-146.0,314.5,-11.4,351,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2504,3082,0,0,0,0,0,0
$GC,2940,-0.73,-146.0,350.5,-11.4,376,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2503,3082,0,0,0,0,0,0
$GC,3255,-0.73,-146.0,384.2,-10.1,401,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2503,3082,0,0,0,0,0,0
$GC,3570,-0.73,-146.0,415.9,-9.6,426,3573,0.00,1.15,0.00,0.000,4,0.000,0.060,2135,3202,3082,0,0,0,0,0,0
$GC,3693,-0.73,-146.0,427.8,-10.1,435,3702,0.12,1.05,0.00,0.000,6,0.165,0.027,2165,2515,3083,0,0,0,0,0,0
$GC,4017,-0.73,-146.0,455.1,-8.3,461,4020,0.00,1.12,0.00,0.000,4,0.000,0.061,2163,3203,3083,0,0,0,0,0,0
$GC,4048,-0.73,-146.0,457.4,-8.5,463,4056,0.00,1.08,0.00,0.000,6,0.000,0.027,2163,2496,3083,0,0,0,0,0,0
$GC,4373,-0.73,-146.0,485.6,-9.0,489,4377,0.00,1.15,0.00,0.000,4,0.000,0.060,2158,3203,3084,0,0,0,0,0,0
$GC,4439,-0.73,-146.0,492.1,-9.6,494,4443,0.00,1.05,0.00,0.000,6,0.000,0.028,2158,2496,3084,0,0,0,0,0,0
$GC,4774,-0.73,-146.0,524.7,-10.1,509,4777,0.00,1.15,0.00,0.000,4,0.000,0.059,2153,3204,3084,0,0,0,0,0,0
$GC,4842,-0.73,-146.0,531.5,-10.1,511,4846,0.00,1.02,0.00,0.000,6,0.000,0.028,2154,2519,3084,0,0,0,0,0,0
$GC,5181,-0.73,-146.0,566.9,-10.4,522,5185,0.00,1.12,0.00,0.000,4,0.000,0.060,2149,3210,3085,0,0,0,0,0,0
$GC,5206,-0.73,-146.0,566.9,-10.4,522,5216,0.00,1.08,0.00,0.000,6,0.000,0.028,2149,2497,3085,0,0,0,0,0,0
$GC,5523,-0.73,-146.0,601.9,-10.5,533,5527,0.00,1.15,0.00,0.000,4,0.000,0.059,2145,3204,3086,0,0,0,0,0,0
$GC,5600,-0.73,-146.0,609.4,-10.7,535,5605,0.00,1.05,0.00,0.000,6,0.000,0.027,2144,2515,3085,0,0,0,0,0,0
$GC,5928,-0.73,-146.0,646.1,-10.9,546,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2515,3086,0,0,0,0,0,0
$GC,6233,-0.73,-146.0,676.6,-9.8,556,6237,0.00,1.12,0.00,0.000,4,0.000,0.060,2140,3204,3086,0,0,0,0,0,0
$GC,6317,-0.73,-146.0,683.3,-9.9,558,6322,0.00,1.08,0.00,0.000,6,0.000,0.027,2140,2494,3086,0,0,0,0,0,0
$GC,6639,-0.73,-146.0,717.4,-10.0,569,6642,0.00,1.15,0.00,0.000,4,0.000,0.060,2136,3201,3086,0,0,0,0,0,0
$GC,6671,-0.73,-146.0,720.9,-10.1,570,6676,0.08,1.02,0.00,0.000,6,0.148,0.028,2160,2517,3086,0,0,0,0,0,0
$STATE,6826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6826,begin apogee
$GC,6832,-0.16,0.0,735.2,-9.2,575,6959,0.55,0.00,119.35,1.327,6,0.127,0.000,2342,2195,2484,0,0,0,0,0,0
$STATE,6960,end apogee,CONTROL_FINISHED_OK
$STATE,6960,begin climb
$GC,6962,0.73,146.0,739.3,0.0,579,7098,0.85,1.15,127.57,1.277,4,0.067,0.044,2638,1513,1889,0,0,0,0,0,0
$GC,7196,0.73,146.0,723.0,11.3,586,7201,0.00,1.20,0.00,0.000,6,0.000,0.041,2638,2200,1883,0,0,0,0,0,0
$GC,7516,0.73,146.0,680.1,12.7,597,7520,0.00,1.15,0.00,0.000,4,0.000,0.052,2638,2901,1881,0,0,0,0,0,0
$GC,7616,0.73,146.0,667.3,12.8,600,7619,0.00,1.12,0.00,0.000,6,0.000,0.034,2643,2209,1879,0,0,0,0,0,0
$GC,7956,0.73,146.0,624.6,12.6,611,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2209,1878,0,0,0,0,0,0
$GC,8261,0.73,146.0,586.3,12.5,621,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2209,1877,0,0,0,0,0,0
$GC,8571,0.73,146.0,547.4,12.9,631,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2209,1877,0,0,0,0,0,0
$GC,8873,0.73,146.0,506.9,13.1,641,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2209,1876,0,0,0,0,0,0
$GC,9192,0.73,146.0,465.3,12.7,663,9195,0.00,1.15,0.00,0.000,4,0.000,0.050,2643,2899,1876,0,0,0,0,0,0
