version: 66.09
glider: 143
mission: 13
dive: 283
start: 11 22 111 13 31 6
data:
$ID,143
$MISSION,13
$DIVE,283
$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,-82154.117
$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,43
$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
$GPS1,221111,122716,6647.645,-6000.119,0,7127.7,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-66.4
$GPS2,221111,133035,6650.259,-6007.389,37,0.8,37,-34.0
$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,247.2,30241,-16.9,-9.167
$D_GRID,616
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,182,0.00,0.00,-161.18,0.000,2,0.000,0.000,116,2513,2534,0,0,0,0,0,0
$GC,186,-0.73,-146.0,3.0,-4.4,24,216,8.60,1.17,-16.60,0.000,4,0.253,0.097,2154,3214,3082,0,0,0,0,0,0
$GC,467,-0.73,-146.0,64.7,-19.1,66,476,0.00,1.10,0.00,0.000,6,0.000,0.035,2154,2512,3086,0,0,0,0,0,0
$GC,806,-0.73,-146.0,120.1,-15.8,117,813,0.00,1.17,0.00,0.000,4,0.000,0.065,2150,3210,3086,0,0,0,0,0,0
$GC,1008,-0.73,-146.0,150.2,-14.4,147,1015,0.00,1.10,0.00,0.000,6,0.000,0.035,2150,2502,3086,0,0,0,0,0,0
$GC,1347,-0.73,-146.0,200.6,-13.0,198,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2502,3086,0,0,0,0,0,0
$GC,1686,-0.73,-146.0,244.3,-12.5,249,1693,0.00,1.20,0.00,0.000,4,0.000,0.064,2145,3217,3086,0,0,0,0,0,0
$GC,1820,-0.73,-146.0,260.6,-12.4,263,1824,0.00,1.10,0.00,0.000,6,0.000,0.033,2145,2511,3086,0,0,0,0,0,0
$GC,2149,-0.73,-146.0,302.9,-12.8,289,2152,0.00,1.17,0.00,0.000,4,0.000,0.063,2141,3213,3086,0,0,0,0,0,0
$GC,2206,-0.73,-146.0,309.6,-12.7,293,2214,0.00,1.12,0.00,0.000,6,0.000,0.032,2141,2497,3085,0,0,0,0,0,0
$GC,2532,-0.73,-146.0,349.7,-11.9,319,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2497,3086,0,0,0,0,0,0
$GC,2846,-0.73,-146.0,386.9,-11.5,344,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2497,3086,0,0,0,0,0,0
$GC,3161,-0.73,-146.0,422.9,-11.6,369,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2497,3086,0,0,0,0,0,0
$GC,3477,-0.73,-146.0,460.3,-11.8,394,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2497,3086,0,0,0,0,0,0
$GC,3793,-0.73,-146.0,496.9,-11.7,419,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2497,3087,0,0,0,0,0,0
$GC,4107,-0.73,-146.0,532.9,-11.6,431,4111,0.00,1.20,0.00,0.000,4,0.000,0.063,2136,3216,3087,0,0,0,0,0,0
$GC,4178,-0.73,-146.0,540.9,-11.8,433,4183,0.12,1.12,0.00,0.000,6,0.164,0.031,2166,2496,3087,0,0,0,0,0,0
$GC,4512,-0.73,-146.0,574.1,-9.7,444,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2496,3088,0,0,0,0,0,0
$GC,4818,-0.73,-146.0,603.6,-9.4,454,4822,0.00,1.17,0.00,0.000,4,0.000,0.062,2164,3204,3088,0,0,0,0,0,0
$GC,4929,-0.73,-146.0,612.9,-9.3,457,4934,0.00,1.08,0.00,0.000,6,0.000,0.028,2164,2505,3088,0,0,0,0,0,0
$STATE,4979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4980,begin apogee
$GC,4986,-0.16,0.0,618.8,-9.4,459,5113,0.55,0.00,121.62,1.298,6,0.125,0.000,2343,2186,2485,0,0,0,0,0,0
$STATE,5114,end apogee,CONTROL_FINISHED_OK
$STATE,5114,begin climb
$GC,5116,0.73,146.0,623.9,0.0,463,5254,0.85,1.20,129.98,1.239,4,0.066,0.048,2638,1508,1889,0,0,0,0,0,0
$GC,5478,0.73,146.0,599.1,11.1,473,5486,0.00,1.23,0.00,0.000,6,0.000,0.042,2638,2210,1880,0,0,0,0,0,0
$GC,5792,0.73,146.0,561.7,11.0,484,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2210,1878,0,0,0,0,0,0
$GC,6098,0.73,146.0,527.6,11.1,494,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2210,1877,0,0,0,0,0,0
$GC,6411,0.73,146.0,493.4,10.8,506,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2210,1876,0,0,0,0,0,0
$GC,6729,0.73,146.0,459.6,10.6,531,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2210,1876,0,0,0,0,0,0
$GC,7042,0.73,146.0,425.7,10.7,556,7046,0.00,1.12,0.00,0.000,4,0.000,0.044,2642,1504,1875,0,0,0,0,0,0
$GC,7167,0.73,146.0,413.5,10.2,565,7174,0.00,1.15,0.00,0.000,6,0.000,0.043,2642,2205,1875,0,0,0,0,0,0
