version: 66.09
glider: 143
mission: 13
dive: 278
start: 11 21 111 20 2 59
data:
$ID,143
$MISSION,13
$DIVE,278
$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,-81052.844
$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,27
$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
$GPS1,211111,195705,6646.547,-6002.411,23,0.9,23,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-61.8
$GPS2,211111,200226,6646.469,-6002.417,16,1.5,16,-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,289.0,30860,-16.9,-9.167
$D_GRID,638
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-138.50,0.000,2,0.000,0.000,115,2515,2354,0,0,0,0,0,0
$GC,161,-0.73,-146.0,3.1,0.0,20,205,8.75,1.17,-23.75,0.000,4,0.256,0.098,2157,3214,3084,0,0,0,0,0,0
$GC,456,-0.73,-146.0,62.0,-16.9,64,463,0.00,1.12,0.00,0.000,6,0.000,0.035,2157,2501,3086,0,0,0,0,0,0
$GC,795,-0.73,-146.0,116.5,-15.5,115,801,0.00,1.20,0.00,0.000,4,0.000,0.064,2152,3211,3086,0,0,0,0,0,0
$GC,993,-0.73,-146.0,147.6,-15.2,145,1002,0.00,1.10,0.00,0.000,6,0.000,0.034,2152,2507,3086,0,0,0,0,0,0
$GC,1332,-0.73,-146.0,199.5,-14.8,196,1339,0.00,1.17,0.00,0.000,4,0.000,0.066,2148,3206,3086,0,0,0,0,0,0
$GC,1411,-0.73,-146.0,211.5,-15.0,208,1418,0.00,1.08,0.00,0.000,6,0.000,0.034,2147,2515,3086,0,0,0,0,0,0
$GC,1746,-0.73,-146.0,257.3,-13.6,255,1749,0.00,1.17,0.00,0.000,4,0.000,0.064,2143,3214,3086,0,0,0,0,0,0
$GC,1892,-0.73,-146.0,276.2,-12.3,266,1895,0.00,1.10,0.00,0.000,6,0.000,0.034,2143,2506,3086,0,0,0,0,0,0
$GC,2220,-0.73,-146.0,316.0,-12.1,292,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2506,3086,0,0,0,0,0,0
$GC,2536,-0.73,-146.0,353.0,-11.9,317,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2506,3086,0,0,0,0,0,0
$GC,2854,-0.73,-146.0,389.3,-11.4,342,2858,0.00,1.17,0.00,0.000,4,0.000,0.064,2139,3207,3086,0,0,0,0,0,0
$GC,2920,-0.73,-146.0,397.6,-12.3,347,2924,0.00,1.08,0.00,0.000,6,0.000,0.034,2139,2510,3086,0,0,0,0,0,0
$GC,3249,-0.73,-146.0,436.0,-11.5,373,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2510,3086,0,0,0,0,0,0
$GC,3566,-0.73,-146.0,471.8,-11.4,398,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2511,3086,0,0,0,0,0,0
$GC,3878,-0.73,-146.0,507.2,-11.3,420,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2511,3087,0,0,0,0,0,0
$GC,4186,-0.73,-146.0,541.6,-11.4,430,4189,0.00,1.17,0.00,0.000,4,0.000,0.062,2134,3216,3087,0,0,0,0,0,0
$GC,4223,-0.73,-146.0,545.7,-11.4,431,4229,0.12,1.10,0.00,0.000,6,0.161,0.028,2165,2497,3087,0,0,0,0,0,0
$GC,4559,-0.73,-146.0,579.1,-9.8,442,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2497,3088,0,0,0,0,0,0
$GC,4863,-0.73,-146.0,608.9,-9.4,452,4867,0.00,1.17,0.00,0.000,4,0.000,0.063,2163,3205,3088,0,0,0,0,0,0
$GC,4907,-0.73,-146.0,611.9,-9.3,453,4912,0.00,1.08,0.00,0.000,6,0.000,0.028,2162,2509,3088,0,0,0,0,0,0
$STATE,5173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5173,begin apogee
$GC,5179,-0.16,0.0,638.4,-9.6,462,5306,0.55,0.00,121.22,1.312,6,0.127,0.000,2342,2190,2485,0,0,0,0,0,0
$STATE,5306,end apogee,CONTROL_FINISHED_OK
$STATE,5307,begin climb
$GC,5309,0.73,146.0,642.7,0.0,466,5447,0.85,1.20,129.52,1.250,4,0.067,0.047,2636,1512,1889,0,0,0,0,0,0
$GC,5652,0.73,146.0,616.2,11.6,477,5655,0.00,1.20,0.00,0.000,6,0.000,0.044,2636,2206,1881,0,0,0,0,0,0
$GC,5991,0.73,146.0,578.9,10.7,488,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,1878,0,0,0,0,0,0
$GC,6299,0.73,146.0,543.1,11.9,498,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,1877,0,0,0,0,0,0
$GC,6604,0.73,146.0,507.1,11.5,508,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,1877,0,0,0,0,0,0
$GC,6923,0.73,146.0,470.7,11.5,529,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,1877,0,0,0,0,0,0
$GC,7239,0.73,146.0,435.8,11.0,554,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2206,1875,0,0,0,0,0,0
