version: 66.09
glider: 143
mission: 13
dive: 279
start: 11 21 111 23 35 9
data:
$ID,143
$MISSION,13
$DIVE,279
$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,-81237.477
$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,40
$R_STBD_OVSHOOT,20
$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
$GPS1,211111,200226,6646.469,-6002.417,181,99.0,181,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-54.8
$GPS2,211111,233435,6647.332,-6005.341,44,0.9,44,-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,239.2,29301,-27.7,-9.167
$D_GRID,615
$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,-0.96,-55.4,0.0,0.0,0,146,0.00,0.00,-127.38,0.000,2,0.000,0.000,130,2505,2193,0,0,0,0,0,0
$GC,149,-1.05,-122.5,3.1,-1.7,19,193,8.10,1.15,-28.52,0.000,4,0.253,0.094,2053,3218,2986,0,0,0,0,0,0
$GC,446,-1.05,-122.5,79.0,-25.9,63,453,0.00,1.12,0.00,0.000,6,0.000,0.037,2053,2512,2987,0,0,0,0,0,0
$GC,783,-1.05,-122.5,154.0,-20.6,114,792,0.00,1.20,0.00,0.000,4,0.000,0.066,2048,3221,2987,0,0,0,0,0,0
$GC,1042,-1.05,-122.5,211.6,-23.0,153,1049,0.00,1.12,0.00,0.000,6,0.000,0.037,2048,2510,2987,0,0,0,0,0,0
$GC,1374,-1.05,-122.5,279.3,-19.8,193,1377,0.00,1.20,0.00,0.000,4,0.000,0.066,2044,3221,2988,0,0,0,0,0,0
$GC,1632,-1.05,-122.5,328.9,-19.2,212,1640,0.00,1.15,0.00,0.000,6,0.000,0.036,2044,2502,2988,0,0,0,0,0,0
$GC,1955,-1.05,-122.5,389.4,-17.5,238,1959,0.00,1.20,0.00,0.000,4,0.000,0.064,2039,3217,2988,0,0,0,0,0,0
$GC,2139,-1.05,-122.5,422.2,-17.5,252,2143,0.00,1.10,0.00,0.000,6,0.000,0.035,2039,2513,2988,0,0,0,0,0,0
$GC,2468,-1.05,-122.5,480.6,-17.7,278,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2514,2988,0,0,0,0,0,0
$GC,2796,-1.05,-122.5,536.9,-17.0,294,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2513,2988,0,0,0,0,0,0
$GC,3102,-1.05,-122.5,588.3,-16.6,304,3106,0.00,1.17,0.00,0.000,4,0.000,0.063,2035,3216,2988,0,0,0,0,0,0
$GC,3207,-1.05,-122.5,605.3,-17.1,307,3212,0.00,1.12,0.00,0.000,6,0.000,0.034,2035,2502,2988,0,0,0,0,0,0
$STATE,3263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3263,begin apogee
$GC,3269,-0.16,0.0,616.2,-17.0,309,3375,1.02,0.00,101.53,1.308,6,0.162,0.000,2339,2191,2485,0,0,0,0,0,0
$STATE,3378,end apogee,CONTROL_FINISHED_OK
$STATE,3378,begin climb
$GC,3380,1.05,122.5,620.4,0.0,312,3498,1.15,1.20,108.65,1.249,4,0.067,0.050,2738,1507,1984,0,0,0,0,0,0
$GC,3556,1.05,126.5,609.2,8.7,318,3567,0.00,1.25,4.05,0.785,6,0.000,0.044,2737,2205,1969,0,0,0,0,0,0
$GC,3889,1.05,126.5,561.5,13.7,329,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2205,1964,0,0,0,0,0,0
