version: 66.09
glider: 143
mission: 13
dive: 286
start: 11 22 111 23 59 0
data:
$ID,143
$MISSION,13
$DIVE,286
$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,-82886.164
$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,52
$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
$GPS1,221111,202826,6646.401,-5959.786,0,6120.3,0,-34.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-31.3
$GPS2,221111,202826,6646.401,-5959.786,181,99.0,181,-34.0
$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,244.6,32689,-27.7,-9.167
$D_GRID,665
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.96,-55.4,0.0,0.0,0,148,0.00,0.00,-127.12,0.000,2,0.000,0.000,119,2510,2298,0,0,0,0,0,0
$GC,151,-1.03,-110.0,3.8,-3.1,19,183,8.25,1.17,-19.83,0.000,4,0.256,0.096,2060,3211,2935,0,0,0,0,0,0
$GC,435,-1.03,-110.0,77.4,-23.6,61,441,0.00,1.08,0.00,0.000,6,0.000,0.034,2061,2526,2938,0,0,0,0,0,0
$GC,775,-1.03,-110.0,154.2,-20.5,112,781,0.00,1.15,0.00,0.000,4,0.000,0.064,2056,3210,2938,0,0,0,0,0,0
$GC,1033,-1.03,-110.0,206.8,-18.5,151,1042,0.00,1.10,0.00,0.000,6,0.000,0.035,2056,2507,2938,0,0,0,0,0,0
$GC,1368,-1.03,-110.0,271.1,-18.3,193,1372,0.00,1.17,0.00,0.000,4,0.000,0.064,2052,3210,2938,0,0,0,0,0,0
$GC,1623,-1.03,-110.0,317.0,-17.7,212,1634,0.00,1.12,0.00,0.000,6,0.000,0.034,2052,2499,2938,0,0,0,0,0,0
$GC,1947,-1.03,-110.0,373.1,-16.7,238,1950,0.00,1.20,0.00,0.000,4,0.000,0.063,2046,3215,2938,0,0,0,0,0,0
$GC,2203,-1.03,-110.0,416.3,-17.2,257,2211,0.00,1.12,0.00,0.000,6,0.000,0.034,2047,2503,2938,0,0,0,0,0,0
$GC,2529,-1.03,-110.0,469.9,-15.8,283,2533,0.00,1.17,0.00,0.000,4,0.000,0.063,2043,3208,2938,0,0,0,0,0,0
$GC,2787,-1.03,-110.0,508.4,-15.9,299,2794,0.00,1.10,0.00,0.000,6,0.000,0.034,2042,2509,2938,0,0,0,0,0,0
$GC,3100,-1.03,-110.0,561.3,-15.9,310,3104,0.00,1.17,0.00,0.000,4,0.000,0.063,2038,3213,2939,0,0,0,0,0,0
$GC,3355,-1.03,-110.0,599.0,-16.1,317,3364,0.12,1.12,0.00,0.000,6,0.190,0.033,2065,2497,2939,0,0,0,0,0,0
$GC,3669,-1.03,-110.0,647.5,-13.9,328,3673,0.00,1.20,0.00,0.000,4,0.000,0.063,2062,3217,2940,0,0,0,0,0,0
$STATE,3767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3767,begin apogee
$GC,3774,-0.16,0.0,661.9,-14.4,331,3871,0.93,0.00,92.18,1.333,6,0.161,0.000,2338,2197,2485,0,0,0,0,0,0
$STATE,3874,end apogee,CONTROL_FINISHED_OK
$STATE,3874,begin climb
$GC,3876,1.03,110.0,665.7,0.0,334,3983,1.12,1.38,98.43,1.278,4,0.057,0.051,2734,2903,2034,0,0,0,0,0,0
$GC,4061,1.06,132.6,657.1,6.7,340,4090,0.00,1.25,20.75,1.200,6,0.000,0.035,2739,2201,1943,0,0,0,0,0,0
$GC,4393,1.06,132.6,606.5,15.5,351,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2201,1937,0,0,0,0,0,0
$GC,4700,1.06,132.6,560.2,15.0,361,4704,0.00,1.23,0.00,0.000,4,0.000,0.051,2739,2907,1935,0,0,0,0,0,0
$GC,4835,1.06,132.6,538.9,16.1,365,4839,0.00,1.17,0.00,0.000,6,0.000,0.037,2744,2194,1934,0,0,0,0,0,0
$GC,5152,1.06,132.6,489.9,15.4,377,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2195,1934,0,0,0,0,0,0
$GC,5466,1.06,132.6,443.5,14.1,402,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2194,1934,0,0,0,0,0,0
$GC,5784,1.06,132.6,399.7,14.0,427,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2194,1933,0,0,0,0,0,0
$GC,6097,1.06,132.6,356.8,13.1,452,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2195,1933,0,0,0,0,0,0
$GC,6415,1.06,132.6,316.3,12.3,477,6418,0.00,1.20,0.00,0.000,4,0.000,0.051,2743,2905,1933,0,0,0,0,0,0
$GC,6670,1.06,132.6,283.7,12.2,496,6680,0.00,1.17,0.00,0.000,6,0.000,0.037,2748,2187,1933,0,0,0,0,0,0
$GC,6996,1.06,132.6,244.4,12.4,525,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2187,1933,0,0,0,0,0,0