$GC,7554,0.73,146.0,402.2,11.1,579,7558,0.00,1.12,0.00,0.000,4,0.000,0.056,2636,2905,1875,0,0,0,0,0,0
$GC,7638,0.73,146.0,393.1,11.4,585,7648,0.00,1.15,0.00,0.000,6,0.000,0.035,2641,2201,1875,0,0,0,0,0,0
$GC,7963,0.73,146.0,356.1,10.7,611,7967,0.00,1.08,0.00,0.000,4,0.000,0.050,2645,1496,1875,0,0,0,0,0,0
$GC,8074,0.73,146.0,344.9,10.6,619,8082,0.00,1.17,0.00,0.000,6,0.000,0.044,2646,2210,1875,0,0,0,0,0,0
$GC,8399,0.73,146.0,311.7,9.3,645,8402,0.00,1.10,0.00,0.000,4,0.000,0.054,2646,2898,1875,0,0,0,0,0,0
$GC,8509,0.73,146.0,300.6,10.5,653,8520,0.00,1.15,0.00,0.000,6,0.000,0.034,2650,2192,1875,0,0,0,0,0,0
$GC,8835,0.73,152.7,270.2,8.9,679,8841,0.00,0.00,4.53,0.816,6,0.000,0.000,2650,2191,1862,0,0,0,0,0,0
$GC,9161,0.77,179.1,242.2,8.1,711,9189,0.00,1.10,24.17,1.053,4,0.000,0.049,2655,1498,1754,0,0,0,0,0,0
$GC,9355,0.77,179.1,222.5,10.8,740,9362,0.00,1.15,0.00,0.000,6,0.000,0.044,2655,2198,1752,0,0,0,0,0,0
$GC,9694,0.77,179.1,187.0,10.3,791,9701,0.00,1.12,0.00,0.000,4,0.000,0.054,2655,2902,1751,0,0,0,0,0,0
$GC,9888,0.77,179.1,166.6,10.2,820,9894,0.00,1.12,0.00,0.000,6,0.000,0.036,2660,2205,1750,0,0,0,0,0,0
$GC,10225,0.80,210.9,137.0,7.8,871,10258,0.00,0.00,27.20,1.005,6,0.000,0.000,2660,2205,1626,0,0,0,0,0,0
$GC,10590,0.80,210.9,102.4,9.8,926,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2205,1621,0,0,0,0,0,0
$GC,10927,0.83,229.6,70.8,8.4,977,10949,0.00,1.23,16.75,0.960,4,0.000,0.050,2660,2902,1547,0,0,0,0,0,0
$GC,11072,0.86,251.7,59.3,8.2,998,11100,0.00,1.15,19.75,0.952,6,0.000,0.036,2664,2199,1457,0,0,0,0,0,0
$GC,11431,0.88,274.6,30.0,8.2,1052,11452,0.00,0.00,18.85,0.933,6,0.000,0.000,2664,2199,1364,0,0,0,0,0,0
$FREEZE,8.82,-0.861,-1.682,2,1,0
$FREEZE,8.24,-0.732,-1.674,2,1,0
$FREEZE,7.80,-0.820,-1.678,2,1,0
$FREEZE,7.19,-0.860,-1.680,2,1,0
$FREEZE,6.61,-0.859,-1.679,2,1,0
$FREEZE,6.25,-0.862,-1.679,2,1,0
$FREEZE,5.59,-0.854,-1.678,2,1,0
$FREEZE,5.07,-0.856,-1.678,2,1,0
$FREEZE,4.59,-0.853,-1.677,2,1,0
$FREEZE,4.06,-1.147,-1.694,2,1,0
$FREEZE,3.46,-1.134,-1.692,2,1,0
$FREEZE,2.81,-1.126,-1.691,2,1,0
$FREEZE,2.22,-1.126,-1.691,2,1,0
$FREEZE,1.91,-0.850,-1.675,2,1,0
$STATE,11775,end climb,SURFACE_DEPTH_REACHED
$STATE,11776,begin surface coast
$FREEZE,2.12,-0.844,-1.674,2,1,0
$FREEZE,1.97,-0.844,-1.674,2,1,0
$FREEZE,1.94,-0.839,-1.674,2,1,0
$FREEZE,1.88,-0.842,-1.674,2,1,0
$FINISH,1.9,1.024599
$STATE,11803,end surface coast,CONTROL_FINISHED_OK
$STATE,11803,begin surface
$SM_CCo,11806,106.60,0.086,0,0,442,501.15
$SM_GC,2.50,7.80,0.60,0.00,0.109,0.061,0.000,131,2504,434,-7.06,-0.85,503.11,0,0,0,0,0,0
$RAFOS_CLK,787
$RAFOS,6,1321908552,20.833334,20.820000,128,57,56,0,0,0,743,132,183,0,0,0
$RAFOS,5,1321908073,20.700001,20.686945,82,67,65,0,0,0,852,209,221,0,0,0
$RAFOS,4,1321907588,20.566668,20.552221,107,62,57,0,0,0,659,208,178,0,0,0
$RAFOS,3,1321907102,20.433332,20.417223,83,63,60,0,0,0,775,167,199,0,0,0
$RAFOS,2,1321906625,20.299999,20.284721,138,70,64,0,0,0,633,214,192,0,0,0
$RAFOS,1,1321906147,20.166666,20.151945,123,57,55,0,0,0,503,158,187,0,0,0
$RAFOS_FIX,6646.168945,-5955.448730,211111,202037,5,108,2.58
$IRIDIUM_FIX,6620.33,-6005.83,211111,161659
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,22.6,35.243
$10V_AH,10.2,26.617
$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,18.075,33.025,362.000,106.600,0.000,0.000,0.000,209.450,6.250,0.000,17.530,2992.771,6567.623,620.178,1980.388,201.763,0.000,1761.278,0.000,1761.355,2160.000,14.985,0.000
$DEVICE_MAMPS,256.275,97.920,1311.975,86.445,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.084,620.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150180
$DATA_FILE_SIZE,43358,1108
$CAP_FILE_SIZE,114203,0
$CFSIZE,260165632,228659200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$CURRENT,82.502,260.5,1
$GPS,211111,200226,6646.469,-6002.417,181,99.0,181,-33.9