version: 66.09
glider: 143
mission: 13
dive: 277
start: 11 21 111 16 27 2
data:
$ID,143
$MISSION,13
$DIVE,277
$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,-81051.586
$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,39
$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,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
$GPS1,211111,161959,6648.162,-6002.383,39,0.8,39,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-70.0
$GPS2,211111,162630,6648.065,-6002.221,21,0.8,21,-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,238.3,31915,-16.9,-9.167
$D_GRID,651
$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,15,-0.73,-146.0,0.0,0.0,0,121,0.00,0.00,-103.32,0.000,2,0.000,0.000,117,2515,1898,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.0,-0.9,14,195,8.68,1.17,-53.75,0.000,4,0.254,0.099,2159,3211,3083,0,0,0,0,0,0
$GC,446,-0.73,-146.0,54.9,-15.9,62,453,0.00,1.10,0.00,0.000,6,0.000,0.036,2159,2513,3084,0,0,0,0,0,0
$GC,785,-0.73,-146.0,108.3,-14.3,113,792,0.00,1.17,0.00,0.000,4,0.000,0.066,2154,3209,3085,0,0,0,0,0,0
$GC,1044,-0.73,-146.0,146.1,-14.3,152,1051,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2504,3085,0,0,0,0,0,0
$GC,1381,-0.73,-146.0,194.3,-14.0,203,1390,0.00,1.20,0.00,0.000,4,0.000,0.066,2150,3215,3084,0,0,0,0,0,0
$GC,1642,-0.73,-146.0,230.6,-13.8,242,1649,0.00,1.10,0.00,0.000,6,0.000,0.035,2150,2513,3084,0,0,0,0,0,0
$GC,1972,-0.73,-146.0,271.7,-11.9,279,1976,0.00,1.17,0.00,0.000,4,0.000,0.066,2146,3211,3084,0,0,0,0,0,0
$GC,2070,-0.73,-146.0,282.7,-11.7,286,2077,0.00,1.12,0.00,0.000,6,0.000,0.034,2146,2500,3084,0,0,0,0,0,0
$GC,2395,-0.73,-146.0,322.8,-12.0,312,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2500,3084,0,0,0,0,0,0
$GC,2709,-0.73,-146.0,360.1,-11.5,337,2712,0.00,1.20,0.00,0.000,4,0.000,0.064,2141,3216,3084,0,0,0,0,0,0
$GC,2806,-0.73,-146.0,371.5,-12.2,344,2814,0.00,1.12,0.00,0.000,6,0.000,0.033,2141,2501,3084,0,0,0,0,0,0
$GC,3131,-0.73,-146.0,411.2,-11.9,370,3135,0.00,1.17,0.00,0.000,4,0.000,0.063,2137,3207,3084,0,0,0,0,0,0
$GC,3242,-0.73,-146.0,424.1,-11.9,378,3249,0.00,1.10,0.00,0.000,6,0.000,0.032,2137,2505,3084,0,0,0,0,0,0
$GC,3567,-0.73,-146.0,462.5,-11.5,404,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2504,3085,0,0,0,0,0,0
$GC,3882,-0.73,-146.0,499.9,-11.4,429,3886,0.12,1.17,0.00,0.000,4,0.169,0.065,2163,3207,3085,0,0,0,0,0,0
$GC,3999,-0.73,-146.0,510.0,-10.0,433,4004,0.00,1.10,0.00,0.000,6,0.000,0.031,2164,2501,3085,0,0,0,0,0,0
$GC,4320,-0.73,-146.0,542.9,-9.5,444,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2501,3085,0,0,0,0,0,0
$GC,4626,-0.73,-146.0,572.3,-9.3,454,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2501,3086,0,0,0,0,0,0
