version: 66.09
glider: 143
mission: 13
dive: 229
start: 11 12 111 2 43 35
data:
$ID,143
$MISSION,13
$DIVE,229
$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,-80810
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,121111,023723,6701.449,-5730.678,40,0.9,40,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-61.9
$GPS2,121111,024303,6701.474,-5730.661,18,0.7,19,-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,252.2,132290,-16.9,-9.167
$D_GRID,825
$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,-146.0,0.0,0.0,0,95,0.00,0.00,-76.82,0.000,2,0.000,0.000,109,2507,1635,0,0,0,0,0,0
$GC,98,-0.73,-146.0,3.1,-0.8,10,191,8.65,1.10,-76.38,0.000,4,0.256,0.094,2158,3213,3081,0,0,0,0,0,0
$GC,443,-0.73,-146.0,50.7,-16.7,62,450,0.00,1.10,0.00,0.000,6,0.000,0.034,2157,2504,3084,0,0,0,0,0,0
$GC,781,-0.73,-146.0,97.8,-13.4,113,790,0.00,1.17,0.00,0.000,4,0.000,0.064,2154,3209,3084,0,0,0,0,0,0
$GC,997,-0.73,-146.0,126.3,-12.9,145,1007,0.00,1.08,0.00,0.000,6,0.000,0.034,2154,2514,3084,0,0,0,0,0,0
$GC,1336,-0.73,-146.0,170.7,-13.3,196,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2513,3084,0,0,0,0,0,0
$GC,1672,-0.73,-146.0,211.9,-11.3,247,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2514,3084,0,0,0,0,0,0
$GC,2009,-0.73,-146.0,249.3,-11.2,298,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2514,3084,0,0,0,0,0,0
$GC,2331,-0.73,-146.0,286.3,-11.8,324,2335,0.00,1.15,0.00,0.000,4,0.000,0.065,2148,3207,3083,0,0,0,0,0,0
$GC,2412,-0.73,-146.0,295.7,-11.8,330,2416,0.00,1.08,0.00,0.000,6,0.000,0.032,2149,2503,3083,0,0,0,0,0,0
$GC,2741,-0.73,-146.0,333.1,-11.2,356,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2503,3083,0,0,0,0,0,0
$GC,3057,-0.73,-146.0,366.6,-10.4,381,3060,0.00,1.17,0.00,0.000,4,0.000,0.064,2144,3211,3083,0,0,0,0,0,0
$GC,3177,-0.73,-146.0,379.3,-10.5,390,3181,0.00,1.08,0.00,0.000,6,0.000,0.031,2145,2503,3083,0,0,0,0,0,0
$GC,3506,-0.73,-146.0,415.2,-11.5,416,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2503,3083,0,0,0,0,0,0
$GC,3822,-0.73,-146.0,450.4,-10.7,441,3826,0.00,1.17,0.00,0.000,4,0.000,0.064,2140,3212,3084,0,0,0,0,0,0
$GC,3915,-0.73,-146.0,460.8,-11.2,448,3919,0.00,1.08,0.00,0.000,6,0.000,0.030,2140,2500,3084,0,0,0,0,0,0
$GC,4247,-0.73,-146.0,497.8,-11.3,474,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3084,0,0,0,0,0,0
$GC,4577,-0.73,-146.0,535.6,-11.4,486,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2500,3084,0,0,0,0,0,0
$GC,4882,-0.73,-146.0,569.1,-10.9,496,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2500,3085,0,0,0,0,0,0
$GC,5192,-0.73,-146.0,602.6,-10.9,506,5195,0.00,1.17,0.00,0.000,4,0.000,0.063,2135,3212,3085,0,0,0,0,0,0
$GC,5291,-0.73,-146.0,613.8,-10.9,509,5295,0.00,1.05,0.00,0.000,6,0.000,0.029,2136,2519,3085,0,0,0,0,0,0
$GC,5633,-0.73,-146.0,650.0,-10.7,520,5635,0.12,0.00,0.00,0.000,6,0.168,0.000,2166,2519,3085,0,0,0,0,0,0
