version: 66.09
glider: 143
mission: 13
dive: 238
start: 11 13 111 21 1 50
data:
$ID,143
$MISSION,13
$DIVE,238
$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,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80825.836
$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,34
$R_STBD_OVSHOOT,30
$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,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,131111,160813,6658.980,-5809.562,18,1.4,18,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.14
$_SM_ANGLEo,0.8
$GPS2,131111,160813,6658.980,-5809.562,18,1.4,18,-33.7
$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,333.2,103596,-27.7,-9.167
$D_GRID,980
$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,14,begin dive
$GC,17,-0.96,-55.4,0.0,0.0,0,26,0.00,0.00,-7.05,0.000,2,0.000,0.000,2441,1490,2359,0,0,0,0,0,0
$GC,28,-1.06,-138.2,8.2,0.0,1,55,1.05,0.55,-20.98,0.000,4,0.069,0.119,2058,1802,3052,0,0,0,0,0,0
$GC,63,-1.06,-138.2,13.7,-18.1,6,70,0.00,1.17,0.00,0.000,6,0.000,0.061,2053,2498,3053,0,0,0,0,0,0
$GC,400,-1.06,-138.2,96.3,-21.1,57,409,0.00,1.15,0.00,0.000,4,0.000,0.044,2053,1809,3054,0,0,0,0,0,0
$GC,660,-1.06,-138.2,150.1,-20.9,96,667,0.00,1.23,0.00,0.000,6,0.000,0.060,2048,2514,3054,0,0,0,0,0,0
$GC,997,-1.06,-138.2,217.5,-21.0,147,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2514,3054,0,0,0,0,0,0
$GC,1325,-1.06,-138.2,281.3,-18.3,185,1328,0.00,1.12,0.00,0.000,4,0.000,0.071,2043,3214,3053,0,0,0,0,0,0
$GC,1342,-1.06,-138.2,283.8,-18.5,186,1350,0.00,1.15,0.00,0.000,6,0.000,0.036,2043,2495,3052,0,0,0,0,0,0
$GC,1667,-1.06,-138.2,342.8,-17.5,212,1671,0.00,1.20,0.00,0.000,4,0.000,0.066,2038,3213,3052,0,0,0,0,0,0
$GC,1759,-1.06,-138.2,359.2,-17.4,219,1763,0.00,1.12,0.00,0.000,6,0.000,0.037,2038,2496,3052,0,0,0,0,0,0
$GC,2089,-1.06,-138.2,416.6,-17.6,245,2093,0.00,1.20,0.00,0.000,4,0.000,0.065,2034,3214,3052,0,0,0,0,0,0
$GC,2106,-1.06,-138.2,419.2,-17.6,246,2114,0.00,1.12,0.00,0.000,6,0.000,0.035,2034,2502,3052,0,0,0,0,0,0
$GC,2431,-1.06,-138.2,474.1,-16.8,272,2435,0.00,1.17,0.00,0.000,4,0.000,0.065,2029,3210,3052,0,0,0,0,0,0
$GC,2550,-1.06,-138.2,494.9,-17.3,281,2554,0.00,1.10,0.00,0.000,6,0.000,0.036,2029,2502,3052,0,0,0,0,0,0
$GC,2866,-1.06,-138.2,550.6,-17.9,293,2869,0.00,1.20,0.00,0.000,4,0.000,0.064,2025,3217,3053,0,0,0,0,0,0
$GC,2965,-1.06,-138.2,569.2,-18.2,296,2969,0.10,1.10,0.00,0.000,6,0.178,0.034,2052,2501,3053,0,0,0,0,0,0
$GC,3305,-1.06,-138.2,624.3,-16.0,307,3309,0.00,1.17,0.00,0.000,4,0.000,0.064,2049,3210,3053,0,0,0,0,0,0
$GC,3390,-1.06,-138.2,635.2,-16.1,309,3394,0.00,1.10,0.00,0.000,6,0.000,0.033,2049,2506,3052,0,0,0,0,0,0
$GC,3710,-1.06,-138.2,688.6,-15.6,320,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2506,3053,0,0,0,0,0,0
$GC,4018,-1.06,-138.2,737.4,-16.2,330,4021,0.00,1.17,0.00,0.000,4,0.000,0.064,2045,3215,3054,0,0,0,0,0,0
$GC,4029,-1.06,-138.2,737.4,-16.2,330,4034,0.00,1.10,0.00,0.000,6,0.000,0.033,2045,2510,3054,0,0,0,0,0,0
