version: 66.09
glider: 143
mission: 13
dive: 230
start: 11 12 111 7 8 27
data:
$ID,143
$MISSION,13
$DIVE,230
$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,-80812.688
$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,24
$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
$GPS1,121111,070227,6659.758,-5733.740,53,0.7,53,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-63.2
$GPS2,121111,070755,6659.709,-5733.817,25,1.8,25,-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,284.6,129279,-16.9,-9.167
$D_GRID,836
$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,-146.0,0.0,0.0,0,50,0.00,0.00,-32.12,0.000,2,0.000,0.000,119,2519,1710,0,0,0,0,0,0
$GC,53,-0.73,-146.0,3.0,-1.9,4,144,8.57,1.20,-74.00,0.000,4,0.253,0.102,2160,3213,3082,0,0,0,0,0,0
$GC,395,-0.73,-146.0,49.1,-16.5,55,402,0.00,1.10,0.00,0.000,6,0.000,0.034,2160,2510,3083,0,0,0,0,0,0
$GC,733,-0.73,-146.0,96.4,-12.7,106,740,0.00,1.17,0.00,0.000,4,0.000,0.064,2156,3211,3083,0,0,0,0,0,0
$GC,920,-0.73,-146.0,120.3,-12.8,134,927,0.00,1.10,0.00,0.000,6,0.000,0.033,2156,2500,3083,0,0,0,0,0,0
$GC,1259,-0.73,-146.0,162.9,-11.8,185,1266,0.00,1.20,0.00,0.000,4,0.000,0.064,2151,3217,3083,0,0,0,0,0,0
$GC,1372,-0.73,-146.0,177.3,-12.9,202,1379,0.00,1.10,0.00,0.000,6,0.000,0.033,2151,2505,3083,0,0,0,0,0,0
$GC,1711,-0.73,-146.0,221.8,-13.2,253,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2505,3083,0,0,0,0,0,0
$GC,2049,-0.73,-146.0,267.0,-12.9,295,2053,0.00,1.08,0.00,0.000,4,0.000,0.047,2151,1817,3083,0,0,0,0,0,0
$GC,2102,-0.73,-146.0,273.7,-12.7,299,2105,0.00,1.17,0.00,0.000,6,0.000,0.056,2147,2505,3083,0,0,0,0,0,0
$GC,2434,-0.73,-146.0,315.1,-12.3,325,2437,0.00,1.12,0.00,0.000,4,0.000,0.070,2141,3211,3083,0,0,0,0,0,0
$GC,2500,-0.73,-146.0,323.8,-12.6,330,2503,0.00,1.08,0.00,0.000,6,0.000,0.033,2142,2512,3082,0,0,0,0,0,0
$GC,2828,-0.73,-146.0,363.6,-11.8,356,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2512,3082,0,0,0,0,0,0
$GC,3145,-0.73,-146.0,399.7,-11.6,381,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2511,3082,0,0,0,0,0,0
$GC,3460,-0.73,-146.0,435.8,-11.3,406,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2512,3082,0,0,0,0,0,0
$GC,3776,-0.73,-146.0,471.5,-11.2,431,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2512,3083,0,0,0,0,0,0
$GC,4102,-0.73,-146.0,508.1,-11.3,454,4105,0.00,1.15,0.00,0.000,4,0.000,0.064,2137,3209,3083,0,0,0,0,0,0
$GC,4139,-0.73,-146.0,511.9,-11.3,455,4144,0.00,1.10,0.00,0.000,6,0.000,0.029,2137,2495,3083,0,0,0,0,0,0
$GC,4474,-0.73,-146.0,550.9,-11.4,466,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2495,3084,0,0,0,0,0,0
$GC,4779,-0.73,-146.0,584.9,-11.2,476,4783,0.00,1.17,0.00,0.000,4,0.000,0.063,2133,3207,3084,0,0,0,0,0,0
$GC,4814,-0.73,-146.0,588.6,-11.1,477,4818,0.10,1.05,0.00,0.000,6,0.147,0.030,2164,2509,3084,0,0,0,0,0,0
$GC,5155,-0.73,-146.0,621.0,-9.6,488,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2509,3084,0,0,0,0,0,0
$GC,5463,-0.73,-146.0,650.4,-9.6,498,5466,0.00,1.15,0.00,0.000,4,0.000,0.063,2161,3208,3084,0,0,0,0,0,0
