version: 66.09
glider: 143
mission: 13
dive: 221
start: 11 10 111 17 59 39
data:
$ID,143
$MISSION,13
$DIVE,221
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$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,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80794.227
$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,49
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,101111,175405,6701.288,-5705.271,35,0.8,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-66.5
$GPS2,101111,175907,6701.252,-5705.267,20,1.1,20,-33.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$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,287.5,150285,-16.9,-9.167
$D_GRID,728
$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,-146.0,0.0,0.0,0,56,0.00,0.00,-37.70,0.000,2,0.000,0.000,111,2511,1822,0,0,0,0,0,0
$GC,59,-0.73,-146.0,3.2,-2.1,5,142,8.15,0.00,-71.75,0.000,6,0.237,0.000,2162,2511,3081,0,0,0,0,0,0
$GC,473,-0.73,-146.0,53.2,-15.8,67,480,0.00,1.10,0.00,0.000,4,0.000,0.065,2159,3208,3085,0,0,0,0,0,0
$GC,647,-0.73,-146.0,79.0,-13.2,93,654,0.00,1.05,0.00,0.000,6,0.000,0.028,2159,2515,3084,0,0,0,0,0,0
$GC,985,-0.73,-146.0,121.9,-12.8,144,994,0.00,1.15,0.00,0.000,4,0.000,0.061,2154,3212,3084,0,0,0,0,0,0
$GC,1014,-0.73,-146.0,125.7,-13.3,148,1023,0.00,1.08,0.00,0.000,6,0.000,0.028,2155,2498,3084,0,0,0,0,0,0
$GC,1354,-0.73,-146.0,168.2,-11.9,199,1361,0.00,1.17,0.00,0.000,4,0.000,0.061,2150,3213,3084,0,0,0,0,0,0
$GC,1449,-0.73,-146.0,179.3,-12.2,213,1456,0.00,1.05,0.00,0.000,6,0.000,0.028,2150,2509,3084,0,0,0,0,0,0
$GC,1787,-0.73,-146.0,218.2,-11.4,264,1796,0.00,1.05,0.00,0.000,4,0.000,0.041,2150,1821,3084,0,0,0,0,0,0
$GC,1851,-0.73,-146.0,225.2,-11.2,273,1858,0.00,1.15,0.00,0.000,6,0.000,0.051,2145,2507,3084,0,0,0,0,0,0
$GC,2184,-0.73,-146.0,264.0,-11.8,315,2187,0.00,1.10,0.00,0.000,4,0.000,0.066,2140,3209,3083,0,0,0,0,0,0
$GC,2223,-0.73,-146.0,268.8,-12.1,318,2227,0.00,1.05,0.00,0.000,6,0.000,0.028,2140,2509,3083,0,0,0,0,0,0
$GC,2552,-0.73,-146.0,306.8,-11.4,344,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2509,3083,0,0,0,0,0,0
$GC,2868,-0.73,-146.0,343.8,-12.0,369,2872,0.00,1.15,0.00,0.000,4,0.000,0.060,2136,3213,3083,0,0,0,0,0,0
$GC,2965,-0.73,-146.0,355.4,-12.5,376,2976,0.12,1.08,0.00,0.000,6,0.167,0.026,2165,2502,3083,0,0,0,0,0,0
$GC,3288,-0.73,-146.0,389.3,-9.6,402,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2502,3084,0,0,0,0,0,0
$GC,3604,-0.73,-146.0,419.9,-9.8,427,3608,0.00,1.17,0.00,0.000,4,0.000,0.061,2163,3220,3084,0,0,0,0,0,0
$GC,3644,-0.73,-146.0,423.7,-9.5,430,3648,0.00,1.05,0.00,0.000,6,0.000,0.028,2163,2522,3084,0,0,0,0,0,0
$GC,3972,-0.73,-146.0,455.3,-9.7,456,3976,0.00,1.12,0.00,0.000,4,0.000,0.060,2158,3213,3084,0,0,0,0,0,0
$GC,4017,-0.73,-146.0,459.3,-10.2,459,4025,0.00,1.10,0.00,0.000,6,0.000,0.027,2158,2490,3084,0,0,0,0,0,0
