version: 66.09
glider: 143
mission: 13
dive: 223
start: 11 11 111 1 36 2
data:
$ID,143
$MISSION,13
$DIVE,223
$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,-80796.742
$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,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,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
$GPS1,111111,013025,6701.812,-5709.741,51,0.9,51,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-69.1
$GPS2,111111,013530,6701.794,-5709.748,18,1.1,18,-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,279.4,147304,-16.9,-9.167
$D_GRID,740
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-25.67,0.000,2,0.000,0.000,117,2517,1640,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-2.3,4,152,8.43,1.12,-87.90,0.000,4,0.249,0.096,2155,3212,3082,0,0,0,0,0,0
$GC,407,-0.73,-146.0,52.4,-19.0,58,414,0.00,1.08,0.00,0.000,6,0.000,0.028,2155,2508,3083,0,0,0,0,0,0
$GC,745,-0.73,-146.0,101.9,-14.1,109,754,0.00,1.17,0.00,0.000,4,0.000,0.063,2151,3216,3083,0,0,0,0,0,0
$GC,794,-0.73,-146.0,108.8,-13.5,116,800,0.00,1.08,0.00,0.000,6,0.000,0.028,2151,2505,3083,0,0,0,0,0,0
$GC,1131,-0.73,-146.0,152.1,-12.8,167,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2506,3083,0,0,0,0,0,0
$GC,1470,-0.73,-146.0,192.7,-12.1,218,1477,0.00,1.17,0.00,0.000,4,0.000,0.063,2146,3214,3083,0,0,0,0,0,0
$GC,1563,-0.73,-146.0,204.0,-11.6,232,1570,0.00,1.08,0.00,0.000,6,0.000,0.028,2146,2499,3083,0,0,0,0,0,0
$GC,1900,-0.73,-146.0,243.9,-11.4,283,1907,0.00,1.17,0.00,0.000,4,0.000,0.063,2142,3211,3082,0,0,0,0,0,0
$GC,1998,-0.73,-146.0,254.9,-12.0,294,2006,0.00,1.08,0.00,0.000,6,0.000,0.028,2142,2502,3082,0,0,0,0,0,0
$GC,2323,-0.73,-146.0,292.9,-11.3,320,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3082,0,0,0,0,0,0
$GC,2636,-0.73,-146.0,328.4,-11.2,345,2640,0.00,1.17,0.00,0.000,4,0.000,0.061,2137,3216,3082,0,0,0,0,0,0
$GC,2690,-0.73,-146.0,334.5,-11.4,349,2693,0.00,1.05,0.00,0.000,6,0.000,0.027,2137,2516,3082,0,0,0,0,0,0
$GC,3018,-0.73,-146.0,371.8,-11.3,375,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2515,3082,0,0,0,0,0,0
$GC,3335,-0.73,-146.0,407.8,-11.8,400,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2515,3082,0,0,0,0,0,0
$GC,3649,-0.73,-146.0,443.8,-11.6,425,3653,0.00,1.15,0.00,0.000,4,0.000,0.061,2133,3217,3083,0,0,0,0,0,0
$GC,3728,-0.73,-146.0,453.0,-11.8,431,3732,0.10,1.08,0.00,0.000,6,0.144,0.028,2164,2493,3083,0,0,0,0,0,0
$GC,4057,-0.73,-146.0,483.5,-9.1,457,4060,0.00,1.17,0.00,0.000,4,0.000,0.062,2161,3210,3084,0,0,0,0,0,0
$GC,4101,-0.73,-146.0,487.3,-9.3,460,4109,0.00,1.08,0.00,0.000,6,0.000,0.027,2161,2496,3084,0,0,0,0,0,0
$GC,4434,-0.73,-146.0,517.6,-8.9,478,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2496,3084,0,0,0,0,0,0
$GC,4738,-0.73,-146.0,545.2,-8.9,488,4742,0.00,1.17,0.00,0.000,4,0.000,0.060,2157,3216,3085,0,0,0,0,0,0
$GC,4796,-0.73,-146.0,548.3,-9.0,489,4807,0.00,1.08,0.00,0.000,6,0.000,0.027,2157,2503,3085,0,0,0,0,0,0
$GC,5110,-0.73,-146.0,579.7,-9.2,500,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2503,3085,0,0,0,0,0,0
$GC,5417,-0.73,-146.0,608.5,-9.5,510,5421,0.00,1.15,0.00,0.000,4,0.000,0.060,2152,3210,3086,0,0,0,0,0,0
$GC,5475,-0.73,-146.0,611.9,-9.6,511,5483,0.00,1.08,0.00,0.000,6,0.000,0.027,2152,2495,3086,0,0,0,0,0,0
$GC,5791,-0.73,-146.0,644.9,-9.8,522,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2495,3086,0,0,0,0,0,0
$GC,6096,-0.73,-146.0,674.7,-9.6,532,6100,0.00,1.17,0.00,0.000,4,0.000,0.060,2148,3214,3086,0,0,0,0,0,0
$GC,6173,-0.73,-146.0,681.4,-9.8,534,6178,0.00,1.08,0.00,0.000,6,0.000,0.026,2148,2503,3086,0,0,0,0,0,0
$GC,6501,-0.73,-146.0,714.1,-9.2,545,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2503,3086,0,0,0,0,0,0
$STATE,6775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6776,begin apogee
$GC,6781,-0.16,0.0,741.0,-9.9,554,6908,0.60,0.00,119.93,1.344,6,0.132,0.000,2341,2192,2484,0,0,0,0,0,0
$STATE,6909,end apogee,CONTROL_FINISHED_OK
$STATE,6909,begin climb
$GC,6912,0.73,146.0,745.6,0.0,558,7048,0.85,1.10,128.30,1.289,4,0.068,0.043,2638,1513,1888,0,0,0,0,0,0
$GC,7278,0.73,146.0,716.0,12.3,569,7288,0.00,1.20,0.00,0.000,6,0.000,0.042,2638,2213,1880,0,0,0,0,0,0