$GC,4356,-1.06,-138.2,793.4,-16.4,341,4360,0.00,1.17,0.00,0.000,4,0.000,0.064,2040,3217,3054,0,0,0,0,0,0
$GC,4367,-1.06,-138.2,793.4,-16.4,341,4372,0.00,1.12,0.00,0.000,6,0.000,0.033,2041,2498,3054,0,0,0,0,0,0
$GC,4695,-1.06,-138.2,849.1,-16.2,352,4699,0.00,1.17,0.00,0.000,4,0.000,0.063,2036,3211,3054,0,0,0,0,0,0
$GC,4713,-1.06,-138.2,849.1,-16.2,352,4717,0.00,1.10,0.00,0.000,6,0.000,0.033,2036,2505,3053,0,0,0,0,0,0
$GC,5037,-1.06,-138.2,904.1,-16.4,363,5041,0.00,1.17,0.00,0.000,4,0.000,0.063,2031,3214,3054,0,0,0,0,0,0
$GC,5049,-1.06,-138.2,904.1,-16.4,363,5053,0.00,1.10,0.00,0.000,6,0.000,0.033,2031,2508,3054,0,0,0,0,0,0
$GC,5377,-1.06,-138.2,960.7,-16.3,374,5381,0.00,1.17,0.00,0.000,4,0.000,0.063,2027,3220,3054,0,0,0,0,0,0
$GC,5435,-1.06,-138.2,966.2,-16.4,375,5443,0.12,1.12,0.00,0.000,6,0.193,0.033,2053,2497,3054,0,0,0,0,0,0
$STATE,5471,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5471,begin apogee
$GC,5478,-0.16,0.0,976.9,-16.6,377,5603,0.93,0.00,118.20,1.520,6,0.156,0.000,2338,2195,2484,0,0,0,0,0,0
$STATE,5604,end apogee,CONTROL_FINISHED_OK
$STATE,5604,begin climb
$GC,5606,1.06,138.2,980.8,0.0,381,5745,1.17,1.23,128.62,1.462,4,0.067,0.050,2743,1510,1920,0,0,0,0,0,0
$GC,5996,1.06,138.2,928.6,17.6,393,6000,0.00,1.20,0.00,0.000,6,0.000,0.046,2743,2206,1912,0,0,0,0,0,0
$GC,6330,1.06,138.2,871.1,17.1,404,6333,0.00,1.15,0.00,0.000,4,0.000,0.046,2747,1506,1910,0,0,0,0,0,0
$GC,6495,1.06,138.2,843.1,16.8,409,6498,0.00,1.15,0.00,0.000,6,0.000,0.047,2747,2197,1908,0,0,0,0,0,0
$GC,6834,1.06,138.2,787.4,16.3,420,6838,0.00,1.12,0.00,0.000,4,0.000,0.047,2751,1505,1908,0,0,0,0,0,0
$GC,6971,1.06,138.2,766.1,16.2,424,6975,0.00,1.17,0.00,0.000,6,0.000,0.047,2751,2206,1908,0,0,0,0,0,0
$GC,7306,1.06,138.2,712.4,15.9,435,7310,0.00,1.15,0.00,0.000,4,0.000,0.048,2756,1496,1908,0,0,0,0,0,0
$GC,7443,1.06,138.2,691.0,16.0,439,7448,0.00,1.17,0.00,0.000,6,0.000,0.047,2756,2200,1907,0,0,0,0,0,0
$GC,7777,1.06,138.2,636.3,16.3,450,7780,0.00,1.12,0.00,0.000,4,0.000,0.048,2760,1503,1907,0,0,0,0,0,0
$GC,7848,1.06,138.2,625.8,16.3,452,7853,0.00,1.17,0.00,0.000,6,0.000,0.047,2760,2209,1907,0,0,0,0,0,0
$GC,8183,1.06,138.2,570.4,16.3,463,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2209,1907,0,0,0,0,0,0
$GC,8488,1.06,138.2,519.2,16.8,473,8491,0.00,1.15,0.00,0.000,4,0.000,0.049,2764,1497,1907,0,0,0,0,0,0
$GC,8638,1.06,138.2,495.3,16.5,478,8649,0.00,1.17,0.00,0.000,6,0.000,0.047,2764,2206,1906,0,0,0,0,0,0
$GC,8963,1.06,138.2,442.1,16.2,504,8966,0.00,1.12,0.00,0.000,4,0.000,0.048,2769,1504,1907,0,0,0,0,0,0
$GC,9141,1.06,138.2,414.9,15.6,517,9148,0.00,1.15,0.00,0.000,6,0.000,0.048,2769,2209,1907,0,0,0,0,0,0
$GC,9466,1.06,138.2,364.2,14.9,543,9469,0.00,1.12,0.00,0.000,4,0.000,0.048,2773,1505,1907,0,0,0,0,0,0
$GC,9546,1.06,138.2,351.7,15.2,549,9550,0.10,1.12,0.00,0.000,6,0.182,0.048,2746,2199,1906,0,0,0,0,0,0
