version: 66.09
glider: 143
mission: 13
dive: 271
start: 11 20 111 17 44 6
data:
$ID,143
$MISSION,13
$DIVE,271
$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,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$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,-2
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,501.14789
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81045.18
$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,31
$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,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,201111,173806,6647.105,-5951.220,34,0.8,34,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-55.1
$GPS2,201111,174336,6646.983,-5951.163,20,0.8,20,-33.9
$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,298.6,26078,-16.9,-9.167
$D_GRID,759
$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,-146.0,0.0,0.0,0,162,0.00,0.00,-142.70,0.000,2,0.000,0.000,118,2469,2343,0,0,0,0,0,0
$GC,166,-0.73,-146.0,3.2,-1.8,21,210,8.73,1.30,-27.17,0.000,4,0.256,0.092,2154,3217,3083,0,0,0,0,0,0
$GC,306,-0.73,-146.0,30.4,-21.1,41,313,0.00,1.10,0.00,0.000,6,0.000,0.032,2154,2512,3084,0,0,0,0,0,0
$GC,644,-0.73,-146.0,91.0,-15.7,92,651,0.00,1.17,0.00,0.000,4,0.000,0.063,2150,3210,3085,0,0,0,0,0,0
$GC,878,-0.73,-146.0,127.4,-15.3,127,885,0.00,1.10,0.00,0.000,6,0.000,0.034,2150,2502,3085,0,0,0,0,0,0
$GC,1215,-0.73,-146.0,174.1,-12.5,178,1224,0.00,1.17,0.00,0.000,4,0.000,0.063,2145,3204,3085,0,0,0,0,0,0
$GC,1317,-0.73,-146.0,187.5,-13.2,193,1324,0.00,1.08,0.00,0.000,6,0.000,0.032,2146,2511,3085,0,0,0,0,0,0
$GC,1655,-0.73,-146.0,231.4,-12.4,244,1661,0.00,1.17,0.00,0.000,4,0.000,0.063,2141,3212,3085,0,0,0,0,0,0
$GC,1747,-0.73,-146.0,243.4,-12.8,258,1756,0.00,1.10,0.00,0.000,6,0.000,0.032,2142,2499,3085,0,0,0,0,0,0
$GC,2081,-0.73,-146.0,285.7,-12.8,288,2084,0.00,1.17,0.00,0.000,4,0.000,0.063,2137,3202,3085,0,0,0,0,0,0
$GC,2217,-0.73,-146.0,303.1,-13.1,298,2228,0.00,1.10,0.00,0.000,6,0.000,0.032,2137,2503,3085,0,0,0,0,0,0
$GC,2544,-0.73,-146.0,345.4,-13.2,324,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2503,3085,0,0,0,0,0,0
$GC,2858,-0.73,-146.0,385.9,-11.9,349,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2503,3085,0,0,0,0,0,0
$GC,3172,-0.73,-146.0,423.1,-11.7,374,3176,0.00,1.17,0.00,0.000,4,0.000,0.062,2132,3207,3085,0,0,0,0,0,0
$GC,3265,-0.73,-146.0,434.5,-12.5,381,3269,0.10,1.08,0.00,0.000,6,0.145,0.031,2163,2502,3085,0,0,0,0,0,0
$GC,3595,-0.73,-146.0,469.6,-10.7,407,3598,0.00,1.17,0.00,0.000,4,0.000,0.062,2161,3209,3086,0,0,0,0,0,0
$GC,3639,-0.73,-146.0,474.0,-10.7,410,3649,0.00,1.10,0.00,0.000,6,0.000,0.030,2161,2499,3086,0,0,0,0,0,0
$GC,3979,-0.73,-146.0,509.7,-10.3,433,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2499,3086,0,0,0,0,0,0
$GC,4286,-0.73,-146.0,540.3,-10.0,443,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2499,3086,0,0,0,0,0,0
$GC,4590,-0.73,-146.0,570.2,-9.7,453,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2499,3087,0,0,0,0,0,0
$GC,4898,-0.73,-146.0,599.8,-9.5,463,4902,0.00,1.17,0.00,0.000,4,0.000,0.060,2156,3209,3087,0,0,0,0,0,0
