version: 66.09
glider: 143
mission: 13
dive: 231
start: 11 12 111 11 31 56
data:
$ID,143
$MISSION,13
$DIVE,231
$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,-80815.352
$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,41
$R_STBD_OVSHOOT,25
$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
$GPS1,121111,112605,6659.685,-5737.866,47,0.8,47,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-65.7
$GPS2,121111,113124,6659.726,-5738.018,17,1.0,17,-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,284.4,126294,-16.9,-9.167
$D_GRID,854
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.53,0.000,2,0.000,0.000,122,2515,1821,0,0,0,0,0,0
$GC,62,-0.73,-146.0,3.2,-1.4,6,157,8.23,1.12,-76.90,0.000,4,0.240,0.067,2166,1815,3081,0,0,0,0,0,0
$GC,165,-0.73,-146.0,8.6,-14.2,21,172,0.00,1.20,0.00,0.000,6,0.000,0.057,2164,2504,3082,0,0,0,0,0,0
$GC,504,-0.73,-146.0,63.3,-14.2,72,511,0.00,1.15,0.00,0.000,4,0.000,0.043,2164,1812,3083,0,0,0,0,0,0
$GC,762,-0.73,-146.0,96.4,-12.8,111,771,0.00,1.20,0.00,0.000,6,0.000,0.057,2159,2507,3083,0,0,0,0,0,0
$GC,1101,-0.73,-146.0,143.5,-13.6,162,1108,0.00,1.15,0.00,0.000,4,0.000,0.070,2154,3222,3083,0,0,0,0,0,0
$GC,1161,-0.73,-146.0,151.4,-13.4,171,1171,0.00,1.10,0.00,0.000,6,0.000,0.034,2154,2516,3083,0,0,0,0,0,0
$GC,1501,-0.73,-146.0,197.4,-13.7,222,1507,0.00,1.10,0.00,0.000,4,0.000,0.045,2154,1815,3083,0,0,0,0,0,0
$GC,1574,-0.73,-146.0,207.7,-14.1,233,1580,0.00,1.20,0.00,0.000,6,0.000,0.056,2150,2516,3083,0,0,0,0,0,0
$GC,1918,-0.73,-146.0,252.2,-12.2,284,1922,0.00,1.12,0.00,0.000,4,0.000,0.070,2144,3218,3082,0,0,0,0,0,0
$GC,2011,-0.73,-146.0,263.4,-11.9,291,2015,0.00,1.10,0.00,0.000,6,0.000,0.034,2144,2507,3083,0,0,0,0,0,0
$GC,2340,-0.73,-146.0,302.1,-11.3,317,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2507,3082,0,0,0,0,0,0
$GC,2656,-0.73,-146.0,338.0,-11.4,342,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2507,3082,0,0,0,0,0,0
$GC,2971,-0.73,-146.0,375.1,-12.1,367,2974,0.00,1.17,0.00,0.000,4,0.000,0.067,2139,3213,3082,0,0,0,0,0,0
$GC,3042,-0.73,-146.0,383.3,-12.4,372,3050,0.00,1.10,0.00,0.000,6,0.000,0.032,2139,2506,3083,0,0,0,0,0,0
$GC,3365,-0.73,-146.0,423.7,-12.5,398,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2506,3082,0,0,0,0,0,0
$GC,3682,-0.73,-146.0,461.2,-11.5,423,3686,0.00,1.17,0.00,0.000,4,0.000,0.066,2135,3212,3083,0,0,0,0,0,0
$GC,3753,-0.73,-146.0,469.2,-11.6,428,3762,0.12,1.10,0.00,0.000,6,0.167,0.031,2165,2500,3083,0,0,0,0,0,0
$GC,4077,-0.73,-146.0,500.2,-9.4,454,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2500,3083,0,0,0,0,0,0
$GC,4384,-0.73,-146.0,528.4,-9.3,464,4387,0.00,1.17,0.00,0.000,4,0.000,0.063,2162,3211,3083,0,0,0,0,0,0
$GC,4454,-0.73,-146.0,534.8,-9.4,466,4459,0.00,1.10,0.00,0.000,6,0.000,0.030,2162,2498,3084,0,0,0,0,0,0
$GC,4789,-0.73,-146.0,567.6,-9.7,477,4792,0.00,1.20,0.00,0.000,4,0.000,0.064,2158,3221,3084,0,0,0,0,0,0
$GC,4839,-0.73,-146.0,570.8,-9.6,478,4844,0.00,1.10,0.00,0.000,6,0.000,0.028,2157,2512,3084,0,0,0,0,0,0
$GC,5161,-0.73,-146.0,603.4,-9.4,489,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2512,3084,0,0,0,0,0,0
