version: 66.09
glider: 143
mission: 13
dive: 275
start: 11 21 111 9 8 16
data:
$ID,143
$MISSION,13
$DIVE,275
$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,-81050.227
$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,41
$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
$GPS1,211111,090204,6647.817,-5959.453,48,1.3,52,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-75.8
$GPS2,211111,090743,6647.828,-5959.580,16,1.3,16,-33.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6043.000
$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,263.6,33589,-16.9,-9.167
$D_GRID,684
$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,-146.0,0.0,0.0,0,132,0.00,0.00,-113.65,0.000,2,0.000,0.000,105,2500,2058,0,0,0,0,0,0
$GC,135,-0.73,-146.0,3.1,-1.1,17,190,8.80,1.12,-38.17,0.000,4,0.258,0.080,2160,1812,3082,0,0,0,0,0,0
$GC,444,-0.73,-146.0,55.7,-15.8,63,451,0.00,1.20,0.00,0.000,6,0.000,0.057,2157,2502,3085,0,0,0,0,0,0
$GC,782,-0.73,-146.0,109.1,-16.0,114,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2502,3085,0,0,0,0,0,0
$GC,1120,-0.73,-146.0,158.6,-14.2,165,1127,0.00,1.15,0.00,0.000,4,0.000,0.070,2152,3214,3085,0,0,0,0,0,0
$GC,1181,-0.73,-146.0,167.3,-14.6,174,1191,0.00,1.10,0.00,0.000,6,0.000,0.035,2152,2513,3085,0,0,0,0,0,0
$GC,1521,-0.73,-146.0,215.7,-14.0,225,1527,0.00,1.17,0.00,0.000,4,0.000,0.066,2147,3212,3085,0,0,0,0,0,0
$GC,1608,-0.73,-146.0,227.7,-13.2,238,1616,0.00,1.10,0.00,0.000,6,0.000,0.036,2147,2509,3085,0,0,0,0,0,0
$GC,1938,-0.73,-146.0,271.3,-12.6,276,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3085,0,0,0,0,0,0
$GC,2255,-0.73,-146.0,311.6,-13.1,301,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2510,3085,0,0,0,0,0,0
$GC,2572,-0.73,-146.0,351.3,-12.7,326,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3085,0,0,0,0,0,0
$GC,2888,-0.73,-146.0,389.9,-11.9,351,2892,0.00,1.20,0.00,0.000,4,0.000,0.065,2143,3223,3085,0,0,0,0,0,0
$GC,3020,-0.73,-146.0,406.2,-12.0,361,3024,0.00,1.12,0.00,0.000,6,0.000,0.034,2143,2499,3085,0,0,0,0,0,0
$GC,3352,-0.73,-146.0,446.5,-12.1,387,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2499,3085,0,0,0,0,0,0
$GC,3664,-0.73,-146.0,484.2,-12.1,412,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2498,3084,0,0,0,0,0,0
$GC,3987,-0.73,-146.0,523.6,-12.2,429,3991,0.00,1.20,0.00,0.000,4,0.000,0.063,2138,3218,3085,0,0,0,0,0,0
$GC,4098,-0.73,-146.0,535.5,-12.0,432,4103,0.00,1.12,0.00,0.000,6,0.000,0.032,2138,2500,3085,0,0,0,0,0,0
$GC,4427,-0.73,-146.0,575.0,-11.7,443,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2500,3085,0,0,0,0,0,0
$GC,4732,-0.73,-146.0,610.5,-11.6,453,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2500,3086,0,0,0,0,0,0
$GC,5039,-0.73,-146.0,646.1,-11.4,463,5042,0.00,1.20,0.00,0.000,4,0.000,0.063,2134,3220,3086,0,0,0,0,0,0
$GC,5105,-0.73,-146.0,653.9,-11.3,465,5109,0.10,1.10,0.00,0.000,6,0.141,0.032,2165,2502,3086,0,0,0,0,0,0
$STATE,5442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5442,begin apogee
$GC,5448,-0.16,0.0,685.9,-8.9,476,5577,0.52,0.00,122.15,1.340,6,0.121,0.000,2341,2184,2484,0,0,0,0,0,0
$STATE,5578,end apogee,CONTROL_FINISHED_OK
$STATE,5578,begin climb
$GC,5580,0.73,146.0,692.0,0.0,480,5720,0.85,1.20,130.82,1.279,4,0.066,0.049,2637,1508,1888,0,0,0,0,0,0
$GC,5970,0.73,146.0,661.2,11.4,492,5976,0.00,1.23,0.00,0.000,6,0.000,0.043,2636,2210,1880,0,0,0,0,0,0
$GC,6299,0.73,146.0,623.6,11.0,503,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2210,1878,0,0,0,0,0,0
$GC,6604,0.73,146.0,591.6,10.2,513,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2210,1877,0,0,0,0,0,0
$GC,6912,0.73,146.0,558.8,10.8,523,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2210,1877,0,0,0,0,0,0
$GC,7216,0.73,146.0,526.9,10.4,533,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2210,1875,0,0,0,0,0,0
$GC,7530,0.73,146.0,492.8,11.0,545,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2210,1875,0,0,0,0,0,0
$GC,7846,0.73,146.0,458.0,11.0,570,7849,0.00,1.12,0.00,0.000,4,0.000,0.054,2637,2909,1876,0,0,0,0,0,0
