version: 66.09
glider: 143
mission: 13
dive: 227
start: 11 11 111 18 7 57
data:
$ID,143
$MISSION,13
$DIVE,227
$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,-80806.078
$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,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,0
$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
$GPS1,111111,180206,6701.289,-5724.745,39,0.8,39,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-68.9
$GPS2,111111,180725,6701.217,-5724.744,18,0.7,18,-33.6
$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,264.2,136380,-16.9,-9.167
$D_GRID,813
$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,-0.73,-146.0,0.0,0.0,0,50,0.00,0.00,-32.10,0.000,2,0.000,0.000,117,2516,1698,0,0,0,0,0,0
$GC,53,-0.73,-146.0,3.1,-1.2,5,161,8.93,1.17,-91.47,0.000,4,0.265,0.096,2160,3216,3081,0,0,0,0,0,0
$GC,414,-0.73,-146.0,47.8,-16.5,59,421,0.00,1.10,0.00,0.000,6,0.000,0.032,2160,2506,3084,0,0,0,0,0,0
$GC,754,-0.73,-146.0,96.5,-13.9,110,760,0.00,1.17,0.00,0.000,4,0.000,0.065,2155,3207,3084,0,0,0,0,0,0
$GC,1012,-0.73,-146.0,132.3,-13.5,149,1021,0.00,1.08,0.00,0.000,6,0.000,0.031,2155,2510,3084,0,0,0,0,0,0
$GC,1352,-0.73,-146.0,177.0,-12.9,200,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2510,3084,0,0,0,0,0,0
$GC,1688,-0.73,-146.0,218.5,-12.6,251,1695,0.00,1.17,0.00,0.000,4,0.000,0.063,2151,3214,3083,0,0,0,0,0,0
$GC,1774,-0.73,-146.0,229.2,-12.1,264,1780,0.00,1.08,0.00,0.000,6,0.000,0.031,2151,2514,3083,0,0,0,0,0,0
$GC,2110,-0.73,-146.0,270.1,-11.9,303,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2514,3083,0,0,0,0,0,0
$GC,2426,-0.73,-146.0,308.0,-12.2,328,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2513,3083,0,0,0,0,0,0
$GC,2741,-0.73,-146.0,343.8,-10.9,353,2744,0.00,1.15,0.00,0.000,4,0.000,0.065,2146,3205,3083,0,0,0,0,0,0
$GC,2812,-0.73,-146.0,351.0,-11.0,358,2820,0.00,1.10,0.00,0.000,6,0.000,0.031,2146,2497,3083,0,0,0,0,0,0
$GC,3137,-0.73,-146.0,387.9,-10.9,384,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2497,3083,0,0,0,0,0,0
$GC,3451,-0.73,-146.0,422.1,-11.1,409,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2497,3083,0,0,0,0,0,0
$GC,3768,-0.73,-146.0,457.0,-11.0,434,3771,0.00,1.17,0.00,0.000,4,0.000,0.063,2142,3209,3084,0,0,0,0,0,0
$GC,3834,-0.73,-146.0,464.6,-11.4,439,3838,0.00,1.08,0.00,0.000,6,0.000,0.029,2142,2498,3083,0,0,0,0,0,0
$GC,4180,-0.73,-146.0,504.3,-11.3,465,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2498,3084,0,0,0,0,0,0
$GC,4487,-0.73,-146.0,538.7,-10.9,475,4490,0.00,1.17,0.00,0.000,4,0.000,0.062,2137,3212,3085,0,0,0,0,0,0
$GC,4566,-0.73,-146.0,545.9,-10.9,477,4569,0.00,1.08,0.00,0.000,6,0.000,0.028,2137,2499,3085,0,0,0,0,0,0
$GC,4892,-0.73,-146.0,582.3,-10.7,488,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3085,0,0,0,0,0,0
$GC,5199,-0.73,-146.0,614.8,-10.5,498,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3084,0,0,0,0,0,0
