version: 66.09
glider: 143
mission: 13
dive: 297
start: 11 24 111 14 7 33
data:
$ID,143
$MISSION,13
$DIVE,297
$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,-85452.82
$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,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
$GPS1,241111,135229,6643.692,-6004.834,40,0.9,40,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-47.3
$GPS2,241111,140701,6643.575,-6004.906,14,1.4,14,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,154.6,146676,-16.9,-9.167
$D_GRID,618
$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,-146.0,0.0,0.0,0,242,0.00,0.00,-218.32,0.000,6,0.000,0.000,122,2508,3081,0,0,0,0,0,0
$GC,245,-0.73,-146.0,2.2,0.1,33,258,7.62,1.15,0.00,0.000,4,0.206,0.068,2153,3208,3083,0,0,0,0,0,0
$GC,511,-0.73,-146.0,47.6,-18.8,73,518,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2502,3084,0,0,0,0,0,0
$GC,849,-0.73,-146.0,106.1,-15.8,124,858,0.00,1.17,0.00,0.000,4,0.000,0.062,2149,3204,3084,0,0,0,0,0,0
$GC,1109,-0.73,-146.0,146.2,-15.3,163,1116,0.00,1.08,0.00,0.000,6,0.000,0.030,2149,2502,3084,0,0,0,0,0,0
$GC,1447,-0.73,-146.0,199.0,-15.3,214,1454,0.00,1.17,0.00,0.000,4,0.000,0.062,2144,3206,3084,0,0,0,0,0,0
$GC,1705,-0.73,-146.0,236.1,-13.2,253,1713,0.00,1.08,0.00,0.000,6,0.000,0.031,2144,2507,3084,0,0,0,0,0,0
$GC,2034,-0.73,-146.0,276.9,-12.1,287,2037,0.00,1.17,0.00,0.000,4,0.000,0.062,2140,3212,3085,0,0,0,0,0,0
$GC,2235,-0.73,-146.0,301.4,-12.1,302,2239,0.00,1.08,0.00,0.000,6,0.000,0.031,2140,2513,3084,0,0,0,0,0,0
$GC,2566,-0.73,-146.0,342.3,-12.4,328,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2513,3084,0,0,0,0,0,0
$GC,2881,-0.73,-146.0,381.2,-12.3,353,2884,0.00,1.15,0.00,0.000,4,0.000,0.062,2135,3206,3084,0,0,0,0,0,0
$GC,3015,-0.73,-146.0,398.5,-13.1,363,3019,0.08,1.08,0.00,0.000,6,0.148,0.030,2159,2498,3084,0,0,0,0,0,0
$GC,3344,-0.73,-146.0,436.9,-11.4,389,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2498,3085,0,0,0,0,0,0
$GC,3659,-0.73,-146.0,471.4,-10.5,414,3663,0.00,1.17,0.00,0.000,4,0.000,0.060,2156,3207,3085,0,0,0,0,0,0
$GC,3730,-0.73,-146.0,478.3,-10.5,419,3738,0.00,1.08,0.00,0.000,6,0.000,0.028,2156,2505,3085,0,0,0,0,0,0
$GC,4064,-0.73,-146.0,512.7,-10.4,440,4067,0.00,1.17,0.00,0.000,4,0.000,0.060,2152,3214,3085,0,0,0,0,0,0
$GC,4154,-0.73,-146.0,519.9,-10.5,442,4162,0.00,1.10,0.00,0.000,6,0.000,0.027,2152,2496,3086,0,0,0,0,0,0
$GC,4469,-0.73,-146.0,556.0,-10.8,453,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2496,3087,0,0,0,0,0,0
$GC,4774,-0.73,-146.0,588.5,-10.3,463,4778,0.00,1.17,0.00,0.000,4,0.000,0.060,2147,3206,3087,0,0,0,0,0,0
$GC,4859,-0.73,-146.0,595.7,-10.8,465,4864,0.00,1.08,0.00,0.000,6,0.000,0.025,2147,2501,3087,0,0,0,0,0,0
