version: 66.09
glider: 143
mission: 13
dive: 281
start: 11 22 111 5 52 3
data:
$ID,143
$MISSION,13
$DIVE,281
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,221111,042952,6644.538,-5958.748,0,6111.0,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.04
$_SM_ANGLEo,0.5
$GPS2,221111,042952,6644.538,-5958.748,0,6111.0,0,-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,340.7,32756,-16.9,-9.167
$D_GRID,660
$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,17,-0.73,-146.0,0.0,0.0,0,27,0.00,0.00,-7.80,0.000,2,0.000,0.000,2431,1496,2430,0,0,0,0,0,0
$GC,30,-0.73,-146.0,10.3,0.0,1,58,0.73,2.90,-18.20,0.000,4,0.067,0.073,2150,3203,3084,0,0,0,0,0,0
$GC,65,-0.73,-146.0,13.8,-9.8,6,71,0.00,1.10,0.00,0.000,6,0.000,0.034,2150,2507,3085,0,0,0,0,0,0
$GC,402,-0.73,-146.0,76.8,-17.7,57,409,0.00,1.20,0.00,0.000,4,0.000,0.064,2145,3214,3086,0,0,0,0,0,0
$GC,583,-0.73,-146.0,107.1,-16.0,84,590,0.00,1.12,0.00,0.000,6,0.000,0.034,2145,2498,3087,0,0,0,0,0,0
$GC,921,-0.73,-146.0,161.1,-14.8,135,930,0.00,1.08,0.00,0.000,4,0.000,0.044,2145,1814,3086,0,0,0,0,0,0
$GC,959,-0.73,-146.0,166.4,-15.0,140,965,0.00,1.20,0.00,0.000,6,0.000,0.054,2141,2508,3086,0,0,0,0,0,0
$GC,1297,-0.73,-146.0,215.6,-13.7,191,1306,0.00,1.12,0.00,0.000,4,0.000,0.069,2136,3211,3086,0,0,0,0,0,0
$GC,1326,-0.73,-146.0,219.6,-13.5,195,1335,0.00,1.10,0.00,0.000,6,0.000,0.034,2135,2506,3086,0,0,0,0,0,0
$GC,1661,-0.73,-146.0,264.3,-13.5,238,1663,0.12,0.00,0.00,0.000,6,0.175,0.000,2165,2506,3086,0,0,0,0,0,0
$GC,1977,-0.73,-146.0,299.0,-10.8,263,1981,0.00,1.08,0.00,0.000,4,0.000,0.044,2165,1818,3085,0,0,0,0,0,0
$GC,1996,-0.73,-146.0,300.5,-10.9,264,2004,0.00,1.23,0.00,0.000,6,0.000,0.054,2162,2520,3085,0,0,0,0,0,0
$GC,2321,-0.73,-146.0,335.2,-10.2,290,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2520,3085,0,0,0,0,0,0
$GC,2635,-0.73,-146.0,367.4,-10.4,315,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2521,3086,0,0,0,0,0,0
$GC,2954,-0.73,-146.0,399.5,-10.5,340,2957,0.00,1.10,0.00,0.000,4,0.000,0.070,2157,3211,3085,0,0,0,0,0,0
$GC,3008,-0.73,-146.0,405.4,-10.4,344,3012,0.00,1.10,0.00,0.000,6,0.000,0.032,2157,2496,3085,0,0,0,0,0,0
$GC,3338,-0.73,-146.0,439.0,-10.3,370,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2496,3085,0,0,0,0,0,0
$GC,3652,-0.73,-146.0,471.9,-10.5,395,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2496,3086,0,0,0,0,0,0
$GC,3991,-0.73,-146.0,507.0,-10.2,419,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2496,3086,0,0,0,0,0,0
$GC,4297,-0.73,-146.0,538.9,-10.3,429,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2496,3086,0,0,0,0,0,0
$GC,4603,-0.73,-146.0,570.0,-10.2,439,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2496,3086,0,0,0,0,0,0
$GC,4910,-0.73,-146.0,601.0,-10.2,449,4913,0.00,1.20,0.00,0.000,4,0.000,0.062,2152,3217,3087,0,0,0,0,0,0
$GC,4954,-0.73,-146.0,604.1,-10.0,450,4959,0.00,1.10,0.00,0.000,6,0.000,0.028,2153,2502,3087,0,0,0,0,0,0
