version: 66.09
glider: 143
mission: 13
dive: 276
start: 11 21 111 12 43 57
data:
$ID,143
$MISSION,13
$DIVE,276
$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,-81050.227
$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,27
$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
$GPS1,211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.41
$_SM_ANGLEo,2.9
$GPS2,211111,122120,6645.158,-5957.055,0,4131.5,0,-33.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6642.000,-6043.000
$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,339.0,34162,-16.9,-9.167
$D_GRID,679
$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,-146.0,0.0,0.0,0,26,0.00,0.00,-7.45,0.000,2,0.000,0.000,2395,2200,2797,0,0,0,0,0,0
$GC,28,-0.73,-146.0,14.5,0.0,1,42,0.62,0.57,-6.45,0.000,4,0.077,0.097,2168,1809,3083,0,0,0,0,0,0
$GC,294,-0.73,-146.0,54.6,-15.2,41,301,0.00,1.20,0.00,0.000,6,0.000,0.055,2164,2501,3086,0,0,0,0,0,0
$GC,634,-0.73,-146.0,107.2,-14.3,92,640,0.00,1.15,0.00,0.000,4,0.000,0.069,2158,3214,3085,0,0,0,0,0,0
$GC,688,-0.73,-146.0,115.1,-14.2,100,695,0.00,1.10,0.00,0.000,6,0.000,0.032,2158,2506,3086,0,0,0,0,0,0
$GC,1027,-0.73,-146.0,162.7,-13.8,151,1035,0.00,1.20,0.00,0.000,4,0.000,0.065,2153,3219,3086,0,0,0,0,0,0
$GC,1090,-0.73,-146.0,170.8,-12.8,160,1097,0.00,1.10,0.00,0.000,6,0.000,0.034,2154,2515,3085,0,0,0,0,0,0
$GC,1428,-0.73,-146.0,213.8,-12.9,211,1437,0.00,1.17,0.00,0.000,4,0.000,0.063,2149,3216,3086,0,0,0,0,0,0
$GC,1444,-0.73,-146.0,215.7,-12.5,213,1450,0.00,1.10,0.00,0.000,6,0.000,0.032,2149,2509,3085,0,0,0,0,0,0
$GC,1783,-0.73,-146.0,260.0,-12.6,259,1786,0.00,1.08,0.00,0.000,4,0.000,0.042,2149,1814,3085,0,0,0,0,0,0
$GC,1809,-0.73,-146.0,263.2,-12.5,261,1812,0.00,1.20,0.00,0.000,6,0.000,0.054,2145,2515,3085,0,0,0,0,0,0
$GC,2139,-0.73,-146.0,303.3,-11.8,287,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2515,3085,0,0,0,0,0,0
$GC,2454,-0.73,-146.0,340.1,-11.6,312,2458,0.00,1.12,0.00,0.000,4,0.000,0.069,2139,3217,3085,0,0,0,0,0,0
$GC,2520,-0.73,-146.0,348.2,-12.3,317,2524,0.00,1.10,0.00,0.000,6,0.000,0.033,2139,2506,3085,0,0,0,0,0,0
$GC,2849,-0.73,-146.0,387.3,-11.8,343,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2506,3084,0,0,0,0,0,0
$GC,3166,-0.73,-146.0,423.7,-11.4,368,3169,0.00,1.08,0.00,0.000,4,0.000,0.044,2139,1816,3084,0,0,0,0,0,0
$GC,3179,-0.73,-146.0,425.4,-11.6,369,3183,0.08,1.20,0.00,0.000,6,0.152,0.054,2158,2517,3085,0,0,0,0,0,0
$GC,3508,-0.73,-146.0,458.8,-10.0,395,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2517,3085,0,0,0,0,0,0
$GC,3825,-0.73,-146.0,491.7,-10.3,420,3829,0.00,1.12,0.00,0.000,4,0.000,0.068,2155,3223,3085,0,0,0,0,0,0
$GC,3942,-0.73,-146.0,502.2,-10.4,427,3947,0.00,1.12,0.00,0.000,6,0.000,0.032,2155,2505,3085,0,0,0,0,0,0
