version: 66.09
glider: 143
mission: 13
dive: 298
start: 11 24 111 17 28 29
data:
$ID,143
$MISSION,13
$DIVE,298
$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,-85454.078
$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,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
$GPS1,241111,172106,6641.567,-6000.727,40,0.8,41,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-52.4
$GPS2,241111,172800,6641.454,-6000.582,18,0.8,18,-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,65.6,144684,-16.9,-9.167
$D_GRID,648
$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,16,-0.73,-146.0,0.0,0.0,0,238,0.00,0.00,-213.00,0.000,6,0.000,0.000,115,2520,3080,0,0,0,0,0,0
$GC,241,-0.73,-146.0,2.3,0.1,32,254,7.90,1.17,0.00,0.000,4,0.219,0.041,2159,1816,3081,0,0,0,0,0,0
$GC,354,-0.73,-146.0,25.0,-25.2,49,361,0.00,1.20,0.00,0.000,6,0.000,0.055,2157,2508,3083,0,0,0,0,0,0
$GC,694,-0.73,-146.0,93.5,-17.5,100,700,0.00,1.15,0.00,0.000,4,0.000,0.068,2151,3219,3083,0,0,0,0,0,0
$GC,854,-0.73,-146.0,119.3,-14.4,124,861,0.00,1.10,0.00,0.000,6,0.000,0.033,2151,2512,3083,0,0,0,0,0,0
$GC,1192,-0.73,-146.0,167.4,-14.4,175,1201,0.00,1.17,0.00,0.000,4,0.000,0.062,2147,3213,3083,0,0,0,0,0,0
$GC,1381,-0.73,-146.0,194.6,-14.2,203,1390,0.00,1.10,0.00,0.000,6,0.000,0.032,2146,2502,3083,0,0,0,0,0,0
$GC,1722,-0.73,-146.0,241.9,-13.3,254,1729,0.00,1.20,0.00,0.000,4,0.000,0.063,2142,3217,3083,0,0,0,0,0,0
$GC,1806,-0.73,-146.0,253.0,-14.1,265,1814,0.00,1.12,0.00,0.000,6,0.000,0.031,2142,2500,3083,0,0,0,0,0,0
$GC,2131,-0.73,-146.0,293.0,-11.1,291,2134,0.00,1.20,0.00,0.000,4,0.000,0.061,2137,3218,3083,0,0,0,0,0,0
$GC,2170,-0.73,-146.0,297.8,-11.7,294,2174,0.00,1.10,0.00,0.000,6,0.000,0.031,2137,2507,3083,0,0,0,0,0,0
$GC,2502,-0.73,-146.0,337.5,-12.6,320,2506,0.00,1.17,0.00,0.000,4,0.000,0.061,2133,3211,3083,0,0,0,0,0,0
$GC,2556,-0.73,-146.0,344.6,-12.8,324,2561,0.10,1.08,0.00,0.000,6,0.145,0.031,2164,2505,3083,0,0,0,0,0,0
$GC,2885,-0.73,-146.0,377.6,-9.7,350,2888,0.00,1.17,0.00,0.000,4,0.000,0.060,2161,3212,3083,0,0,0,0,0,0
$GC,2977,-0.73,-146.0,386.7,-9.7,357,2981,0.00,1.08,0.00,0.000,6,0.000,0.029,2161,2507,3083,0,0,0,0,0,0
$GC,3308,-0.73,-146.0,418.8,-10.5,383,3311,0.00,1.17,0.00,0.000,4,0.000,0.061,2157,3213,3084,0,0,0,0,0,0
$GC,3400,-0.73,-146.0,428.8,-10.8,390,3404,0.00,1.08,0.00,0.000,6,0.000,0.028,2157,2505,3084,0,0,0,0,0,0
$GC,3732,-0.73,-146.0,464.3,-11.1,416,3735,0.00,1.17,0.00,0.000,4,0.000,0.060,2152,3213,3084,0,0,0,0,0,0
$GC,3789,-0.73,-146.0,470.2,-10.6,420,3797,0.00,1.10,0.00,0.000,6,0.000,0.028,2152,2499,3085,0,0,0,0,0,0
$GC,4126,-0.73,-146.0,507.2,-11.0,444,4130,0.00,1.17,0.00,0.000,4,0.000,0.060,2148,3210,3085,0,0,0,0,0,0
$GC,4284,-0.73,-146.0,522.2,-11.2,448,4291,0.00,1.08,0.00,0.000,6,0.000,0.027,2147,2501,3085,0,0,0,0,0,0