$GC,8073,0.73,146.0,432.5,11.0,587,8077,0.00,1.12,0.00,0.000,6,0.000,0.035,2641,2207,1874,0,0,0,0,0,0
$GC,8403,0.73,146.0,396.6,11.1,613,8407,0.00,1.08,0.00,0.000,4,0.000,0.049,2647,1499,1874,0,0,0,0,0,0
$GC,8485,0.73,146.0,387.6,11.0,619,8489,0.00,1.15,0.00,0.000,6,0.000,0.044,2647,2209,1874,0,0,0,0,0,0
$GC,8816,0.73,146.0,352.3,11.3,645,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2209,1874,0,0,0,0,0,0
$GC,9131,0.73,146.0,318.9,10.4,670,9135,0.00,1.12,0.00,0.000,4,0.000,0.055,2647,2910,1874,0,0,0,0,0,0
$GC,9202,0.73,146.0,312.1,10.0,675,9210,0.00,1.15,0.00,0.000,6,0.000,0.035,2651,2200,1874,0,0,0,0,0,0
$GC,9527,0.73,146.0,279.4,10.0,701,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,1874,0,0,0,0,0,0
$GC,9843,0.73,146.0,248.1,9.5,727,9850,0.00,1.17,0.00,0.000,4,0.000,0.052,2651,2898,1874,0,0,0,0,0,0
$GC,10100,0.77,180.4,226.8,7.7,766,10137,0.00,1.12,27.85,1.051,6,0.000,0.036,2656,2195,1748,0,0,0,0,0,0
$GC,10469,0.77,180.4,194.1,9.9,821,10476,0.00,1.20,0.00,0.000,4,0.000,0.050,2656,2908,1744,0,0,0,0,0,0
$GC,10529,0.77,180.4,187.9,10.3,830,10538,0.00,1.15,0.00,0.000,6,0.000,0.036,2660,2199,1744,0,0,0,0,0,0
$GC,10868,0.78,188.2,156.9,8.8,881,10884,0.00,1.23,7.55,0.923,4,0.000,0.051,2660,2903,1717,0,0,0,0,0,0
$GC,10966,0.78,188.2,148.0,9.5,895,10972,0.00,1.15,0.00,0.000,6,0.000,0.037,2664,2198,1716,0,0,0,0,0,0
$GC,11304,0.80,209.0,118.3,8.3,946,11326,0.00,0.00,18.88,0.995,6,0.000,0.000,2664,2197,1632,0,0,0,0,0,0
$GC,11659,0.82,225.3,86.5,8.5,999,11679,0.00,1.12,14.62,0.962,4,0.000,0.050,2669,1493,1565,0,0,0,0,0,0
$GC,11883,0.82,225.3,65.7,9.3,1033,11890,0.00,1.17,0.00,0.000,6,0.000,0.045,2670,2206,1563,0,0,0,0,0,0
$GC,12221,0.86,256.9,38.2,7.8,1084,12254,0.00,0.00,27.73,0.960,6,0.000,0.000,2670,2206,1435,0,0,0,0,0,0
$FREEZE,8.70,-1.025,-1.683,2,1,0
$FREEZE,8.19,-1.023,-1.683,2,1,0
$GC,12587,0.91,293.4,9.4,7.6,1139,12609,0.00,1.17,17.90,0.100,4,0.000,0.054,2670,2911,1288,0,0,0,0,0,0
$FREEZE,7.11,-1.021,-1.682,2,1,0
$FREEZE,6.67,-1.015,-1.681,2,1,0
$FREEZE,6.08,-1.022,-1.681,2,1,0
$FREEZE,5.47,-0.997,-1.679,2,1,0
$FREEZE,4.84,-0.936,-1.675,2,1,0
$FREEZE,4.47,-1.025,-1.680,2,1,0
$FREEZE,3.98,-0.980,-1.677,2,1,0
$FREEZE,3.23,-0.914,-1.673,2,1,0
$FREEZE,2.67,-1.030,-1.679,2,1,0
$GC,12664,0.94,317.9,3.2,8.1,1150,12682,0.00,1.15,11.62,0.087,6,0.000,0.034,2674,2200,1187,0,0,0,0,0,0
$FREEZE,1.44,-1.035,-0.854,2,1,0
$STATE,12687,end climb,FINISH_DEPTH_REACHED
$STATE,12688,begin subsurface finish
$FINISH1,1.4,1.012590,0
$GC,12694,0.00,0.0,1.4,7.8,1153,12810,0.77,0.00,-105.47,0.000,6,0.068,0.000,2395,2200,2485,0,0,0,0,0,0
$FINISH2,3.6
$STATE,12811,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12811,begin surface
$RAFOS_CLK,844
$RAFOS,4,1321878781,12.566667,12.550278,107,67,65,0,0,0,685,195,210,0,0,0
$RAFOS,3,1321878304,12.433333,12.417778,88,65,57,0,0,0,756,210,111,0,0,0
$RAFOS,2,1321877827,12.300000,12.285277,160,60,59,0,0,0,619,166,189,0,0,0
$RAFOS,1,1321877342,12.166667,12.150556,144,64,58,0,0,0,532,197,207,0,0,0
$RAFOS,0,1321876862,12.033333,12.017222,171,59,53,0,0,0,665,147,164,0,0,0
$RAFOS_FIX,6645.158203,-5957.054688,211111,121220,4,132,0.45
$IRIDIUM_FIX,6614.97,-5959.11,211111,050520
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.41
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,603.2,118.9
$24V_AH,22.6,34.873
$10V_AH,10.1,26.382
$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,11.050,35.100,379.125,0.000,0.000,0.000,0.000,226.950,7.250,0.000,17.907,3130.963,7106.730,604.960,2113.609,204.213,0.000,1832.518,0.000,1871.006,2160.000,17.969,0.000
$DEVICE_MAMPS,257.805,79.560,1340.280,0.000,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.610,654.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150164
$DATA_FILE_SIZE,43376,1171
$CAP_FILE_SIZE,120702,0
$CFSIZE,260165632,228847616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$CURRENT,0.467,113.7,1
$GPS,211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9