$GC,4263,-0.73,-146.0,536.7,-9.9,438,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2505,3085,0,0,0,0,0,0
$GC,4570,-0.73,-146.0,567.3,-10.0,448,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2504,3085,0,0,0,0,0,0
$GC,4876,-0.73,-146.0,595.3,-8.9,458,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2504,3086,0,0,0,0,0,0
$GC,5184,-0.73,-146.0,624.5,-9.7,468,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2505,3087,0,0,0,0,0,0
$GC,5488,-0.73,-146.0,654.6,-9.9,478,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2504,3087,0,0,0,0,0,0
$STATE,5761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5761,begin apogee
$GC,5767,-0.16,0.0,680.4,-9.5,487,5896,0.57,0.00,121.28,1.336,6,0.129,0.000,2340,2190,2484,0,0,0,0,0,0
$STATE,5897,end apogee,CONTROL_FINISHED_OK
$STATE,5897,begin climb
$GC,5899,0.73,146.0,685.0,0.0,491,6038,0.85,1.15,131.27,1.276,4,0.068,0.047,2633,1501,1888,0,0,0,0,0,0
$GC,6224,0.73,146.0,662.3,11.7,501,6228,0.00,1.23,0.00,0.000,6,0.000,0.044,2634,2206,1880,0,0,0,0,0,0
$GC,6550,0.73,146.0,622.7,11.5,512,6553,0.00,1.17,0.00,0.000,4,0.000,0.056,2634,2912,1877,0,0,0,0,0,0
$GC,6729,0.73,146.0,602.8,12.0,517,6732,0.00,1.17,0.00,0.000,6,0.000,0.036,2638,2200,1876,0,0,0,0,0,0
$GC,7054,0.73,146.0,563.8,11.5,528,7058,0.00,1.10,0.00,0.000,4,0.000,0.050,2644,1493,1875,0,0,0,0,0,0
$GC,7221,0.73,146.0,545.1,11.3,533,7225,0.00,1.17,0.00,0.000,6,0.000,0.047,2644,2206,1875,0,0,0,0,0,0
$GC,7561,0.73,146.0,506.8,11.1,544,7564,0.00,1.12,0.00,0.000,4,0.000,0.057,2644,2899,1875,0,0,0,0,0,0
$GC,7658,0.73,146.0,496.5,11.2,548,7668,0.00,1.15,0.00,0.000,6,0.000,0.036,2648,2199,1875,0,0,0,0,0,0
$GC,7983,0.73,146.0,459.5,11.9,574,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2199,1874,0,0,0,0,0,0
$GC,8296,0.73,146.0,423.4,11.7,599,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2199,1874,0,0,0,0,0,0
$GC,8614,0.73,146.0,387.7,11.3,624,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2199,1874,0,0,0,0,0,0
$GC,8929,0.73,146.0,352.5,11.1,649,8933,0.00,1.08,0.00,0.000,4,0.000,0.051,2654,1496,1874,0,0,0,0,0,0
$GC,9089,0.73,146.0,335.0,10.7,661,9093,0.00,1.15,0.00,0.000,6,0.000,0.047,2654,2201,1874,0,0,0,0,0,0
$GC,9419,0.73,146.0,300.1,10.6,687,9423,0.00,1.12,0.00,0.000,4,0.000,0.055,2654,2902,1874,0,0,0,0,0,0
$GC,9530,0.73,146.0,288.6,11.0,695,9538,0.00,1.15,0.00,0.000,6,0.000,0.037,2658,2198,1874,0,0,0,0,0,0
$GC,9856,0.73,146.0,255.2,9.6,721,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2198,1874,0,0,0,0,0,0
$GC,10181,0.75,167.5,225.4,8.3,766,10203,0.00,1.10,16.95,1.026,4,0.000,0.049,2663,1496,1802,0,0,0,0,0,0
$GC,10455,0.76,177.3,201.7,8.8,807,10471,0.00,1.15,9.70,0.967,6,0.000,0.046,2663,2200,1762,0,0,0,0,0,0
