version: 66.09
glider: 143
mission: 13
dive: 274
start: 11 21 111 5 28 56
data:
$ID,143
$MISSION,13
$DIVE,274
$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,-81048.961
$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,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
$GPS1,211111,052034,6645.443,-5958.458,38,1.5,42,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-67.7
$GPS2,211111,052827,6645.348,-5958.279,15,0.8,16,-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,341.9,20433,-16.9,-9.167
$D_GRID,672
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,156,0.00,0.00,-136.15,0.000,2,0.000,0.000,120,2514,2272,0,0,0,0,0,0
$GC,161,-0.73,-146.0,3.0,-1.2,20,211,8.73,1.15,-33.00,0.000,4,0.258,0.097,2155,3210,3084,0,0,0,0,0,0
$GC,311,-0.73,-146.0,34.5,-21.3,42,318,0.00,1.10,0.00,0.000,6,0.000,0.034,2154,2508,3085,0,0,0,0,0,0
$GC,649,-0.73,-146.0,97.9,-17.4,93,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2508,3086,0,0,0,0,0,0
$GC,987,-0.73,-146.0,151.2,-14.9,144,994,0.00,1.08,0.00,0.000,4,0.000,0.044,2155,1820,3086,0,0,0,0,0,0
$GC,1007,-0.73,-146.0,154.3,-15.4,147,1014,0.00,1.17,0.00,0.000,6,0.000,0.054,2150,2505,3086,0,0,0,0,0,0
$GC,1347,-0.73,-146.0,204.2,-14.5,198,1354,0.00,1.12,0.00,0.000,4,0.000,0.067,2145,3211,3086,0,0,0,0,0,0
$GC,1420,-0.73,-146.0,215.4,-15.3,209,1429,0.00,1.10,0.00,0.000,6,0.000,0.033,2145,2500,3086,0,0,0,0,0,0
$GC,1762,-0.73,-146.0,264.7,-13.7,253,1765,0.00,1.20,0.00,0.000,4,0.000,0.061,2140,3219,3086,0,0,0,0,0,0
$GC,1801,-0.73,-146.0,270.2,-13.6,256,1805,0.00,1.10,0.00,0.000,6,0.000,0.032,2140,2511,3086,0,0,0,0,0,0
$GC,2131,-0.73,-146.0,314.7,-12.7,282,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2511,3086,0,0,0,0,0,0
$GC,2445,-0.73,-146.0,354.2,-12.1,307,2449,0.00,1.08,0.00,0.000,4,0.000,0.041,2140,1815,3085,0,0,0,0,0,0
$GC,2463,-0.73,-146.0,355.9,-12.1,308,2472,0.12,1.23,0.00,0.000,6,0.170,0.051,2165,2524,3086,0,0,0,0,0,0
$GC,2790,-0.73,-146.0,388.9,-9.7,334,2794,0.00,1.10,0.00,0.000,4,0.000,0.066,2162,3217,3086,0,0,0,0,0,0
$GC,2808,-0.73,-146.0,390.5,-9.7,335,2816,0.00,1.12,0.00,0.000,6,0.000,0.030,2162,2496,3086,0,0,0,0,0,0
$GC,3133,-0.73,-146.0,423.7,-10.1,361,3137,0.00,1.20,0.00,0.000,4,0.000,0.061,2157,3217,3086,0,0,0,0,0,0
$GC,3212,-0.73,-146.0,432.3,-10.4,367,3216,0.00,1.10,0.00,0.000,6,0.000,0.031,2157,2500,3086,0,0,0,0,0,0
$GC,3543,-0.73,-146.0,466.2,-10.6,393,3546,0.00,1.20,0.00,0.000,4,0.000,0.061,2153,3221,3087,0,0,0,0,0,0
$GC,3627,-0.73,-146.0,474.7,-10.7,399,3634,0.00,1.12,0.00,0.000,6,0.000,0.030,2153,2499,3087,0,0,0,0,0,0
$GC,3953,-0.73,-146.0,510.9,-11.0,421,3957,0.00,1.05,0.00,0.000,4,0.000,0.041,2153,1817,3087,0,0,0,0,0,0
$GC,3978,-0.73,-146.0,510.9,-11.0,421,3988,0.00,1.20,0.00,0.000,6,0.000,0.050,2148,2514,3087,0,0,0,0,0,0
$GC,4292,-0.73,-146.0,547.0,-10.5,432,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2514,3088,0,0,0,0,0,0