$GC,5938,-0.73,-146.0,676.7,-8.5,530,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2519,3086,0,0,0,0,0,0
$GC,6246,-0.73,-146.0,702.3,-8.3,540,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2519,3086,0,0,0,0,0,0
$GC,6551,-0.73,-146.0,728.1,-8.6,550,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2519,3086,0,0,0,0,0,0
$GC,6855,-0.73,-146.0,754.8,-8.6,560,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2519,3086,0,0,0,0,0,0
$GC,7164,-0.73,-146.0,781.2,-8.6,570,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2519,3086,0,0,0,0,0,0
$GC,7468,-0.73,-146.0,807.6,-8.6,580,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2519,3086,0,0,0,0,0,0
$STATE,7680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7680,begin apogee
$GC,7686,-0.16,0.0,826.6,-8.9,587,7815,0.52,0.00,122.80,1.422,6,0.125,0.000,2341,2187,2485,0,0,0,0,0,0
$STATE,7816,end apogee,CONTROL_FINISHED_OK
$STATE,7816,begin climb
$GC,7818,0.73,146.0,831.4,0.0,591,7960,0.85,1.20,131.88,1.362,4,0.067,0.049,2635,1510,1888,0,0,0,0,0,0
$GC,8198,0.73,146.0,798.6,11.9,603,8201,0.00,1.20,0.00,0.000,6,0.000,0.044,2635,2209,1880,0,0,0,0,0,0
$GC,8539,0.73,146.0,757.0,12.4,614,8542,0.00,1.15,0.00,0.000,4,0.000,0.054,2635,2906,1877,0,0,0,0,0,0
$GC,8596,0.73,146.0,752.6,12.4,615,8604,0.00,1.17,0.00,0.000,6,0.000,0.034,2640,2202,1877,0,0,0,0,0,0
$GC,8911,0.73,146.0,709.2,13.2,626,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2202,1876,0,0,0,0,0,0
$GC,9217,0.73,146.0,668.9,13.3,636,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1875,0,0,0,0,0,0
$GC,9524,0.73,146.0,628.8,13.2,646,9527,0.00,1.08,0.00,0.000,4,0.000,0.050,2645,1498,1875,0,0,0,0,0,0
$GC,9594,0.73,146.0,619.9,13.1,648,9600,0.00,1.17,0.00,0.000,6,0.000,0.045,2645,2207,1875,0,0,0,0,0,0
$GC,9929,0.73,146.0,577.4,12.4,659,9933,0.00,1.12,0.00,0.000,4,0.000,0.057,2645,2905,1875,0,0,0,0,0,0
$GC,9980,0.73,146.0,573.2,12.4,660,9984,0.00,1.17,0.00,0.000,6,0.000,0.037,2650,2191,1873,0,0,0,0,0,0
$GC,10300,0.73,146.0,530.5,12.5,671,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1873,0,0,0,0,0,0
$GC,10614,0.73,146.0,491.9,12.1,683,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1873,0,0,0,0,0,0
$GC,10929,0.73,146.0,452.8,12.2,708,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1872,0,0,0,0,0,0
$GC,11245,0.73,146.0,414.8,12.0,733,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1873,0,0,0,0,0,0
$GC,11563,0.73,146.0,376.5,12.2,758,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1873,0,0,0,0,0,0
$GC,11877,0.73,146.0,338.4,11.8,783,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1872,0,0,0,0,0,0
$GC,12192,0.73,146.0,301.4,11.7,808,12195,0.00,1.05,0.00,0.000,4,0.000,0.052,2655,1498,1872,0,0,0,0,0,0
$GC,12327,0.73,146.0,286.2,11.5,818,12330,0.00,1.12,0.00,0.000,6,0.000,0.047,2655,2197,1871,0,0,0,0,0,0
