version: 66.09
glider: 143
mission: 13
dive: 272
start: 11 20 111 21 50 20
data:
$ID,143
$MISSION,13
$DIVE,272
$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,-81046.445
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,201111,214405,6648.221,-5954.717,42,0.8,42,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-67.9
$GPS2,201111,214948,6648.141,-5954.766,19,0.8,19,-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,261.1,24102,-16.9,-9.167
$D_GRID,733
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-118.43,0.000,2,0.000,0.000,114,2503,2082,0,0,0,0,0,0
$GC,140,-0.73,-146.0,3.1,-1.6,18,199,8.73,1.17,-41.28,0.000,4,0.256,0.096,2157,3213,3083,0,0,0,0,0,0
$GC,451,-0.73,-146.0,54.4,-17.7,64,460,0.00,1.10,0.00,0.000,6,0.000,0.032,2157,2505,3084,0,0,0,0,0,0
$GC,791,-0.73,-146.0,111.2,-16.7,115,798,0.00,1.20,0.00,0.000,4,0.000,0.063,2152,3216,3084,0,0,0,0,0,0
$GC,939,-0.73,-146.0,134.0,-15.0,137,946,0.00,1.10,0.00,0.000,6,0.000,0.033,2152,2509,3084,0,0,0,0,0,0
$GC,1277,-0.73,-146.0,182.2,-13.0,188,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2509,3085,0,0,0,0,0,0
$GC,1616,-0.73,-146.0,226.0,-12.3,239,1623,0.00,1.17,0.00,0.000,4,0.000,0.064,2148,3212,3085,0,0,0,0,0,0
$GC,1771,-0.73,-146.0,244.7,-11.9,262,1778,0.00,1.10,0.00,0.000,6,0.000,0.032,2148,2499,3085,0,0,0,0,0,0
$GC,2095,-0.73,-146.0,285.8,-12.6,291,2099,0.00,1.20,0.00,0.000,4,0.000,0.063,2143,3217,3085,0,0,0,0,0,0
$GC,2153,-0.73,-146.0,292.6,-12.9,295,2161,0.00,1.12,0.00,0.000,6,0.000,0.031,2143,2501,3084,0,0,0,0,0,0
$GC,2479,-0.73,-146.0,333.1,-11.6,321,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2501,3084,0,0,0,0,0,0
$GC,2792,-0.73,-146.0,369.6,-11.8,346,2796,0.00,1.20,0.00,0.000,4,0.000,0.063,2139,3220,3084,0,0,0,0,0,0
$GC,2911,-0.73,-146.0,383.7,-11.7,355,2915,0.00,1.10,0.00,0.000,6,0.000,0.032,2139,2506,3084,0,0,0,0,0,0
$GC,3243,-0.73,-146.0,422.2,-11.4,381,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2506,3084,0,0,0,0,0,0
$GC,3555,-0.73,-146.0,457.7,-11.4,406,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2506,3085,0,0,0,0,0,0
$GC,3873,-0.73,-146.0,494.2,-12.1,431,3877,0.00,1.17,0.00,0.000,4,0.000,0.062,2134,3211,3085,0,0,0,0,0,0
$GC,4076,-0.73,-146.0,518.1,-11.7,440,4082,0.12,1.10,0.00,0.000,6,0.160,0.031,2165,2499,3085,0,0,0,0,0,0
$GC,4412,-0.73,-146.0,552.1,-10.0,451,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2499,3085,0,0,0,0,0,0
$GC,4717,-0.73,-146.0,583.8,-10.7,461,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2499,3086,0,0,0,0,0,0
$GC,5022,-0.73,-146.0,615.5,-10.2,471,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2499,3086,0,0,0,0,0,0
$GC,5330,-0.73,-146.0,646.7,-10.0,481,5334,0.00,1.17,0.00,0.000,4,0.000,0.061,2162,3210,3086,0,0,0,0,0,0
$GC,5401,-0.73,-146.0,653.5,-10.0,483,5405,0.00,1.08,0.00,0.000,6,0.000,0.028,2162,2510,3086,0,0,0,0,0,0
