version: 66.09
glider: 143
mission: 13
dive: 280
start: 11 22 111 2 25 3
data:
$ID,143
$MISSION,13
$DIVE,280
$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,-81604.484
$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,38
$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
$GPS1,221111,003013,6645.306,-5958.550,0,6119.2,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-47.7
$GPS2,221111,003013,6645.306,-5958.550,181,99.0,181,-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,338.2,33132,-16.9,-9.167
$D_GRID,668
$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,-146.0,0.0,0.0,0,149,0.00,0.00,-130.62,0.000,2,0.000,0.000,121,2512,2292,0,0,0,0,0,0
$GC,152,-0.73,-146.0,3.3,-2.4,18,193,8.57,1.15,-23.77,0.000,4,0.252,0.097,2156,3208,3084,0,0,0,0,0,0
$GC,239,-0.73,-146.0,22.5,-18.8,31,246,0.00,1.10,0.00,0.000,6,0.000,0.035,2156,2509,3086,0,0,0,0,0,0
$GC,579,-0.73,-146.0,82.2,-16.5,82,586,0.00,1.17,0.00,0.000,4,0.000,0.063,2151,3207,3086,0,0,0,0,0,0
$GC,607,-0.73,-146.0,86.8,-16.5,86,614,0.00,1.10,0.00,0.000,6,0.000,0.033,2151,2500,3087,0,0,0,0,0,0
$GC,946,-0.73,-146.0,138.7,-15.0,137,955,0.00,1.20,0.00,0.000,4,0.000,0.065,2146,3211,3087,0,0,0,0,0,0
$GC,988,-0.73,-146.0,145.1,-15.5,143,995,0.00,1.10,0.00,0.000,6,0.000,0.033,2146,2505,3087,0,0,0,0,0,0
$GC,1327,-0.73,-146.0,194.2,-13.8,194,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2506,3087,0,0,0,0,0,0
$GC,1664,-0.73,-146.0,240.7,-13.2,245,1673,0.00,1.08,0.00,0.000,4,0.000,0.046,2146,1821,3087,0,0,0,0,0,0
$GC,1679,-0.73,-146.0,242.8,-13.4,247,1686,0.00,1.17,0.00,0.000,6,0.000,0.057,2142,2502,3087,0,0,0,0,0,0
$GC,2004,-0.73,-146.0,285.4,-12.6,277,2008,0.00,1.12,0.00,0.000,4,0.000,0.042,2142,1817,3087,0,0,0,0,0,0
$GC,2022,-0.73,-146.0,287.1,-12.8,278,2030,0.00,1.23,0.00,0.000,6,0.000,0.056,2138,2518,3087,0,0,0,0,0,0
$GC,2346,-0.73,-146.0,329.1,-12.5,304,2350,0.00,1.12,0.00,0.000,4,0.000,0.070,2132,3219,3087,0,0,0,0,0,0
$GC,2374,-0.73,-146.0,332.6,-12.6,306,2378,0.10,1.10,0.00,0.000,6,0.147,0.033,2163,2506,3087,0,0,0,0,0,0
$GC,2703,-0.73,-146.0,368.2,-10.7,332,2706,0.00,1.08,0.00,0.000,4,0.000,0.045,2164,1818,3086,0,0,0,0,0,0
$GC,2730,-0.73,-146.0,371.0,-10.8,334,2734,0.00,1.20,0.00,0.000,6,0.000,0.056,2161,2517,3087,0,0,0,0,0,0
$GC,3061,-0.73,-146.0,406.4,-10.8,360,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2517,3087,0,0,0,0,0,0
$GC,3374,-0.73,-146.0,439.1,-10.3,385,3378,0.00,1.12,0.00,0.000,4,0.000,0.070,2156,3220,3087,0,0,0,0,0,0
$GC,3446,-0.73,-146.0,446.1,-10.5,390,3453,0.00,1.12,0.00,0.000,6,0.000,0.031,2156,2499,3087,0,0,0,0,0,0
$GC,3770,-0.73,-146.0,479.9,-10.3,416,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2499,3088,0,0,0,0,0,0
$GC,4106,-0.73,-146.0,513.1,-10.0,437,4110,0.00,1.20,0.00,0.000,4,0.000,0.063,2151,3214,3088,0,0,0,0,0,0
