version: 66.09
glider: 143
mission: 13
dive: 284
start: 11 22 111 16 59 32
data:
$ID,143
$MISSION,13
$DIVE,284
$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,-82520.141
$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,38
$R_STBD_OVSHOOT,22
$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
$GPS1,221111,162152,6645.708,-6002.138,0,4105.0,0,-34.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-49.8
$GPS2,221111,162152,6645.708,-6002.138,181,99.0,181,-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,336.1,30711,-16.9,-9.167
$D_GRID,635
$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,-146.0,0.0,0.0,0,119,0.00,0.00,-100.68,0.000,2,0.000,0.000,121,2505,1918,0,0,0,0,0,0
$GC,122,-0.73,-146.0,3.1,-1.2,15,193,8.55,1.17,-54.20,0.000,4,0.250,0.071,2158,1815,3083,0,0,0,0,0,0
$GC,228,-0.73,-146.0,15.8,-19.5,30,235,0.00,1.20,0.00,0.000,6,0.000,0.056,2155,2507,3084,0,0,0,0,0,0
$GC,567,-0.73,-146.0,81.5,-17.3,81,574,0.00,1.12,0.00,0.000,4,0.000,0.069,2150,3207,3085,0,0,0,0,0,0
$GC,700,-0.73,-146.0,104.0,-17.0,101,706,0.00,1.10,0.00,0.000,6,0.000,0.034,2150,2500,3085,0,0,0,0,0,0
$GC,1040,-0.73,-146.0,158.5,-15.2,152,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2500,3085,0,0,0,0,0,0
$GC,1377,-0.73,-146.0,205.1,-12.7,203,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2500,3085,0,0,0,0,0,0
$GC,1717,-0.73,-146.0,248.6,-12.8,254,1724,0.00,1.20,0.00,0.000,4,0.000,0.063,2146,3213,3085,0,0,0,0,0,0
$GC,1823,-0.73,-146.0,261.5,-12.0,263,1827,0.00,1.10,0.00,0.000,6,0.000,0.033,2146,2501,3084,0,0,0,0,0,0
$GC,2154,-0.73,-146.0,300.3,-11.4,289,2158,0.00,1.20,0.00,0.000,4,0.000,0.063,2141,3219,3084,0,0,0,0,0,0
$GC,2180,-0.73,-146.0,303.7,-11.5,291,2184,0.00,1.10,0.00,0.000,6,0.000,0.033,2141,2508,3084,0,0,0,0,0,0
$GC,2511,-0.73,-146.0,341.5,-11.5,317,2514,0.00,1.17,0.00,0.000,4,0.000,0.063,2137,3213,3084,0,0,0,0,0,0
$GC,2537,-0.73,-146.0,344.7,-11.3,319,2541,0.00,1.10,0.00,0.000,6,0.000,0.032,2137,2498,3085,0,0,0,0,0,0
$GC,2869,-0.73,-146.0,382.9,-11.6,345,2873,0.12,1.20,0.00,0.000,4,0.171,0.064,2164,3214,3085,0,0,0,0,0,0
$GC,3045,-0.73,-146.0,400.7,-10.0,358,3053,0.00,1.10,0.00,0.000,6,0.000,0.031,2163,2508,3085,0,0,0,0,0,0
$GC,3371,-0.73,-146.0,432.0,-9.2,384,3375,0.00,1.17,0.00,0.000,4,0.000,0.063,2159,3213,3085,0,0,0,0,0,0
$GC,3451,-0.73,-146.0,439.9,-9.3,390,3454,0.00,1.08,0.00,0.000,6,0.000,0.030,2159,2508,3085,0,0,0,0,0,0
$GC,3782,-0.73,-146.0,471.1,-9.5,416,3786,0.00,1.17,0.00,0.000,4,0.000,0.062,2154,3216,3086,0,0,0,0,0,0
$GC,3901,-0.73,-146.0,483.1,-9.6,425,3905,0.00,1.08,0.00,0.000,6,0.000,0.028,2155,2504,3085,0,0,0,0,0,0