$GC,5467,-0.73,-146.0,631.7,-9.3,499,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2512,3084,0,0,0,0,0,0
$GC,5773,-0.73,-146.0,660.1,-9.0,509,5776,0.00,1.17,0.00,0.000,4,0.000,0.065,2153,3220,3084,0,0,0,0,0,0
$GC,5811,-0.73,-146.0,663.1,-8.9,510,5815,0.00,1.12,0.00,0.000,6,0.000,0.030,2153,2495,3085,0,0,0,0,0,0
$GC,6145,-0.73,-146.0,694.8,-9.6,521,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2495,3084,0,0,0,0,0,0
$GC,6451,-0.73,-146.0,725.5,-10.0,531,6455,0.00,1.20,0.00,0.000,4,0.000,0.064,2148,3218,3084,0,0,0,0,0,0
$GC,6494,-0.73,-146.0,728.8,-10.0,532,6499,0.00,1.10,0.00,0.000,6,0.000,0.028,2148,2504,3084,0,0,0,0,0,0
$GC,6822,-0.73,-146.0,762.3,-9.9,543,6825,0.00,1.05,0.00,0.000,4,0.000,0.044,2148,1822,3085,0,0,0,0,0,0
$GC,6888,-0.73,-146.0,769.0,-10.2,545,6892,0.00,1.17,0.00,0.000,6,0.000,0.054,2144,2518,3085,0,0,0,0,0,0
$GC,7228,-0.73,-146.0,804.0,-10.2,556,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2518,3085,0,0,0,0,0,0
$GC,7534,-0.73,-146.0,835.5,-10.2,566,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2519,3085,0,0,0,0,0,0
$STATE,7716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7716,begin apogee
$GC,7722,-0.16,0.0,854.8,-10.5,572,7851,0.60,0.00,122.68,1.441,6,0.129,0.000,2340,2188,2485,0,0,0,0,0,0
$STATE,7851,end apogee,CONTROL_FINISHED_OK
$STATE,7852,begin climb
$GC,7854,0.73,146.0,859.9,0.0,576,7998,0.85,1.17,133.38,1.380,4,0.062,0.048,2638,1511,1887,0,0,0,0,0,0
$GC,8164,0.73,146.0,833.1,12.0,586,8168,0.00,1.20,0.00,0.000,6,0.000,0.046,2638,2202,1881,0,0,0,0,0,0
$GC,8506,0.73,146.0,790.6,12.7,597,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2202,1877,0,0,0,0,0,0
$GC,8810,0.73,146.0,753.7,12.0,607,8814,0.00,1.15,0.00,0.000,4,0.000,0.057,2638,2904,1876,0,0,0,0,0,0
$GC,8876,0.73,146.0,745.4,12.2,609,8880,0.00,1.15,0.00,0.000,6,0.000,0.037,2643,2204,1876,0,0,0,0,0,0
$GC,9217,0.73,146.0,703.2,12.3,620,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,1875,0,0,0,0,0,0
$GC,9522,0.73,146.0,665.6,12.3,630,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,1875,0,0,0,0,0,0
$GC,9830,0.73,146.0,628.0,12.1,640,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,1873,0,0,0,0,0,0
$GC,10134,0.73,146.0,591.7,11.9,650,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,1874,0,0,0,0,0,0
$GC,10442,0.73,146.0,555.2,11.9,660,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2203,1874,0,0,0,0,0,0
$GC,10747,0.73,146.0,519.8,11.5,670,10748,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,1874,0,0,0,0,0,0
$GC,11057,0.73,146.0,485.1,11.0,686,11058,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2204,1874,0,0,0,0,0,0
$GC,11372,0.73,146.0,450.0,11.1,711,11376,0.00,1.08,0.00,0.000,4,0.000,0.050,2649,1496,1874,0,0,0,0,0,0
$GC,11457,0.73,146.0,441.4,10.9,717,11464,0.00,1.17,0.00,0.000,6,0.000,0.046,2648,2210,1873,0,0,0,0,0,0
$GC,11781,0.73,146.0,404.5,11.3,743,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2210,1873,0,0,0,0,0,0
$GC,12097,0.73,146.0,369.5,10.7,768,12098,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2210,1873,0,0,0,0,0,0