$GC,4599,-0.73,-146.0,577.6,-9.8,442,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2514,3088,0,0,0,0,0,0
$GC,4905,-0.73,-146.0,608.7,-10.4,452,4908,0.00,1.10,0.00,0.000,4,0.000,0.067,2143,3209,3088,0,0,0,0,0,0
$GC,4956,-0.73,-146.0,612.3,-10.5,453,4961,0.00,1.10,0.00,0.000,6,0.000,0.030,2143,2497,3088,0,0,0,0,0,0
$GC,5277,-0.73,-146.0,649.5,-11.1,464,5280,0.00,1.20,0.00,0.000,4,0.000,0.062,2139,3213,3089,0,0,0,0,0,0
$GC,5311,-0.73,-146.0,653.3,-11.2,465,5315,0.00,1.08,0.00,0.000,6,0.000,0.031,2138,2506,3089,0,0,0,0,0,0
$STATE,5495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5495,begin apogee
$GC,5501,-0.16,0.0,674.6,-11.3,471,5630,0.62,0.00,122.20,1.332,6,0.132,0.000,2340,2187,2485,0,0,0,0,0,0
$STATE,5631,end apogee,CONTROL_FINISHED_OK
$STATE,5631,begin climb
$GC,5633,0.73,146.0,680.6,0.0,475,5773,0.85,1.20,130.70,1.271,4,0.068,0.048,2634,1509,1888,0,0,0,0,0,0
$GC,6023,0.73,146.0,651.3,11.4,487,6028,0.00,1.23,0.00,0.000,6,0.000,0.044,2634,2210,1880,0,0,0,0,0,0
$GC,6353,0.73,146.0,613.2,11.2,498,6356,0.00,1.15,0.00,0.000,4,0.000,0.057,2634,2903,1878,0,0,0,0,0,0
$GC,6544,0.73,146.0,594.3,11.3,503,6551,0.00,1.15,0.00,0.000,6,0.000,0.036,2639,2204,1877,0,0,0,0,0,0
$GC,6858,0.73,146.0,556.4,11.4,514,6862,0.00,1.10,0.00,0.000,4,0.000,0.049,2644,1492,1876,0,0,0,0,0,0
$GC,7002,0.73,146.0,541.2,11.4,518,7008,0.00,1.20,0.00,0.000,6,0.000,0.044,2644,2213,1876,0,0,0,0,0,0
$GC,7329,0.73,146.0,502.0,11.5,529,7333,0.00,1.17,0.00,0.000,4,0.000,0.046,2649,1490,1876,0,0,0,0,0,0
$GC,7463,0.73,146.0,486.9,11.1,538,7467,0.00,1.15,0.00,0.000,6,0.000,0.046,2649,2197,1875,0,0,0,0,0,0
$GC,7793,0.73,146.0,450.0,11.8,564,7797,0.00,1.12,0.00,0.000,4,0.000,0.047,2653,1500,1875,0,0,0,0,0,0
$GC,7886,0.73,146.0,438.9,11.7,571,7890,0.00,1.15,0.00,0.000,6,0.000,0.047,2653,2203,1875,0,0,0,0,0,0
$GC,8216,0.73,146.0,401.0,11.3,597,8220,0.00,1.12,0.00,0.000,4,0.000,0.057,2653,2901,1875,0,0,0,0,0,0
$GC,8471,0.73,146.0,371.7,11.5,616,8479,0.00,1.15,0.00,0.000,6,0.000,0.038,2657,2200,1875,0,0,0,0,0,0
$GC,8798,0.73,146.0,335.5,10.8,642,8802,0.00,1.08,0.00,0.000,4,0.000,0.051,2663,1496,1875,0,0,0,0,0,0
$GC,9027,0.73,146.0,312.2,10.0,659,9035,0.00,1.17,0.00,0.000,6,0.000,0.046,2663,2207,1875,0,0,0,0,0,0
$GC,9352,0.73,146.0,278.9,10.3,685,9355,0.00,1.12,0.00,0.000,4,0.000,0.056,2662,2908,1875,0,0,0,0,0,0
$GC,9516,0.73,146.0,262.8,9.4,697,9526,0.10,1.15,0.00,0.000,6,0.148,0.037,2636,2198,1875,0,0,0,0,0,0
$GC,9846,0.78,188.7,236.6,7.4,736,9888,0.00,1.12,34.72,1.056,4,0.000,0.050,2640,1494,1714,0,0,0,0,0,0
$GC,10015,0.78,188.7,222.1,9.2,761,10024,0.00,1.17,0.00,0.000,6,0.000,0.047,2639,2203,1711,0,0,0,0,0,0
$GC,10355,0.79,198.6,192.0,8.8,812,10371,0.00,1.17,9.12,0.949,4,0.000,0.056,2639,2905,1675,0,0,0,0,0,0
$GC,10584,0.80,207.6,171.5,8.8,846,10598,0.00,1.15,9.23,0.951,6,0.000,0.037,2644,2201,1638,0,0,0,0,0,0