$GC,5283,-0.73,-146.0,637.8,-10.0,461,5286,0.00,1.17,0.00,0.000,4,0.000,0.062,2148,3213,3087,0,0,0,0,0,0
$GC,5340,-0.73,-146.0,641.4,-10.3,462,5348,0.00,1.10,0.00,0.000,6,0.000,0.028,2148,2499,3087,0,0,0,0,0,0
$STATE,5500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5500,begin apogee
$GC,5507,-0.16,0.0,660.8,-10.5,468,5633,0.60,0.00,121.25,1.323,6,0.131,0.000,2341,2198,2485,0,0,0,0,0,0
$STATE,5634,end apogee,CONTROL_FINISHED_OK
$STATE,5634,begin climb
$GC,5637,0.73,146.0,665.2,0.0,472,5780,0.85,1.23,130.80,1.258,4,0.068,0.048,2635,1509,1888,0,0,0,0,0,0
$GC,5973,0.73,146.0,643.3,11.0,482,5980,0.00,1.20,0.00,0.000,6,0.000,0.044,2635,2203,1881,0,0,0,0,0,0
$GC,6285,0.73,146.0,606.6,10.9,493,6289,0.00,1.17,0.00,0.000,4,0.000,0.054,2635,2911,1879,0,0,0,0,0,0
$GC,6386,0.73,146.0,595.5,11.2,496,6390,0.00,1.15,0.00,0.000,6,0.000,0.034,2639,2210,1878,0,0,0,0,0,0
$GC,6725,0.73,146.0,557.5,11.0,507,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2210,1877,0,0,0,0,0,0
$GC,7031,0.73,146.0,523.4,11.0,517,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2210,1877,0,0,0,0,0,0
$GC,7348,0.73,146.0,488.8,11.0,532,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2210,1876,0,0,0,0,0,0
$GC,7662,0.73,146.0,454.8,10.4,557,7666,0.00,1.10,0.00,0.000,4,0.000,0.050,2645,1495,1876,0,0,0,0,0,0
$GC,7836,0.73,146.0,436.8,10.5,570,7839,0.00,1.15,0.00,0.000,6,0.000,0.045,2645,2202,1876,0,0,0,0,0,0
$GC,8166,0.73,146.0,402.2,10.7,596,8169,0.00,1.15,0.00,0.000,4,0.000,0.045,2649,1490,1876,0,0,0,0,0,0
$GC,8220,0.73,146.0,396.6,10.4,600,8225,0.00,1.15,0.00,0.000,6,0.000,0.046,2649,2199,1875,0,0,0,0,0,0
$GC,8550,0.73,146.0,360.6,10.4,626,8554,0.00,1.12,0.00,0.000,4,0.000,0.057,2649,2900,1876,0,0,0,0,0,0
$GC,8660,0.73,146.0,348.8,11.2,634,8668,0.00,1.15,0.00,0.000,6,0.000,0.036,2654,2195,1876,0,0,0,0,0,0
$GC,8987,0.73,146.0,314.9,10.3,660,8990,0.00,1.08,0.00,0.000,4,0.000,0.049,2659,1491,1876,0,0,0,0,0,0
$GC,9105,0.73,146.0,302.3,10.0,669,9109,0.00,1.15,0.00,0.000,6,0.000,0.044,2659,2202,1875,0,0,0,0,0,0
$GC,9436,0.73,146.0,269.4,9.8,695,9439,0.00,1.12,0.00,0.000,4,0.000,0.055,2659,2905,1876,0,0,0,0,0,0
$GC,9514,0.73,146.0,261.2,10.2,701,9518,0.08,1.12,0.00,0.000,6,0.150,0.037,2640,2203,1875,0,0,0,0,0,0
$GC,9846,0.75,164.4,231.4,8.4,742,9868,0.00,1.05,14.60,1.014,4,0.000,0.046,2643,1487,1814,0,0,0,0,0,0
$GC,9974,0.75,164.4,220.0,9.4,761,9980,0.00,1.17,0.00,0.000,6,0.000,0.045,2643,2206,1813,0,0,0,0,0,0
$GC,10313,0.77,184.8,189.6,8.3,812,10341,0.00,1.12,18.95,1.014,4,0.000,0.052,2643,2913,1729,0,0,0,0,0,0
$GC,10591,0.77,184.8,161.5,10.5,854,10598,0.00,1.15,0.00,0.000,6,0.000,0.036,2648,2205,1728,0,0,0,0,0,0
$GC,10928,0.81,213.9,131.9,7.9,905,10962,0.00,1.12,25.23,0.993,4,0.000,0.048,2653,1494,1612,0,0,0,0,0,0
$GC,11037,0.82,226.0,122.7,8.7,921,11058,0.00,1.17,11.62,0.940,6,0.000,0.045,2653,2203,1562,0,0,0,0,0,0
