version: 66.09
glider: 143
mission: 13
dive: 232
start: 11 12 111 16 5 25
data:
$ID,143
$MISSION,13
$DIVE,232
$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,-80818.016
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,121111,155929,6701.342,-5745.825,91,1.0,91,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-70.0
$GPS2,121111,160454,6701.368,-5745.856,19,1.0,19,-33.7
$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,243.3,121490,-16.9,-9.167
$D_GRID,876
$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,-146.0,0.0,0.0,0,74,0.00,0.00,-55.40,0.000,2,0.000,0.000,121,2499,2010,0,0,0,0,0,0
$GC,77,-0.73,-146.0,3.2,-1.3,8,141,8.55,1.20,-47.47,0.000,4,0.256,0.096,2159,3205,3083,0,0,0,0,0,0
$GC,392,-0.73,-146.0,52.8,-19.6,55,401,0.00,1.10,0.00,0.000,6,0.000,0.034,2160,2496,3084,0,0,0,0,0,0
$GC,734,-0.73,-146.0,102.8,-13.4,106,741,0.00,1.17,0.00,0.000,4,0.000,0.063,2155,3201,3084,0,0,0,0,0,0
$GC,946,-0.73,-146.0,130.3,-12.8,138,952,0.00,1.08,0.00,0.000,6,0.000,0.033,2155,2509,3085,0,0,0,0,0,0
$GC,1283,-0.73,-146.0,176.3,-14.0,189,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2509,3085,0,0,0,0,0,0
$GC,1621,-0.73,-146.0,219.2,-12.3,240,1628,0.00,1.15,0.00,0.000,4,0.000,0.063,2151,3204,3084,0,0,0,0,0,0
$GC,1766,-0.73,-146.0,236.9,-11.6,262,1773,0.00,1.08,0.00,0.000,6,0.000,0.033,2151,2505,3084,0,0,0,0,0,0
$GC,2100,-0.73,-146.0,273.9,-11.2,297,2104,0.00,1.08,0.00,0.000,4,0.000,0.044,2151,1814,3084,0,0,0,0,0,0
$GC,2206,-0.73,-146.0,285.7,-11.2,305,2210,0.00,1.17,0.00,0.000,6,0.000,0.054,2146,2505,3084,0,0,0,0,0,0
$GC,2534,-0.73,-146.0,324.4,-12.2,331,2538,0.00,1.12,0.00,0.000,4,0.000,0.068,2141,3214,3084,0,0,0,0,0,0
$GC,2633,-0.73,-146.0,335.4,-11.7,338,2639,0.00,1.10,0.00,0.000,6,0.000,0.033,2141,2498,3084,0,0,0,0,0,0
$GC,2958,-0.73,-146.0,373.5,-11.8,364,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3083,0,0,0,0,0,0
$GC,3272,-0.73,-146.0,409.1,-10.9,389,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3084,0,0,0,0,0,0
$GC,3586,-0.73,-146.0,444.7,-11.0,414,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3084,0,0,0,0,0,0
$GC,3902,-0.73,-146.0,478.7,-10.5,439,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3084,0,0,0,0,0,0
$GC,4240,-0.73,-146.0,513.9,-10.5,460,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3085,0,0,0,0,0,0
$GC,4545,-0.73,-146.0,546.2,-10.7,470,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,4853,-0.73,-146.0,579.6,-10.9,480,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,5157,-0.73,-146.0,612.9,-10.8,490,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3085,0,0,0,0,0,0
$GC,5465,-0.73,-146.0,645.4,-10.6,500,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,5770,-0.73,-146.0,677.1,-10.3,510,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,6077,-0.73,-146.0,708.4,-10.4,520,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,6382,-0.73,-146.0,740.2,-10.4,530,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,6690,-0.73,-146.0,772.4,-10.6,540,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,6995,-0.73,-146.0,805.5,-10.8,550,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3087,0,0,0,0,0,0
$GC,7302,-0.73,-146.0,837.5,-10.5,560,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$GC,7607,-0.73,-146.0,868.8,-10.4,570,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3086,0,0,0,0,0,0
$STATE,7697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7697,begin apogee
$GC,7703,-0.16,0.0,878.4,-10.5,573,7832,0.62,0.00,123.55,1.457,6,0.132,0.000,2343,2183,2485,0,0,0,0,0,0
$STATE,7833,end apogee,CONTROL_FINISHED_OK
$STATE,7833,begin climb
$GC,7835,0.73,146.0,883.5,0.0,577,7980,0.85,1.12,134.07,1.396,4,0.064,0.047,2640,1508,1888,0,0,0,0,0,0
$GC,8113,0.73,146.0,862.3,12.2,586,8117,0.00,1.23,0.00,0.000,6,0.000,0.045,2640,2209,1882,0,0,0,0,0,0
$GC,8452,0.73,146.0,820.8,12.4,597,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1878,0,0,0,0,0,0
$GC,8758,0.73,146.0,783.8,11.9,607,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1877,0,0,0,0,0,0
$GC,9064,0.73,146.0,746.6,12.1,617,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1876,0,0,0,0,0,0
$GC,9371,0.73,146.0,709.8,11.9,627,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1875,0,0,0,0,0,0
$GC,9677,0.73,146.0,674.1,11.5,637,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1874,0,0,0,0,0,0
