version: 66.09
glider: 143
mission: 13
dive: 224
start: 11 11 111 5 30 43
data:
$ID,143
$MISSION,13
$DIVE,224
$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,-80799.453
$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,23
$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,0
$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
$GPS1,111111,052506,6701.572,-5714.437,41,0.8,41,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-70.2
$GPS2,111111,053012,6701.510,-5714.417,30,0.9,30,-33.6
$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,276.5,143857,-16.9,-9.167
$D_GRID,776
$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,-146.0,0.0,0.0,0,53,0.00,0.00,-34.30,0.000,2,0.000,0.000,116,2512,1759,0,0,0,0,0,0
$GC,56,-0.73,-146.0,3.1,-1.5,5,156,8.65,1.17,-86.38,0.000,4,0.259,0.090,2154,3222,3082,0,0,0,0,0,0
$GC,410,-0.73,-146.0,51.2,-15.6,58,417,0.00,1.10,0.00,0.000,6,0.000,0.029,2154,2499,3084,0,0,0,0,0,0
$GC,750,-0.73,-146.0,100.1,-13.4,109,757,0.00,1.17,0.00,0.000,4,0.000,0.064,2150,3209,3084,0,0,0,0,0,0
$GC,944,-0.73,-146.0,125.9,-13.1,138,950,0.00,1.08,0.00,0.000,6,0.000,0.029,2150,2499,3085,0,0,0,0,0,0
$GC,1282,-0.73,-146.0,167.8,-12.4,189,1289,0.00,1.17,0.00,0.000,4,0.000,0.063,2145,3212,3084,0,0,0,0,0,0
$GC,1374,-0.73,-146.0,179.6,-13.1,203,1381,0.00,1.08,0.00,0.000,6,0.000,0.030,2145,2500,3084,0,0,0,0,0,0
$GC,1710,-0.73,-146.0,219.9,-11.6,254,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2500,3084,0,0,0,0,0,0
$GC,2043,-0.73,-146.0,259.2,-11.7,299,2047,0.00,1.17,0.00,0.000,4,0.000,0.062,2141,3213,3083,0,0,0,0,0,0
$GC,2111,-0.73,-146.0,266.9,-11.6,304,2114,0.00,1.05,0.00,0.000,6,0.000,0.028,2140,2521,3083,0,0,0,0,0,0
$GC,2439,-0.73,-146.0,304.4,-10.9,330,2443,0.00,1.15,0.00,0.000,4,0.000,0.062,2136,3219,3083,0,0,0,0,0,0
$GC,2492,-0.73,-146.0,310.1,-10.9,334,2496,0.00,1.08,0.00,0.000,6,0.000,0.028,2136,2503,3082,0,0,0,0,0,0
$GC,2822,-0.73,-146.0,345.6,-10.7,360,2824,0.12,0.00,0.00,0.000,6,0.169,0.000,2166,2504,3082,0,0,0,0,0,0
$GC,3139,-0.73,-146.0,374.2,-9.1,385,3143,0.00,1.17,0.00,0.000,4,0.000,0.061,2163,3219,3082,0,0,0,0,0,0
$GC,3207,-0.73,-146.0,380.7,-9.4,390,3211,0.00,1.08,0.00,0.000,6,0.000,0.028,2164,2504,3082,0,0,0,0,0,0
$GC,3537,-0.73,-146.0,413.2,-10.2,416,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2503,3083,0,0,0,0,0,0
$GC,3853,-0.73,-146.0,445.5,-10.0,441,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2503,3084,0,0,0,0,0,0
$GC,4167,-0.73,-146.0,476.2,-9.4,466,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2503,3085,0,0,0,0,0,0
$GC,4481,-0.73,-146.0,505.5,-9.0,488,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2504,3086,0,0,0,0,0,0
$GC,4787,-0.73,-146.0,534.3,-9.1,498,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2504,3086,0,0,0,0,0,0
$GC,5093,-0.73,-146.0,561.4,-9.0,508,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2503,3086,0,0,0,0,0,0
