version: 66.09
glider: 143
mission: 13
dive: 269
start: 11 20 111 9 3 3
data:
$ID,143
$MISSION,13
$DIVE,269
$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,-2
$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,501.14789
$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,-81042.57
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,201111,043235,6647.132,-5944.549,181,99.0,181,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-35.4
$GPS2,201111,090230,6648.845,-5946.194,42,0.9,42,-33.9
$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,241.8,30472,-27.7,-9.167
$D_GRID,847
$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,-0.96,-55.4,0.0,0.0,0,180,0.00,0.00,-160.57,0.000,2,0.000,0.000,117,2514,2445,0,0,0,0,0,0
$GC,184,-0.96,-55.4,3.3,-9.5,24,207,8.55,1.17,-8.95,0.000,4,0.267,0.096,2077,3217,2713,0,0,0,0,0,0
$GC,457,-0.96,-55.4,66.3,-23.0,65,464,0.00,1.12,0.00,0.000,6,0.000,0.036,2078,2503,2715,0,0,0,0,0,0
$GC,793,-0.96,-55.4,126.1,-16.9,116,800,0.00,1.17,0.00,0.000,4,0.000,0.063,2073,3205,2715,0,0,0,0,0,0
$GC,1052,-0.96,-55.4,170.4,-17.7,155,1059,0.00,1.10,0.00,0.000,6,0.000,0.035,2073,2502,2715,0,0,0,0,0,0
$GC,1388,-0.96,-55.4,225.7,-16.4,206,1397,0.00,1.17,0.00,0.000,4,0.000,0.063,2069,3207,2715,0,0,0,0,0,0
$GC,1645,-0.96,-55.4,264.9,-15.0,237,1653,0.00,1.10,0.00,0.000,6,0.000,0.033,2069,2508,2715,0,0,0,0,0,0
$GC,1973,-0.96,-55.4,311.5,-13.9,263,1976,0.00,1.17,0.00,0.000,4,0.000,0.063,2064,3213,2715,0,0,0,0,0,0
$GC,2227,-0.96,-55.4,348.0,-13.7,282,2238,0.00,1.12,0.00,0.000,6,0.000,0.034,2064,2499,2714,0,0,0,0,0,0
$GC,2553,-0.96,-55.4,389.9,-12.7,308,2556,0.00,1.17,0.00,0.000,4,0.000,0.061,2060,3207,2714,0,0,0,0,0,0
$GC,2809,-0.96,-55.4,422.7,-12.9,327,2817,0.00,1.10,0.00,0.000,6,0.000,0.032,2060,2503,2714,0,0,0,0,0,0
$GC,3134,-0.96,-55.4,463.4,-12.4,353,3136,0.12,0.00,0.00,0.000,6,0.195,0.000,2086,2503,2715,0,0,0,0,0,0
$GC,3449,-0.96,-55.4,498.6,-11.7,378,3453,0.00,1.17,0.00,0.000,4,0.000,0.061,2083,3212,2715,0,0,0,0,0,0
$GC,3520,-0.96,-55.4,506.7,-12.0,381,3524,0.00,1.10,0.00,0.000,6,0.000,0.031,2083,2504,2715,0,0,0,0,0,0
$GC,3853,-0.96,-55.4,545.9,-11.5,392,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2504,2716,0,0,0,0,0,0
$GC,4159,-0.96,-55.4,581.8,-11.7,402,4163,0.00,1.17,0.00,0.000,4,0.000,0.062,2079,3213,2716,0,0,0,0,0,0
$GC,4277,-0.96,-55.4,593.7,-11.9,405,4282,0.00,1.10,0.00,0.000,6,0.000,0.032,2079,2505,2716,0,0,0,0,0,0
$GC,4597,-0.96,-55.4,633.5,-11.8,416,4601,0.00,1.17,0.00,0.000,4,0.000,0.061,2075,3215,2717,0,0,0,0,0,0
$GC,4688,-0.96,-55.4,642.2,-12.7,418,4698,0.00,1.10,0.00,0.000,6,0.000,0.031,2075,2505,2717,0,0,0,0,0,0
$GC,5002,-0.96,-55.4,683.5,-12.1,429,5006,0.00,1.05,0.00,0.000,4,0.000,0.043,2075,1824,2717,0,0,0,0,0,0
$GC,5192,-0.96,-55.4,702.4,-11.4,434,5203,0.00,1.17,0.00,0.000,6,0.000,0.050,2071,2509,2718,0,0,0,0,0,0
$GC,5507,-0.96,-55.4,739.5,-10.9,445,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2509,2718,0,0,0,0,0,0
$GC,5814,-0.96,-55.4,772.3,-10.6,455,5818,0.00,1.12,0.00,0.000,4,0.000,0.040,2070,1814,2718,0,0,0,0,0,0
