version: 66.09
glider: 143
mission: 13
dive: 270
start: 11 20 111 13 19 10
data:
$ID,143
$MISSION,13
$DIVE,270
$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,-81043.93
$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,26
$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
$GPS1,201111,131136,6647.914,-5947.085,36,0.7,36,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-57.0
$GPS2,201111,131838,6647.737,-5946.968,19,0.7,20,-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,290.5,29381,-16.9,-9.167
$D_GRID,816
$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,-146.0,0.0,0.0,0,138,0.00,0.00,-119.82,0.000,2,0.000,0.000,108,2528,2068,0,0,0,0,0,0
$GC,142,-0.73,-146.0,3.3,-4.3,17,198,8.80,1.17,-40.60,0.000,4,0.259,0.093,2158,3219,3084,0,0,0,0,0,0
$GC,382,-0.73,-146.0,46.4,-19.1,53,391,0.00,1.12,0.00,0.000,6,0.000,0.034,2159,2502,3086,0,0,0,0,0,0
$GC,722,-0.73,-146.0,100.1,-14.2,104,729,0.00,1.20,0.00,0.000,4,0.000,0.063,2154,3216,3086,0,0,0,0,0,0
$GC,822,-0.73,-146.0,114.8,-14.4,119,829,0.00,1.10,0.00,0.000,6,0.000,0.034,2155,2509,3086,0,0,0,0,0,0
$GC,1161,-0.73,-146.0,162.6,-13.9,170,1168,0.00,1.17,0.00,0.000,4,0.000,0.063,2150,3211,3085,0,0,0,0,0,0
$GC,1254,-0.73,-146.0,175.6,-13.5,184,1261,0.00,1.10,0.00,0.000,6,0.000,0.032,2150,2500,3086,0,0,0,0,0,0
$GC,1592,-0.73,-146.0,220.1,-13.4,235,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2500,3086,0,0,0,0,0,0
$GC,1925,-0.73,-146.0,264.2,-13.7,278,1928,0.00,1.17,0.00,0.000,4,0.000,0.062,2145,3206,3086,0,0,0,0,0,0
$GC,1964,-0.73,-146.0,269.8,-13.8,281,1968,0.00,1.08,0.00,0.000,6,0.000,0.032,2146,2510,3086,0,0,0,0,0,0
$GC,2293,-0.73,-146.0,310.9,-12.2,307,2297,0.00,1.17,0.00,0.000,4,0.000,0.062,2141,3214,3086,0,0,0,0,0,0
$GC,2350,-0.73,-146.0,317.2,-12.1,311,2358,0.00,1.12,0.00,0.000,6,0.000,0.031,2141,2496,3085,0,0,0,0,0,0
$GC,2675,-0.73,-146.0,355.6,-12.1,337,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2497,3086,0,0,0,0,0,0
$GC,2991,-0.73,-146.0,394.5,-12.5,362,2995,0.00,1.20,0.00,0.000,4,0.000,0.062,2136,3216,3086,0,0,0,0,0,0
$GC,3084,-0.73,-146.0,406.5,-12.6,369,3088,0.00,1.10,0.00,0.000,6,0.000,0.032,2136,2500,3086,0,0,0,0,0,0
$GC,3415,-0.73,-146.0,446.0,-11.5,395,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2500,3086,0,0,0,0,0,0
$GC,3728,-0.73,-146.0,482.5,-11.8,420,3733,0.12,1.17,0.00,0.000,4,0.168,0.063,2164,3207,3087,0,0,0,0,0,0
$GC,3773,-0.73,-146.0,486.5,-10.4,423,3781,0.00,1.10,0.00,0.000,6,0.000,0.029,2164,2497,3087,0,0,0,0,0,0
$GC,4103,-0.73,-146.0,518.8,-9.6,441,4107,0.00,1.17,0.00,0.000,4,0.000,0.061,2159,3207,3087,0,0,0,0,0,0
$GC,4141,-0.73,-146.0,522.1,-9.5,442,4146,0.00,1.10,0.00,0.000,6,0.000,0.029,2159,2499,3087,0,0,0,0,0,0
$GC,4475,-0.73,-146.0,555.7,-10.4,453,4478,0.00,1.17,0.00,0.000,4,0.000,0.060,2156,3210,3087,0,0,0,0,0,0
$GC,4525,-0.73,-146.0,559.1,-10.4,454,4530,0.00,1.10,0.00,0.000,6,0.000,0.029,2155,2499,3087,0,0,0,0,0,0
$GC,4846,-0.73,-146.0,593.5,-9.9,465,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2499,3088,0,0,0,0,0,0
$GC,5152,-0.73,-146.0,623.3,-9.9,475,5156,0.00,1.17,0.00,0.000,4,0.000,0.060,2150,3210,3088,0,0,0,0,0,0