$GC,5400,-0.73,-146.0,589.8,-9.3,518,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2504,3087,0,0,0,0,0,0
$GC,5707,-0.73,-146.0,618.3,-9.3,528,5710,0.00,1.17,0.00,0.000,4,0.000,0.063,2159,3217,3087,0,0,0,0,0,0
$GC,5773,-0.73,-146.0,624.8,-9.4,530,5776,0.00,1.08,0.00,0.000,6,0.000,0.028,2159,2502,3087,0,0,0,0,0,0
$GC,6114,-0.73,-146.0,656.6,-9.5,541,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2501,3087,0,0,0,0,0,0
$GC,6418,-0.73,-146.0,685.9,-9.5,551,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2502,3087,0,0,0,0,0,0
$GC,6726,-0.73,-146.0,714.7,-9.4,561,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2501,3087,0,0,0,0,0,0
$GC,7031,-0.73,-146.0,743.3,-9.3,571,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2502,3087,0,0,0,0,0,0
$GC,7338,-0.73,-146.0,771.6,-9.2,581,7342,0.00,1.17,0.00,0.000,4,0.000,0.063,2154,3216,3086,0,0,0,0,0,0
$STATE,7369,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7369,begin apogee
$GC,7376,-0.16,0.0,775.0,-9.3,582,7506,0.57,0.00,121.03,1.379,6,0.130,0.000,2341,2195,2485,0,0,0,0,0,0
$STATE,7506,end apogee,CONTROL_FINISHED_OK
$STATE,7506,begin climb
$GC,7509,0.73,146.0,779.1,0.0,586,7646,0.85,1.23,129.77,1.322,4,0.065,0.047,2638,1497,1889,0,0,0,0,0,0
$GC,7896,0.73,146.0,744.8,11.7,598,7901,0.00,1.23,0.00,0.000,6,0.000,0.044,2638,2209,1881,0,0,0,0,0,0
$GC,8225,0.73,146.0,704.8,12.0,609,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2208,1879,0,0,0,0,0,0
$GC,8530,0.73,146.0,668.0,12.2,619,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2208,1877,0,0,0,0,0,0
$GC,8837,0.73,146.0,632.0,11.6,629,8841,0.00,1.15,0.00,0.000,4,0.000,0.047,2643,1497,1876,0,0,0,0,0,0
$GC,8915,0.73,146.0,624.3,11.5,631,8920,0.00,1.17,0.00,0.000,6,0.000,0.045,2642,2208,1876,0,0,0,0,0,0
$GC,9242,0.73,146.0,585.2,11.5,642,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2208,1875,0,0,0,0,0,0
$GC,9548,0.73,146.0,550.5,11.1,652,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2207,1875,0,0,0,0,0,0
$GC,9854,0.73,146.0,515.7,11.3,662,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2207,1874,0,0,0,0,0,0
$GC,10172,0.73,146.0,479.9,11.4,680,10176,0.00,1.10,0.00,0.000,4,0.000,0.055,2643,2898,1874,0,0,0,0,0,0
$GC,10251,0.73,146.0,470.4,12.1,686,10255,0.00,1.12,0.00,0.000,6,0.000,0.036,2647,2195,1874,0,0,0,0,0,0
$GC,10580,0.73,146.0,431.8,12.1,712,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2195,1873,0,0,0,0,0,0
$GC,10898,0.73,146.0,393.3,12.2,737,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2195,1872,0,0,0,0,0,0
$GC,11211,0.73,146.0,353.5,12.7,762,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,1872,0,0,0,0,0,0
$GC,11528,0.73,146.0,316.0,11.5,787,11531,0.00,1.17,0.00,0.000,4,0.000,0.051,2647,2899,1872,0,0,0,0,0,0
$GC,11594,0.73,146.0,308.0,12.3,792,11598,0.00,1.12,0.00,0.000,6,0.000,0.036,2652,2192,1872,0,0,0,0,0,0
$GC,11923,0.73,146.0,269.4,11.6,818,11926,0.00,1.05,0.00,0.000,4,0.000,0.050,2657,1495,1872,0,0,0,0,0,0