$GC,11390,0.84,239.0,92.0,8.6,974,11407,0.00,1.17,12.38,0.938,4,0.000,0.056,2653,2902,1509,0,0,0,0,0,0
$GC,11631,0.85,250.2,69.5,8.7,1010,11647,0.00,1.15,10.80,0.918,6,0.000,0.037,2658,2201,1464,0,0,0,0,0,0
$GC,11977,0.88,268.0,38.9,8.4,1062,11999,0.00,1.15,16.10,0.936,4,0.000,0.051,2663,1490,1391,0,0,0,0,0,0
$GC,12207,0.88,275.6,19.4,8.8,1096,12215,0.00,1.17,3.67,0.139,6,0.000,0.046,2663,2200,1361,0,0,0,0,0,0
$FREEZE,8.67,-0.917,-1.695,2,4,0
$FREEZE,8.03,-0.929,-1.695,2,4,0
$FREEZE,7.58,-0.922,-1.695,2,4,0
$FREEZE,7.15,-0.941,-1.695,2,4,0
$FREEZE,6.53,-0.928,-1.694,2,4,0
$FREEZE,5.96,-0.856,-1.690,2,4,0
$FREEZE,5.47,-0.858,-1.689,2,4,0
$FREEZE,4.84,-0.783,-1.685,2,4,0
$FREEZE,4.30,-0.852,-1.688,2,4,0
$FREEZE,3.61,-0.851,-1.688,2,4,0
$FREEZE,3.09,-0.849,-1.687,2,4,0
$FREEZE,2.43,-0.852,-1.687,2,4,0
$FREEZE,2.07,-0.848,-1.686,2,4,0
$FREEZE,2.12,-0.848,-1.686,2,4,0
$FREEZE,1.99,-0.833,-1.685,2,4,0
$STATE,12423,end climb,SURFACE_DEPTH_REACHED
$STATE,12423,begin surface coast
$FREEZE,1.82,-0.790,-1.683,2,4,0
$FREEZE,1.76,-0.777,-1.682,2,4,0
$FREEZE,1.75,-0.771,-1.681,2,4,0
$FREEZE,1.73,-0.774,-1.682,2,4,0
$FREEZE,1.71,-0.764,-1.681,2,4,0
$FREEZE,1.74,-0.773,-1.681,2,4,0
$FREEZE,1.78,-0.765,-1.681,2,4,0
$FREEZE,1.77,-0.763,-1.681,2,4,0
$FINISH,1.8,1.024694
$STATE,12477,end surface coast,CONTROL_FINISHED_OK
$STATE,12478,begin surface
$SM_CCo,12494,105.75,0.088,0,0,441,501.15
$SM_GC,2.66,6.97,0.52,105.75,0.054,0.060,0.088,118,2510,441,-7.06,-0.85,501.15,0,0,0,0,0,0
$RAFOS_CLK,872
$RAFOS,6,1321951745,8.833333,8.818055,121,62,59,0,0,0,776,208,179,0,0,0
$RAFOS,5,1321951269,8.700000,8.685833,99,64,62,0,0,0,875,198,208,0,0,0
$RAFOS,4,1321950781,8.566667,8.550278,115,64,58,0,0,0,692,210,121,0,0,0
$RAFOS,3,1321950302,8.433333,8.417222,115,58,56,0,0,0,784,220,109,0,0,0
$RAFOS,2,1321949827,8.300000,8.285277,155,68,59,0,0,0,634,212,157,0,0,0
$RAFOS,1,1321949346,8.166667,8.151667,115,60,59,0,0,0,519,116,201,0,0,0
$RAFOS,0,1321948863,8.033334,8.017500,147,71,59,0,0,0,658,209,162,0,0,0
$RAFOS_FIX,6646.218262,-5959.535156,221111,080849,7,124,0.22
$IRIDIUM_FIX,6604.29,-5951.22,211111,232331
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.71
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,16.30
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,18.2
$ALTIM_BOTTOM_PING,551.3,132.3
$24V_AH,22.6,35.593
$10V_AH,10.1,26.832
$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,9.350,48.375,365.400,105.750,0.000,0.000,0.000,0.000,3.500,0.000,0.000,3158.141,6967.455,533.653,1843.532,176.780,0.000,1489.298,0.000,1827.090,2520.000,16.239,0.000
$DEVICE_MAMPS,175.185,72.675,1323.450,87.975,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.606,631.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43349,1137
$CAP_FILE_SIZE,118839,0
$CFSIZE,260165632,228462592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$CURRENT,0.250, 69.1,1
$GPS,221111,082649,6646.218,-5959.535,0,7123.9,0,-33.9