$GC,4971,-0.73,-146.0,606.5,-9.7,465,4975,0.00,1.10,0.00,0.000,6,0.000,0.028,2156,2496,3087,0,0,0,0,0,0
$GC,5304,-0.73,-146.0,638.8,-9.5,476,5308,0.00,1.17,0.00,0.000,4,0.000,0.061,2152,3205,3087,0,0,0,0,0,0
$GC,5375,-0.73,-146.0,645.3,-9.8,478,5380,0.00,1.08,0.00,0.000,6,0.000,0.028,2152,2504,3087,0,0,0,0,0,0
$GC,5709,-0.73,-146.0,679.0,-10.2,489,5713,0.00,1.15,0.00,0.000,4,0.000,0.061,2147,3201,3088,0,0,0,0,0,0
$GC,5744,-0.73,-146.0,682.6,-10.4,490,5747,0.00,1.05,0.00,0.000,6,0.000,0.028,2147,2505,3088,0,0,0,0,0,0
$GC,6083,-0.73,-146.0,717.6,-10.1,501,6087,0.00,1.15,0.00,0.000,4,0.000,0.060,2143,3201,3088,0,0,0,0,0,0
$GC,6141,-0.73,-146.0,721.1,-10.2,502,6151,0.00,1.08,0.00,0.000,6,0.000,0.028,2143,2500,3088,0,0,0,0,0,0
$GC,6455,-0.73,-146.0,756.3,-10.3,513,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2500,3088,0,0,0,0,0,0
$STATE,6483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6483,begin apogee
$GC,6489,-0.16,0.0,759.3,-10.3,514,6618,0.62,0.00,123.10,1.382,6,0.129,0.000,2344,2195,2485,0,0,0,0,0,0
$STATE,6619,end apogee,CONTROL_FINISHED_OK
$STATE,6619,begin climb
$GC,6621,0.73,146.0,763.9,0.0,518,6764,0.85,1.15,132.35,1.321,4,0.067,0.044,2638,1511,1888,0,0,0,0,0,0
$GC,7014,0.73,146.0,734.1,11.1,530,7019,0.00,1.20,0.00,0.000,6,0.000,0.042,2638,2203,1879,0,0,0,0,0,0
$GC,7336,0.73,146.0,694.9,11.4,541,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2203,1878,0,0,0,0,0,0
$GC,7641,0.73,146.0,660.0,11.5,551,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2203,1876,0,0,0,0,0,0
$GC,7947,0.73,146.0,625.1,11.5,561,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2203,1876,0,0,0,0,0,0
$GC,8253,0.73,146.0,590.4,11.2,571,8257,0.00,1.12,0.00,0.000,4,0.000,0.054,2638,2902,1874,0,0,0,0,0,0
$GC,8420,0.73,146.0,570.5,12.1,576,8424,0.00,1.12,0.00,0.000,6,0.000,0.034,2644,2202,1874,0,0,0,0,0,0
$GC,8759,0.73,146.0,532.4,10.8,587,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1874,0,0,0,0,0,0
$GC,9067,0.73,146.0,499.9,10.6,597,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1873,0,0,0,0,0,0
$GC,9381,0.73,146.0,465.3,11.0,622,9385,0.00,1.08,0.00,0.000,4,0.000,0.047,2648,1494,1873,0,0,0,0,0,0
$GC,9532,0.73,146.0,449.4,10.7,633,9540,0.00,1.17,0.00,0.000,6,0.000,0.043,2648,2212,1873,0,0,0,0,0,0
$GC,9855,0.73,146.0,412.4,11.9,659,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2212,1873,0,0,0,0,0,0
$GC,10174,0.73,146.0,375.5,12.0,684,10177,0.00,1.10,0.00,0.000,4,0.000,0.055,2648,2901,1873,0,0,0,0,0,0
$GC,10430,0.73,146.0,345.0,11.9,703,10440,0.00,1.15,0.00,0.000,6,0.000,0.034,2653,2193,1873,0,0,0,0,0,0
$GC,10753,0.73,146.0,310.1,10.3,729,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2193,1873,0,0,0,0,0,0
$GC,11070,0.73,146.0,279.9,9.4,754,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2193,1873,0,0,0,0,0,0
$GC,11384,0.73,146.0,250.1,9.3,779,11388,0.00,1.20,0.00,0.000,4,0.000,0.050,2653,2908,1873,0,0,0,0,0,0
$GC,11483,0.73,146.0,240.6,9.6,793,11489,0.00,1.12,0.00,0.000,6,0.000,0.034,2658,2201,1873,0,0,0,0,0,0
$GC,11820,0.74,158.9,210.1,8.6,844,11834,0.00,1.23,9.35,0.965,4,0.000,0.050,2658,2912,1837,0,0,0,0,0,0