$GC,4197,1.05,126.5,519.4,13.9,339,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2205,1963,0,0,0,0,0,0
$GC,4512,1.05,126.5,474.9,14.2,357,4516,0.00,1.15,0.00,0.000,4,0.000,0.057,2737,2915,1963,0,0,0,0,0,0
$GC,4565,1.05,126.5,467.4,14.1,361,4569,0.00,1.17,0.00,0.000,6,0.000,0.037,2742,2198,1963,0,0,0,0,0,0
$GC,4895,1.05,126.5,420.6,14.4,387,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2198,1963,0,0,0,0,0,0
$GC,5209,1.05,126.5,377.7,13.2,412,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2198,1963,0,0,0,0,0,0
$GC,5525,1.05,126.5,338.0,12.1,437,5529,0.00,1.20,0.00,0.000,4,0.000,0.052,2742,2914,1963,0,0,0,0,0,0
$GC,5703,1.05,126.5,316.0,12.5,450,5712,0.00,1.15,0.00,0.000,6,0.000,0.037,2747,2201,1963,0,0,0,0,0,0
$GC,6027,1.05,126.5,278.0,11.4,476,6031,0.00,1.17,0.00,0.000,4,0.000,0.051,2747,2904,1962,0,0,0,0,0,0
$GC,6283,1.05,126.5,250.3,10.3,495,6291,0.00,1.15,0.00,0.000,6,0.000,0.037,2751,2201,1963,0,0,0,0,0,0
$GC,6623,1.05,126.5,214.9,9.7,546,6632,0.00,1.17,0.00,0.000,4,0.000,0.051,2751,2906,1963,0,0,0,0,0,0
$GC,6884,1.05,126.5,188.4,9.9,585,6891,0.00,1.12,0.00,0.000,6,0.000,0.037,2756,2204,1962,0,0,0,0,0,0
$GC,7223,1.08,146.7,161.1,6.9,636,7246,0.00,1.23,17.08,1.005,4,0.000,0.051,2755,2909,1886,0,0,0,0,0,0
$GC,7497,1.08,146.7,135.7,9.4,677,7504,0.00,1.15,0.00,0.000,6,0.000,0.037,2760,2201,1883,0,0,0,0,0,0
$GC,7836,1.10,170.2,107.7,6.6,728,7864,0.00,1.23,20.67,0.991,4,0.000,0.050,2760,2913,1790,0,0,0,0,0,0
$GC,7924,1.10,170.2,99.9,9.8,741,7931,0.00,1.17,0.00,0.000,6,0.000,0.037,2765,2198,1789,0,0,0,0,0,0
$GC,8262,1.12,183.7,68.9,7.7,792,8284,0.00,1.23,12.25,0.943,4,0.000,0.050,2765,2942,1735,0,0,0,0,0,0
$GC,8447,1.15,208.4,54.3,6.4,820,8476,0.00,1.23,22.20,0.959,6,0.000,0.036,2769,2193,1634,0,0,0,0,0,0
$GC,8806,1.15,209.3,23.9,9.1,874,8815,0.00,1.08,0.00,0.000,4,0.000,0.049,2774,1493,1630,0,0,0,0,0,0
$FREEZE,8.59,-1.121,-1.697,2,2,0
$FREEZE,8.11,-1.110,-1.695,2,2,0
$FREEZE,7.61,-1.122,-1.695,2,2,0
$FREEZE,7.18,-1.127,-1.695,2,2,0
$FREEZE,6.68,-1.129,-1.695,2,2,0
$FREEZE,6.27,-1.126,-1.694,2,2,0
$FREEZE,5.90,-1.121,-1.694,2,2,0
$FREEZE,5.34,-1.119,-1.693,2,2,0
$FREEZE,4.92,-1.122,-1.693,2,2,0
$FREEZE,4.38,-1.121,-1.693,2,2,0
$FREEZE,4.01,-1.117,-1.692,2,2,0
$FREEZE,3.51,-1.112,-1.691,2,2,0
$FREEZE,3.10,-1.105,-1.691,2,2,0
$FREEZE,2.62,-1.105,-1.690,2,2,0
$FREEZE,2.18,-1.114,-1.690,2,2,0
$GC,9067,1.18,230.6,2.6,6.8,913,9085,0.00,1.17,10.30,0.087,6,0.000,0.043,2774,2212,1543,0,0,0,0,0,0