$GC,5504,-0.73,-146.0,647.0,-10.6,508,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3085,0,0,0,0,0,0
$GC,5814,-0.73,-146.0,679.6,-10.6,518,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3085,0,0,0,0,0,0
$GC,6117,-0.73,-146.0,711.4,-10.3,528,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3085,0,0,0,0,0,0
$GC,6424,-0.73,-146.0,742.9,-10.2,538,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3085,0,0,0,0,0,0
$GC,6730,-0.73,-146.0,774.7,-10.4,548,6733,0.00,1.17,0.00,0.000,4,0.000,0.063,2133,3211,3085,0,0,0,0,0,0
$GC,6813,-0.73,-146.0,781.8,-10.5,550,6819,0.12,1.08,0.00,0.000,6,0.161,0.029,2163,2513,3085,0,0,0,0,0,0
$GC,7134,-0.73,-146.0,811.9,-8.8,561,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2513,3085,0,0,0,0,0,0
$STATE,7165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7165,begin apogee
$GC,7171,-0.16,0.0,814.6,-8.7,562,7299,0.52,0.00,121.78,1.413,6,0.123,0.000,2339,2194,2485,0,0,0,0,0,0
$STATE,7300,end apogee,CONTROL_FINISHED_OK
$STATE,7300,begin climb
$GC,7302,0.73,146.0,818.9,0.0,566,7446,0.85,1.20,132.20,1.355,4,0.070,0.048,2633,1508,1888,0,0,0,0,0,0
$GC,7524,0.73,146.0,805.3,10.1,573,7529,0.00,1.25,0.00,0.000,6,0.000,0.044,2633,2209,1883,0,0,0,0,0,0
$GC,7852,0.73,146.0,764.4,11.9,584,7856,0.00,1.15,0.00,0.000,4,0.000,0.054,2633,2902,1880,0,0,0,0,0,0
$GC,8022,0.73,146.0,743.8,12.5,589,8027,0.00,1.17,0.00,0.000,6,0.000,0.035,2638,2202,1878,0,0,0,0,0,0
$GC,8356,0.73,146.0,702.4,12.3,600,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2202,1877,0,0,0,0,0,0
$GC,8664,0.73,146.0,664.6,12.5,610,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2202,1876,0,0,0,0,0,0
$GC,8969,0.73,146.0,626.5,12.4,620,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2202,1875,0,0,0,0,0,0
$GC,9276,0.73,146.0,588.7,12.4,630,9280,0.00,1.20,0.00,0.000,4,0.000,0.053,2638,2911,1876,0,0,0,0,0,0
$GC,9360,0.73,146.0,580.2,12.4,632,9365,0.00,1.17,0.00,0.000,6,0.000,0.036,2642,2194,1875,0,0,0,0,0,0
$GC,9682,0.73,146.0,538.5,12.3,643,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2193,1875,0,0,0,0,0,0
$GC,9988,0.73,146.0,500.5,12.4,653,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2194,1876,0,0,0,0,0,0
$GC,10308,0.73,146.0,461.1,12.3,677,10312,0.00,1.20,0.00,0.000,4,0.000,0.051,2643,2908,1875,0,0,0,0,0,0
$GC,10441,0.73,146.0,444.8,12.3,687,10444,0.00,1.15,0.00,0.000,6,0.000,0.036,2647,2189,1875,0,0,0,0,0,0
$GC,10771,0.73,146.0,405.5,11.5,713,10774,0.00,1.20,0.00,0.000,4,0.000,0.052,2647,2905,1875,0,0,0,0,0,0
$GC,10839,0.73,146.0,397.5,11.8,718,10843,0.00,1.12,0.00,0.000,6,0.000,0.037,2652,2201,1875,0,0,0,0,0,0
$GC,11170,0.73,146.0,359.8,11.1,744,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2200,1875,0,0,0,0,0,0
$GC,11485,0.73,146.0,323.4,12.0,769,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,1873,0,0,0,0,0,0
$GC,11800,0.73,146.0,285.4,12.1,794,11804,0.00,1.17,0.00,0.000,4,0.000,0.053,2652,2904,1873,0,0,0,0,0,0