$GC,5918,-0.96,-55.4,782.8,-10.5,458,5923,0.00,1.20,0.00,0.000,6,0.000,0.051,2066,2513,2718,0,0,0,0,0,0
$GC,6254,-0.96,-55.4,818.8,-10.9,469,6257,0.00,1.10,0.00,0.000,4,0.000,0.065,2060,3211,2718,0,0,0,0,0,0
$GC,6377,-0.96,-55.4,830.1,-11.0,472,6385,0.00,1.10,0.00,0.000,6,0.000,0.030,2060,2496,2718,0,0,0,0,0,0
$STATE,6505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6506,begin apogee
$GC,6512,-0.16,0.0,848.3,-11.8,477,6564,0.93,0.00,48.60,1.440,6,0.160,0.000,2338,2193,2485,0,0,0,0,0,0
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6565,begin climb
$GC,6567,0.96,55.4,849.9,0.0,478,6623,1.08,1.15,50.15,1.402,4,0.077,0.046,2710,1503,2258,0,0,0,0,0,0
$GC,6642,1.02,99.9,847.4,4.2,481,6692,0.00,1.20,41.25,1.374,6,0.000,0.041,2710,2200,2076,0,0,0,0,0,0
$GC,6999,1.02,99.9,803.0,12.7,493,7003,0.00,1.17,0.00,0.000,4,0.000,0.052,2710,2908,2069,0,0,0,0,0,0
$GC,7221,1.02,99.9,776.8,13.1,499,7232,0.00,1.17,0.00,0.000,6,0.000,0.034,2715,2202,2067,0,0,0,0,0,0
$GC,7535,1.02,99.9,733.8,12.8,510,7539,0.00,1.10,0.00,0.000,4,0.000,0.047,2720,1492,2067,0,0,0,0,0,0
$GC,7713,1.02,99.9,713.1,12.4,515,7717,0.00,1.17,0.00,0.000,6,0.000,0.044,2721,2208,2065,0,0,0,0,0,0
$GC,8040,1.02,99.9,671.0,12.6,526,8044,0.00,1.15,0.00,0.000,4,0.000,0.044,2725,1493,2066,0,0,0,0,0,0
$GC,8111,1.02,99.9,663.1,12.1,528,8116,0.00,1.17,0.00,0.000,6,0.000,0.042,2725,2206,2066,0,0,0,0,0,0
$GC,8445,1.02,99.9,622.2,11.7,539,8449,0.00,1.15,0.00,0.000,4,0.000,0.044,2729,1491,2065,0,0,0,0,0,0
$GC,8516,1.02,99.9,614.5,11.6,541,8521,0.00,1.17,0.00,0.000,6,0.000,0.044,2729,2204,2065,0,0,0,0,0,0
$GC,8851,1.02,99.9,574.8,11.7,552,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2204,2065,0,0,0,0,0,0
$GC,9157,1.02,99.9,539.4,11.7,562,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2204,2064,0,0,0,0,0,0
$GC,9464,1.02,99.9,502.2,12.0,572,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2204,2065,0,0,0,0,0,0
$GC,9785,1.02,99.9,463.5,12.1,596,9788,0.00,1.12,0.00,0.000,4,0.000,0.058,2729,2900,2065,0,0,0,0,0,0
$GC,10039,1.02,99.9,432.7,12.3,615,10050,0.00,1.15,0.00,0.000,6,0.000,0.037,2734,2199,2063,0,0,0,0,0,0
$GC,10366,1.02,99.9,395.5,10.8,641,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2199,2064,0,0,0,0,0,0
$GC,10679,1.02,99.9,362.9,10.0,666,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2199,2064,0,0,0,0,0,0
$GC,10994,1.02,99.9,331.5,9.6,691,10995,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2199,2064,0,0,0,0,0,0
$GC,11313,1.02,99.9,299.4,10.6,716,11316,0.00,1.08,0.00,0.000,4,0.000,0.051,2739,1494,2064,0,0,0,0,0,0
$GC,11393,1.02,99.9,290.8,10.6,722,11397,0.00,1.15,0.00,0.000,6,0.000,0.047,2739,2203,2064,0,0,0,0,0,0
$GC,11723,1.02,99.9,257.8,9.6,748,11727,0.00,1.12,0.00,0.000,4,0.000,0.057,2739,2905,2064,0,0,0,0,0,0
$GC,11849,1.02,101.2,245.6,9.0,761,11855,0.00,1.12,0.00,0.000,6,0.000,0.038,2743,2203,2064,0,0,0,0,0,0
$GC,12187,1.03,111.2,217.7,8.1,812,12200,0.00,1.10,8.20,0.946,4,0.000,0.048,2749,1493,2031,0,0,0,0,0,0
$GC,12281,1.04,117.8,209.5,8.4,826,12297,0.00,1.15,7.43,0.925,6,0.000,0.045,2749,2203,2003,0,0,0,0,0,0