$GC,5734,-0.73,-146.0,688.0,-10.4,494,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2510,3086,0,0,0,0,0,0
$GC,6041,-0.73,-146.0,717.5,-9.7,504,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2510,3087,0,0,0,0,0,0
$STATE,6222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6222,begin apogee
$GC,6228,-0.16,0.0,734.1,-9.0,510,6357,0.55,0.00,122.40,1.366,6,0.126,0.000,2341,2190,2486,0,0,0,0,0,0
$STATE,6358,end apogee,CONTROL_FINISHED_OK
$STATE,6358,begin climb
$GC,6360,0.73,146.0,738.5,0.0,514,6501,0.85,1.17,132.15,1.304,4,0.067,0.047,2636,1515,1888,0,0,0,0,0,0
$GC,6751,0.73,146.0,706.3,11.6,526,6756,0.00,1.20,0.00,0.000,6,0.000,0.042,2636,2206,1879,0,0,0,0,0,0
$GC,7080,0.73,146.0,667.3,11.5,537,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,1878,0,0,0,0,0,0
$GC,7385,0.73,146.0,631.8,11.7,547,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,1877,0,0,0,0,0,0
$GC,7692,0.73,146.0,596.8,11.5,557,7696,0.00,1.12,0.00,0.000,4,0.000,0.045,2641,1509,1876,0,0,0,0,0,0
$GC,7783,0.73,146.0,589.2,11.3,559,7791,0.00,1.15,0.00,0.000,6,0.000,0.043,2641,2203,1876,0,0,0,0,0,0
$GC,8097,0.73,146.0,550.5,11.4,570,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,8403,0.73,146.0,515.7,10.9,580,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1874,0,0,0,0,0,0
$GC,8721,0.73,146.0,481.3,10.4,598,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1874,0,0,0,0,0,0
$GC,9036,0.73,146.0,448.4,10.4,623,9040,0.00,1.12,0.00,0.000,4,0.000,0.055,2641,2905,1875,0,0,0,0,0,0
$GC,9133,0.73,146.0,438.4,11.0,630,9141,0.00,1.15,0.00,0.000,6,0.000,0.034,2645,2198,1875,0,0,0,0,0,0
$GC,9456,0.73,146.0,405.3,10.0,656,9460,0.00,1.17,0.00,0.000,4,0.000,0.049,2645,2899,1874,0,0,0,0,0,0
$GC,9540,0.73,146.0,396.6,11.2,662,9548,0.00,1.15,0.00,0.000,6,0.000,0.034,2650,2190,1874,0,0,0,0,0,0
$GC,9867,0.73,146.0,362.6,10.2,688,9870,0.00,1.05,0.00,0.000,4,0.000,0.048,2655,1497,1874,0,0,0,0,0,0
$GC,9974,0.73,146.0,351.8,9.9,696,9977,0.00,1.12,0.00,0.000,6,0.000,0.044,2655,2196,1874,0,0,0,0,0,0
$GC,10303,0.73,146.0,319.4,10.4,722,10306,0.00,1.12,0.00,0.000,4,0.000,0.054,2655,2901,1874,0,0,0,0,0,0
$GC,10360,0.73,146.0,313.6,10.8,726,10368,0.00,1.15,0.00,0.000,6,0.000,0.035,2659,2194,1874,0,0,0,0,0,0
$GC,10687,0.73,146.0,279.4,10.6,752,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2194,1873,0,0,0,0,0,0
$GC,11001,0.73,146.0,246.2,9.9,779,11008,0.00,1.05,0.00,0.000,4,0.000,0.050,2665,1498,1873,0,0,0,0,0,0
$GC,11054,0.73,146.0,240.6,10.4,787,11062,0.10,1.12,0.00,0.000,6,0.143,0.044,2633,2199,1873,0,0,0,0,0,0
$GC,11392,0.80,204.6,210.4,6.7,838,11446,0.00,0.00,48.20,1.043,6,0.000,0.000,2633,2199,1649,0,0,0,0,0,0
$GC,11777,0.82,221.1,177.3,8.5,896,11798,0.00,1.15,13.95,0.975,4,0.000,0.055,2633,2894,1582,0,0,0,0,0,0
$GC,11866,0.82,221.1,169.2,9.2,909,11873,0.00,1.12,0.00,0.000,6,0.000,0.034,2636,2205,1580,0,0,0,0,0,0