$GC,7492,0.73,146.0,377.9,11.5,591,7496,0.00,1.12,0.00,0.000,4,0.000,0.044,2647,1500,1874,0,0,0,0,0,0
$GC,7558,0.73,146.0,370.2,11.5,596,7562,0.00,1.12,0.00,0.000,6,0.000,0.044,2647,2199,1875,0,0,0,0,0,0
$GC,7889,0.73,146.0,334.9,10.7,622,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2199,1875,0,0,0,0,0,0
$GC,8204,0.73,146.0,303.8,9.6,647,8207,0.00,1.12,0.00,0.000,4,0.000,0.055,2647,2901,1875,0,0,0,0,0,0
$GC,8416,0.73,146.0,282.2,9.9,663,8420,0.00,1.10,0.00,0.000,6,0.000,0.036,2651,2210,1874,0,0,0,0,0,0
$GC,8747,0.73,153.4,251.8,8.9,689,8757,0.00,0.00,5.28,0.858,6,0.000,0.000,2651,2210,1859,0,0,0,0,0,0
$GC,9089,0.74,156.2,219.9,9.0,739,9097,0.00,1.20,4.03,0.748,4,0.000,0.050,2651,2907,1848,0,0,0,0,0,0
$GC,9349,0.76,171.0,196.1,8.5,778,9371,0.00,1.12,14.70,1.004,6,0.000,0.036,2655,2203,1786,0,0,0,0,0,0
$GC,9704,0.79,201.3,167.8,7.9,831,9738,0.00,1.17,26.98,1.014,4,0.000,0.047,2656,2899,1663,0,0,0,0,0,0
$GC,9846,0.79,201.3,155.0,9.3,852,9853,0.00,1.15,0.00,0.000,6,0.000,0.034,2660,2197,1660,0,0,0,0,0,0
$GC,10186,0.81,218.6,124.5,8.4,903,10206,0.00,1.12,14.80,0.974,4,0.000,0.048,2664,1492,1593,0,0,0,0,0,0
$GC,10456,0.83,234.2,100.9,8.5,944,10478,0.00,1.15,14.55,0.961,6,0.000,0.044,2665,2196,1529,0,0,0,0,0,0
$GC,10812,0.86,255.7,69.5,8.3,997,10835,0.00,1.20,19.30,0.959,4,0.000,0.046,2669,1491,1442,0,0,0,0,0,0
$GC,10862,0.88,272.0,65.1,8.5,1004,10885,0.00,1.17,15.20,0.926,6,0.000,0.044,2669,2199,1374,0,0,0,0,0,0
$GC,11216,0.92,301.6,34.0,7.9,1057,11249,0.00,1.20,25.02,0.934,4,0.000,0.056,2669,2916,1254,0,0,0,0,0,0
$GC,11343,0.92,301.6,22.5,9.8,1076,11350,0.00,1.17,0.00,0.000,6,0.000,0.035,2674,2202,1252,0,0,0,0,0,0
$FREEZE,8.51,-0.696,-1.679,2,1,0
$FREEZE,7.96,-1.219,-1.708,2,1,0
$FREEZE,7.33,-0.704,-1.678,2,1,0
$FREEZE,6.78,-0.705,-1.677,2,1,0
$FREEZE,6.27,-0.719,-1.678,2,1,0
$FREEZE,5.67,-0.691,-1.676,2,1,0
$FREEZE,5.12,-0.670,-1.674,2,1,0
$FREEZE,4.63,-0.691,-1.675,2,1,0
$FREEZE,4.16,-0.678,-1.674,2,1,0
$FREEZE,3.50,-0.679,-1.673,2,1,0
$FREEZE,2.91,-0.693,-1.674,2,1,0
$FREEZE,2.31,-0.689,-1.673,2,1,0
$FREEZE,1.96,-0.683,-1.672,2,1,0
$STATE,11577,end climb,SURFACE_DEPTH_REACHED
$STATE,11578,begin surface coast
$FREEZE,1.80,-0.676,-1.672,2,1,0
$FREEZE,1.75,-0.684,-1.672,2,1,0
$FREEZE,1.84,-0.698,-1.673,2,1,0
$FINISH,1.8,1.024581
$STATE,11602,end surface coast,CONTROL_FINISHED_OK
$STATE,11602,begin surface
$SM_CCo,11619,93.72,0.086,0,0,442,501.15
$SM_GC,2.56,7.10,0.57,93.72,0.060,0.051,0.086,120,2503,442,-7.06,-0.96,501.15,0,0,0,0,0,0
$RAFOS_CLK,756
$RAFOS,4,1321979588,16.566668,16.552221,99,67,64,0,0,0,655,125,198,0,0,0
$RAFOS,3,1321979107,16.433332,16.418612,99,61,58,0,0,0,745,204,157,0,0,0
$RAFOS,2,1321978623,16.299999,16.284166,131,65,64,0,0,0,638,228,176,0,0,0
$RAFOS,1,1321978141,16.166666,16.150278,96,59,59,0,0,0,530,219,148,0,0,0
$RAFOS,0,1321977665,16.033333,16.018055,91,59,58,0,0,0,640,199,181,0,0,0
$RAFOS_FIX,6645.707520,-6002.137695,221111,161652,4,105,0.90
$IRIDIUM_FIX,6620.33,-6005.83,221111,131308
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.63
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,54
$ALTIM_TOP_PING,19.9,17.8
$ALTIM_BOTTOM_PING,600.8,71.6
$24V_AH,22.6,35.850
$10V_AH,9.8,27.052
$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,17.225,35.625,391.450,93.725,0.000,0.000,0.000,705.100,15.750,0.000,38.281,3014.620,6301.551,640.396,2493.291,308.344,0.000,2295.506,0.000,1789.511,2160.000,19.222,0.000
$DEVICE_MAMPS,253.215,97.155,1298.205,86.445,0.000,0.000,0.000,313.096,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.564,628.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150196
$DATA_FILE_SIZE,43378,1115
$CAP_FILE_SIZE,124382,0
$CFSIZE,260165632,228323328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$CURRENT,0.812,131.4,1
$GPS,221111,162152,6645.708,-6002.138,0,4105.0,0,-34.0