version: 66.09
glider: 143
mission: 13
dive: 273
start: 11 21 111 1 47 39
data:
$ID,143
$MISSION,13
$DIVE,273
$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,-81047.703
$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,28
$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
$GPS1,211111,014140,6645.790,-5957.449,29,0.8,29,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.4
$GPS2,211111,014705,6645.687,-5957.384,39,1.1,39,-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,323.3,21166,-16.9,-9.167
$D_GRID,679
$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,15,-0.73,-146.0,0.0,0.0,0,136,0.00,0.00,-118.03,0.000,2,0.000,0.000,120,2516,2086,0,0,0,0,0,0
$GC,139,-0.73,-146.0,3.0,-1.2,18,195,8.68,1.10,-39.70,0.000,4,0.255,0.093,2157,3216,3082,0,0,0,0,0,0
$GC,294,-0.73,-146.0,28.8,-19.7,41,301,0.00,1.12,0.00,0.000,6,0.000,0.033,2158,2499,3083,0,0,0,0,0,0
$GC,634,-0.73,-146.0,87.4,-16.2,92,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2499,3084,0,0,0,0,0,0
$GC,970,-0.73,-146.0,135.1,-14.3,143,979,0.00,1.08,0.00,0.000,4,0.000,0.044,2158,1814,3084,0,0,0,0,0,0
$GC,992,-0.73,-146.0,138.2,-13.9,146,999,0.00,1.20,0.00,0.000,6,0.000,0.054,2154,2511,3084,0,0,0,0,0,0
$GC,1328,-0.73,-146.0,184.6,-13.5,197,1334,0.00,1.12,0.00,0.000,4,0.000,0.068,2148,3213,3084,0,0,0,0,0,0
$GC,1402,-0.73,-146.0,194.6,-13.8,208,1409,0.00,1.10,0.00,0.000,6,0.000,0.033,2148,2505,3084,0,0,0,0,0,0
$GC,1740,-0.73,-146.0,238.2,-13.3,259,1749,0.00,1.17,0.00,0.000,4,0.000,0.063,2144,3210,3084,0,0,0,0,0,0
$GC,1756,-0.73,-146.0,240.2,-12.4,261,1763,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2500,3084,0,0,0,0,0,0
$GC,2088,-0.73,-146.0,281.8,-11.6,293,2092,0.00,1.20,0.00,0.000,4,0.000,0.063,2139,3216,3084,0,0,0,0,0,0
$GC,2119,-0.73,-146.0,284.9,-11.7,295,2129,0.00,1.12,0.00,0.000,6,0.000,0.032,2139,2503,3084,0,0,0,0,0,0
$GC,2445,-0.73,-146.0,324.0,-12.3,321,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2503,3084,0,0,0,0,0,0
$GC,2758,-0.73,-146.0,362.3,-12.1,346,2762,0.00,1.17,0.00,0.000,4,0.000,0.063,2135,3209,3084,0,0,0,0,0,0
$GC,2824,-0.73,-146.0,370.5,-12.8,351,2828,0.08,1.08,0.00,0.000,6,0.152,0.032,2158,2507,3084,0,0,0,0,0,0
$GC,3152,-0.73,-146.0,407.1,-10.9,377,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2507,3084,0,0,0,0,0,0
$GC,3470,-0.73,-146.0,441.8,-11.4,402,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2507,3084,0,0,0,0,0,0
$GC,3783,-0.73,-146.0,475.4,-10.2,427,3787,0.00,1.17,0.00,0.000,4,0.000,0.063,2156,3211,3085,0,0,0,0,0,0
$GC,3851,-0.73,-146.0,482.3,-10.4,432,3854,0.00,1.08,0.00,0.000,6,0.000,0.031,2156,2506,3084,0,0,0,0,0,0
$GC,4170,-0.73,-146.0,516.7,-10.8,450,4174,0.00,1.17,0.00,0.000,4,0.000,0.063,2151,3209,3085,0,0,0,0,0,0
$GC,4221,-0.73,-146.0,520.3,-10.7,451,4226,0.00,1.10,0.00,0.000,6,0.000,0.030,2151,2498,3085,0,0,0,0,0,0