$FREEZE,2.01,-1.113,-1.690,2,2,0
$FREEZE,1.93,-1.107,-1.690,2,2,0
$STATE,9097,end climb,SURFACE_DEPTH_REACHED
$STATE,9097,begin surface coast
$FREEZE,2.00,-1.100,-1.689,2,2,0
$FREEZE,1.97,-1.115,-1.690,2,2,0
$FREEZE,2.00,-1.113,-1.690,2,2,0
$FREEZE,1.97,-1.116,-1.690,2,2,0
$FREEZE,1.94,-1.116,-1.690,2,2,0
$FREEZE,1.93,-1.113,-1.690,2,2,0
$FREEZE,1.94,-1.106,-1.690,2,2,0
$FREEZE,1.92,-1.108,-1.690,2,2,0
$FREEZE,1.95,-1.110,-1.690,2,2,0
$FREEZE,2.02,-1.110,-1.690,2,2,0
$FREEZE,1.95,-1.110,-1.690,2,2,0
$FREEZE,2.01,-1.111,-1.690,2,2,0
$FREEZE,1.89,-1.108,-1.690,2,2,0
$FREEZE,1.99,-1.112,-1.690,2,2,0
$FREEZE,2.00,-1.109,-1.690,2,2,0
$FREEZE,1.93,-1.104,-1.690,2,2,0
$FREEZE,1.94,-1.108,-1.690,2,2,0
$FREEZE,2.03,-1.159,-1.693,2,2,0
$FREEZE,1.99,-1.160,-1.693,2,2,0
$FINISH,2.0,1.024875
$STATE,9223,end surface coast,CONTROL_FINISHED_OK
$STATE,9223,begin surface
$SM_CCo,9240,126.65,0.087,0,0,441,501.15
$SM_GC,2.48,7.43,0.50,126.65,0.066,0.057,0.087,121,2510,441,-7.06,-0.90,501.15,0,0,0,0,0,0
$RAFOS_CLK,607
$RAFOS,6,1321922943,0.833333,0.817500,96,62,61,0,0,0,805,161,208,0,0,0
$RAFOS,5,1321922487,0.700000,0.690833,104,59,59,0,0,0,779,224,215,0,0,0
$RAFOS,4,1321921986,0.566667,0.551667,125,59,57,0,0,0,678,182,195,0,0,0
$RAFOS,3,1321921517,0.433333,0.421389,155,58,58,0,0,0,687,174,199,0,0,0
$RAFOS,2,1321921025,0.300000,0.284722,131,67,67,0,0,0,622,217,198,0,0,0
$RAFOS,1,1321920541,0.166667,0.150278,139,72,56,0,0,0,530,199,161,0,0,0
$RAFOS,0,1321920068,0.033333,0.018889,104,65,61,0,0,0,623,205,196,0,0,0
$RAFOS_FIX,6645.306152,-5958.550293,221111,000013,6,119,1.87
$IRIDIUM_FIX,6614.97,-6003.82,211111,191950
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.63
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,16.20
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.6,17.3
$ALTIM_BOTTOM_PING,605.3,62.2
$24V_AH,22.7,35.343
$10V_AH,10.1,26.687
$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,17.700,33.750,296.725,126.650,0.000,0.000,0.000,162.750,4.500,0.000,45.774,2611.901,4712.600,583.552,1747.415,182.317,0.000,1555.040,0.000,1527.088,2520.000,20.782,0.000
$DEVICE_MAMPS,253.215,94.095,1308.150,87.210,0.000,0.000,0.000,238.931,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.420,543.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,36735,936
$CAP_FILE_SIZE,98977,0
$CFSIZE,260165632,228614144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.5
$CURRENT,1.912,112.4,1
$GPS,221111,003013,6645.306,-5958.550,0,6119.2,0,-33.9