$GC,5514,-0.73,-146.0,653.8,-9.5,499,5518,0.00,1.08,0.00,0.000,6,0.000,0.028,2161,2503,3084,0,0,0,0,0,0
$GC,5835,-0.73,-146.0,684.3,-8.9,510,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2504,3085,0,0,0,0,0,0
$GC,6141,-0.73,-146.0,711.3,-8.8,520,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2503,3084,0,0,0,0,0,0
$GC,6447,-0.73,-146.0,738.2,-8.7,530,6450,0.00,1.17,0.00,0.000,4,0.000,0.062,2156,3217,3085,0,0,0,0,0,0
$GC,6492,-0.73,-146.0,741.2,-8.8,531,6496,0.00,1.08,0.00,0.000,6,0.000,0.028,2156,2503,3084,0,0,0,0,0,0
$GC,6819,-0.73,-146.0,771.5,-9.0,542,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2503,3085,0,0,0,0,0,0
$GC,7125,-0.73,-146.0,799.2,-9.1,552,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2504,3084,0,0,0,0,0,0
$GC,7431,-0.73,-146.0,828.0,-9.5,562,7435,0.00,1.17,0.00,0.000,4,0.000,0.062,2152,3216,3084,0,0,0,0,0,0
$STATE,7530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7530,begin apogee
$GC,7537,-0.16,0.0,837.5,-9.5,565,7665,0.57,0.00,122.28,1.430,6,0.130,0.000,2339,2198,2485,0,0,0,0,0,0
$STATE,7666,end apogee,CONTROL_FINISHED_OK
$STATE,7666,begin climb
$GC,7668,0.73,146.0,842.2,0.0,569,7813,0.85,1.23,132.45,1.371,4,0.071,0.049,2632,1498,1888,0,0,0,0,0,0
$GC,7937,0.73,146.0,825.2,10.9,577,7945,0.00,1.25,0.00,0.000,6,0.000,0.044,2632,2206,1882,0,0,0,0,0,0
$GC,8251,0.73,146.0,785.4,11.6,588,8255,0.00,1.15,0.00,0.000,4,0.000,0.055,2632,2898,1879,0,0,0,0,0,0
$GC,8317,0.73,146.0,777.2,12.1,590,8321,0.00,1.15,0.00,0.000,6,0.000,0.036,2637,2204,1878,0,0,0,0,0,0
$GC,8658,0.73,146.0,736.4,12.1,601,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2204,1877,0,0,0,0,0,0
$GC,8962,0.73,146.0,699.4,12.0,611,8966,0.00,1.10,0.00,0.000,4,0.000,0.049,2642,1493,1875,0,0,0,0,0,0
$GC,9030,0.73,146.0,691.7,11.8,613,9033,0.00,1.15,0.00,0.000,6,0.000,0.045,2642,2199,1876,0,0,0,0,0,0
$GC,9370,0.73,146.0,648.4,12.8,624,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1876,0,0,0,0,0,0
$GC,9675,0.73,146.0,609.7,12.8,634,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2199,1874,0,0,0,0,0,0
$GC,9982,0.73,146.0,571.5,12.4,644,9985,0.00,1.12,0.00,0.000,4,0.000,0.048,2647,1498,1875,0,0,0,0,0,0
$GC,10119,0.73,146.0,555.0,12.5,648,10124,0.00,1.17,0.00,0.000,6,0.000,0.047,2647,2209,1874,0,0,0,0,0,0
$GC,10453,0.73,146.0,513.0,12.3,659,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2209,1874,0,0,0,0,0,0
$GC,10764,0.73,146.0,474.1,12.2,678,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2209,1874,0,0,0,0,0,0
$GC,11080,0.73,146.0,434.4,12.7,703,11084,0.00,1.15,0.00,0.000,4,0.000,0.047,2651,1494,1873,0,0,0,0,0,0
$GC,11151,0.73,146.0,425.9,12.7,708,11161,0.00,1.17,0.00,0.000,6,0.000,0.047,2652,2208,1873,0,0,0,0,0,0
$GC,11477,0.73,146.0,385.1,12.3,734,11481,0.00,1.12,0.00,0.000,4,0.000,0.057,2651,2910,1873,0,0,0,0,0,0
$GC,11548,0.73,146.0,376.5,12.7,739,11556,0.00,1.17,0.00,0.000,6,0.000,0.037,2656,2189,1873,0,0,0,0,0,0
$GC,11874,0.73,146.0,338.5,11.5,765,11878,0.00,1.05,0.00,0.000,4,0.000,0.051,2661,1497,1873,0,0,0,0,0,0