$GC,12411,0.73,146.0,336.0,10.1,793,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2210,1873,0,0,0,0,0,0
$GC,12728,0.73,146.0,303.5,10.4,818,12732,0.00,1.10,0.00,0.000,4,0.000,0.056,2648,2901,1873,0,0,0,0,0,0
$GC,12873,0.73,146.0,287.8,10.7,829,12877,0.00,1.12,0.00,0.000,6,0.000,0.037,2652,2197,1873,0,0,0,0,0,0
$GC,13204,0.73,146.0,252.4,10.7,855,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2197,1873,0,0,0,0,0,0
$GC,13532,0.73,146.0,215.5,10.6,903,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2197,1873,0,0,0,0,0,0
$GC,13872,0.75,164.5,182.8,8.4,954,13893,0.00,0.00,14.30,0.985,6,0.000,0.000,2652,2197,1813,0,0,0,0,0,0
$GC,14223,0.75,164.5,148.8,10.1,1007,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2197,1812,0,0,0,0,0,0
$GC,14561,0.77,182.9,116.9,8.4,1058,14583,0.00,1.12,16.88,0.971,4,0.000,0.051,2658,1493,1738,0,0,0,0,0,0
$GC,14828,0.78,192.2,92.1,8.8,1098,14845,0.00,1.15,9.02,0.901,6,0.000,0.047,2658,2199,1700,0,0,0,0,0,0
$GC,15177,0.79,200.1,60.9,8.8,1150,15193,0.00,1.17,8.15,0.879,4,0.000,0.056,2658,2904,1669,0,0,0,0,0,0
$GC,15444,0.80,204.2,37.7,9.0,1190,15459,0.00,1.15,5.10,0.782,6,0.000,0.037,2662,2199,1651,0,0,0,0,0,0
$GC,15790,0.85,248.4,7.4,7.3,1242,15818,0.00,1.25,22.02,0.090,4,0.000,0.054,2662,2912,1471,0,0,0,0,0,0
$STATE,15850,end climb,SURFACE_DEPTH_REACHED
$STATE,15850,begin surface coast
$FINISH,1.6,1.014766
$STATE,15872,end surface coast,CONTROL_FINISHED_OK
$STATE,15872,begin surface
$SM_CCo,15889,23.60,0.083,0,0,1261,300.00
$SM_GC,2.33,6.80,0.68,23.60,0.042,0.041,0.083,122,2510,1261,-7.06,0.96,300.00,0,0,0,0,0,0
$RAFOS_CLK,1045
$RAFOS,6,1321102150,12.833333,12.819445,75,58,57,0,0,0,672,131,190,0,0,0
$RAFOS,5,1321101682,12.700000,12.689445,107,61,61,0,0,0,415,218,142,0,0,0
$RAFOS,4,1321101182,12.566667,12.550555,59,59,57,0,0,0,169,225,152,0,0,0
$RAFOS,3,1321100702,12.433333,12.417222,65,56,52,0,0,0,213,170,184,0,0,0
$RAFOS,2,1321100232,12.300000,12.286667,62,56,56,0,0,0,114,135,166,0,0,0
$RAFOS,1,1321099752,12.166667,12.153334,61,59,57,0,0,0,176,152,208,0,0,0
$RAFOS,0,1321099266,12.033333,12.018333,56,55,52,0,0,0,212,239,191,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5728.78,121111,070708
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.32
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.40
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,750.1,122.4
$24V_AH,22.6,29.041
$10V_AH,10.2,22.255
$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,16.600,43.625,331.525,23.600,0.000,0.000,0.000,206.300,8.250,0.000,19.982,3440.546,9814.764,505.807,2248.080,228.007,0.000,1774.817,0.000,2016.596,2520.000,26.386,0.000
$DEVICE_MAMPS,240.210,70.380,1441.260,83.385,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.116,682.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150320
$DATA_FILE_SIZE,46677,1254
$CAP_FILE_SIZE,135344,0
$CFSIZE,260165632,232013824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.0
$CURRENT,0.295,348.3,1
$GPS,121111,155929,6701.342,-5745.825,91,1.0,91,-33.7