$GC,4343,-0.73,-146.0,492.4,-10.1,485,4346,0.00,1.17,0.00,0.000,4,0.000,0.061,2153,3210,3084,0,0,0,0,0,0
$GC,4397,-0.73,-146.0,498.2,-10.5,489,4400,0.00,1.05,0.00,0.000,6,0.000,0.028,2154,2507,3085,0,0,0,0,0,0
$GC,4731,-0.73,-146.0,532.4,-10.5,501,4734,0.00,1.15,0.00,0.000,4,0.000,0.061,2149,3212,3085,0,0,0,0,0,0
$GC,4788,-0.73,-146.0,536.0,-10.4,502,4796,0.00,1.08,0.00,0.000,6,0.000,0.028,2149,2498,3085,0,0,0,0,0,0
$GC,5103,-0.73,-146.0,569.1,-9.6,513,5107,0.00,1.17,0.00,0.000,4,0.000,0.060,2144,3218,3086,0,0,0,0,0,0
$GC,5150,-0.73,-146.0,572.6,-9.8,514,5153,0.00,1.05,0.00,0.000,6,0.000,0.028,2144,2521,3086,0,0,0,0,0,0
$GC,5477,-0.73,-146.0,607.3,-10.4,525,5480,0.00,1.12,0.00,0.000,4,0.000,0.060,2140,3212,3086,0,0,0,0,0,0
$GC,5569,-0.73,-146.0,614.3,-10.3,527,5576,0.00,1.05,0.00,0.000,6,0.000,0.028,2141,2505,3086,0,0,0,0,0,0
$GC,5882,-0.73,-146.0,648.4,-10.1,538,5885,0.00,1.15,0.00,0.000,4,0.000,0.061,2135,3211,3086,0,0,0,0,0,0
$GC,5982,-0.73,-146.0,659.2,-10.7,541,5986,0.00,1.05,0.00,0.000,6,0.000,0.028,2136,2509,3086,0,0,0,0,0,0
$GC,6322,-0.73,-146.0,696.1,-10.8,552,6326,0.12,1.15,0.00,0.000,4,0.169,0.062,2163,3213,3086,0,0,0,0,0,0
$GC,6406,-0.73,-146.0,702.4,-10.2,554,6411,0.00,1.08,0.00,0.000,6,0.000,0.028,2162,2501,3086,0,0,0,0,0,0
$STATE,6693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6693,begin apogee
$GC,6699,-0.16,0.0,729.3,-8.6,564,6825,0.55,0.00,119.75,1.327,6,0.123,0.000,2345,2191,2485,0,0,0,0,0,0
$STATE,6826,end apogee,CONTROL_FINISHED_OK
$STATE,6826,begin climb
$GC,6828,0.73,146.0,733.2,0.0,568,6964,0.82,1.17,127.75,1.275,4,0.064,0.046,2637,1514,1889,0,0,0,0,0,0
$GC,7214,0.73,146.0,697.2,12.4,580,7219,0.00,1.20,0.00,0.000,6,0.000,0.041,2637,2216,1882,0,0,0,0,0,0
$GC,7548,0.73,146.0,654.7,12.6,591,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2216,1879,0,0,0,0,0,0
$GC,7856,0.73,146.0,616.7,12.4,601,7859,0.00,1.10,0.00,0.000,4,0.000,0.052,2637,2903,1879,0,0,0,0,0,0
$GC,7966,0.73,146.0,604.2,12.4,604,7971,0.00,1.15,0.00,0.000,6,0.000,0.036,2642,2201,1877,0,0,0,0,0,0
$GC,8293,0.73,146.0,562.4,12.3,615,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,1877,0,0,0,0,0,0
$GC,8599,0.73,146.0,524.0,12.8,625,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,1876,0,0,0,0,0,0
$GC,8915,0.73,146.0,484.4,12.4,640,8918,0.00,1.17,0.00,0.000,4,0.000,0.051,2642,2902,1876,0,0,0,0,0,0
$GC,8986,0.73,146.0,475.8,13.4,645,8996,0.00,1.15,0.00,0.000,6,0.000,0.037,2647,2194,1876,0,0,0,0,0,0
$GC,9310,0.73,146.0,432.9,12.7,671,9314,0.00,1.05,0.00,0.000,4,0.000,0.049,2652,1497,1876,0,0,0,0,0,0
$GC,9377,0.73,146.0,424.1,13.2,676,9380,0.00,1.12,0.00,0.000,6,0.000,0.045,2652,2200,1875,0,0,0,0,0,0
$GC,9706,0.73,146.0,381.3,12.9,702,9710,0.00,1.12,0.00,0.000,4,0.000,0.054,2652,2908,1876,0,0,0,0,0,0
$GC,9791,0.73,146.0,370.6,13.4,708,9798,0.00,1.15,0.00,0.000,6,0.000,0.036,2656,2196,1876,0,0,0,0,0,0