$GC,10802,0.77,181.9,168.9,9.0,859,10810,0.00,0.00,5.57,0.855,6,0.000,0.000,2663,2200,1742,0,0,0,0,0,0
$GC,11141,0.77,181.9,136.8,9.4,910,11148,0.00,1.12,0.00,0.000,4,0.000,0.048,2668,1499,1742,0,0,0,0,0,0
$GC,11253,0.77,184.5,126.4,9.1,927,11261,0.00,1.15,3.85,0.717,6,0.000,0.048,2668,2199,1732,0,0,0,0,0,0
$GC,11592,0.81,213.8,96.8,7.9,978,11626,0.00,1.17,26.08,0.989,4,0.000,0.058,2668,2902,1613,0,0,0,0,0,0
$GC,11853,0.81,218.5,73.8,9.0,1017,11866,0.00,1.15,5.25,0.805,6,0.000,0.037,2672,2202,1593,0,0,0,0,0,0
$GC,12199,0.85,247.4,44.1,8.0,1069,12233,0.00,1.12,25.75,0.953,4,0.000,0.050,2678,1497,1475,0,0,0,0,0,0
$GC,12293,0.85,247.4,35.1,9.6,1083,12299,0.00,1.17,0.00,0.000,6,0.000,0.045,2678,2202,1473,0,0,0,0,0,0
$FREEZE,8.81,-0.752,-1.674,2,2,0
$FREEZE,8.31,-0.754,-1.674,2,2,0
$FREEZE,7.69,-0.763,-1.674,2,2,0
$FREEZE,7.09,-0.721,-1.671,2,2,0
$GC,12632,0.91,296.8,8.8,7.1,1134,12664,0.00,1.17,24.50,0.098,4,0.000,0.047,2682,1498,1273,0,0,0,0,0,0
$FREEZE,5.36,-0.724,-1.669,2,2,0
$FREEZE,4.85,-0.727,-1.669,2,2,0
$FREEZE,4.43,-0.727,-1.668,2,2,0
$GC,12687,0.92,305.5,4.4,8.8,1141,12695,0.00,1.17,4.10,0.090,6,0.000,0.046,2682,2206,1238,0,0,0,0,0,0
$FREEZE,2.80,-0.723,-1.667,2,2,0
$FREEZE,2.11,-0.802,-1.671,2,2,0
$FREEZE,1.56,-0.754,-1.668,2,2,0
$STATE,12715,end climb,SURFACE_DEPTH_REACHED
$STATE,12715,begin surface coast
$FREEZE,1.41,-1.152,-0.867,2,2,0
$FINISH,1.4,1.012779
$STATE,12722,end surface coast,FINISH_DEPTH_REACHED
$STATE,12722,begin surface
$SM_CCo,12739,90.45,0.087,0,0,441,501.15
$SM_GC,2.24,6.97,0.52,90.45,0.047,0.061,0.087,118,2514,441,-7.07,-0.71,501.15,0,0,0,0,0,0
$RAFOS_CLK,898
$RAFOS,1,1321891742,16.166666,16.150555,150,60,59,0,0,0,541,212,201,0,0,0
$RAFOS,0,1321891266,16.033333,16.018333,115,68,60,0,0,0,652,206,182,0,0,0
$RAFOS,6,1321879743,12.833333,12.817500,91,64,62,0,0,0,789,200,188,0,0,0
$RAFOS,5,1321879262,12.700000,12.683888,75,60,59,0,0,0,893,186,200,0,0,0
$RAFOS_FIX,6646.085938,-5953.558594,211111,121252,6,115,6.01
$IRIDIUM_FIX,6614.97,-5959.11,211111,050520
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.67
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,601.1,108.5
$24V_AH,22.6,34.994
$10V_AH,10.2,26.446
$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,9.100,43.900,374.300,90.450,0.000,0.000,0.000,0.000,3.500,0.000,0.000,3194.802,7182.668,499.286,1886.130,174.852,0.000,1471.727,0.000,1870.186,1080.000,17.943,0.000
$DEVICE_MAMPS,152.235,97.155,1336.455,87.210,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.694,637.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150220
$DATA_FILE_SIZE,43403,1146
$CAP_FILE_SIZE,118900,0
$CFSIZE,260165632,228782080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.8
$CURRENT,0.248,342.4,1
$GPS,211111,161959,6648.162,-6002.383,39,0.8,39,-33.9