$GC,10931,0.82,224.6,141.1,8.4,898,10951,0.00,1.15,15.45,0.986,4,0.000,0.050,2649,1489,1569,0,0,0,0,0,0
$GC,11130,0.84,237.9,123.6,8.6,928,11147,0.00,1.17,12.77,0.965,6,0.000,0.046,2650,2200,1513,0,0,0,0,0,0
$GC,11479,0.86,257.9,94.5,8.3,980,11501,0.00,1.20,18.05,0.971,4,0.000,0.057,2649,2910,1433,0,0,0,0,0,0
$GC,11661,0.86,257.9,77.7,9.6,1007,11667,0.00,1.17,0.00,0.000,6,0.000,0.038,2654,2199,1430,0,0,0,0,0,0
$GC,11999,0.88,275.3,45.5,8.4,1058,12020,0.00,1.15,15.32,0.942,4,0.000,0.051,2659,1490,1361,0,0,0,0,0,0
$GC,12073,0.88,275.3,39.0,9.2,1069,12082,0.00,1.20,0.00,0.000,6,0.000,0.046,2659,2210,1360,0,0,0,0,0,0
$GC,12412,0.91,299.7,14.2,8.1,1120,12429,0.10,1.17,12.27,0.115,4,0.101,0.057,2702,2913,1262,0,0,0,0,0,0
$FREEZE,8.73,-0.905,-1.678,2,1,0
$FREEZE,7.94,-0.909,-1.678,2,1,0
$FREEZE,7.33,-0.898,-1.677,2,1,0
$FREEZE,6.67,-0.895,-1.676,2,1,0
$FREEZE,5.91,-0.904,-1.676,2,1,0
$FREEZE,5.28,-0.908,-1.676,2,1,0
$FREEZE,4.49,-0.909,-1.675,2,1,0
$FREEZE,3.84,-0.906,-1.675,2,1,0
$FREEZE,3.11,-0.898,-1.674,2,1,0
$FREEZE,2.40,-0.896,-1.673,2,1,0
$FREEZE,1.77,-0.896,-1.673,2,1,0
$STATE,12535,end climb,SURFACE_DEPTH_REACHED
$STATE,12535,begin surface coast
$FREEZE,1.71,-0.881,-1.672,2,1,0
$FREEZE,1.73,-0.894,-1.673,2,1,0
$FREEZE,1.80,-0.896,-1.673,2,1,0
$FINISH,1.8,1.024580
$STATE,12555,end surface coast,CONTROL_FINISHED_OK
$STATE,12555,begin surface
$SM_CCo,12572,94.32,0.088,0,0,442,501.15
$SM_GC,2.74,7.03,0.68,94.32,0.049,0.041,0.088,105,2501,442,-7.08,1.05,501.15,0,0,0,0,0,0
$RAFOS_CLK,825
$RAFOS,6,1321865347,8.833333,8.818611,138,62,58,0,0,0,763,163,196,0,0,0
$RAFOS,5,1321864862,8.700000,8.683888,81,62,62,0,0,0,896,214,171,0,0,0
$RAFOS,4,1321864385,8.566667,8.551389,91,64,60,0,0,0,661,200,126,0,0,0
$RAFOS,3,1321863903,8.433333,8.417500,112,64,61,0,0,0,760,226,177,0,0,0
$RAFOS,2,1321863424,8.300000,8.284445,99,64,55,0,0,0,642,217,182,0,0,0
$RAFOS,1,1321862945,8.166667,8.151389,139,67,60,0,0,0,529,162,198,0,0,0
$RAFOS,0,1321862469,8.033334,8.019167,153,62,61,0,0,0,634,206,220,0,0,0
$RAFOS_FIX,6645.584961,-5955.136719,211111,080825,7,116,0.22
$IRIDIUM_FIX,6614.97,-5959.11,211111,050517
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,30
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,602.3,132.7
$24V_AH,22.6,34.752
$10V_AH,10.0,26.296
$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,17.550,57.325,379.850,94.325,0.000,0.000,0.000,302.775,10.000,0.000,17.331,3147.253,6843.140,668.078,2266.709,239.690,0.000,2017.153,0.000,1951.906,2520.000,21.060,0.000
$DEVICE_MAMPS,257.805,97.155,1331.865,87.975,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.191,634.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,43413,1141
$CAP_FILE_SIZE,135460,0
$CFSIZE,260165632,228900864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.3
$CURRENT,0.201, 43.8,1
$GPS,211111,090204,6647.817,-5959.453,48,1.3,52,-33.9