$GC,4934,-0.73,-146.0,600.4,-9.0,464,4938,0.00,1.17,0.00,0.000,4,0.000,0.063,2160,3209,3086,0,0,0,0,0,0
$GC,5092,-0.73,-146.0,612.9,-9.3,468,5101,0.00,1.08,0.00,0.000,6,0.000,0.031,2159,2499,3086,0,0,0,0,0,0
$GC,5405,-0.73,-146.0,645.2,-9.6,479,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2499,3086,0,0,0,0,0,0
$STATE,5470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5470,begin apogee
$GC,5476,-0.16,0.0,651.2,-9.5,481,5603,0.55,0.00,121.47,1.318,6,0.126,0.000,2340,2195,2485,0,0,0,0,0,0
$STATE,5603,end apogee,CONTROL_FINISHED_OK
$STATE,5603,begin climb
$GC,5606,0.73,146.0,657.0,0.0,485,5744,0.85,1.23,130.35,1.258,4,0.068,0.047,2633,1504,1888,0,0,0,0,0,0
$GC,5961,0.73,146.0,632.4,10.6,495,5966,0.00,1.23,0.00,0.000,6,0.000,0.043,2633,2204,1880,0,0,0,0,0,0
$GC,6282,0.73,146.0,594.0,11.4,506,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2204,1878,0,0,0,0,0,0
$GC,6588,0.73,146.0,559.8,11.0,516,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2204,1877,0,0,0,0,0,0
$GC,6894,0.73,146.0,526.8,10.8,526,6896,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2204,1876,0,0,0,0,0,0
$GC,7203,0.73,146.0,492.0,11.2,539,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2204,1876,0,0,0,0,0,0
$GC,7518,0.73,146.0,458.3,10.6,564,7522,0.00,1.12,0.00,0.000,4,0.000,0.057,2633,2898,1875,0,0,0,0,0,0
$GC,7624,0.73,146.0,446.6,11.0,572,7628,0.00,1.12,0.00,0.000,6,0.000,0.036,2637,2203,1875,0,0,0,0,0,0
$GC,7955,0.73,146.0,411.9,10.3,598,7959,0.00,1.08,0.00,0.000,4,0.000,0.047,2643,1496,1875,0,0,0,0,0,0
$GC,8103,0.73,146.0,396.4,10.8,609,8106,0.00,1.15,0.00,0.000,6,0.000,0.045,2643,2203,1875,0,0,0,0,0,0
$GC,8433,0.73,146.0,360.6,10.4,635,8436,0.00,1.12,0.00,0.000,4,0.000,0.055,2643,2904,1875,0,0,0,0,0,0
$GC,8526,0.73,146.0,350.4,11.0,642,8529,0.00,1.12,0.00,0.000,6,0.000,0.035,2648,2201,1875,0,0,0,0,0,0
$GC,8856,0.73,146.0,317.3,9.6,668,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1875,0,0,0,0,0,0
$GC,9172,0.73,153.7,288.4,8.8,693,9185,0.00,1.20,5.47,0.886,4,0.000,0.051,2648,2904,1858,0,0,0,0,0,0
$GC,9265,0.73,153.7,279.0,10.3,700,9268,0.00,1.12,0.00,0.000,6,0.000,0.036,2653,2203,1858,0,0,0,0,0,0
$GC,9590,0.73,153.7,248.1,9.3,727,9597,0.00,1.08,0.00,0.000,4,0.000,0.048,2657,1491,1858,0,0,0,0,0,0
$GC,9730,0.75,163.6,235.4,8.8,748,9746,0.00,1.15,10.45,0.995,6,0.000,0.044,2658,2203,1817,0,0,0,0,0,0
$GC,10078,0.75,163.6,203.0,9.3,800,10087,0.00,1.12,0.00,0.000,4,0.000,0.055,2658,2909,1816,0,0,0,0,0,0
$GC,10279,0.77,181.0,185.4,8.4,830,10301,0.00,1.15,16.05,1.011,6,0.000,0.035,2662,2195,1746,0,0,0,0,0,0
$GC,10633,0.81,215.9,156.8,7.7,883,10668,0.00,1.12,30.48,1.017,4,0.000,0.050,2667,1497,1604,0,0,0,0,0,0