$GC,12012,0.73,146.0,322.5,11.8,775,12019,0.00,1.17,0.00,0.000,6,0.000,0.046,2661,2212,1873,0,0,0,0,0,0
$GC,12338,0.73,146.0,283.9,11.8,801,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2212,1873,0,0,0,0,0,0
$GC,12651,0.73,146.0,248.0,11.6,827,12658,0.00,1.15,0.00,0.000,4,0.000,0.047,2665,1493,1873,0,0,0,0,0,0
$GC,12757,0.73,146.0,236.0,11.1,843,12764,0.10,1.15,0.00,0.000,6,0.150,0.047,2635,2207,1873,0,0,0,0,0,0
$GC,13095,0.73,146.0,203.3,9.7,894,13102,0.00,1.10,0.00,0.000,4,0.000,0.055,2635,2901,1873,0,0,0,0,0,0
$GC,13200,0.73,146.0,192.3,10.5,910,13207,0.00,1.12,0.00,0.000,6,0.000,0.037,2638,2195,1873,0,0,0,0,0,0
$GC,13540,0.73,149.0,159.0,9.0,961,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2196,1873,0,0,0,0,0,0
$GC,13877,0.76,171.6,131.3,8.2,1012,13899,0.00,0.00,20.02,0.983,6,0.000,0.000,2638,2195,1785,0,0,0,0,0,0
$GC,14232,0.76,171.9,99.7,9.2,1065,14239,0.00,1.20,0.00,0.000,4,0.000,0.053,2638,2907,1782,0,0,0,0,0,0
$GC,14339,0.76,171.9,89.5,9.6,1081,14346,0.00,1.15,0.00,0.000,6,0.000,0.037,2643,2193,1782,0,0,0,0,0,0
$GC,14677,0.79,199.7,65.2,8.0,1132,14706,0.00,1.12,24.88,0.961,4,0.000,0.050,2648,1491,1669,0,0,0,0,0,0
$GC,14958,0.87,264.0,47.1,6.5,1174,15020,0.08,1.17,54.10,0.943,6,0.059,0.047,2691,2206,1407,0,0,0,0,0,0
$STATE,15315,end climb,SURFACE_DEPTH_REACHED
$STATE,15315,begin surface coast
$FINISH,1.8,1.023412
$STATE,15330,end surface coast,CONTROL_FINISHED_OK
$STATE,15330,begin surface
$SM_CCo,15346,15.88,0.087,0,0,1261,300.00
$SM_GC,4.35,7.12,0.52,15.88,0.055,0.063,0.087,123,2512,1261,-7.07,-0.76,300.00,0,0,0,0,0,0
$RAFOS_CLK,996
$RAFOS,6,1321087753,8.833333,8.820278,59,59,55,0,0,0,188,674,212,0,0,0
$RAFOS,5,1321087263,8.700000,8.684167,91,66,59,0,0,0,516,207,169,0,0,0
$RAFOS,4,1321086797,8.566667,8.554722,60,60,59,0,0,0,143,174,194,0,0,0
$RAFOS,3,1321086331,8.433333,8.425278,61,58,53,0,0,0,123,207,154,0,0,0
$RAFOS,2,1321085825,8.300000,8.284722,73,60,58,0,0,0,213,164,196,0,0,0
$RAFOS,1,1321085353,8.166667,8.153611,66,56,52,0,0,0,196,215,159,0,0,0
$RAFOS,0,1321084862,8.033334,8.017222,59,58,54,0,0,0,213,190,151,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5716.55,121111,020214
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.99
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.40
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.2,17.0
$ALTIM_BOTTOM_PING,752.3,106.6
$24V_AH,22.6,28.924
$10V_AH,10.2,22.165
$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,17.400,48.925,353.725,15.875,0.000,0.000,0.000,206.400,8.000,0.000,27.461,3404.490,9321.890,502.568,2245.596,220.457,0.000,1770.276,0.000,2004.822,2520.000,23.240,0.000
$DEVICE_MAMPS,253.215,101.745,1429.785,87.210,0.000,0.000,0.000,257.670,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.430,676.690,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46620,1230
$CAP_FILE_SIZE,134688,0
$CFSIZE,260165632,232087552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.8
$CURRENT,0.145, 66.4,1
$GPS,121111,112605,6659.685,-5737.866,47,0.8,47,-33.6