$GC,10117,0.73,146.0,328.8,12.5,734,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2196,1876,0,0,0,0,0,0
$GC,10430,0.73,146.0,289.1,12.7,759,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2196,1876,0,0,0,0,0,0
$GC,10747,0.73,146.0,247.6,13.4,785,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2195,1875,0,0,0,0,0,0
$GC,11085,0.73,146.0,202.5,12.9,836,11092,0.00,1.05,0.00,0.000,4,0.000,0.049,2662,1494,1875,0,0,0,0,0,0
$GC,11252,0.73,146.0,182.2,11.7,861,11261,0.00,1.12,0.00,0.000,6,0.000,0.044,2662,2202,1876,0,0,0,0,0,0
$GC,11591,0.73,146.0,145.1,10.0,912,11598,0.00,1.10,0.00,0.000,4,0.000,0.054,2662,2899,1876,0,0,0,0,0,0
$GC,11848,0.73,146.0,118.4,10.2,951,11856,0.10,1.10,0.00,0.000,6,0.151,0.034,2635,2200,1876,0,0,0,0,0,0
$GC,12187,0.78,189.5,92.2,7.3,1002,12226,0.00,0.00,35.03,0.923,6,0.000,0.000,2635,2200,1712,0,0,0,0,0,0
$GC,12558,0.89,278.0,59.5,5.4,1058,12639,0.15,0.00,73.57,0.890,6,0.077,0.000,2694,2200,1351,0,0,0,0,0,0
$GC,12969,0.89,278.0,3.6,15.8,1120,12976,0.00,1.20,0.00,0.000,4,0.000,0.047,2694,2911,1342,0,0,0,0,0,0
$STATE,12982,end climb,SURFACE_DEPTH_REACHED
$STATE,12982,begin surface coast
$FINISH,1.9,1.013194
$STATE,12988,end surface coast,CONTROL_FINISHED_OK
$STATE,12988,begin surface
$SM_CCo,13005,8.90,0.078,0,0,1261,300.00
$SM_GC,3.50,7.03,0.65,8.90,0.047,0.031,0.078,114,2504,1261,-7.08,1.19,300.00,0,0,0,0,0,0
$RAFOS_CLK,804
$RAFOS,6,1320958141,20.833334,20.816944,75,61,58,0,0,0,204,170,154,0,0,0
$RAFOS,5,1320957671,20.700001,20.686388,63,62,55,0,0,0,223,554,184,0,0,0
$RAFOS,4,1320957185,20.566668,20.551390,58,56,54,0,0,0,209,240,173,0,0,0
$RAFOS,3,1320956729,20.433332,20.424723,66,56,55,0,0,0,204,171,144,0,0,0
$RAFOS,2,1320956239,20.299999,20.288610,62,61,55,0,0,0,198,209,131,0,0,0
$RAFOS,1,1320955770,20.166666,20.158333,59,58,57,0,0,0,145,196,166,0,0,0
$RAFOS,0,1320955280,20.033333,20.022223,57,55,54,0,0,0,201,170,224,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6636.54,-5715.22,101111,141411
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.26
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,17.00
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,551.4,197.1
$24V_AH,22.9,27.842
$10V_AH,10.3,21.375
$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,17.050,48.975,356.100,8.900,0.000,0.000,0.000,189.425,5.500,0.000,20.892,3055.366,7465.350,513.885,2080.151,207.517,0.000,1699.051,0.000,1866.298,2520.000,14.789,0.000
$DEVICE_MAMPS,237.150,65.790,1327.275,78.030,0.000,0.000,0.000,264.411,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.746,612.567,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,43318,1123
$CAP_FILE_SIZE,123889,0
$CFSIZE,260165632,232706048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.2
$CURRENT,0.234, 98.9,1
$GPS,101111,213800,6700.584,-5707.161,39,0.9,39,-33.5