$STATE,5054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5054,begin apogee
$GC,5060,-0.16,0.0,618.5,-10.6,472,5187,0.60,0.00,120.72,1.296,6,0.129,0.000,2341,2194,2485,0,0,0,0,0,0
$STATE,5188,end apogee,CONTROL_FINISHED_OK
$STATE,5188,begin climb
$GC,5190,0.73,146.0,623.9,0.0,476,5329,0.85,1.17,130.52,1.240,4,0.064,0.047,2640,1517,1888,0,0,0,0,0,0
$GC,5410,0.74,154.3,613.7,8.8,483,5421,0.00,1.20,8.12,1.027,6,0.000,0.040,2640,2200,1855,0,0,0,0,0,0
$GC,5743,0.74,154.3,576.8,11.4,494,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2200,1850,0,0,0,0,0,0
$GC,6048,0.74,154.3,541.7,11.5,504,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2200,1849,0,0,0,0,0,0
$GC,6356,0.74,154.3,503.8,12.6,514,6359,0.00,1.12,0.00,0.000,4,0.000,0.043,2645,1498,1848,0,0,0,0,0,0
$GC,6395,0.74,154.3,498.8,12.4,516,6399,0.00,1.15,0.00,0.000,6,0.000,0.041,2645,2202,1848,0,0,0,0,0,0
$GC,6728,0.74,154.3,459.8,12.0,542,6732,0.00,1.12,0.00,0.000,4,0.000,0.052,2645,2908,1848,0,0,0,0,0,0
$GC,6746,0.74,154.3,457.6,12.1,543,6754,0.00,1.15,0.00,0.000,6,0.000,0.032,2649,2202,1848,0,0,0,0,0,0
$GC,7071,0.74,154.3,418.9,11.0,569,7075,0.00,1.08,0.00,0.000,4,0.000,0.046,2654,1494,1847,0,0,0,0,0,0
$GC,7139,0.74,154.3,411.5,10.9,574,7142,0.00,1.15,0.00,0.000,6,0.000,0.041,2655,2207,1847,0,0,0,0,0,0
$GC,7467,0.74,154.3,375.9,10.9,600,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2207,1847,0,0,0,0,0,0
$GC,7785,0.74,154.3,341.6,11.3,625,7788,0.00,1.10,0.00,0.000,4,0.000,0.053,2654,2897,1847,0,0,0,0,0,0
$GC,8014,0.74,154.3,314.9,11.7,642,8022,0.00,1.15,0.00,0.000,6,0.000,0.034,2659,2192,1847,0,0,0,0,0,0
$GC,8337,0.74,154.3,279.2,10.0,668,8341,0.00,1.20,0.00,0.000,4,0.000,0.050,2659,2907,1847,0,0,0,0,0,0
$GC,8403,0.74,154.3,272.6,9.7,673,8407,0.00,1.12,0.00,0.000,6,0.000,0.034,2663,2201,1847,0,0,0,0,0,0
$GC,8728,0.74,154.3,242.3,9.5,704,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2200,1847,0,0,0,0,0,0
$GC,9067,0.74,154.3,209.2,9.7,755,9074,0.00,1.08,0.00,0.000,4,0.000,0.047,2669,1491,1847,0,0,0,0,0,0
$GC,9173,0.74,155.9,199.8,9.1,771,9181,0.10,1.15,0.00,0.000,6,0.142,0.043,2637,2206,1847,0,0,0,0,0,0
$GC,9513,0.82,225.8,177.0,6.2,822,9580,0.00,1.15,59.28,1.021,4,0.000,0.050,2637,2898,1564,0,0,0,0,0,0
$GC,9694,0.82,225.8,159.8,11.2,849,9703,0.00,1.15,0.00,0.000,6,0.000,0.033,2640,2199,1560,0,0,0,0,0,0
$GC,10035,0.83,233.0,126.9,8.9,900,10051,0.00,1.17,6.53,0.853,4,0.000,0.046,2640,2916,1534,0,0,0,0,0,0
$GC,10111,0.83,233.0,119.9,10.1,911,10117,0.00,1.17,0.00,0.000,6,0.000,0.034,2645,2192,1534,0,0,0,0,0,0
$GC,10449,0.83,233.0,88.4,9.3,962,10456,0.00,1.05,0.00,0.000,4,0.000,0.048,2650,1498,1532,0,0,0,0,0,0
