version: 66.09
glider: 143
mission: 13
dive: 282
start: 11 22 111 9 36 47
data:
$ID,143
$MISSION,13
$DIVE,282
$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,-81969.484
$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,25
$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
$GPS1,221111,082649,6646.218,-5959.535,0,7123.9,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-35.7
$GPS2,221111,082649,6646.218,-5959.535,181,99.0,181,-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,283.0,32785,-16.9,-9.167
$D_GRID,665
$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,-118.35,0.000,2,0.000,0.000,117,2514,2171,0,0,0,0,0,0
$GC,140,-0.73,-146.0,3.6,-3.1,17,184,8.65,1.17,-29.95,0.000,4,0.257,0.096,2159,3214,3083,0,0,0,0,0,0
$GC,429,-0.73,-146.0,56.3,-15.7,60,438,0.00,1.10,0.00,0.000,6,0.000,0.034,2158,2512,3086,0,0,0,0,0,0
$GC,769,-0.73,-146.0,112.5,-15.5,111,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2512,3086,0,0,0,0,0,0
$GC,1105,-0.73,-146.0,164.0,-14.5,162,1111,0.00,1.17,0.00,0.000,4,0.000,0.067,2154,3209,3086,0,0,0,0,0,0
$GC,1299,-0.73,-146.0,191.4,-13.1,191,1306,0.00,1.10,0.00,0.000,6,0.000,0.035,2154,2503,3086,0,0,0,0,0,0
$GC,1635,-0.73,-146.0,235.5,-12.7,242,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2503,3086,0,0,0,0,0,0
$GC,1970,-0.73,-146.0,277.3,-12.3,277,1973,0.00,1.20,0.00,0.000,4,0.000,0.066,2150,3214,3086,0,0,0,0,0,0
$GC,2093,-0.73,-146.0,292.5,-12.8,286,2101,0.00,1.12,0.00,0.000,6,0.000,0.034,2150,2503,3085,0,0,0,0,0,0
$GC,2418,-0.73,-146.0,332.9,-12.0,312,2422,0.00,1.20,0.00,0.000,4,0.000,0.066,2146,3216,3086,0,0,0,0,0,0
$GC,2498,-0.73,-146.0,342.5,-11.9,318,2501,0.00,1.10,0.00,0.000,6,0.000,0.034,2145,2506,3085,0,0,0,0,0,0
$GC,2828,-0.73,-146.0,382.4,-11.9,344,2832,0.00,1.17,0.00,0.000,4,0.000,0.064,2141,3210,3085,0,0,0,0,0,0
$GC,2872,-0.73,-146.0,387.4,-12.1,347,2880,0.00,1.10,0.00,0.000,6,0.000,0.032,2141,2506,3085,0,0,0,0,0,0
$GC,3199,-0.73,-146.0,426.4,-11.6,373,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2506,3086,0,0,0,0,0,0
$GC,3511,-0.73,-146.0,463.5,-11.9,398,3515,0.00,1.17,0.00,0.000,4,0.000,0.063,2137,3210,3086,0,0,0,0,0,0
$GC,3621,-0.73,-146.0,476.9,-12.7,406,3630,0.12,1.10,0.00,0.000,6,0.165,0.031,2166,2499,3086,0,0,0,0,0,0
$GC,3967,-0.73,-146.0,514.0,-10.4,428,3971,0.00,1.17,0.00,0.000,4,0.000,0.063,2164,3209,3087,0,0,0,0,0,0
$GC,4051,-0.73,-146.0,521.0,-10.5,430,4056,0.00,1.08,0.00,0.000,6,0.000,0.028,2163,2508,3087,0,0,0,0,0,0
$GC,4373,-0.73,-146.0,556.1,-10.6,441,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2508,3086,0,0,0,0,0,0
$GC,4678,-0.73,-146.0,587.0,-10.0,451,4681,0.00,1.17,0.00,0.000,4,0.000,0.063,2159,3213,3087,0,0,0,0,0,0
$GC,4777,-0.73,-146.0,597.0,-10.1,454,4781,0.00,1.08,0.00,0.000,6,0.000,0.028,2159,2500,3087,0,0,0,0,0,0
$GC,5118,-0.73,-146.0,630.6,-10.2,465,5122,0.00,1.17,0.00,0.000,4,0.000,0.062,2155,3209,3088,0,0,0,0,0,0
$GC,5208,-0.73,-146.0,637.5,-10.2,467,5216,0.00,1.08,0.00,0.000,6,0.000,0.028,2155,2510,3088,0,0,0,0,0,0