$GC,4597,-0.73,-146.0,558.8,-10.5,459,4601,0.00,1.17,0.00,0.000,4,0.000,0.060,2143,3212,3085,0,0,0,0,0,0
$GC,4674,-0.73,-146.0,565.8,-10.4,461,4679,0.00,1.08,0.00,0.000,6,0.000,0.025,2143,2512,3086,0,0,0,0,0,0
$GC,5005,-0.73,-146.0,601.7,-11.0,472,5009,0.00,1.17,0.00,0.000,4,0.000,0.060,2139,3221,3086,0,0,0,0,0,0
$GC,5071,-0.73,-146.0,609.7,-11.3,474,5074,0.00,1.08,0.00,0.000,6,0.000,0.027,2139,2510,3086,0,0,0,0,0,0
$STATE,5408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5408,begin apogee
$GC,5415,-0.16,0.0,649.0,-11.5,485,5544,0.62,0.00,121.03,1.311,6,0.129,0.000,2340,2175,2485,0,0,0,0,0,0
$STATE,5544,end apogee,CONTROL_FINISHED_OK
$STATE,5545,begin climb
$GC,5547,0.73,146.0,655.6,0.0,489,5687,0.85,1.12,130.93,1.258,4,0.066,0.047,2635,1529,1889,0,0,0,0,0,0
$GC,5938,0.73,146.0,627.7,12.5,501,5943,0.00,1.20,0.00,0.000,6,0.000,0.041,2634,2218,1880,0,0,0,0,0,0
$GC,6266,0.73,146.0,589.5,10.5,512,6270,0.00,1.15,0.00,0.000,4,0.000,0.043,2640,1517,1879,0,0,0,0,0,0
$GC,6370,0.73,146.0,579.2,10.3,515,6375,0.00,1.15,0.00,0.000,6,0.000,0.040,2640,2204,1878,0,0,0,0,0,0
$GC,6704,0.73,146.0,542.7,10.9,526,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2204,1877,0,0,0,0,0,0
$GC,7011,0.73,146.0,508.3,11.5,536,7015,0.00,1.12,0.00,0.000,4,0.000,0.044,2644,1506,1877,0,0,0,0,0,0
$GC,7095,0.73,146.0,500.5,11.6,538,7100,0.00,1.15,0.00,0.000,6,0.000,0.041,2644,2203,1876,0,0,0,0,0,0
$GC,7429,0.73,146.0,461.3,10.7,564,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1876,0,0,0,0,0,0
$GC,7741,0.73,146.0,426.9,11.1,589,7744,0.00,1.10,0.00,0.000,4,0.000,0.044,2648,1515,1876,0,0,0,0,0,0
$GC,7799,0.73,146.0,421.0,11.1,593,7807,0.00,1.12,0.00,0.000,6,0.000,0.041,2648,2202,1876,0,0,0,0,0,0
$GC,8123,0.73,146.0,386.1,9.9,619,8127,0.00,1.12,0.00,0.000,4,0.000,0.054,2648,2904,1876,0,0,0,0,0,0
$GC,8181,0.73,146.0,380.5,10.2,623,8191,0.00,1.12,0.00,0.000,6,0.000,0.034,2653,2208,1876,0,0,0,0,0,0
$GC,8506,0.73,146.0,346.2,10.9,649,8510,0.00,1.08,0.00,0.000,4,0.000,0.047,2658,1496,1876,0,0,0,0,0,0
$GC,8571,0.73,146.0,338.7,11.1,654,8575,0.00,1.12,0.00,0.000,6,0.000,0.041,2658,2199,1876,0,0,0,0,0,0
$GC,8903,0.73,146.0,303.7,10.2,680,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2199,1876,0,0,0,0,0,0
$GC,9215,0.73,146.0,273.8,9.9,705,9219,0.00,1.12,0.00,0.000,4,0.000,0.055,2658,2900,1876,0,0,0,0,0,0
$GC,9268,0.73,146.0,268.5,10.1,709,9272,0.00,1.12,0.00,0.000,6,0.000,0.035,2662,2197,1876,0,0,0,0,0,0
$GC,9597,0.73,146.0,238.0,9.4,744,9604,0.00,1.05,0.00,0.000,4,0.000,0.047,2667,1498,1876,0,0,0,0,0,0
$GC,9856,0.73,150.9,213.7,9.0,783,9866,0.10,1.12,0.00,0.000,6,0.144,0.043,2636,2199,1876,0,0,0,0,0,0
$GC,10197,0.78,188.7,186.4,7.6,834,10240,0.00,1.17,34.80,1.026,4,0.000,0.044,2639,1497,1715,0,0,0,0,0,0
$GC,10347,0.78,188.7,172.7,9.8,856,10354,0.00,1.15,0.00,0.000,6,0.000,0.043,2639,2196,1713,0,0,0,0,0,0