$GC,10707,0.81,215.9,150.1,9.9,894,10714,0.00,1.17,0.00,0.000,6,0.000,0.044,2667,2201,1601,0,0,0,0,0,0
$GC,11046,0.81,215.9,114.8,10.0,945,11053,0.00,1.15,0.00,0.000,4,0.000,0.045,2672,1492,1599,0,0,0,0,0,0
$GC,11171,0.81,215.9,102.6,9.5,964,11180,0.00,1.17,0.00,0.000,6,0.000,0.045,2672,2207,1598,0,0,0,0,0,0
$GC,11511,0.81,215.9,71.2,9.9,1015,11518,0.00,1.12,0.00,0.000,4,0.000,0.055,2672,2904,1596,0,0,0,0,0,0
$GC,11610,0.81,215.9,61.3,9.7,1030,11617,0.00,1.15,0.00,0.000,6,0.000,0.036,2677,2196,1596,0,0,0,0,0,0
$GC,11949,0.86,259.7,35.3,7.3,1081,11990,0.00,1.12,36.08,0.962,4,0.000,0.050,2682,1497,1425,0,0,0,0,0,0
$GC,12036,0.88,275.2,28.7,8.5,1094,12058,0.00,1.17,12.95,0.903,6,0.000,0.044,2682,2201,1361,0,0,0,0,0,0
$FREEZE,8.62,-0.631,-1.668,2,1,0
$FREEZE,8.00,-0.699,-1.671,2,1,0
$FREEZE,7.43,-0.818,-1.677,2,1,0
$FREEZE,7.00,-0.700,-1.670,2,1,0
$FREEZE,6.49,-0.674,-1.668,2,1,0
$FREEZE,6.01,-0.643,-1.666,2,1,0
$FREEZE,5.51,-0.652,-1.666,2,1,0
$FREEZE,4.98,-0.685,-1.667,2,1,0
$FREEZE,4.36,-0.699,-1.668,2,1,0
$FREEZE,3.73,-0.637,-1.664,2,1,0
$FREEZE,3.19,-0.762,-1.670,2,1,0
$FREEZE,2.62,-0.653,-1.664,2,1,0
$FREEZE,1.99,-2.969,-1.804,2,1,0
$STATE,12333,end climb,SURFACE_DEPTH_REACHED
$STATE,12333,begin surface coast
$FREEZE,1.58,-0.662,-1.663,2,1,0
$FREEZE,1.41,-0.695,-0.740,2,1,0
$FINISH,1.4,1.010890
$STATE,12348,end surface coast,FINISH_DEPTH_REACHED
$STATE,12348,begin surface
$SM_CCo,12365,105.85,0.087,0,0,442,501.15
$SM_GC,2.56,7.05,0.52,105.85,0.050,0.057,0.087,115,2512,442,-7.08,-0.85,501.15,0,0,0,0,0,0
$RAFOS_CLK,816
$RAFOS,6,1321894141,16.833334,16.816944,131,57,56,0,0,0,809,220,169,0,0,0
$RAFOS,5,1321893665,16.700001,16.684723,106,60,56,0,0,0,891,210,220,0,0,0
$RAFOS,4,1321893186,16.566668,16.551666,155,60,58,0,0,0,667,189,223,0,0,0
$RAFOS_FIX,6649.288574,-5957.119629,211111,161600,5,131,29.82
$IRIDIUM_FIX,6620.33,-5953.65,211111,090948
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.78
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.30
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,651.2,45.6
$24V_AH,22.6,35.119
$10V_AH,10.1,26.536
$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,17.250,44.450,363.300,105.850,0.000,0.000,0.000,257.750,7.500,0.000,22.302,3151.956,6770.697,639.127,2133.379,234.730,0.000,1881.372,0.000,1860.192,1080.000,19.539,0.000
$DEVICE_MAMPS,253.980,98.685,1318.095,87.210,0.000,0.000,0.000,285.383,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.655,634.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150252
$DATA_FILE_SIZE,43348,1141
$CAP_FILE_SIZE,123383,0
$CFSIZE,260165632,228712448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$CURRENT,0.156, 75.4,1
$GPS,211111,195705,6646.547,-6002.411,23,0.9,23,-33.9