$GC,5197,-0.73,-146.0,626.5,-9.9,476,5201,0.00,1.10,0.00,0.000,6,0.000,0.029,2150,2499,3088,0,0,0,0,0,0
$GC,5525,-0.73,-146.0,659.8,-9.4,487,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2499,3088,0,0,0,0,0,0
$GC,5830,-0.73,-146.0,689.4,-9.5,497,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2499,3089,0,0,0,0,0,0
$GC,6137,-0.73,-146.0,717.7,-9.5,507,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2499,3089,0,0,0,0,0,0
$GC,6443,-0.73,-146.0,747.2,-9.6,517,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2499,3089,0,0,0,0,0,0
$GC,6749,-0.73,-146.0,776.6,-9.5,527,6752,0.00,1.17,0.00,0.000,4,0.000,0.061,2146,3210,3089,0,0,0,0,0,0
$GC,6787,-0.73,-146.0,779.9,-9.7,528,6791,0.00,1.08,0.00,0.000,6,0.000,0.028,2146,2499,3089,0,0,0,0,0,0
$GC,7120,-0.73,-146.0,813.1,-9.8,539,7124,0.00,1.17,0.00,0.000,4,0.000,0.060,2141,3211,3089,0,0,0,0,0,0
$STATE,7151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7151,begin apogee
$GC,7158,-0.16,0.0,816.5,-9.9,540,7288,0.62,0.00,124.30,1.418,6,0.131,0.000,2342,2194,2485,0,0,0,0,0,0
$STATE,7289,end apogee,CONTROL_FINISHED_OK
$STATE,7289,begin climb
$GC,7292,0.73,146.0,821.2,0.0,544,7435,0.85,1.23,133.23,1.358,4,0.067,0.047,2634,1504,1888,0,0,0,0,0,0
$GC,7633,0.73,146.0,793.5,11.7,555,7637,0.00,1.20,0.00,0.000,6,0.000,0.043,2634,2202,1880,0,0,0,0,0,0
$GC,7974,0.73,146.0,754.4,11.6,566,7977,0.00,1.17,0.00,0.000,4,0.000,0.054,2634,2911,1878,0,0,0,0,0,0
$GC,8108,0.73,146.0,737.9,12.4,570,8112,0.00,1.15,0.00,0.000,6,0.000,0.034,2639,2206,1876,0,0,0,0,0,0
$GC,8447,0.73,146.0,697.4,11.9,581,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2206,1876,0,0,0,0,0,0
$GC,8754,0.73,146.0,660.5,12.2,591,8757,0.00,1.10,0.00,0.000,4,0.000,0.048,2645,1492,1875,0,0,0,0,0,0
$GC,8878,0.73,146.0,648.5,12.0,594,8886,0.00,1.17,0.00,0.000,6,0.000,0.043,2645,2203,1875,0,0,0,0,0,0
$GC,9191,0.73,146.0,608.8,11.4,605,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1875,0,0,0,0,0,0
$GC,9498,0.73,146.0,574.5,10.9,615,9499,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1874,0,0,0,0,0,0
$GC,9805,0.73,146.0,542.3,10.5,625,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1874,0,0,0,0,0,0
$GC,10111,0.73,146.0,507.9,11.4,635,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1874,0,0,0,0,0,0
$GC,10430,0.73,146.0,473.8,10.7,656,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1874,0,0,0,0,0,0
$GC,10746,0.73,146.0,439.2,10.9,681,10750,0.00,1.12,0.00,0.000,4,0.000,0.055,2645,2906,1874,0,0,0,0,0,0
$GC,10935,0.73,146.0,418.4,11.2,695,10938,0.00,1.12,0.00,0.000,6,0.000,0.036,2649,2202,1874,0,0,0,0,0,0
$GC,11263,0.73,146.0,382.8,11.0,721,11267,0.00,1.08,0.00,0.000,4,0.000,0.047,2654,1492,1874,0,0,0,0,0,0
$GC,11374,0.73,146.0,371.7,9.9,729,11384,0.00,1.17,0.00,0.000,6,0.000,0.044,2654,2210,1874,0,0,0,0,0,0
$GC,11697,0.73,146.0,336.4,10.4,755,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2210,1874,0,0,0,0,0,0
$GC,12013,0.73,146.0,303.3,10.0,780,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2210,1874,0,0,0,0,0,0
$GC,12330,0.73,146.0,272.2,9.5,805,12333,0.00,1.10,0.00,0.000,4,0.000,0.054,2654,2902,1873,0,0,0,0,0,0