$GC,9983,0.73,146.0,638.9,11.3,647,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1874,0,0,0,0,0,0
$GC,10289,0.73,146.0,604.6,11.1,657,10293,0.00,1.12,0.00,0.000,4,0.000,0.057,2640,2909,1874,0,0,0,0,0,0
$GC,10334,0.73,146.0,600.8,11.3,658,10339,0.00,1.15,0.00,0.000,6,0.000,0.037,2645,2204,1874,0,0,0,0,0,0
$GC,10661,0.73,146.0,562.2,11.4,669,10662,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1874,0,0,0,0,0,0
$GC,10967,0.73,146.0,527.4,11.3,679,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1874,0,0,0,0,0,0
$GC,11277,0.73,146.0,492.3,11.2,692,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1872,0,0,0,0,0,0
$GC,11592,0.73,146.0,456.7,11.3,717,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1872,0,0,0,0,0,0
$GC,11907,0.73,146.0,421.3,11.2,742,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1873,0,0,0,0,0,0
$GC,12222,0.73,146.0,385.0,11.8,767,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2204,1873,0,0,0,0,0,0
$GC,12539,0.73,146.0,348.7,11.1,792,12543,0.00,1.17,0.00,0.000,4,0.000,0.051,2644,2907,1873,0,0,0,0,0,0
$GC,12623,0.73,146.0,339.5,11.3,798,12631,0.00,1.15,0.00,0.000,6,0.000,0.037,2649,2198,1873,0,0,0,0,0,0
$GC,12951,0.73,146.0,305.2,10.4,824,12955,0.00,1.05,0.00,0.000,4,0.000,0.050,2654,1498,1873,0,0,0,0,0,0
$GC,13088,0.73,146.0,290.6,10.8,834,13096,0.00,1.17,0.00,0.000,6,0.000,0.044,2654,2217,1873,0,0,0,0,0,0
$GC,13415,0.73,146.0,254.6,11.2,860,13418,0.00,1.08,0.00,0.000,4,0.000,0.055,2654,2898,1873,0,0,0,0,0,0
$GC,13494,0.73,146.0,245.2,11.3,869,13501,0.00,1.12,0.00,0.000,6,0.000,0.037,2659,2194,1873,0,0,0,0,0,0
$GC,13833,0.73,146.0,208.2,10.6,920,13839,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2194,1873,0,0,0,0,0,0
$GC,14170,0.73,146.0,174.5,9.7,971,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2194,1873,0,0,0,0,0,0
$GC,14508,0.73,146.0,142.0,9.2,1022,14515,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2194,1873,0,0,0,0,0,0
$GC,14845,0.80,210.8,116.8,6.4,1073,14904,0.00,0.00,52.53,0.988,6,0.000,0.000,2659,2194,1624,0,0,0,0,0,0
$GC,15238,0.80,210.8,79.6,10.4,1132,15244,0.00,1.20,0.00,0.000,4,0.000,0.052,2659,2901,1617,0,0,0,0,0,0
$GC,15324,0.80,210.8,70.2,10.2,1145,15331,0.00,1.15,0.00,0.000,6,0.000,0.037,2663,2198,1617,0,0,0,0,0,0
$GC,15664,0.83,229.7,42.4,8.4,1196,15683,0.00,0.00,15.98,0.931,6,0.000,0.000,2664,2198,1548,0,0,0,0,0,0
$GC,16013,0.89,277.1,12.0,7.2,1249,16041,0.00,0.00,23.98,0.102,6,0.000,0.000,2663,2198,1354,0,0,0,0,0,0
$STATE,16105,end climb,SURFACE_DEPTH_REACHED
$STATE,16105,begin surface coast
$FINISH,1.6,1.022687
$STATE,16127,end surface coast,CONTROL_FINISHED_OK
$STATE,16127,begin surface
$SM_CCo,16143,9.75,0.086,0,0,1261,300.00
$SM_GC,3.99,6.88,0.57,9.75,0.045,0.047,0.086,119,2512,1261,-7.07,-0.90,300.00,0,0,0,0,0,0
$RAFOS_CLK,1057
$RAFOS,3,1321129505,20.433332,20.418056,59,58,57,0,0,0,194,170,835,0,0,0
$RAFOS,2,1321129025,20.299999,20.284721,67,59,54,0,0,0,213,193,166,0,0,0
$RAFOS,1,1321128543,20.166666,20.150833,75,61,59,0,0,0,183,201,897,0,0,0
$RAFOS,0,1321128066,20.033333,20.018333,62,60,54,0,0,0,210,157,201,0,0,0
$RAFOS,6,1321116542,16.833334,16.817223,59,56,56,0,0,0,703,205,115,0,0,0
$RAFOS,5,1321116062,16.700001,16.683889,113,64,51,0,0,0,533,201,170,0,0,0
$RAFOS,4,1321115583,16.566668,16.550833,66,65,61,0,0,0,192,220,160,0,0,0
$RAFOS,3,1321115107,16.433332,16.418612,65,59,57,0,0,0,193,207,142,0,0,0
$RAFOS,2,1321114624,16.299999,16.284445,60,57,55,0,0,0,210,176,193,0,0,0
$RAFOS,1,1321114143,16.166666,16.150833,60,59,55,0,0,0,182,120,209,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5813.09,121111,111148
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.20
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.3,17.6
$ALTIM_BOTTOM_PING,753.0,151.1
$24V_AH,22.5,29.165
$10V_AH,10.2,22.346
$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,16.900,26.025,350.100,9.750,0.000,0.000,0.000,209.725,7.500,0.000,21.907,3427.311,10174.347,473.181,2184.790,222.558,0.000,1701.045,0.000,1953.126,3960.000,26.436,0.000
$DEVICE_MAMPS,255.510,96.390,1456.560,85.680,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.913,690.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150324
$DATA_FILE_SIZE,46694,1266
$CAP_FILE_SIZE,127367,0
$CFSIZE,260165632,231952384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.5
$CURRENT,0.090, 54.2,1
$GPS,121111,203605,6659.466,-5748.164,37,0.8,37,-33.6