$GC,4124,-0.73,-146.0,513.1,-10.0,437,4129,0.00,1.10,0.00,0.000,6,0.000,0.031,2151,2509,3087,0,0,0,0,0,0
$GC,4444,-0.73,-146.0,547.6,-10.0,448,4448,0.00,1.17,0.00,0.000,4,0.000,0.063,2147,3213,3088,0,0,0,0,0,0
$GC,4456,-0.73,-146.0,547.6,-10.0,448,4461,0.00,1.10,0.00,0.000,6,0.000,0.028,2147,2500,3088,0,0,0,0,0,0
$GC,4783,-0.73,-146.0,582.1,-10.1,459,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2500,3089,0,0,0,0,0,0
$GC,5089,-0.73,-146.0,612.7,-9.9,469,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2500,3089,0,0,0,0,0,0
$GC,5395,-0.73,-146.0,643.4,-9.9,479,5399,0.00,1.20,0.00,0.000,4,0.000,0.063,2142,3220,3089,0,0,0,0,0,0
$GC,5413,-0.73,-146.0,643.4,-9.9,479,5419,0.00,1.10,0.00,0.000,6,0.000,0.030,2142,2517,3089,0,0,0,0,0,0
$STATE,5550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5550,begin apogee
$GC,5556,-0.16,0.0,659.6,-10.5,484,5684,0.62,0.00,121.88,1.323,6,0.132,0.000,2341,2184,2485,0,0,0,0,0,0
$STATE,5685,end apogee,CONTROL_FINISHED_OK
$STATE,5685,begin climb
$GC,5687,0.73,146.0,664.7,0.0,488,5826,0.85,1.42,130.45,1.262,4,0.066,0.050,2632,2914,1888,0,0,0,0,0,0
$GC,6039,0.73,146.0,635.7,11.9,499,6043,0.00,1.20,0.00,0.000,6,0.000,0.034,2637,2211,1880,0,0,0,0,0,0
$GC,6378,0.73,146.0,596.3,11.8,510,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2211,1878,0,0,0,0,0,0
$GC,6685,0.73,146.0,559.9,11.8,520,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2211,1876,0,0,0,0,0,0
$GC,6991,0.73,146.0,523.6,11.9,530,6995,0.00,1.12,0.00,0.000,4,0.000,0.050,2642,1491,1875,0,0,0,0,0,0
$GC,7124,0.73,146.0,507.4,12.2,534,7127,0.00,1.17,0.00,0.000,6,0.000,0.045,2642,2207,1875,0,0,0,0,0,0
$GC,7454,0.73,146.0,468.2,11.5,557,7458,0.00,1.12,0.00,0.000,4,0.000,0.054,2643,2905,1875,0,0,0,0,0,0
$GC,7521,0.73,146.0,460.0,11.9,562,7525,0.00,1.15,0.00,0.000,6,0.000,0.035,2647,2193,1875,0,0,0,0,0,0
$GC,7850,0.73,146.0,420.3,11.8,588,7854,0.00,1.08,0.00,0.000,4,0.000,0.047,2652,1491,1874,0,0,0,0,0,0
$GC,7934,0.73,146.0,411.0,11.7,594,7944,0.00,1.17,0.00,0.000,6,0.000,0.044,2653,2205,1874,0,0,0,0,0,0
$GC,8257,0.73,146.0,371.9,11.8,620,8261,0.00,1.12,0.00,0.000,4,0.000,0.054,2652,2905,1874,0,0,0,0,0,0
$GC,8390,0.73,146.0,356.4,11.3,630,8393,0.00,1.12,0.00,0.000,6,0.000,0.035,2657,2203,1873,0,0,0,0,0,0
$GC,8719,0.73,146.0,320.4,10.1,656,8723,0.00,1.08,0.00,0.000,4,0.000,0.047,2662,1494,1874,0,0,0,0,0,0
$GC,8972,0.73,146.0,295.3,10.2,675,8976,0.00,1.15,0.00,0.000,6,0.000,0.044,2663,2203,1874,0,0,0,0,0,0
$GC,9301,0.73,146.0,262.8,9.4,701,9304,0.00,1.12,0.00,0.000,4,0.000,0.055,2662,2906,1874,0,0,0,0,0,0
$GC,9441,0.73,146.0,249.1,9.5,712,9448,0.10,1.15,0.00,0.000,6,0.148,0.036,2635,2191,1874,0,0,0,0,0,0
$GC,9780,0.75,166.8,220.8,8.3,763,9807,0.00,1.10,16.60,1.022,4,0.000,0.050,2639,1493,1803,0,0,0,0,0,0