$GC,10685,0.81,218.3,142.7,7.9,907,10721,0.00,1.17,25.30,0.990,4,0.000,0.046,2643,1492,1594,0,0,0,0,0,0
$GC,10804,0.82,225.7,132.6,8.9,924,10818,0.00,1.17,7.62,0.881,6,0.000,0.043,2644,2204,1564,0,0,0,0,0,0
$GC,11151,0.83,228.9,100.5,9.0,976,11159,0.00,1.20,4.15,0.724,4,0.000,0.045,2648,1490,1551,0,0,0,0,0,0
$GC,11207,0.84,240.1,95.4,8.7,984,11226,0.00,1.17,10.93,0.923,6,0.000,0.044,2648,2204,1507,0,0,0,0,0,0
$GC,11558,0.85,248.0,60.9,8.8,1037,11571,0.00,0.00,8.30,0.886,6,0.000,0.000,2648,2204,1473,0,0,0,0,0,0
$GC,11902,0.90,286.9,33.9,7.5,1089,11942,0.12,1.15,33.05,0.943,4,0.090,0.045,2705,1499,1314,0,0,0,0,0,0
$FREEZE,8.84,-0.609,-1.690,2,1,0
$FREEZE,8.05,-0.590,-1.689,2,1,0
$FREEZE,7.33,-0.572,-1.687,2,1,0
$FREEZE,6.39,-0.564,-1.686,2,1,0
$FREEZE,5.68,-0.565,-1.685,2,1,0
$FREEZE,4.87,-0.673,-1.690,2,1,0
$FREEZE,3.99,-0.594,-1.685,2,1,0
$FREEZE,3.32,-0.585,-1.684,2,1,0
$FREEZE,2.54,-0.589,-1.684,2,1,0
$GC,12192,0.90,286.9,2.5,12.4,1133,12199,0.00,1.15,0.00,0.000,6,0.000,0.044,2704,2197,1308,0,0,0,0,0,0
$FREEZE,1.57,-0.942,-0.234,2,1,0
$STATE,12204,end climb,FINISH_DEPTH_REACHED
$STATE,12205,begin subsurface finish
$FINISH1,1.6,1.003236,0
$GC,12212,0.00,0.0,1.6,9.7,1135,12327,0.85,1.15,-104.62,0.000,4,0.063,0.079,2397,2900,2485,0,0,0,0,0,0
$FINISH2,1.6
$STATE,12328,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12328,begin surface
$RAFOS_CLK,803
$RAFOS,5,1322167263,20.700001,20.684166,89,64,59,0,0,0,885,217,196,0,0,0
$RAFOS,4,1322166783,20.566668,20.550833,131,63,59,0,0,0,674,186,198,0,0,0
$RAFOS,3,1322166306,20.433332,20.418333,60,56,54,0,0,0,151,202,119,0,0,0
$RAFOS,2,1322165824,20.299999,20.284445,81,69,65,0,0,0,575,171,198,0,0,0
$RAFOS,1,1322165344,20.166666,20.151112,123,59,57,0,0,0,562,200,219,0,0,0
$RAFOS,0,1322164872,20.033333,20.020000,121,57,56,0,0,0,615,124,206,0,0,0
$RAFOS_FIX,6640.626465,-5954.149414,241111,202049,5,109,0.47
$IRIDIUM_FIX,6620.33,-6003.82,241111,131351
$TT8_MAMPS,0.029211,0.029211
$HUMID,55.78
$INTERNAL_PRESSURE,9.94179
$TCM_TEMP,16.10
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.5,17.6
$ALTIM_BOTTOM_PING,500.4,175.4
$24V_AH,22.6,37.644
$10V_AH,10.1,28.333
$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,10.550,56.275,376.100,0.000,0.000,0.000,0.000,281.950,8.500,0.000,19.528,3057.976,6553.410,672.912,2200.197,267.088,0.000,2015.003,0.000,1923.917,2520.000,14.586,0.000
$DEVICE_MAMPS,218.790,78.795,1311.210,0.000,0.000,0.000,0.000,280.889,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.801,642.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150192
$DATA_FILE_SIZE,46740,1153
$CAP_FILE_SIZE,129254,0
$CFSIZE,260165632,227332096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$CURRENT,0.426,155.9,1
$GPS,241111,202249,6640.626,-5954.149,0,5109.0,0,-33.8