$GC,4235,-0.73,-146.0,515.6,-10.0,444,4239,0.00,1.17,0.00,0.000,4,0.000,0.062,2150,3213,3086,0,0,0,0,0,0
$GC,4345,-0.73,-146.0,526.1,-10.2,447,4350,0.00,1.10,0.00,0.000,6,0.000,0.028,2150,2497,3086,0,0,0,0,0,0
$GC,4672,-0.73,-146.0,559.8,-10.1,458,4676,0.00,1.20,0.00,0.000,4,0.000,0.061,2145,3220,3087,0,0,0,0,0,0
$GC,4783,-0.73,-146.0,569.9,-10.1,461,4788,0.00,1.10,0.00,0.000,6,0.000,0.028,2145,2508,3086,0,0,0,0,0,0
$GC,5112,-0.73,-146.0,604.6,-10.2,472,5116,0.00,1.17,0.00,0.000,4,0.000,0.062,2141,3216,3086,0,0,0,0,0,0
$GC,5262,-0.73,-146.0,618.8,-10.7,476,5267,0.00,1.10,0.00,0.000,6,0.000,0.028,2141,2498,3086,0,0,0,0,0,0
$STATE,5397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5397,begin apogee
$GC,5403,-0.16,0.0,635.1,-10.5,481,5532,0.62,0.00,121.55,1.306,6,0.131,0.000,2341,2195,2484,0,0,0,0,0,0
$STATE,5532,end apogee,CONTROL_FINISHED_OK
$STATE,5532,begin climb
$GC,5535,0.73,146.0,640.2,0.0,485,5672,0.85,1.23,129.88,1.250,4,0.068,0.047,2634,1502,1889,0,0,0,0,0,0
$GC,5878,0.73,146.0,614.7,11.0,496,5882,0.00,1.23,0.00,0.000,6,0.000,0.043,2634,2212,1880,0,0,0,0,0,0
$GC,6218,0.73,146.0,577.4,11.0,507,6221,0.00,1.15,0.00,0.000,4,0.000,0.053,2634,2908,1878,0,0,0,0,0,0
$GC,6295,0.73,146.0,569.9,11.3,509,6300,0.00,1.15,0.00,0.000,6,0.000,0.034,2639,2209,1878,0,0,0,0,0,0
$GC,6623,0.73,146.0,530.1,12.0,520,6627,0.00,1.10,0.00,0.000,4,0.000,0.047,2644,1496,1876,0,0,0,0,0,0
$GC,6828,0.73,146.0,507.1,11.3,526,6832,0.00,1.15,0.00,0.000,6,0.000,0.043,2644,2201,1876,0,0,0,0,0,0
$GC,7151,0.73,146.0,470.5,11.1,549,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,1876,0,0,0,0,0,0
$GC,7466,0.73,146.0,435.7,10.9,574,7470,0.00,1.12,0.00,0.000,4,0.000,0.044,2649,1497,1875,0,0,0,0,0,0
$GC,7722,0.73,146.0,408.2,10.9,593,7730,0.00,1.17,0.00,0.000,6,0.000,0.043,2648,2210,1875,0,0,0,0,0,0
$GC,8048,0.73,146.0,370.4,11.7,619,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2210,1875,0,0,0,0,0,0
$GC,8363,0.73,146.0,334.1,11.4,644,8366,0.00,1.15,0.00,0.000,4,0.000,0.044,2653,1492,1875,0,0,0,0,0,0
$GC,8509,0.73,146.0,317.6,11.2,655,8512,0.00,1.15,0.00,0.000,6,0.000,0.043,2653,2205,1875,0,0,0,0,0,0
$GC,8839,0.73,146.0,281.0,10.7,681,8842,0.00,1.12,0.00,0.000,4,0.000,0.044,2657,1496,1875,0,0,0,0,0,0
$GC,9011,0.73,146.0,262.4,10.9,694,9015,0.00,1.12,0.00,0.000,6,0.000,0.043,2658,2197,1875,0,0,0,0,0,0
$GC,9343,0.73,146.0,228.3,9.9,735,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2197,1875,0,0,0,0,0,0
$GC,9684,0.77,181.1,198.6,7.7,786,9718,0.00,1.17,28.38,1.030,4,0.000,0.045,2662,1494,1745,0,0,0,0,0,0
$GC,9745,0.77,181.1,193.4,9.3,795,9754,0.00,1.17,0.00,0.000,6,0.000,0.044,2662,2206,1744,0,0,0,0,0,0