$GC,10483,0.83,233.0,85.2,9.2,967,10489,0.00,1.15,0.00,0.000,6,0.000,0.043,2650,2204,1532,0,0,0,0,0,0
$GC,10821,0.88,274.9,56.0,7.4,1018,10861,0.10,1.20,35.78,0.958,4,0.103,0.054,2692,2913,1363,0,0,0,0,0,0
$GC,11054,0.88,274.9,32.3,11.6,1053,11063,0.00,1.17,0.00,0.000,6,0.000,0.034,2697,2193,1359,0,0,0,0,0,0
$FREEZE,8.98,1.213,-1.591,2,1,0
$FREEZE,8.36,1.172,-1.593,2,1,0
$FREEZE,7.65,1.235,-1.589,2,1,0
$FREEZE,7.00,1.249,-1.588,2,1,0
$FREEZE,6.37,1.263,-1.587,2,1,0
$FREEZE,5.90,1.307,-1.584,2,1,0
$FREEZE,5.28,-0.645,-1.691,2,1,0
$FREEZE,4.73,0.434,-1.630,2,1,0
$FREEZE,4.33,0.807,-1.609,2,1,0
$FREEZE,3.63,0.822,-1.608,2,1,0
$FREEZE,2.93,0.527,-1.623,2,1,0
$FREEZE,2.28,0.320,-1.634,2,1,0
$FREEZE,1.78,0.937,-1.599,2,1,0
$STATE,11361,end climb,SURFACE_DEPTH_REACHED
$STATE,11361,begin surface coast
$FREEZE,1.51,-1.299,-1.725,2,1,0
$FREEZE,1.53,1.310,-1.580,2,1,0
$FREEZE,1.56,1.248,-0.757,2,1,0
$FINISH,1.6,1.011156
$STATE,11382,end surface coast,CONTROL_FINISHED_OK
$STATE,11382,begin surface
$SM_CCo,11399,106.20,0.086,0,0,442,501.15
$SM_GC,2.10,7.07,0.60,106.20,0.052,0.045,0.086,115,2518,442,-7.08,-0.68,501.15,0,0,0,0,0,0
$RAFOS_CLK,748
$RAFOS,6,1322153343,16.833334,16.817499,89,61,55,0,0,0,817,201,187,0,0,0
$RAFOS,5,1322152865,16.700001,16.684723,75,58,54,0,0,0,889,210,132,0,0,0
$RAFOS,4,1322152387,16.566668,16.551945,131,63,59,0,0,0,668,215,225,0,0,0
$RAFOS,3,1322151913,16.433332,16.420279,99,66,61,0,0,0,671,220,202,0,0,0
$RAFOS,2,1322151421,16.299999,16.283611,115,60,59,0,0,0,605,201,224,0,0,0
$RAFOS,1,1322150941,16.166666,16.150278,155,60,58,0,0,0,562,192,165,0,0,0
$RAFOS,0,1322150468,16.033333,16.018888,130,61,59,0,0,0,623,154,195,0,0,0
$RAFOS_FIX,6642.010742,-5956.814941,241111,161625,7,113,0.78
$IRIDIUM_FIX,6614.97,-6001.83,241111,131324
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.98
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,47
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,500.1,143.1
$24V_AH,22.6,37.519
$10V_AH,9.8,28.240
$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,16.425,44.225,360.950,106.200,0.000,0.000,0.000,629.425,13.500,0.000,15.676,2976.056,6044.007,677.849,2383.444,321.172,0.000,2270.358,0.000,1778.539,2520.000,14.501,0.000
$DEVICE_MAMPS,205.785,68.085,1295.910,86.445,0.000,0.000,0.000,306.355,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.160,621.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150212
$DATA_FILE_SIZE,43300,1102
$CAP_FILE_SIZE,122430,0
$CFSIZE,260165632,227409920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$CURRENT,0.175,149.9,1
$GPS,241111,172106,6641.567,-6000.727,40,0.8,41,-33.8