$GC,9876,1.06,138.2,305.9,13.7,575,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2200,1907,0,0,0,0,0,0
$GC,10192,1.06,138.2,263.4,13.2,600,10195,0.00,1.12,0.00,0.000,4,0.000,0.047,2749,1496,1907,0,0,0,0,0,0
$GC,10244,1.06,138.2,256.3,13.1,604,10248,0.00,1.15,0.00,0.000,6,0.000,0.048,2749,2205,1907,0,0,0,0,0,0
$GC,10581,1.06,138.2,214.0,12.4,651,10588,0.00,1.12,0.00,0.000,4,0.000,0.048,2753,1500,1907,0,0,0,0,0,0
$GC,10680,1.06,138.2,201.5,12.8,666,10689,0.00,1.15,0.00,0.000,6,0.000,0.049,2753,2207,1907,0,0,0,0,0,0
$GC,11019,1.06,138.2,161.6,11.7,717,11025,0.00,1.12,0.00,0.000,4,0.000,0.058,2753,2908,1907,0,0,0,0,0,0
$GC,11253,1.06,138.2,133.2,11.6,753,11260,0.00,1.12,0.00,0.000,6,0.000,0.040,2758,2208,1907,0,0,0,0,0,0
$GC,11592,1.07,139.9,100.3,9.0,804,11598,0.00,1.08,0.00,0.000,4,0.000,0.054,2763,1497,1907,0,0,0,0,0,0
$GC,11851,1.08,147.3,78.5,8.4,843,11864,0.00,1.15,6.38,0.851,6,0.000,0.048,2763,2206,1883,0,0,0,0,0,0
$GC,12197,1.14,202.8,55.7,3.0,895,12252,0.00,1.20,47.92,0.959,4,0.000,0.059,2763,2907,1657,0,0,0,0,0,0
$GC,12503,1.14,202.8,15.5,12.9,941,12510,0.00,1.17,0.00,0.000,6,0.000,0.042,2767,2200,1652,0,0,0,0,0,0
$FREEZE,8.58,-0.827,-1.768,0,2,0
$FREEZE,7.80,-0.831,-1.767,0,2,0
$FREEZE,6.67,-0.830,-1.766,0,2,0
$FREEZE,5.66,-0.822,-1.766,0,2,0
$FREEZE,4.47,-0.824,-1.765,0,2,0
$FREEZE,3.72,-0.831,-1.764,0,2,0
$FREEZE,2.67,-0.830,-1.763,0,2,0
$FREEZE,1.81,-0.829,-1.763,0,2,0
$STATE,12608,end climb,SURFACE_DEPTH_REACHED
$STATE,12608,begin surface coast
$FREEZE,1.77,-0.871,-0.990,0,2,0
$FREEZE,1.77,-0.833,-1.473,0,2,0
$FINISH,1.8,1.021706
$STATE,12622,end surface coast,CONTROL_FINISHED_OK
$STATE,12622,begin surface
$SM_CCo,12639,46.10,0.083,0,0,1261,300.00
$SM_GC,3.05,7.12,0.57,46.10,0.041,0.050,0.083,117,2509,1261,-7.08,-0.96,300.00,0,0,0,0,0,0
$RAFOS_CLK,874
$RAFOS,3,1321230302,0.433333,0.417222,68,67,58,0,0,0,202,218,144,0,0,0
$RAFOS,2,1321229825,0.300000,0.284722,60,59,59,0,0,0,162,188,205,0,0,0
$RAFOS,1,1321229342,0.166667,0.150556,63,60,57,0,0,0,215,116,203,0,0,0
$RAFOS,0,1321228863,0.033333,0.017500,69,59,58,0,0,0,206,225,180,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5756.18,131111,111139
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.89
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,17.6
$ALTIM_BOTTOM_PING,904.1,80.4
$24V_AH,22.5,29.949
$10V_AH,10.3,22.881
$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,10.600,60.225,301.125,46.100,0.000,0.000,0.000,0.000,4.500,0.000,0.000,2740.176,7642.729,432.004,1762.787,171.142,0.000,1356.403,0.000,1739.285,1440.000,28.462,0.000
$DEVICE_MAMPS,192.780,119.340,1520.055,82.620,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.716,523.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36766,959
$CAP_FILE_SIZE,118046,0
$CFSIZE,260165632,231563264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.4
$CURRENT,0.568,151.5,1
$GPS,141111,003535,6656.581,-5808.336,92,0.8,92,-33.7