$GC,9383,0.73,146.0,440.7,12.4,677,9390,0.00,1.12,0.00,0.000,6,0.000,0.034,2648,2194,1876,0,0,0,0,0,0
$GC,9708,0.73,146.0,399.0,12.9,703,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2194,1876,0,0,0,0,0,0
$GC,10022,0.73,146.0,359.2,12.2,728,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2194,1876,0,0,0,0,0,0
$GC,10338,0.73,146.0,319.9,12.5,753,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2194,1876,0,0,0,0,0,0
$GC,10653,0.73,146.0,280.2,12.9,778,10655,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,1876,0,0,0,0,0,0
$GC,10972,0.73,146.0,240.2,12.0,808,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2194,1876,0,0,0,0,0,0
$GC,11310,0.73,146.0,201.8,11.2,859,11317,0.00,1.17,0.00,0.000,4,0.000,0.049,2648,2908,1875,0,0,0,0,0,0
$GC,11383,0.73,146.0,193.3,11.8,870,11392,0.00,1.12,0.00,0.000,6,0.000,0.034,2652,2190,1876,0,0,0,0,0,0
$GC,11724,0.73,146.0,155.2,11.0,921,11731,0.00,1.17,0.00,0.000,4,0.000,0.050,2652,2902,1876,0,0,0,0,0,0
$GC,11875,0.73,146.0,138.0,10.5,944,11882,0.00,1.10,0.00,0.000,6,0.000,0.034,2657,2200,1876,0,0,0,0,0,0
$GC,12213,0.73,146.0,104.7,9.3,995,12220,0.00,1.05,0.00,0.000,4,0.000,0.048,2662,1495,1876,0,0,0,0,0,0
$GC,12353,0.74,158.6,92.6,8.6,1016,12367,0.00,1.12,9.77,0.857,6,0.000,0.044,2662,2203,1838,0,0,0,0,0,0
$GC,12699,0.76,176.8,63.3,8.4,1068,12721,0.00,1.15,16.50,0.895,4,0.000,0.051,2662,2908,1764,0,0,0,0,0,0
$GC,12815,0.76,176.8,52.9,9.9,1085,12822,0.00,1.12,0.00,0.000,6,0.000,0.035,2667,2202,1763,0,0,0,0,0,0
$GC,13152,0.80,207.0,27.6,7.9,1136,13180,0.00,1.10,20.15,0.873,4,0.000,0.047,2672,1492,1640,0,0,0,0,0,0
$GC,13288,0.80,207.0,14.8,11.2,1156,13294,0.00,1.15,0.00,0.000,6,0.000,0.043,2672,2205,1637,0,0,0,0,0,0
$STATE,13413,end climb,SURFACE_DEPTH_REACHED
$STATE,13413,begin surface coast
$FINISH,1.8,1.025828
$STATE,13428,end surface coast,CONTROL_FINISHED_OK
$STATE,13428,begin surface
$SM_CCo,13445,43.62,0.076,0,0,1261,300.00
$SM_GC,3.09,6.82,0.52,43.62,0.041,0.063,0.076,118,2514,1261,-7.07,-0.71,300.00,0,0,0,0,0,0
$RAFOS_CLK,828
$RAFOS,6,1320972546,0.833333,0.818333,71,69,62,0,0,0,217,227,186,0,0,0
$RAFOS,5,1320972061,0.700000,0.683611,83,67,60,0,0,0,603,593,201,0,0,0
$RAFOS,4,1320971582,0.566667,0.550556,59,58,56,0,0,0,215,833,155,0,0,0
$RAFOS,3,1320971102,0.433333,0.417222,62,62,61,0,0,0,186,198,164,0,0,0
$RAFOS,2,1320970622,0.300000,0.283889,63,60,56,0,0,0,198,162,221,0,0,0
$RAFOS,1,1320970155,0.166667,0.154167,58,57,56,0,0,0,164,223,206,0,0,0
$RAFOS,0,1320969665,0.033333,0.018056,65,62,58,0,0,0,215,171,146,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6631.12,-5713.57,101111,171755
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.90
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,601.9,147.4
$24V_AH,22.9,27.945
$10V_AH,10.3,21.460
$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,16.675,47.975,293.350,43.625,0.000,0.000,0.000,212.850,6.750,0.000,18.038,3219.412,7753.240,504.592,2127.593,214.966,0.000,1722.521,0.000,1896.312,2520.000,18.208,0.000
$DEVICE_MAMPS,240.975,87.975,1326.510,76.500,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.944,643.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46768,1177
$CAP_FILE_SIZE,126907,0
$CFSIZE,260165632,232636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.3
$CURRENT,0.195, 62.5,1
$GPS,111111,013025,6701.812,-5709.741,51,0.9,51,-33.5