$GC,11929,0.74,158.9,199.7,9.4,860,11936,0.00,1.15,0.00,0.000,6,0.000,0.034,2662,2195,1837,0,0,0,0,0,0
$GC,12266,0.75,168.8,169.8,8.8,911,12282,0.00,0.00,10.45,0.967,6,0.000,0.000,2662,2195,1796,0,0,0,0,0,0
$GC,12612,0.80,203.9,140.7,7.7,963,12648,0.00,0.00,31.00,1.006,6,0.000,0.000,2662,2195,1652,0,0,0,0,0,0
$GC,12980,0.82,221.4,107.5,8.4,1018,13001,0.00,0.00,15.25,0.961,6,0.000,0.000,2662,2195,1581,0,0,0,0,0,0
$GC,13332,0.82,225.9,75.0,9.0,1071,13341,0.00,0.00,4.75,0.775,6,0.000,0.000,2662,2195,1564,0,0,0,0,0,0
$GC,13672,0.85,250.2,43.0,8.1,1122,13700,0.00,1.25,21.98,0.952,4,0.000,0.051,2662,2900,1464,0,0,0,0,0,0
$GC,13797,0.86,257.3,32.4,8.9,1140,13810,0.00,1.15,6.57,0.835,6,0.000,0.035,2667,2200,1434,0,0,0,0,0,0
$FREEZE,8.68,-0.774,-1.707,2,1,0
$FREEZE,8.09,-0.790,-1.706,2,1,0
$FREEZE,7.62,-0.787,-1.706,2,1,0
$FREEZE,7.22,-0.793,-1.705,2,1,0
$FREEZE,6.64,-0.796,-1.705,2,1,0
$FREEZE,6.20,-0.792,-1.705,2,1,0
$FREEZE,5.80,-0.796,-1.704,2,1,0
$FREEZE,5.41,-0.801,-1.704,2,1,0
$FREEZE,5.00,-0.803,-1.704,2,1,0
$FREEZE,4.69,-0.804,-1.703,2,1,0
$FREEZE,4.29,-0.811,-1.703,2,1,0
$FREEZE,3.82,-0.806,-1.702,2,1,0
$FREEZE,3.39,-0.806,-1.702,2,1,0
$FREEZE,2.68,-0.804,-1.702,2,1,0
$FREEZE,1.85,-0.806,-1.701,2,1,0
$GC,14144,0.96,335.2,3.4,5.9,1192,14161,0.12,0.00,14.80,0.087,2,0.093,0.000,2720,2200,1309,0,0,0,0,0,0
$STATE,14162,end climb,SURFACE_DEPTH_REACHED
$STATE,14162,begin surface coast
$FREEZE,1.31,-0.845,-0.087,2,1,0
$FINISH,1.3,1.001053
$STATE,14169,end surface coast,FINISH_DEPTH_REACHED
$STATE,14169,begin surface
$SM_CCo,14186,99.43,0.087,0,0,441,501.15
$SM_GC,2.11,7.03,0.57,99.43,0.043,0.053,0.087,115,2501,441,-7.08,-1.05,501.15,0,0,0,0,0,0
$RAFOS_CLK,939
$RAFOS,6,1321822150,20.833334,20.819445,107,60,60,0,0,0,727,208,129,0,0,0
$RAFOS,5,1321821670,20.700001,20.686111,75,60,59,0,0,0,830,215,196,0,0,0
$RAFOS,4,1321821189,20.566668,20.552500,115,63,59,0,0,0,622,210,221,0,0,0
$RAFOS,3,1321820709,20.433332,20.419167,147,70,59,0,0,0,719,189,213,0,0,0
$RAFOS,2,1321820223,20.299999,20.284166,107,62,56,0,0,0,645,194,211,0,0,0
$RAFOS,1,1321819742,20.166666,20.150555,99,69,67,0,0,0,548,170,210,0,0,0
$RAFOS,0,1321819266,20.033333,20.018333,144,63,61,0,0,0,658,172,215,0,0,0
$RAFOS_FIX,6646.201660,-5949.010742,201111,202016,7,113,0.22
$IRIDIUM_FIX,6620.33,-5948.93,201111,131318
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.06
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.30
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,651.4,150.5
$24V_AH,22.6,34.375
$10V_AH,10.2,26.032
$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,17.450,42.175,369.600,99.425,0.000,0.000,0.000,211.450,8.000,0.000,20.970,3267.416,8280.393,655.277,2209.955,226.721,0.000,1913.804,0.000,1976.539,2520.000,24.266,0.000
$DEVICE_MAMPS,256.275,91.800,1381.590,87.210,0.000,0.000,0.000,257.670,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.171,657.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150168
$DATA_FILE_SIZE,46690,1195
$CAP_FILE_SIZE,132458,0
$CFSIZE,260165632,229101568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.3
$CURRENT,0.205, 41.0,1
$GPS,201111,214405,6648.221,-5954.717,42,0.8,42,-33.9