$GC,7592,0.73,146.0,674.1,12.4,580,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2213,1878,0,0,0,0,0,0
$GC,7899,0.73,146.0,636.5,12.2,590,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2213,1876,0,0,0,0,0,0
$GC,8204,0.73,146.0,599.7,12.0,600,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2213,1876,0,0,0,0,0,0
$GC,8512,0.73,146.0,563.5,11.8,610,8516,0.00,1.10,0.00,0.000,4,0.000,0.054,2637,2902,1875,0,0,0,0,0,0
$GC,8583,0.73,146.0,555.3,12.0,612,8588,0.00,1.10,0.00,0.000,6,0.000,0.036,2642,2215,1875,0,0,0,0,0,0
$GC,8916,0.73,146.0,515.2,11.7,623,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2215,1874,0,0,0,0,0,0
$GC,9234,0.73,146.0,478.1,11.6,641,9237,0.00,1.10,0.00,0.000,4,0.000,0.050,2648,1493,1873,0,0,0,0,0,0
$GC,9339,0.73,146.0,465.5,11.9,649,9342,0.00,1.15,0.00,0.000,6,0.000,0.046,2648,2206,1873,0,0,0,0,0,0
$GC,9672,0.73,146.0,424.9,12.1,675,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,1873,0,0,0,0,0,0
$GC,9984,0.73,146.0,386.2,12.7,700,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2206,1872,0,0,0,0,0,0
$GC,10300,0.73,146.0,346.4,12.7,725,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,1873,0,0,0,0,0,0
$GC,10617,0.73,146.0,306.9,12.6,750,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,1873,0,0,0,0,0,0
$GC,10930,0.73,146.0,267.7,12.2,775,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2206,1873,0,0,0,0,0,0
$GC,11253,0.73,146.0,228.4,11.8,813,11261,0.00,1.10,0.00,0.000,4,0.000,0.055,2648,2903,1873,0,0,0,0,0,0
$GC,11400,0.73,146.0,210.5,12.0,835,11408,0.00,1.12,0.00,0.000,6,0.000,0.037,2652,2194,1873,0,0,0,0,0,0
$GC,11740,0.73,146.0,173.0,10.7,886,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1873,0,0,0,0,0,0
$GC,12078,0.73,146.0,138.1,10.1,937,12087,0.00,1.17,0.00,0.000,4,0.000,0.051,2652,2903,1873,0,0,0,0,0,0
$GC,12168,0.73,146.0,129.5,9.3,950,12175,0.00,1.12,0.00,0.000,6,0.000,0.037,2657,2193,1873,0,0,0,0,0,0
$GC,12506,0.75,164.6,100.2,8.4,1001,12527,0.00,0.00,14.27,0.897,6,0.000,0.000,2657,2193,1813,0,0,0,0,0,0
$GC,12858,0.81,215.6,70.4,7.0,1054,12912,0.00,1.25,43.42,0.920,4,0.000,0.050,2657,2909,1605,0,0,0,0,0,0
$GC,13099,0.82,219.5,50.2,9.0,1090,13107,0.00,1.15,4.07,0.654,6,0.000,0.036,2662,2201,1590,0,0,0,0,0,0
$GC,13439,0.82,219.5,16.4,9.7,1141,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2201,1588,0,0,0,0,0,0
$STATE,13578,end climb,SURFACE_DEPTH_REACHED
$STATE,13578,begin surface coast
$FINISH,1.9,1.012357
$STATE,13599,end surface coast,CONTROL_FINISHED_OK
$STATE,13600,begin surface
$SM_CCo,13616,38.40,0.080,0,0,1262,300.00
$SM_GC,3.04,6.82,0.57,38.40,0.044,0.063,0.080,118,2504,1262,-7.07,-0.99,300.00,0,0,0,0,0,0
$RAFOS_CLK,847
$RAFOS,6,1320986946,4.833333,4.818333,74,58,54,0,0,0,207,224,185,0,0,0
$RAFOS,5,1320986461,4.700000,4.683611,58,58,57,0,0,0,190,212,588,0,0,0
$RAFOS,4,1320985987,4.566667,4.551944,65,57,56,0,0,0,204,132,187,0,0,0
$RAFOS,3,1320985507,4.433333,4.418611,61,59,59,0,0,0,188,162,152,0,0,0
$RAFOS,2,1320985029,4.300000,4.285833,65,60,60,0,0,0,177,154,201,0,0,0
$RAFOS,1,1320984543,4.166667,4.150833,60,57,55,0,0,0,205,180,119,0,0,0
$RAFOS,0,1320984062,4.033333,4.017222,63,57,51,0,0,0,193,216,112,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6631.12,-5704.33,101111,212145
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.30
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.60
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,702.8,60.9
$24V_AH,22.9,28.054
$10V_AH,10.3,21.544
$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,16.800,37.075,310.000,38.400,0.000,0.000,0.000,191.375,7.000,0.000,18.996,3191.439,7996.705,504.865,2064.151,207.917,0.000,1673.627,0.000,1855.066,2520.000,19.716,0.000
$DEVICE_MAMPS,248.625,95.625,1344.105,79.560,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.988,637.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150332
$DATA_FILE_SIZE,43328,1165
$CAP_FILE_SIZE,121100,0
$CFSIZE,260165632,232579072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1463.2
$CURRENT,0.107, 42.0,1
$GPS,111111,052506,6701.572,-5714.437,41,0.8,41,-33.6