$GC,11884,0.73,146.0,275.5,12.3,800,11892,0.00,1.15,0.00,0.000,6,0.000,0.036,2656,2194,1873,0,0,0,0,0,0
$GC,12213,0.73,146.0,237.8,10.9,834,12219,0.00,1.20,0.00,0.000,4,0.000,0.051,2657,2914,1873,0,0,0,0,0,0
$GC,12294,0.73,146.0,228.6,11.4,846,12300,0.00,1.12,0.00,0.000,6,0.000,0.035,2661,2202,1873,0,0,0,0,0,0
$GC,12632,0.73,146.0,193.9,10.4,897,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2203,1873,0,0,0,0,0,0
$GC,12970,0.73,146.0,159.2,9.7,948,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,1873,0,0,0,0,0,0
$GC,13307,0.73,146.0,127.9,9.2,999,13314,0.00,1.17,0.00,0.000,4,0.000,0.050,2661,2908,1873,0,0,0,0,0,0
$GC,13399,0.73,147.5,119.4,9.1,1013,13409,0.08,1.12,0.00,0.000,6,0.151,0.035,2642,2200,1873,0,0,0,0,0,0
$GC,13740,0.78,190.8,92.9,7.3,1064,13782,0.00,1.25,36.03,0.967,4,0.000,0.050,2641,2915,1707,0,0,0,0,0,0
$GC,13901,0.78,190.8,78.2,10.3,1088,13908,0.00,1.17,0.00,0.000,6,0.000,0.036,2645,2195,1705,0,0,0,0,0,0
$GC,14239,0.87,266.2,50.2,6.0,1139,14314,0.12,1.12,63.85,0.933,4,0.088,0.050,2700,1498,1398,0,0,0,0,0,0
$GC,14555,0.87,266.2,15.9,11.7,1186,14561,0.00,1.17,0.00,0.000,6,0.000,0.045,2700,2207,1393,0,0,0,0,0,0
$STATE,14665,end climb,SURFACE_DEPTH_REACHED
$STATE,14665,begin surface coast
$FINISH,1.9,1.019147
$STATE,14689,end surface coast,CONTROL_FINISHED_OK
$STATE,14689,begin surface
$SM_CCo,14706,14.77,0.085,0,0,1261,300.00
$SM_GC,3.71,7.03,0.50,14.77,0.044,0.054,0.085,117,2505,1261,-7.08,-0.99,300.00,0,0,0,0,0,0
$RAFOS_CLK,953
$RAFOS,6,1321044556,20.833334,20.821112,71,71,53,0,0,0,183,212,686,0,0,0
$RAFOS,5,1321044088,20.700001,20.691111,67,61,59,0,0,0,407,213,117,0,0,0
$RAFOS,4,1321043598,20.566668,20.555000,74,63,60,0,0,0,210,200,124,0,0,0
$RAFOS,3,1321043108,20.433332,20.418888,64,56,55,0,0,0,219,189,114,0,0,0
$RAFOS,2,1321042635,20.299999,20.287500,65,64,62,0,0,0,220,211,188,0,0,0
$RAFOS,1,1321042143,20.166666,20.150833,65,57,55,0,0,0,150,211,191,0,0,0
$RAFOS,0,1321041663,20.033333,20.017500,59,57,55,0,0,0,215,1072,185,0,0,0
$RAFOS_FIX,6701.028320,-5733.605469,111111,161622,3,93,0.84
$IRIDIUM_FIX,6631.12,-5725.81,111111,131325
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.87
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.40
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,701.8,133.4
$24V_AH,22.6,28.547
$10V_AH,10.2,21.895
$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,17.650,40.250,353.850,14.775,0.000,0.000,0.000,208.175,7.500,0.000,20.380,3270.656,8892.182,510.247,2159.686,215.784,0.000,1739.458,0.000,1928.537,2520.000,23.435,0.000
$DEVICE_MAMPS,265.455,96.390,1412.955,84.915,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.846,665.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150320
$DATA_FILE_SIZE,46635,1206
$CAP_FILE_SIZE,127361,0
$CFSIZE,260165632,232300544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.9
$CURRENT,0.183, 96.0,1
$GPS,111111,221524,6659.565,-5726.519,77,0.7,77,-33.6