version: 66.09
glider: 143
mission: 13
dive: 228
start: 11 11 111 22 20 57
data:
$ID,143
$MISSION,13
$DIVE,228
$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,-80807.344
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,111111,221524,6659.565,-5726.519,77,0.7,77,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-65.8
$GPS2,111111,222025,6659.555,-5726.574,21,0.9,21,-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,304.4,134385,-16.9,-9.167
$D_GRID,829
$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,-146.0,0.0,0.0,0,47,0.00,0.00,-29.05,0.000,2,0.000,0.000,116,2508,1666,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.0,-2.2,4,148,8.68,1.17,-80.78,0.000,4,0.256,0.095,2159,3219,3083,0,0,0,0,0,0
$GC,367,-0.73,-146.0,42.9,-17.5,51,374,0.00,1.10,0.00,0.000,6,0.000,0.031,2160,2506,3084,0,0,0,0,0,0
$GC,706,-0.73,-146.0,94.5,-12.9,102,715,0.00,1.08,0.00,0.000,4,0.000,0.044,2159,1819,3084,0,0,0,0,0,0
$GC,748,-0.73,-146.0,100.1,-13.3,108,755,0.00,1.17,0.00,0.000,6,0.000,0.054,2155,2507,3084,0,0,0,0,0,0
$GC,1086,-0.73,-146.0,145.4,-12.7,159,1093,0.00,1.12,0.00,0.000,4,0.000,0.068,2150,3213,3084,0,0,0,0,0,0
$GC,1200,-0.73,-146.0,160.4,-13.5,176,1207,0.00,1.08,0.00,0.000,6,0.000,0.031,2150,2514,3085,0,0,0,0,0,0
$GC,1538,-0.73,-146.0,202.1,-12.2,227,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2514,3084,0,0,0,0,0,0
$GC,1875,-0.73,-146.0,242.5,-11.8,278,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2514,3084,0,0,0,0,0,0
$GC,2209,-0.73,-146.0,281.9,-12.1,309,2213,0.00,1.17,0.00,0.000,4,0.000,0.064,2145,3218,3084,0,0,0,0,0,0
$GC,2249,-0.73,-146.0,287.0,-12.4,312,2253,0.00,1.10,0.00,0.000,6,0.000,0.032,2145,2501,3083,0,0,0,0,0,0
$GC,2578,-0.73,-146.0,327.8,-12.8,338,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2501,3084,0,0,0,0,0,0
$GC,2895,-0.73,-146.0,367.0,-12.0,363,2899,0.00,1.17,0.00,0.000,4,0.000,0.063,2140,3211,3084,0,0,0,0,0,0
$GC,2953,-0.73,-146.0,373.9,-12.5,367,2961,0.00,1.10,0.00,0.000,6,0.000,0.031,2141,2501,3084,0,0,0,0,0,0
$GC,3279,-0.73,-146.0,413.0,-11.8,393,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2501,3084,0,0,0,0,0,0
$GC,3591,-0.73,-146.0,449.6,-11.3,418,3595,0.00,1.17,0.00,0.000,4,0.000,0.061,2136,3213,3084,0,0,0,0,0,0
$GC,3635,-0.73,-146.0,454.1,-11.5,421,3644,0.12,1.10,0.00,0.000,6,0.168,0.028,2166,2498,3084,0,0,0,0,0,0
$GC,3960,-0.73,-146.0,485.5,-9.2,447,3963,0.00,1.20,0.00,0.000,4,0.000,0.062,2163,3219,3084,0,0,0,0,0,0
$GC,3992,-0.73,-146.0,488.1,-9.4,449,3999,0.00,1.08,0.00,0.000,6,0.000,0.029,2163,2506,3084,0,0,0,0,0,0
$GC,4327,-0.73,-146.0,520.4,-9.5,466,4331,0.00,1.17,0.00,0.000,4,0.000,0.062,2158,3217,3085,0,0,0,0,0,0
$GC,4361,-0.73,-146.0,523.5,-9.5,467,4365,0.00,1.08,0.00,0.000,6,0.000,0.029,2158,2505,3084,0,0,0,0,0,0
$GC,4701,-0.73,-146.0,557.2,-9.8,478,4704,0.00,1.17,0.00,0.000,4,0.000,0.062,2154,3217,3085,0,0,0,0,0,0
$GC,4739,-0.73,-146.0,560.6,-10.0,479,4743,0.00,1.10,0.00,0.000,6,0.000,0.028,2154,2500,3085,0,0,0,0,0,0
$GC,5074,-0.73,-146.0,596.2,-10.6,490,5077,0.00,1.17,0.00,0.000,4,0.000,0.061,2149,3215,3084,0,0,0,0,0,0