$GC,12568,0.73,146.0,248.5,10.0,824,12575,0.00,1.12,0.00,0.000,6,0.000,0.035,2659,2195,1873,0,0,0,0,0,0
$GC,12906,0.76,174.3,217.8,8.0,875,12934,0.00,1.23,22.45,1.030,4,0.000,0.050,2659,2902,1774,0,0,0,0,0,0
$GC,13167,0.76,174.3,193.5,9.6,914,13174,0.00,1.12,0.00,0.000,6,0.000,0.034,2663,2203,1771,0,0,0,0,0,0
$GC,13504,0.76,174.3,161.9,9.3,965,13513,0.00,1.08,0.00,0.000,4,0.000,0.047,2669,1490,1771,0,0,0,0,0,0
$GC,13699,0.76,174.3,143.9,9.2,994,13706,0.00,1.15,0.00,0.000,6,0.000,0.044,2669,2201,1770,0,0,0,0,0,0
$GC,14038,0.80,205.3,116.1,7.9,1045,14074,0.00,1.12,27.10,0.991,4,0.000,0.051,2669,2907,1646,0,0,0,0,0,0
$GC,14239,0.80,205.3,97.5,10.0,1075,14246,0.00,1.15,0.00,0.000,6,0.000,0.034,2674,2201,1642,0,0,0,0,0,0
$GC,14579,0.80,210.8,66.6,8.9,1126,14592,0.00,1.20,5.00,0.787,4,0.000,0.050,2674,2900,1625,0,0,0,0,0,0
$GC,14845,0.86,252.0,43.1,7.4,1166,14885,0.00,1.15,36.08,0.954,6,0.000,0.036,2678,2192,1456,0,0,0,0,0,0
$GC,15219,0.86,259.1,9.7,8.9,1222,15226,0.00,1.25,2.83,0.106,4,0.000,0.050,2678,2906,1427,0,0,0,0,0,0
$FREEZE,7.84,-0.830,-1.707,2,1,0
$FREEZE,7.30,-0.839,-1.707,2,1,0
$FREEZE,6.61,-0.888,-1.709,2,1,0
$FREEZE,5.95,-0.845,-1.706,2,1,0
$FREEZE,5.28,-0.897,-1.708,2,1,0
$FREEZE,4.56,-0.844,-1.705,2,1,0
$FREEZE,3.87,-0.883,-1.707,2,1,0
$FREEZE,3.21,-0.842,-1.704,2,1,0
$FREEZE,2.71,-0.894,-1.706,2,1,0
$FREEZE,1.99,-0.846,-1.703,2,1,0
$STATE,15293,end climb,SURFACE_DEPTH_REACHED
$STATE,15293,begin surface coast
$FREEZE,1.34,-0.856,-1.703,2,1,0
$FREEZE,1.28,-0.884,-0.879,2,1,0
$FINISH,1.3,1.012957
$STATE,15305,end surface coast,FINISH_DEPTH_REACHED
$STATE,15306,begin surface
$SM_CCo,15322,113.75,0.086,0,0,441,501.15
$SM_GC,2.14,6.97,0.65,113.75,0.048,0.032,0.086,118,2502,441,-7.08,1.13,501.15,0,0,0,0,0,0
$RAFOS_CLK,1016
$RAFOS,6,1321807744,16.833334,16.817778,99,57,55,0,0,0,762,156,214,0,0,0
$RAFOS,5,1321807274,16.700001,16.687222,65,58,57,0,0,0,190,208,199,0,0,0
$RAFOS,4,1321806794,16.566668,16.553888,131,65,58,0,0,0,585,217,128,0,0,0
$RAFOS,3,1321806310,16.433332,16.419445,138,61,57,0,0,0,703,216,162,0,0,0
$RAFOS,2,1321805829,16.299999,16.285833,115,66,58,0,0,0,594,210,157,0,0,0
$RAFOS,1,1321805350,16.166666,16.152779,106,59,59,0,0,0,508,194,166,0,0,0
$RAFOS,0,1321804890,16.033333,16.025000,106,59,57,0,0,0,531,215,201,0,0,0
$RAFOS_FIX,6645.587402,-5948.459961,201111,161653,6,116,0.37
$IRIDIUM_FIX,6614.97,-6109.92,201111,131326
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,19
$ALTIM_TOP_PING,20.0,18.8
$ALTIM_BOTTOM_PING,801.2,36.8
$24V_AH,22.5,34.248
$10V_AH,10.1,25.943
$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,17.375,52.700,350.975,113.750,0.000,0.000,0.000,244.775,8.000,0.000,22.051,3406.175,9273.520,644.606,2314.719,239.360,0.000,1973.000,0.000,2045.032,2520.000,24.819,0.000
$DEVICE_MAMPS,258.570,93.330,1417.545,86.445,0.000,0.000,0.000,268.142,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.405,674.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150252
$DATA_FILE_SIZE,46720,1235
$CAP_FILE_SIZE,139839,0
$CFSIZE,260165632,229163008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.3
$CURRENT,0.117, 93.0,1
$GPS,201111,173806,6647.105,-5951.220,34,0.8,34,-33.9