version: 66.09
glider: 143
mission: 13
dive: 285
start: 11 22 111 20 21 45
data:
$ID,143
$MISSION,13
$DIVE,285
$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,42
$R_STBD_OVSHOOT,29
$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,-6002.138,181,99.0,181,-34.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.85
$_SM_ANGLEo,1.8
$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,246.1,30711,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,26,0.00,0.00,-6.93,0.000,2,0.000,0.000,2442,2907,2279,0,0,0,0,0,0
$GC,28,-0.73,-146.0,8.4,0.0,1,63,0.75,1.75,-25.10,0.000,4,0.072,0.056,2169,1816,3083,0,0,0,0,0,0
$GC,228,-0.73,-146.0,40.5,-16.8,31,237,0.00,1.20,0.00,0.000,6,0.000,0.055,2164,2504,3085,0,0,0,0,0,0
$GC,570,-0.73,-146.0,94.8,-15.3,82,577,0.00,1.15,0.00,0.000,4,0.000,0.068,2159,3214,3085,0,0,0,0,0,0
$GC,829,-0.73,-146.0,134.6,-14.9,121,835,0.00,1.10,0.00,0.000,6,0.000,0.033,2159,2511,3085,0,0,0,0,0,0
$GC,1167,-0.73,-146.0,181.5,-12.9,172,1174,0.00,1.20,0.00,0.000,4,0.000,0.063,2155,3223,3085,0,0,0,0,0,0
$GC,1320,-0.73,-146.0,201.4,-13.4,195,1329,0.00,1.10,0.00,0.000,6,0.000,0.032,2154,2512,3085,0,0,0,0,0,0
$GC,1659,-0.73,-146.0,245.7,-12.8,246,1666,0.00,1.17,0.00,0.000,4,0.000,0.063,2150,3214,3085,0,0,0,0,0,0
$GC,1727,-0.73,-146.0,254.3,-13.1,254,1731,0.00,1.10,0.00,0.000,6,0.000,0.032,2150,2501,3085,0,0,0,0,0,0
$GC,2057,-0.73,-146.0,294.2,-11.7,280,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3085,0,0,0,0,0,0
$GC,2372,-0.73,-146.0,330.7,-11.3,305,2375,0.00,1.20,0.00,0.000,4,0.000,0.063,2145,3219,3084,0,0,0,0,0,0
$GC,2558,-0.73,-146.0,351.9,-11.5,319,2562,0.00,1.10,0.00,0.000,6,0.000,0.033,2145,2507,3084,0,0,0,0,0,0
$GC,2889,-0.73,-146.0,388.8,-11.1,345,2892,0.00,1.17,0.00,0.000,4,0.000,0.063,2141,3212,3084,0,0,0,0,0,0
$GC,2968,-0.73,-146.0,398.0,-11.3,351,2971,0.00,1.08,0.00,0.000,6,0.000,0.031,2141,2510,3084,0,0,0,0,0,0
$GC,3298,-0.73,-146.0,433.9,-10.9,377,3302,0.00,1.17,0.00,0.000,4,0.000,0.062,2137,3214,3085,0,0,0,0,0,0
$GC,3404,-0.73,-146.0,446.2,-11.5,385,3408,0.00,1.10,0.00,0.000,6,0.000,0.031,2136,2498,3084,0,0,0,0,0,0
$GC,3732,-0.73,-146.0,483.3,-11.4,411,3737,0.12,1.20,0.00,0.000,4,0.170,0.063,2164,3217,3085,0,0,0,0,0,0
$GC,3852,-0.73,-146.0,495.0,-9.6,420,3856,0.00,1.08,0.00,0.000,6,0.000,0.029,2164,2510,3085,0,0,0,0,0,0
$GC,4179,-0.73,-146.0,526.4,-9.7,433,4182,0.00,1.17,0.00,0.000,4,0.000,0.061,2159,3217,3086,0,0,0,0,0,0
$GC,4263,-0.73,-146.0,532.9,-9.7,435,4268,0.00,1.10,0.00,0.000,6,0.000,0.028,2159,2501,3085,0,0,0,0,0,0