$GC,9978,0.76,176.5,203.4,8.8,793,9994,0.00,1.15,9.65,0.967,6,0.000,0.044,2639,2200,1764,0,0,0,0,0,0
$GC,10325,0.77,184.0,173.6,8.9,845,10341,0.00,1.17,7.57,0.926,4,0.000,0.054,2639,2908,1733,0,0,0,0,0,0
$GC,10513,0.79,196.2,156.6,8.7,873,10530,0.00,1.15,12.00,0.972,6,0.000,0.036,2644,2200,1685,0,0,0,0,0,0
$GC,10859,0.82,225.9,126.4,7.9,925,10893,0.00,1.12,26.02,0.995,4,0.000,0.050,2649,1495,1563,0,0,0,0,0,0
$GC,11045,0.83,229.8,110.4,9.0,953,11060,0.00,1.17,4.60,0.765,6,0.000,0.045,2649,2204,1548,0,0,0,0,0,0
$GC,11391,0.86,253.7,80.9,8.2,1005,11419,0.00,1.12,21.55,0.965,4,0.000,0.054,2649,2911,1450,0,0,0,0,0,0
$GC,11540,0.86,258.8,67.4,9.0,1027,11553,0.00,1.17,5.57,0.812,6,0.000,0.036,2653,2198,1429,0,0,0,0,0,0
$GC,11886,0.90,288.3,38.7,7.9,1079,11914,0.12,0.00,25.55,0.945,6,0.089,0.000,2705,2198,1309,0,0,0,0,0,0
$FREEZE,8.38,-0.681,-1.683,2,3,0
$FREEZE,7.62,-0.659,-1.682,2,3,0
$FREEZE,7.10,-0.600,-1.678,2,3,0
$FREEZE,6.45,-0.638,-1.680,2,3,0
$FREEZE,5.66,-0.621,-1.678,2,3,0
$FREEZE,4.90,-0.732,-1.684,2,3,0
$FREEZE,4.27,-2.113,-1.766,2,3,0
$STATE,12211,end climb,FINISH_DEPTH_REACHED
$STATE,12211,begin subsurface finish
$FINISH1,4.3,1.025914,77
$GC,12218,0.10,77.3,4.3,11.1,1128,12290,0.88,1.05,-62.53,0.000,4,0.130,0.077,2432,1496,2169,0,0,0,0,0,0
$FINISH2,3.0
$STATE,12290,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12290,begin surface
$RAFOS_CLK,890
$RAFOS,6,1321937343,4.833333,4.817500,147,72,62,0,0,0,798,205,161,0,0,0
$RAFOS,5,1321936869,4.700000,4.685833,115,69,65,0,0,0,874,202,225,0,0,0
$RAFOS,4,1321936387,4.566667,4.551944,75,58,54,0,0,0,670,201,220,0,0,0
$RAFOS,3,1321935913,4.433333,4.420278,123,65,60,0,0,0,704,221,151,0,0,0
$RAFOS,2,1321935447,4.300000,4.290833,99,58,58,0,0,0,501,202,130,0,0,0
$RAFOS,1,1321934957,4.166667,4.154722,120,56,53,0,0,0,439,179,212,0,0,0
$RAFOS,0,1321934466,4.033333,4.018333,107,71,59,0,0,0,628,217,118,0,0,0
$RAFOS_FIX,6644.537598,-5958.748047,221111,040452,6,111,0.10
$IRIDIUM_FIX,6604.29,-5951.22,211111,232331
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.20
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.5,17.4
$ALTIM_BOTTOM_PING,500.9,173.4
$24V_AH,22.6,35.470
$10V_AH,10.1,26.768
$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,11.250,51.975,381.450,0.000,0.000,0.000,0.000,122.825,3.750,0.000,183.009,3089.249,6743.236,600.173,2179.496,243.239,0.000,1733.110,0.000,1861.630,2520.000,14.581,0.000
$DEVICE_MAMPS,251.685,97.155,1323.450,0.000,0.000,0.000,0.000,239.680,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.992,636.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150228
$DATA_FILE_SIZE,43383,1139
$CAP_FILE_SIZE,125151,0
$CFSIZE,260165632,228524032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$CURRENT,0.667,146.1,1
$GPS,221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9