$GC,4542,-0.73,-146.0,556.7,-10.9,462,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2498,3085,0,0,0,0,0,0
$GC,4850,-0.73,-146.0,589.5,-10.5,472,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2498,3085,0,0,0,0,0,0
$GC,5154,-0.73,-146.0,620.8,-10.0,482,5158,0.00,1.20,0.00,0.000,4,0.000,0.062,2146,3219,3086,0,0,0,0,0,0
$GC,5172,-0.73,-146.0,620.8,-10.0,482,5177,0.00,1.10,0.00,0.000,6,0.000,0.030,2146,2513,3086,0,0,0,0,0,0
$GC,5493,-0.73,-146.0,655.3,-10.1,493,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2513,3086,0,0,0,0,0,0
$STATE,5735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5735,begin apogee
$GC,5741,-0.16,0.0,681.0,-10.8,501,5871,0.60,0.00,121.65,1.337,6,0.130,0.000,2339,2196,2485,0,0,0,0,0,0
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5874,0.73,146.0,686.4,0.0,505,6012,0.85,1.23,130.60,1.275,4,0.066,0.048,2635,1505,1889,0,0,0,0,0,0
$GC,6262,0.73,146.0,656.3,11.3,517,6267,0.00,1.23,0.00,0.000,6,0.000,0.042,2635,2210,1880,0,0,0,0,0,0
$GC,6591,0.73,146.0,616.6,11.6,528,6595,0.00,1.15,0.00,0.000,4,0.000,0.054,2635,2908,1878,0,0,0,0,0,0
$GC,6729,0.73,146.0,600.4,12.1,532,6733,0.00,1.17,0.00,0.000,6,0.000,0.033,2639,2199,1877,0,0,0,0,0,0
$GC,7062,0.73,146.0,560.9,11.4,543,7066,0.00,1.08,0.00,0.000,4,0.000,0.049,2645,1499,1876,0,0,0,0,0,0
$GC,7200,0.73,146.0,546.2,11.1,547,7205,0.00,1.17,0.00,0.000,6,0.000,0.043,2645,2206,1876,0,0,0,0,0,0
$GC,7533,0.73,146.0,507.3,11.5,558,7537,0.00,1.15,0.00,0.000,4,0.000,0.044,2649,1494,1876,0,0,0,0,0,0
$GC,7632,0.73,146.0,497.0,11.2,562,7639,0.00,1.15,0.00,0.000,6,0.000,0.044,2649,2201,1875,0,0,0,0,0,0
$GC,7959,0.73,146.0,460.4,11.0,588,7962,0.00,1.12,0.00,0.000,4,0.000,0.056,2649,2900,1875,0,0,0,0,0,0
$GC,8037,0.73,146.0,451.0,11.3,594,8041,0.00,1.12,0.00,0.000,6,0.000,0.036,2654,2203,1875,0,0,0,0,0,0
$GC,8369,0.73,146.0,412.6,12.0,620,8373,0.00,1.17,0.00,0.000,4,0.000,0.050,2654,2901,1875,0,0,0,0,0,0
$GC,8534,0.73,146.0,393.2,12.1,632,8541,0.00,1.12,0.00,0.000,6,0.000,0.036,2658,2197,1874,0,0,0,0,0,0
$GC,8859,0.73,146.0,356.2,10.8,658,8863,0.00,1.08,0.00,0.000,4,0.000,0.048,2663,1491,1875,0,0,0,0,0,0
$GC,9075,0.73,146.0,333.6,10.3,674,9083,0.00,1.17,0.00,0.000,6,0.000,0.044,2663,2207,1875,0,0,0,0,0,0
$GC,9402,0.73,146.0,297.8,10.9,700,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2207,1875,0,0,0,0,0,0
$GC,9716,0.73,146.0,262.8,11.0,725,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2207,1874,0,0,0,0,0,0
$GC,10038,0.73,146.0,229.8,9.7,765,10045,0.00,1.10,0.00,0.000,4,0.000,0.056,2663,2895,1874,0,0,0,0,0,0
$GC,10239,0.73,146.0,209.8,9.3,795,10248,0.10,1.12,0.00,0.000,6,0.147,0.035,2636,2192,1874,0,0,0,0,0,0
$GC,10580,0.83,230.3,186.4,5.6,846,10654,0.00,0.00,68.97,1.030,6,0.000,0.000,2636,2192,1546,0,0,0,0,0,0