$GC,4584,-0.73,-146.0,566.4,-9.9,446,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2501,3086,0,0,0,0,0,0
$GC,4892,-0.73,-146.0,595.3,-9.3,456,4895,0.00,1.17,0.00,0.000,4,0.000,0.061,2154,3213,3086,0,0,0,0,0,0
$GC,5048,-0.73,-146.0,607.7,-9.3,460,5056,0.00,1.08,0.00,0.000,6,0.000,0.027,2155,2516,3086,0,0,0,0,0,0
$STATE,5329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5330,begin apogee
$GC,5336,-0.16,0.0,637.1,-9.2,470,5462,0.57,0.00,120.70,1.301,6,0.129,0.000,2341,2195,2485,0,0,0,0,0,0
$STATE,5463,end apogee,CONTROL_FINISHED_OK
$STATE,5463,begin climb
$GC,5465,0.73,146.0,640.5,0.0,474,5605,0.85,1.20,130.27,1.244,4,0.069,0.049,2635,1509,1888,0,0,0,0,0,0
$GC,5854,0.73,146.0,605.9,11.7,486,5859,0.00,1.23,0.00,0.000,6,0.000,0.041,2635,2214,1880,0,0,0,0,0,0
$GC,6189,0.73,146.0,567.9,11.2,497,6192,0.00,1.17,0.00,0.000,4,0.000,0.047,2640,1505,1879,0,0,0,0,0,0
$GC,6445,0.73,146.0,542.7,11.0,504,6453,0.00,1.17,0.00,0.000,6,0.000,0.044,2640,2204,1877,0,0,0,0,0,0
$GC,6760,0.73,146.0,504.8,11.2,515,6763,0.00,1.12,0.00,0.000,4,0.000,0.046,2644,1507,1877,0,0,0,0,0,0
$GC,6858,0.73,146.0,494.6,11.0,519,6867,0.00,1.15,0.00,0.000,6,0.000,0.045,2644,2204,1876,0,0,0,0,0,0
$GC,7182,0.73,146.0,458.7,10.9,545,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1876,0,0,0,0,0,0
$GC,7497,0.73,146.0,424.0,11.1,570,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1876,0,0,0,0,0,0
$GC,7813,0.73,146.0,390.0,10.6,595,7814,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1876,0,0,0,0,0,0
$GC,8128,0.73,146.0,357.3,10.2,620,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1876,0,0,0,0,0,0
$GC,8443,0.73,146.0,325.4,10.0,645,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1876,0,0,0,0,0,0
$GC,8758,0.73,146.0,294.3,9.5,670,8761,0.00,1.12,0.00,0.000,4,0.000,0.046,2648,1501,1876,0,0,0,0,0,0
$GC,9014,0.73,146.0,269.9,9.6,689,9022,0.00,1.15,0.00,0.000,6,0.000,0.044,2648,2202,1876,0,0,0,0,0,0
$GC,9345,0.74,160.3,239.2,8.6,724,9364,0.00,1.12,11.23,0.995,4,0.000,0.046,2653,1508,1830,0,0,0,0,0,0
$GC,9452,0.75,163.0,229.5,9.1,740,9460,0.00,1.12,4.05,0.754,6,0.000,0.045,2652,2197,1820,0,0,0,0,0,0
$GC,9792,0.76,176.5,198.4,8.6,791,9807,0.00,0.00,13.12,0.995,6,0.000,0.000,2653,2197,1765,0,0,0,0,0,0
$GC,10139,0.76,176.5,166.6,9.2,843,10148,0.00,1.12,0.00,0.000,4,0.000,0.046,2657,1500,1763,0,0,0,0,0,0
$GC,10401,0.81,216.1,145.2,7.5,882,10443,0.00,1.15,34.70,1.008,6,0.000,0.044,2657,2205,1602,0,0,0,0,0,0
$GC,10775,0.81,216.4,111.8,9.2,938,10782,0.00,1.12,0.00,0.000,4,0.000,0.046,2661,1508,1597,0,0,0,0,0,0