$STATE,5459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5459,begin apogee
$GC,5465,-0.16,0.0,665.3,-10.4,476,5594,0.57,0.00,122.18,1.324,6,0.126,0.000,2341,2186,2484,0,0,0,0,0,0
$STATE,5595,end apogee,CONTROL_FINISHED_OK
$STATE,5595,begin climb
$GC,5597,0.73,146.0,670.4,0.0,480,5737,0.85,1.17,130.52,1.262,4,0.066,0.047,2635,1509,1888,0,0,0,0,0,0
$GC,5928,0.73,146.0,647.5,10.4,490,5932,0.00,1.20,0.00,0.000,6,0.000,0.043,2635,2205,1881,0,0,0,0,0,0
$GC,6248,0.73,146.0,611.6,11.2,501,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2205,1878,0,0,0,0,0,0
$GC,6554,0.73,146.0,577.6,11.2,511,6558,0.00,1.15,0.00,0.000,4,0.000,0.046,2639,1502,1877,0,0,0,0,0,0
$GC,6698,0.73,146.0,563.7,10.4,515,6703,0.00,1.17,0.00,0.000,6,0.000,0.044,2640,2204,1876,0,0,0,0,0,0
$GC,7026,0.73,146.0,526.8,11.1,526,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2204,1876,0,0,0,0,0,0
$GC,7333,0.73,146.0,492.3,11.5,539,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2204,1875,0,0,0,0,0,0
$GC,7651,0.73,146.0,457.4,10.8,564,7654,0.00,1.12,0.00,0.000,4,0.000,0.047,2644,1508,1875,0,0,0,0,0,0
$GC,7743,0.73,146.0,446.9,11.1,571,7747,0.00,1.12,0.00,0.000,6,0.000,0.047,2644,2196,1875,0,0,0,0,0,0
$GC,8075,0.73,146.0,409.5,11.2,597,8079,0.00,1.12,0.00,0.000,4,0.000,0.054,2644,2898,1875,0,0,0,0,0,0
$GC,8154,0.73,146.0,400.1,11.2,603,8158,0.00,1.10,0.00,0.000,6,0.000,0.035,2648,2211,1875,0,0,0,0,0,0
$GC,8485,0.73,146.0,365.4,10.5,629,8488,0.00,1.10,0.00,0.000,4,0.000,0.050,2654,1494,1875,0,0,0,0,0,0
$GC,8701,0.73,146.0,343.6,10.1,645,8711,0.00,1.17,0.00,0.000,6,0.000,0.045,2654,2207,1875,0,0,0,0,0,0
$GC,9027,0.73,146.0,308.4,10.7,671,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2207,1875,0,0,0,0,0,0
$GC,9339,0.73,146.0,276.6,10.1,696,9343,0.00,1.15,0.00,0.000,4,0.000,0.047,2658,1492,1875,0,0,0,0,0,0
$GC,9474,0.73,146.0,263.3,9.4,706,9477,0.00,1.15,0.00,0.000,6,0.000,0.046,2658,2202,1875,0,0,0,0,0,0
$GC,9804,0.73,146.0,233.5,9.2,745,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2202,1875,0,0,0,0,0,0
$GC,10143,0.75,162.4,203.5,8.5,796,10159,0.00,0.00,12.85,0.996,6,0.000,0.000,2658,2202,1822,0,0,0,0,0,0
$GC,10489,0.79,198.0,176.5,7.7,848,10531,0.00,1.17,31.50,1.024,4,0.000,0.048,2662,1498,1676,0,0,0,0,0,0
$GC,10717,0.79,198.0,155.9,9.3,882,10724,0.00,1.17,0.00,0.000,6,0.000,0.047,2662,2205,1673,0,0,0,0,0,0
$GC,11056,0.81,216.6,125.7,8.4,933,11078,0.00,0.00,16.10,0.975,6,0.000,0.000,2663,2204,1601,0,0,0,0,0,0
$GC,11412,0.82,223.7,93.7,8.9,986,11424,0.00,0.00,6.85,0.875,6,0.000,0.000,2662,2204,1574,0,0,0,0,0,0
$GC,11758,0.85,245.7,64.3,8.2,1038,11786,0.00,1.20,20.08,0.961,4,0.000,0.048,2667,1497,1482,0,0,0,0,0,0
$GC,11867,0.85,250.6,54.7,9.0,1054,11880,0.00,1.17,5.70,0.813,6,0.000,0.047,2667,2202,1462,0,0,0,0,0,0
$GC,12213,0.89,283.7,26.4,7.8,1106,12240,0.00,0.00,22.20,0.923,6,0.000,0.000,2667,2201,1327,0,0,0,0,0,0
$FREEZE,8.36,-0.716,-1.682,2,5,0
$FREEZE,7.83,-0.751,-1.684,2,5,0
$FREEZE,7.14,-0.735,-1.682,2,5,0