$GC,5108,-0.73,-146.0,599.8,-10.6,491,5111,0.00,1.08,0.00,0.000,6,0.000,0.028,2149,2501,3085,0,0,0,0,0,0
$GC,5447,-0.73,-146.0,636.1,-10.5,502,5451,0.00,1.17,0.00,0.000,4,0.000,0.061,2144,3214,3085,0,0,0,0,0,0
$GC,5472,-0.73,-146.0,636.1,-10.5,502,5482,0.00,1.10,0.00,0.000,6,0.000,0.028,2145,2496,3085,0,0,0,0,0,0
$GC,5786,-0.73,-146.0,671.2,-10.3,513,5789,0.00,1.17,0.00,0.000,4,0.000,0.062,2140,3210,3085,0,0,0,0,0,0
$GC,5803,-0.73,-146.0,671.2,-10.3,513,5808,0.00,1.08,0.00,0.000,6,0.000,0.028,2140,2509,3085,0,0,0,0,0,0
$GC,6124,-0.73,-146.0,706.5,-10.4,524,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2509,3085,0,0,0,0,0,0
$GC,6430,-0.73,-146.0,739.1,-10.6,534,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2509,3085,0,0,0,0,0,0
$GC,6736,-0.73,-146.0,772.0,-10.7,544,6740,0.00,1.15,0.00,0.000,4,0.000,0.062,2136,3210,3085,0,0,0,0,0,0
$GC,6781,-0.73,-146.0,775.5,-10.6,545,6786,0.12,1.08,0.00,0.000,6,0.168,0.028,2165,2503,3086,0,0,0,0,0,0
$GC,7108,-0.73,-146.0,806.2,-9.0,556,7112,0.00,1.17,0.00,0.000,4,0.000,0.061,2163,3217,3086,0,0,0,0,0,0
$GC,7142,-0.73,-146.0,809.1,-8.9,557,7146,0.00,1.05,0.00,0.000,6,0.000,0.027,2162,2522,3086,0,0,0,0,0,0
$STATE,7327,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7327,begin apogee
$GC,7333,-0.16,0.0,825.6,-8.8,563,7461,0.55,0.00,122.03,1.421,6,0.127,0.000,2343,2188,2485,0,0,0,0,0,0
$STATE,7462,end apogee,CONTROL_FINISHED_OK
$STATE,7462,begin climb
$GC,7464,0.73,146.0,830.2,0.0,567,7609,0.85,1.20,132.65,1.364,4,0.066,0.049,2639,1503,1888,0,0,0,0,0,0
$GC,7858,0.73,146.0,796.8,12.1,579,7863,0.00,1.23,0.00,0.000,6,0.000,0.044,2639,2209,1881,0,0,0,0,0,0
$GC,8179,0.73,146.0,755.6,12.2,590,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2209,1878,0,0,0,0,0,0
$GC,8487,0.73,146.0,718.0,12.1,600,8490,0.00,1.12,0.00,0.000,4,0.000,0.054,2638,2901,1877,0,0,0,0,0,0
$GC,8590,0.73,146.0,705.4,12.3,603,8596,0.00,1.15,0.00,0.000,6,0.000,0.035,2644,2206,1877,0,0,0,0,0,0
$GC,8924,0.73,146.0,664.3,11.9,614,8928,0.00,1.10,0.00,0.000,4,0.000,0.048,2649,1491,1876,0,0,0,0,0,0
$GC,8995,0.73,146.0,656.3,12.0,616,9000,0.00,1.17,0.00,0.000,6,0.000,0.044,2649,2203,1876,0,0,0,0,0,0
$GC,9330,0.73,146.0,615.1,12.2,627,9334,0.00,1.12,0.00,0.000,4,0.000,0.055,2649,2902,1876,0,0,0,0,0,0
$GC,9435,0.73,146.0,602.5,12.3,630,9439,0.00,1.15,0.00,0.000,6,0.000,0.036,2653,2194,1876,0,0,0,0,0,0
$GC,9768,0.73,146.0,560.9,12.3,641,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,1876,0,0,0,0,0,0
$GC,10076,0.73,146.0,524.2,11.8,651,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,1875,0,0,0,0,0,0
$GC,10390,0.73,146.0,487.1,12.0,666,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,1873,0,0,0,0,0,0
$GC,10708,0.73,146.0,449.1,12.1,691,10712,0.00,1.17,0.00,0.000,4,0.000,0.051,2653,2895,1873,0,0,0,0,0,0
$GC,10787,0.73,146.0,439.2,12.1,697,10791,0.00,1.12,0.00,0.000,6,0.000,0.036,2658,2194,1873,0,0,0,0,0,0
$GC,11119,0.73,146.0,399.8,11.9,723,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,1873,0,0,0,0,0,0
$GC,11432,0.73,146.0,361.4,12.5,748,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,1873,0,0,0,0,0,0