$GC,12657,0.73,146.0,249.0,10.7,844,12664,0.00,1.12,0.00,0.000,4,0.000,0.058,2655,2901,1872,0,0,0,0,0,0
$GC,12816,0.73,146.0,232.0,10.0,868,12823,0.00,1.12,0.00,0.000,6,0.000,0.039,2660,2200,1871,0,0,0,0,0,0
$GC,13153,0.73,146.0,200.8,9.2,919,13160,0.00,1.08,0.00,0.000,4,0.000,0.051,2665,1493,1871,0,0,0,0,0,0
$GC,13366,0.73,146.0,180.9,9.7,951,13373,0.08,1.15,0.00,0.000,6,0.151,0.047,2641,2209,1871,0,0,0,0,0,0
$GC,13706,0.73,146.0,148.1,10.0,1002,13712,0.00,1.10,0.00,0.000,4,0.000,0.057,2641,2900,1872,0,0,0,0,0,0
$GC,13798,0.73,146.0,138.6,10.0,1016,13805,0.00,1.12,0.00,0.000,6,0.000,0.037,2644,2197,1871,0,0,0,0,0,0
$GC,14136,0.80,203.3,112.6,6.8,1067,14191,0.00,1.23,45.70,0.977,4,0.000,0.053,2644,2897,1655,0,0,0,0,0,0
$GC,14310,0.80,203.3,96.6,9.6,1093,14319,0.00,1.15,0.00,0.000,6,0.000,0.037,2648,2198,1652,0,0,0,0,0,0
$GC,14650,0.82,219.1,65.8,8.5,1144,14666,0.00,0.00,13.48,0.913,6,0.000,0.000,2649,2198,1591,0,0,0,0,0,0
$GC,14998,0.87,264.2,38.4,7.3,1196,15041,0.00,0.00,38.80,0.930,6,0.000,0.000,2648,2197,1406,0,0,0,0,0,0
$GC,15371,0.87,264.2,2.2,10.2,1252,15377,0.00,1.10,0.00,0.000,4,0.000,0.053,2648,1501,1397,0,0,0,0,0,0
$STATE,15384,end climb,SURFACE_DEPTH_REACHED
$STATE,15384,begin surface coast
$FINISH,1.8,1.013360
$STATE,15389,end surface coast,CONTROL_FINISHED_OK
$STATE,15389,begin surface
$SM_CCo,15407,15.75,0.086,0,0,1261,300.00
$SM_GC,4.48,7.00,1.73,15.75,0.055,0.054,0.086,121,2505,1261,-7.08,-0.93,300.00,0,0,0,0,0,0
$RAFOS_CLK,1002
$RAFOS,6,1321073342,4.833333,4.817222,65,62,62,0,0,0,739,197,151,0,0,0
$RAFOS,5,1321072882,4.700000,4.689445,106,66,59,0,0,0,423,174,196,0,0,0
$RAFOS,4,1321072392,4.566667,4.553333,64,58,57,0,0,0,209,157,119,0,0,0
$RAFOS,3,1321071902,4.433333,4.417222,61,59,57,0,0,0,198,177,212,0,0,0
$RAFOS,2,1321071444,4.300000,4.290000,59,57,54,0,0,0,827,216,169,0,0,0
$RAFOS,1,1321070970,4.166667,4.158333,81,67,62,0,0,0,786,212,178,0,0,0
$RAFOS,0,1321070480,4.033333,4.022222,60,59,58,0,0,0,195,163,217,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6636.54,-5627.78,111111,222205
$TT8_MAMPS,0.025466,0.025466
$HUMID,57.99
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.50
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.6,16.9
$ALTIM_BOTTOM_PING,802.3,44.0
$24V_AH,22.6,28.796
$10V_AH,10.1,22.076
$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,17.225,37.250,352.650,15.750,0.000,0.000,0.000,227.075,8.250,0.000,21.315,3455.719,9319.703,528.147,2250.969,222.380,0.000,1810.968,0.000,2004.628,2520.000,24.840,0.000
$DEVICE_MAMPS,255.510,94.095,1422.135,85.680,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.069,695.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,46655,1255
$CAP_FILE_SIZE,130158,0
$CFSIZE,260165632,232165376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.9
$CURRENT,0.091, 60.1,1
$GPS,121111,070227,6659.758,-5733.740,53,0.7,53,-33.6