$GC,12017,0.73,146.0,258.8,11.2,825,12021,0.00,1.12,0.00,0.000,6,0.000,0.046,2657,2199,1872,0,0,0,0,0,0
$GC,12352,0.73,146.0,222.1,10.7,869,12358,0.00,1.12,0.00,0.000,4,0.000,0.056,2657,2907,1872,0,0,0,0,0,0
$GC,12486,0.73,146.0,206.6,12.5,889,12493,0.00,1.12,0.00,0.000,6,0.000,0.037,2662,2199,1872,0,0,0,0,0,0
$GC,12825,0.73,146.0,170.2,11.0,940,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2199,1872,0,0,0,0,0,0
$GC,13164,0.73,146.0,135.0,10.1,991,13170,0.00,1.08,0.00,0.000,4,0.000,0.050,2667,1490,1872,0,0,0,0,0,0
$GC,13205,0.73,146.0,131.1,9.9,997,13213,0.10,1.15,0.00,0.000,6,0.148,0.047,2636,2208,1872,0,0,0,0,0,0
$GC,13544,0.77,183.9,102.8,7.6,1048,13581,0.00,1.15,30.17,0.949,4,0.000,0.054,2635,2901,1735,0,0,0,0,0,0
$GC,13662,0.77,183.9,92.2,9.7,1065,13669,0.00,1.15,0.00,0.000,6,0.000,0.036,2639,2191,1733,0,0,0,0,0,0
$GC,14000,0.85,247.2,66.2,6.5,1116,14062,0.10,0.00,53.70,0.929,6,0.097,0.000,2682,2192,1476,0,0,0,0,0,0
$GC,14394,0.85,247.2,25.6,10.7,1175,14401,0.00,1.08,0.00,0.000,4,0.000,0.050,2687,1494,1469,0,0,0,0,0,0
$GC,14555,0.85,247.2,9.2,11.5,1199,14561,0.00,1.15,0.00,0.000,6,0.000,0.047,2687,2196,1469,0,0,0,0,0,0
$STATE,14620,end climb,SURFACE_DEPTH_REACHED
$STATE,14620,begin surface coast
$FINISH,1.9,1.025855
$STATE,14647,end surface coast,CONTROL_FINISHED_OK
$STATE,14647,begin surface
$SM_CCo,14663,24.02,0.082,0,0,1261,300.00
$SM_GC,2.56,6.90,0.52,24.02,0.043,0.060,0.082,120,2505,1261,-7.06,-0.93,300.00,0,0,0,0,0,0
$RAFOS_CLK,928
$RAFOS,6,1321001352,8.833333,8.820000,63,62,59,0,0,0,215,188,714,0,0,0
$RAFOS,5,1321000866,8.700000,8.685000,67,66,60,0,0,0,547,195,120,0,0,0
$RAFOS,4,1321000386,8.566667,8.551666,74,60,58,0,0,0,786,118,171,0,0,0
$RAFOS,3,1320999907,8.433333,8.418612,62,58,56,0,0,0,206,163,218,0,0,0
$RAFOS,2,1320999448,8.300000,8.291111,57,53,52,0,0,0,169,225,192,0,0,0
$RAFOS,1,1320998958,8.166667,8.155000,57,56,56,0,0,0,181,146,125,0,0,0
$RAFOS,0,1320998468,8.033334,8.018888,61,56,55,0,0,0,162,202,174,0,0,0
$RAFOS_FIX,6701.040527,-5729.323730,111111,080828,2,70,0.95
$IRIDIUM_FIX,6631.12,-5705.96,111111,010111
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.95
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.40
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.9,18.2
$ALTIM_BOTTOM_PING,650.7,138.1
$24V_AH,22.8,28.173
$10V_AH,10.3,21.629
$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,17.300,39.500,334.675,24.025,0.000,0.000,0.000,181.350,6.750,0.000,32.607,3339.719,8824.074,486.818,2134.074,223.285,0.000,1681.347,0.000,1924.187,2520.000,19.790,0.000
$DEVICE_MAMPS,258.570,90.270,1379.295,81.855,0.000,0.000,0.000,263.662,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.070,659.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,46655,1213
$CAP_FILE_SIZE,127116,0
$CFSIZE,260165632,232501248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1459.8
$CURRENT,0.171, 94.8,1
$GPS,111111,093706,6700.484,-5717.329,38,0.9,38,-33.6