$GC,7331,1.06,132.6,205.8,10.7,576,7340,0.00,1.23,0.00,0.000,4,0.000,0.051,2748,2917,1933,0,0,0,0,0,0
$GC,7591,1.06,132.6,178.1,9.9,615,7598,0.00,1.15,0.00,0.000,6,0.000,0.036,2753,2198,1933,0,0,0,0,0,0
$GC,7928,1.07,145.7,151.8,7.7,666,7950,0.00,1.23,10.60,0.959,4,0.000,0.050,2753,2910,1890,0,0,0,0,0,0
$GC,8031,1.07,145.7,142.8,9.8,681,8038,0.00,1.15,0.00,0.000,6,0.000,0.036,2758,2199,1889,0,0,0,0,0,0
$GC,8369,1.11,170.8,114.4,6.4,732,8398,0.00,1.12,22.50,0.991,4,0.000,0.049,2762,1492,1787,0,0,0,0,0,0
$GC,8649,1.12,180.6,91.7,8.1,774,8663,0.00,1.17,9.30,0.918,6,0.000,0.046,2763,2206,1748,0,0,0,0,0,0
$GC,8994,1.12,183.0,61.9,8.9,826,9000,0.00,1.15,0.00,0.000,4,0.000,0.046,2767,1492,1745,0,0,0,0,0,0
$GC,9253,1.14,201.6,41.9,7.1,865,9281,0.00,1.15,18.80,0.949,6,0.000,0.044,2767,2197,1662,0,0,0,0,0,0
$GC,9612,1.17,222.4,13.4,6.9,919,9628,0.00,1.17,10.30,0.112,4,0.000,0.046,2771,1494,1578,0,0,0,0,0,0
$FREEZE,8.82,-0.551,-1.671,2,4,0
$FREEZE,8.26,-0.544,-1.670,2,4,0
$FREEZE,7.67,-0.591,-1.673,2,4,0
$FREEZE,7.15,-0.544,-1.669,2,4,0
$GC,9689,1.17,227.0,7.1,8.7,930,9696,0.00,1.17,2.12,0.096,6,0.000,0.046,2771,2206,1558,0,0,0,0,0,0
$FREEZE,5.65,-0.503,-1.666,2,4,0
$FREEZE,5.10,-0.505,-1.665,2,4,0
$FREEZE,4.75,-0.524,-1.666,2,4,0
$FREEZE,4.30,-0.523,-1.666,2,4,0
$FREEZE,3.74,-0.498,-1.664,2,4,0
$FREEZE,3.40,-0.537,-1.666,2,4,0
$FREEZE,2.85,-0.494,-1.663,2,4,0
$FREEZE,2.40,-0.559,-1.666,2,4,0
$FREEZE,2.09,-0.517,-1.664,2,4,0
$FREEZE,2.02,-0.553,-1.666,2,4,0
$FREEZE,1.89,-0.526,-1.664,2,4,0
$STATE,9769,end climb,SURFACE_DEPTH_REACHED
$STATE,9769,begin surface coast
$FREEZE,1.95,-0.498,-1.663,2,4,0
$FREEZE,1.98,-0.520,-1.664,2,4,0
$FREEZE,2.04,-0.543,-1.665,2,4,0
$FREEZE,1.97,-0.534,-1.665,2,4,0
$FREEZE,1.91,-0.523,-1.664,2,4,0
$FREEZE,1.95,-0.519,-1.664,2,4,0
$FREEZE,2.01,-0.510,-1.663,2,4,0
$FREEZE,2.06,-0.546,-1.665,2,4,0
$FREEZE,2.10,-0.494,-1.662,2,4,0
$FINISH,2.1,1.024416
$STATE,9830,end surface coast,CONTROL_FINISHED_OK
$STATE,9830,begin surface
$SM_CCo,9833,128.68,0.086,0,0,442,501.15
$SM_GC,2.49,7.25,0.52,0.00,0.048,0.057,0.000,104,2518,434,-7.08,-0.68,503.11,0,0,0,0,0,0
$RAFOS_CLK,738
$RAFOS,6,1322009346,0.833333,0.818333,91,61,61,0,0,0,783,219,168,0,0,0
$RAFOS,5,1322008864,0.700000,0.684444,99,60,58,0,0,0,905,204,221,0,0,0
$RAFOS,4,1322008383,0.566667,0.550833,145,66,61,0,0,0,696,199,216,0,0,0
$RAFOS,3,1322007904,0.433333,0.417778,123,64,52,0,0,0,766,207,190,0,0,0
$RAFOS,2,1322007426,0.300000,0.285000,99,67,65,0,0,0,637,195,211,0,0,0
$RAFOS,1,1322006945,0.166667,0.151389,104,59,56,0,0,0,527,217,124,0,0,0
$RAFOS,0,1322006463,0.033333,0.017500,104,59,58,0,0,0,653,196,175,0,0,0
$RAFOS_FIX,6646.168945,-6000.652832,231111,000049,7,109,0.05
$IRIDIUM_FIX,6625.71,-6000.37,221111,131343
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.90
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,16.10
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,551.3,120.8
$24V_AH,22.7,36.189
$10V_AH,10.1,27.270
$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,17.675,36.150,284.975,128.675,0.000,0.000,0.000,121.450,3.750,0.000,182.012,2661.750,5245.466,584.498,1944.704,237.512,0.000,1559.594,0.000,1628.646,2520.000,16.204,0.000
$DEVICE_MAMPS,256.275,96.390,1332.630,85.680,0.000,0.000,0.000,238.931,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.688,548.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150188
$DATA_FILE_SIZE,36648,951
$CAP_FILE_SIZE,103910,0
$CFSIZE,260165632,228155392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.3
$CURRENT,0.653, 59.8,1
$GPS,231111,002649,6646.169,-6000.653,0,7109.3,0,-34.0