$GC,12204,0.82,221.1,136.5,9.9,960,12212,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2205,1579,0,0,0,0,0,0
$GC,12542,0.83,231.4,103.5,8.7,1011,12557,0.00,0.00,9.52,0.933,6,0.000,0.000,2636,2205,1540,0,0,0,0,0,0
$GC,12888,0.83,231.4,71.7,9.3,1063,12895,0.00,1.17,0.00,0.000,4,0.000,0.050,2636,2903,1538,0,0,0,0,0,0
$GC,12942,0.83,231.4,66.6,9.3,1071,12949,0.00,1.15,0.00,0.000,6,0.000,0.036,2641,2194,1538,0,0,0,0,0,0
$GC,13278,0.87,261.8,38.5,7.9,1122,13312,0.12,1.20,26.62,0.964,4,0.087,0.049,2694,2905,1416,0,0,0,0,0,0
$GC,13398,0.87,261.8,26.1,10.7,1140,13407,0.00,1.15,0.00,0.000,6,0.000,0.036,2698,2203,1412,0,0,0,0,0,0
$FREEZE,8.72,-0.826,-1.704,2,1,0
$FREEZE,8.23,-0.832,-1.704,2,1,0
$FREEZE,7.52,-0.832,-1.703,2,1,0
$FREEZE,6.93,-0.836,-1.702,2,1,0
$FREEZE,6.44,-0.838,-1.702,2,1,0
$FREEZE,5.73,-0.834,-1.701,2,1,0
$FREEZE,5.14,-0.841,-1.701,2,1,0
$FREEZE,4.47,-0.841,-1.700,2,1,0
$FREEZE,3.78,-0.841,-1.700,2,1,0
$FREEZE,3.29,-0.845,-1.699,2,1,0
$FREEZE,2.52,-0.845,-1.699,2,1,0
$FREEZE,2.00,-0.846,-1.698,2,1,0
$FREEZE,1.39,-0.857,-1.698,2,1,0
$STATE,13643,end climb,SURFACE_DEPTH_REACHED
$STATE,13643,begin surface coast
$FREEZE,1.46,-0.839,-0.388,2,1,0
$FINISH,1.5,1.005567
$STATE,13653,end surface coast,FINISH_DEPTH_REACHED
$STATE,13654,begin surface
$SM_CCo,13670,112.28,0.087,0,0,441,501.15
$SM_GC,2.23,7.05,0.57,112.28,0.050,0.044,0.087,120,2514,441,-7.07,-0.79,501.15,0,0,0,0,0,0
$RAFOS_CLK,901
$RAFOS,6,1321836551,0.833333,0.819722,131,71,58,0,0,0,744,190,205,0,0,0
$RAFOS,5,1321836070,0.700000,0.686111,64,62,58,0,0,0,846,213,204,0,0,0
$RAFOS,4,1321835593,0.566667,0.553611,97,60,57,0,0,0,614,203,153,0,0,0
$RAFOS,3,1321835110,0.433333,0.419444,99,60,54,0,0,0,696,223,119,0,0,0
$RAFOS,2,1321834626,0.300000,0.285000,99,67,52,0,0,0,606,203,224,0,0,0
$RAFOS,1,1321834159,0.166667,0.155278,131,60,56,0,0,0,438,219,208,0,0,0
$RAFOS,0,1321833669,0.033333,0.019167,115,61,58,0,0,0,629,185,209,0,0,0
$RAFOS_FIX,6644.853027,-5948.702148,211111,000013,6,101,0.78
$IRIDIUM_FIX,6620.33,-5941.47,201111,171757
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.74
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.30
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,700.1,60.2
$24V_AH,22.6,34.502
$10V_AH,10.1,26.120
$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,17.525,39.875,352.850,112.275,0.000,0.000,0.000,227.350,8.500,0.000,20.799,3228.624,7893.479,648.587,2158.913,220.376,0.000,1889.503,0.000,1914.205,2520.000,22.672,0.000
$DEVICE_MAMPS,255.510,96.390,1366.290,87.210,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.641,650.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150364
$DATA_FILE_SIZE,43361,1178
$CAP_FILE_SIZE,127056,0
$CFSIZE,260165632,229044224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.1
$CURRENT,0.165,127.3,1
$GPS,211111,014140,6645.790,-5957.449,29,0.8,29,-33.9