$GC,10823,0.82,222.7,107.5,8.9,945,10836,0.00,1.15,5.78,0.835,6,0.000,0.044,2661,2206,1578,0,0,0,0,0,0
$GC,11167,0.85,251.1,78.6,8.0,997,11201,0.00,1.20,25.70,0.970,4,0.000,0.046,2665,1496,1460,0,0,0,0,0,0
$GC,11235,0.85,251.1,72.7,9.2,1007,11244,0.00,1.17,0.00,0.000,6,0.000,0.044,2665,2201,1458,0,0,0,0,0,0
$GC,11576,0.87,264.5,40.6,8.6,1058,11591,0.00,0.00,12.12,0.918,6,0.000,0.000,2665,2202,1405,0,0,0,0,0,0
$GC,11922,0.95,325.0,13.0,6.6,1110,11956,0.12,0.00,30.90,0.106,6,0.096,0.000,2716,2202,1159,0,0,0,0,0,0
$FREEZE,8.52,0.818,-1.596,2,3,0
$FREEZE,7.84,0.844,-1.595,2,3,0
$FREEZE,6.98,0.851,-1.593,2,3,0
$FREEZE,6.11,0.787,-1.596,2,3,0
$FREEZE,5.42,0.780,-1.596,2,3,0
$FREEZE,4.60,0.836,-1.590,2,3,0
$FREEZE,3.67,0.754,-1.595,2,3,0
$FREEZE,3.01,0.037,-1.633,2,3,0
$FREEZE,2.19,-0.751,-1.676,2,3,0
$FREEZE,2.05,1.034,-1.579,2,3,0
$FREEZE,1.95,-0.336,-1.653,2,3,0
$STATE,12033,end climb,SURFACE_DEPTH_REACHED
$STATE,12033,begin surface coast
$FREEZE,1.83,-0.299,-1.651,2,3,0
$FREEZE,1.93,0.027,-1.633,2,3,0
$FREEZE,2.04,-0.542,-1.665,2,3,0
$FREEZE,2.01,-0.170,-1.644,2,3,0
$FINISH,2.0,1.024138
$STATE,12060,end surface coast,CONTROL_FINISHED_OK
$STATE,12060,begin surface
$SM_CCo,12077,81.07,0.087,0,0,441,501.15
$SM_GC,2.59,7.22,0.52,81.07,0.061,0.063,0.087,120,2508,441,-7.06,-0.88,501.15,0,0,0,0,0,0
$RAFOS_CLK,848
$RAFOS,6,1321994942,20.833334,20.817223,107,59,56,0,0,0,805,157,213,0,0,0
$RAFOS,5,1321994462,20.700001,20.683889,107,55,54,0,0,0,911,208,160,0,0,0
$RAFOS,4,1321993986,20.566668,20.551666,131,62,62,0,0,0,680,208,194,0,0,0
$RAFOS,3,1321993504,20.433332,20.417778,99,61,55,0,0,0,760,209,198,0,0,0
$RAFOS,2,1321993025,20.299999,20.284721,59,58,57,0,0,0,125,181,199,0,0,0
$RAFOS_FIX,6646.401367,-5959.785645,221111,202026,6,120,0.14
$IRIDIUM_FIX,6625.71,-6000.37,221111,131343
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.49
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,17.9
$ALTIM_BOTTOM_PING,551.2,130.1
$24V_AH,22.6,36.091
$10V_AH,10.2,27.197
$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,9.650,42.900,388.575,81.075,0.000,0.000,0.000,0.000,3.500,0.000,0.000,3124.915,6513.350,522.658,1931.334,166.264,0.000,1509.833,0.000,1910.708,1440.000,16.235,0.000
$DEVICE_MAMPS,169.830,68.085,1301.265,87.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.088,636.668,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150252
$DATA_FILE_SIZE,43322,1131
$CAP_FILE_SIZE,117072,0
$CFSIZE,260165632,228200448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.5
$CURRENT,16.088, 45.2,1
$GPS,221111,202826,6646.401,-5959.786,0,6120.3,0,-34.0