$GC,10985,0.84,236.3,151.4,8.9,907,10994,0.00,0.00,5.15,0.802,6,0.000,0.000,2636,2192,1521,0,0,0,0,0,0
$GC,11326,0.84,242.2,121.7,8.9,958,11342,0.12,0.00,6.57,0.868,6,0.084,0.000,2687,2192,1496,0,0,0,0,0,0
$GC,11673,0.84,242.2,81.8,11.6,1010,11679,0.00,1.08,0.00,0.000,4,0.000,0.051,2692,1498,1495,0,0,0,0,0,0
$GC,11930,0.84,242.2,52.0,9.8,1049,11937,0.00,1.15,0.00,0.000,6,0.000,0.045,2693,2201,1493,0,0,0,0,0,0
$GC,12269,0.87,262.4,20.8,8.3,1100,12285,0.00,0.00,11.35,0.877,6,0.000,0.000,2692,2201,1413,0,0,0,0,0,0
$FREEZE,8.81,-0.885,-1.679,2,1,0
$FREEZE,8.36,-0.886,-1.679,2,1,0
$FREEZE,7.77,-0.886,-1.678,2,1,0
$FREEZE,7.26,-0.888,-1.678,2,1,0
$FREEZE,6.67,-0.882,-1.677,2,1,0
$FREEZE,6.11,-0.887,-1.676,2,1,0
$FREEZE,5.58,-0.886,-1.676,2,1,0
$FREEZE,5.03,-0.884,-1.675,2,1,0
$FREEZE,4.47,-0.879,-1.675,2,1,0
$FREEZE,3.85,-0.880,-1.674,2,1,0
$FREEZE,3.36,-0.881,-1.674,2,1,0
$FREEZE,2.84,-0.884,-1.674,2,1,0
$FREEZE,2.30,-0.882,-1.673,2,1,0
$FREEZE,1.82,-0.887,-1.673,2,1,0
$STATE,12510,end climb,SURFACE_DEPTH_REACHED
$STATE,12511,begin surface coast
$FREEZE,1.47,-0.896,-1.673,2,1,0
$FREEZE,1.37,-0.908,-1.674,2,1,0
$FREEZE,1.50,-0.901,-1.674,2,1,0
$FREEZE,1.58,-0.905,-1.674,2,1,0
$FINISH,1.6,1.024601
$STATE,12537,end surface coast,CONTROL_FINISHED_OK
$STATE,12537,begin surface
$SM_CCo,12554,111.57,0.087,0,0,442,501.15
$SM_GC,2.19,7.00,0.52,111.57,0.050,0.060,0.087,121,2512,442,-7.06,-0.79,501.15,0,0,0,0,0,0
$RAFOS_CLK,832
$RAFOS,6,1321850942,4.833333,4.817222,128,57,57,0,0,0,803,202,165,0,0,0
$RAFOS,5,1321850464,4.700000,4.684444,75,60,59,0,0,0,887,193,152,0,0,0
$RAFOS,4,1321849983,4.566667,4.550833,89,59,55,0,0,0,675,206,177,0,0,0
$RAFOS,3,1321849506,4.433333,4.418334,98,62,60,0,0,0,730,217,178,0,0,0
$RAFOS,2,1321849022,4.300000,4.283889,138,65,58,0,0,0,633,190,215,0,0,0
$RAFOS,1,1321848545,4.166667,4.151389,152,61,58,0,0,0,519,208,179,0,0,0
$RAFOS,0,1321848061,4.033333,4.016944,115,59,58,0,0,0,670,146,212,0,0,0
$RAFOS_FIX,6643.774414,-5951.804199,211111,040430,6,107,0.55
$IRIDIUM_FIX,6620.33,-5941.47,201111,212157
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,652.1,72.2
$24V_AH,22.6,34.624
$10V_AH,10.1,26.203
$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,17.425,41.975,344.300,111.575,0.000,0.000,0.000,188.725,7.250,0.000,40.790,3160.926,6885.871,630.958,2122.128,215.319,0.000,1820.973,0.000,1889.738,2520.000,24.483,0.000
$DEVICE_MAMPS,254.745,93.330,1337.220,87.210,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.035,636.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150264
$DATA_FILE_SIZE,43372,1140
$CAP_FILE_SIZE,124128,0
$CFSIZE,260165632,228978688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.3
$CURRENT,0.292,127.8,1
$GPS,211111,052034,6645.443,-5958.458,38,1.5,42,-33.9