$GC,12627,1.04,119.3,174.6,9.0,878,12634,0.00,1.12,0.00,0.000,4,0.000,0.044,2753,1494,2003,0,0,0,0,0,0
$GC,12748,1.05,123.4,164.5,8.7,896,12762,0.00,1.15,6.53,0.884,6,0.000,0.044,2753,2204,1980,0,0,0,0,0,0
$GC,13094,1.07,140.5,136.2,7.3,948,13113,0.00,0.00,15.65,0.977,6,0.000,0.000,2753,2204,1911,0,0,0,0,0,0
$GC,13444,1.07,140.5,102.9,9.6,1001,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2204,1908,0,0,0,0,0,0
$GC,13781,1.10,169.7,76.6,5.9,1052,13815,0.00,1.15,25.52,0.972,4,0.000,0.056,2753,2897,1792,0,0,0,0,0,0
$GC,13855,1.11,172.3,70.6,8.9,1063,13865,0.00,1.15,3.62,0.643,6,0.000,0.037,2758,2201,1782,0,0,0,0,0,0
$GC,14197,1.13,191.7,42.1,7.0,1114,14219,0.00,1.25,17.62,0.933,4,0.000,0.050,2757,2908,1702,0,0,0,0,0,0
$GC,14328,1.13,192.1,31.7,9.1,1133,14334,0.00,1.17,0.00,0.000,6,0.000,0.035,2762,2192,1702,0,0,0,0,0,0
$FREEZE,8.73,-1.366,-1.736,2,1,0
$FREEZE,8.20,-1.370,-1.736,2,1,0
$FREEZE,7.64,-1.365,-1.735,2,1,0
$FREEZE,6.95,-1.365,-1.734,2,1,0
$FREEZE,6.24,-1.366,-1.734,2,1,0
$FREEZE,5.52,-1.365,-1.733,2,1,0
$FREEZE,4.89,-1.361,-1.733,2,1,0
$FREEZE,4.41,-1.352,-1.732,2,1,0
$FREEZE,3.80,-1.140,-1.718,2,1,0
$FREEZE,3.13,-1.367,-1.731,2,1,0
$FREEZE,2.50,-1.135,-1.717,2,1,0
$FREEZE,1.83,-1.365,-1.730,2,1,0
$STATE,14622,end climb,SURFACE_DEPTH_REACHED
$STATE,14622,begin surface coast
$FREEZE,1.39,-1.370,-1.730,2,1,0
$FREEZE,1.47,-1.371,-1.730,2,1,0
$FREEZE,1.65,-1.369,-1.730,2,1,0
$FINISH,1.7,1.025416
$STATE,14642,end surface coast,CONTROL_FINISHED_OK
$STATE,14643,begin surface
$SM_CCo,14660,144.57,0.085,0,0,442,501.15
$SM_GC,2.08,7.65,0.60,144.57,0.082,0.047,0.085,109,2515,442,-7.07,-0.71,501.15,0,0,0,0,0,0
$RAFOS_CLK,972
$RAFOS,6,1321793343,12.833333,12.817500,75,62,58,0,0,0,758,215,137,0,0,0
$RAFOS,5,1321792866,12.700000,12.685000,64,61,56,0,0,0,834,148,224,0,0,0
$RAFOS,4,1321792381,12.566667,12.550278,123,74,58,0,0,0,646,215,119,0,0,0
$RAFOS,3,1321791906,12.433333,12.418333,90,58,57,0,0,0,719,203,213,0,0,0
$RAFOS,2,1321791427,12.300000,12.285277,90,67,59,0,0,0,613,188,218,0,0,0
$RAFOS,1,1321790951,12.166667,12.153055,155,57,57,0,0,0,509,210,158,0,0,0
$RAFOS,0,1321790472,12.033333,12.020000,106,69,61,0,0,0,647,217,234,0,0,0
$RAFOS_FIX,6646.268066,-5943.127930,201111,121216,7,100,0.43
$IRIDIUM_FIX,6620.33,-5941.47,201111,040425
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.23
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,802.1,63.2
$24V_AH,23.3,34.119
$10V_AH,10.1,25.848
$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,18.325,53.675,224.575,144.575,0.000,0.000,0.000,293.375,10.250,0.000,43.985,3335.736,8660.696,616.258,2407.466,252.855,0.000,1984.669,0.000,2073.992,2520.000,24.887,0.000
$DEVICE_MAMPS,266.985,95.625,1440.495,84.915,0.000,0.000,0.000,295.869,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.737,647.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,46636,1181
$CAP_FILE_SIZE,139536,0
$CFSIZE,260165632,229232640
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.3
$CURRENT,0.071, 77.1,1
$GPS,201111,131136,6647.914,-5947.085,36,0.7,36,-33.9