$GC,10084,0.77,182.1,160.0,9.1,846,10090,0.00,1.12,0.00,0.000,4,0.000,0.055,2662,2908,1742,0,0,0,0,0,0
$GC,10310,0.77,182.1,138.5,9.6,880,10317,0.00,1.15,0.00,0.000,6,0.000,0.034,2666,2194,1741,0,0,0,0,0,0
$GC,10647,0.80,209.3,109.4,8.0,931,10676,0.00,1.12,24.12,0.985,4,0.000,0.048,2672,1491,1631,0,0,0,0,0,0
$GC,10928,0.80,210.5,83.9,9.1,973,10935,0.00,1.17,0.00,0.000,6,0.000,0.044,2672,2206,1627,0,0,0,0,0,0
$GC,11269,0.84,239.0,56.8,8.0,1024,11297,0.00,0.00,25.60,0.961,6,0.000,0.000,2671,2206,1510,0,0,0,0,0,0
$GC,11628,0.86,252.5,27.4,8.6,1078,11644,0.00,1.20,10.57,0.900,4,0.000,0.046,2676,1494,1455,0,0,0,0,0,0
$GC,11725,0.90,287.0,20.3,7.7,1092,11749,0.00,1.17,18.98,0.872,6,0.000,0.043,2676,2208,1313,0,0,0,0,0,0
$FREEZE,8.51,-0.541,-1.670,2,2,0
$FREEZE,7.99,-0.489,-1.667,2,2,0
$FREEZE,7.58,-0.620,-1.674,2,2,0
$FREEZE,6.76,-0.590,-1.671,2,2,0
$FREEZE,6.22,-0.531,-1.668,2,2,0
$FREEZE,5.49,-0.536,-1.667,2,2,0
$FREEZE,5.05,-0.553,-1.668,2,2,0
$FREEZE,4.24,-1.258,-1.708,2,2,0
$FREEZE,3.65,-0.581,-1.668,2,2,0
$FREEZE,3.16,-0.550,-1.666,2,2,0
$FREEZE,2.49,-1.691,-1.733,2,2,0
$STATE,11918,end climb,FINISH_DEPTH_REACHED
$STATE,11918,begin subsurface finish
$FINISH1,2.5,1.025449,100
$GC,11925,0.12,100.0,2.5,9.5,1121,11996,0.70,1.10,-62.33,0.000,4,0.102,0.080,2443,2906,2077,0,0,0,0,0,0
$FINISH2,2.3
$STATE,11997,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11997,begin surface
$RAFOS_CLK,857
$RAFOS,1,1321992547,20.166666,20.151945,131,57,56,0,0,0,514,218,189,0,0,0
$RAFOS,0,1321992064,20.033333,20.017778,147,65,56,0,0,0,651,219,152,0,0,0
$RAFOS,5,1321980066,16.700001,16.684999,83,62,59,0,0,0,891,210,151,0,0,0
$RAFOS_FIX,6646.030273,-6000.128418,221111,161601,5,101,6.37
$IRIDIUM_FIX,6625.71,-6000.37,221111,131343
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.53
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,16.20
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,601.4,80.0
$24V_AH,22.6,35.970
$10V_AH,10.1,27.133
$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,10.850,49.825,359.075,0.000,0.000,0.000,0.000,123.525,3.500,0.000,182.005,3067.152,6416.780,554.565,2294.388,211.348,0.000,1725.310,0.000,1968.902,1080.000,17.858,0.000
$DEVICE_MAMPS,250.155,80.325,1305.855,0.000,0.000,0.000,0.000,241.178,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.604,634.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150240
$DATA_FILE_SIZE,43315,1132
$CAP_FILE_SIZE,122873,0
$CFSIZE,260165632,228261888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$CURRENT,1.494,326.1,1
$GPS,221111,162152,6645.708,-6002.138,181,99.0,181,-34.0