$GC,11748,0.73,146.0,320.5,12.8,773,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,1874,0,0,0,0,0,0
$GC,12063,0.73,146.0,280.2,12.6,798,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2193,1873,0,0,0,0,0,0
$GC,12384,0.73,146.0,243.3,10.4,827,12391,0.00,1.17,0.00,0.000,4,0.000,0.051,2658,2899,1874,0,0,0,0,0,0
$GC,12477,0.73,146.0,232.7,11.1,841,12484,0.00,1.12,0.00,0.000,6,0.000,0.035,2663,2190,1873,0,0,0,0,0,0
$GC,12813,0.73,146.0,197.8,10.7,892,12820,0.00,1.05,0.00,0.000,4,0.000,0.048,2668,1493,1874,0,0,0,0,0,0
$GC,12981,0.73,146.0,180.6,10.1,917,12989,0.10,1.12,0.00,0.000,6,0.148,0.044,2637,2202,1874,0,0,0,0,0,0
$GC,13320,0.73,150.6,149.6,9.0,968,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2202,1873,0,0,0,0,0,0
$GC,13657,0.77,182.4,119.8,7.8,1019,13692,0.00,1.17,29.08,0.974,4,0.000,0.045,2640,1493,1741,0,0,0,0,0,0
$GC,13878,0.77,182.4,98.9,9.5,1052,13885,0.00,1.15,0.00,0.000,6,0.000,0.044,2640,2200,1739,0,0,0,0,0,0
$GC,14217,0.83,229.0,70.1,7.2,1103,14263,0.00,1.20,39.85,0.945,4,0.000,0.055,2640,2908,1551,0,0,0,0,0,0
$GC,14436,0.83,229.0,50.9,9.6,1136,14443,0.00,1.15,0.00,0.000,6,0.000,0.037,2645,2207,1547,0,0,0,0,0,0
$GC,14775,0.83,229.0,26.3,9.4,1187,14782,0.00,1.08,0.00,0.000,4,0.000,0.049,2650,1497,1546,0,0,0,0,0,0
$GC,14874,0.84,238.6,16.7,8.8,1202,14884,0.00,1.15,4.30,0.120,6,0.000,0.044,2650,2204,1512,0,0,0,0,0,0
$STATE,15030,end climb,SURFACE_DEPTH_REACHED
$STATE,15030,begin surface coast
$FINISH,1.9,1.022797
$STATE,15055,end surface coast,CONTROL_FINISHED_OK
$STATE,15056,begin surface
$SM_CCo,15059,120.25,0.081,0,0,441,501.15
$SM_GC,2.68,6.78,0.50,0.00,0.038,0.056,0.000,109,2505,433,-7.08,-1.05,503.60,0,0,0,0,0,0
$RAFOS_CLK,993
$RAFOS,6,1321058948,0.833333,0.818889,92,58,57,0,0,0,708,146,122,0,0,0
$RAFOS,5,1321058478,0.700000,0.688333,139,59,58,0,0,0,453,169,196,0,0,0
$RAFOS,4,1321057988,0.566667,0.552222,64,59,58,0,0,0,212,746,185,0,0,0
$RAFOS,3,1321057502,0.433333,0.417222,62,60,54,0,0,0,220,179,193,0,0,0
$RAFOS,2,1321057040,0.300000,0.288889,75,56,55,0,0,0,868,153,209,0,0,0
$RAFOS,1,1321056546,0.166667,0.151667,67,61,61,0,0,0,930,221,153,0,0,0
$RAFOS,0,1321056087,0.033333,0.024167,63,60,56,0,0,0,147,159,216,0,0,0
$RAFOS_FIX,6659.742188,-5740.249512,121111,000056,4,93,1.27
$IRIDIUM_FIX,6631.12,-5725.81,111111,181851
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,16.40
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.6,17.4
$ALTIM_BOTTOM_PING,700.1,138.5
$24V_AH,22.6,28.669
$10V_AH,10.2,21.985
$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,17.200,55.500,327.900,120.250,0.000,0.000,0.000,185.075,6.750,0.000,21.878,3421.209,9121.280,605.881,2231.707,224.155,0.000,1865.950,0.000,2015.890,2520.000,21.553,0.000
$DEVICE_MAMPS,255.510,94.860,1420.605,81.090,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.202,680.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150348
$DATA_FILE_SIZE,46672,1229
$CAP_FILE_SIZE,138421,0
$CFSIZE,260165632,232222720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.9
$CURRENT,0.232, 34.6,1
$GPS,121111,023723,6701.449,-5730.678,40,0.9,40,-33.6