$FREEZE,6.54,-0.938,-1.694,2,5,0
$FREEZE,6.01,-0.741,-1.682,2,5,0
$FREEZE,5.50,-0.704,-1.679,2,5,0
$FREEZE,5.01,-0.715,-1.680,2,5,0
$FREEZE,4.45,-0.697,-1.678,2,5,0
$FREEZE,3.85,-0.708,-1.678,2,5,0
$FREEZE,3.32,-0.714,-1.678,2,5,0
$FREEZE,2.74,-0.714,-1.678,2,5,0
$FREEZE,2.15,-0.708,-1.677,2,5,0
$FREEZE,2.14,-0.634,-1.673,2,5,0
$FREEZE,2.15,-0.704,-1.677,2,5,0
$FREEZE,2.23,-0.718,-1.678,2,5,0
$FREEZE,2.05,-0.716,-1.677,2,5,0
$FREEZE,2.03,-0.705,-1.677,2,5,0
$FREEZE,2.01,-0.698,-1.676,2,5,0
$FREEZE,2.08,-0.708,-1.677,2,5,0
$FREEZE,2.09,-0.672,-1.675,2,5,0
$FREEZE,2.06,-0.666,-1.674,2,5,0
$FREEZE,2.04,-0.712,-1.677,2,5,0
$FREEZE,2.02,-0.722,-1.677,2,5,0
$FREEZE,1.94,-0.729,-1.678,2,5,0
$GC,12569,1.15,495.2,2.0,0.3,1160,12579,0.28,0.00,7.25,0.087,2,0.059,0.000,2786,2203,1260,0,0,0,0,0,0
$STATE,12580,end climb,SURFACE_DEPTH_REACHED
$STATE,12580,begin surface coast
$FREEZE,2.09,-0.695,-1.676,2,5,0
$FREEZE,2.06,-0.711,-1.677,2,5,0
$FREEZE,2.01,-0.697,-1.676,2,5,0
$FREEZE,2.04,-0.724,-1.678,2,5,0
$FREEZE,2.08,-0.685,-1.675,2,5,0
$FREEZE,2.05,-0.662,-1.674,2,5,0
$FREEZE,2.08,-0.680,-1.675,2,5,0
$FREEZE,2.03,-0.693,-1.676,2,5,0
$FREEZE,2.12,-0.689,-1.675,2,5,0
$FREEZE,2.08,-3.493,-1.849,2,5,0
$FINISH,2.1,1.027142
$STATE,12647,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12647,begin surface
$SM_CCo,12664,94.47,0.087,0,0,441,501.15
$SM_GC,2.59,7.32,0.52,94.47,0.053,0.061,0.087,117,2512,441,-7.06,-0.82,501.15,0,0,0,0,0,0
$RAFOS_CLK,916
$RAFOS,6,1321966142,12.833333,12.817223,99,56,54,0,0,0,789,209,153,0,0,0
$RAFOS,5,1321965668,12.700000,12.685555,104,77,59,0,0,0,881,217,207,0,0,0
$RAFOS,4,1321965183,12.566667,12.550834,136,62,61,0,0,0,694,217,193,0,0,0
$RAFOS,3,1321964701,12.433333,12.416945,107,64,63,0,0,0,795,214,152,0,0,0
$RAFOS,2,1321964230,12.300000,12.286111,154,67,63,0,0,0,624,195,172,0,0,0
$RAFOS,1,1321963742,12.166667,12.150556,195,63,61,0,0,0,550,197,217,0,0,0
$RAFOS,0,1321963261,12.033333,12.016945,99,56,55,0,0,0,666,199,133,0,0,0
$RAFOS_FIX,6647.645020,-6000.118652,221111,121216,7,128,0.19
$IRIDIUM_FIX,6604.29,-5951.22,211111,232331
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.02
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.30
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,17.6
$ALTIM_BOTTOM_PING,652.7,36.0
$24V_AH,22.6,35.719
$10V_AH,10.1,26.916
$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,17.800,39.950,375.225,94.475,0.000,0.000,0.000,123.525,4.000,0.000,181.000,3216.738,6975.658,624.470,2270.367,301.589,0.000,1776.328,0.000,1948.858,2520.000,22.444,0.000
$DEVICE_MAMPS,257.040,96.390,1324.215,87.210,0.000,0.000,0.000,197.750,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.714,659.174,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150176
$DATA_FILE_SIZE,46670,1171
$CAP_FILE_SIZE,126850,0
$CFSIZE,260165632,228384768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$CURRENT,0.492, 46.4,1
$GPS,221111,122716,6647.645,-6000.119,0,7127.7,0,-33.9