version: 66.09
glider: 143
mission: 13
dive: 287
start: 11 23 111 3 1 25
data:
$ID,143
$MISSION,13
$DIVE,287
$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,-83251.18
$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,29
$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
$GPS1,231111,002649,6646.169,-6000.653,0,7109.3,0,-34.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-40.0
$GPS2,231111,002649,6646.169,-6000.653,181,99.0,181,-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,245.0,31968,-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,16,-0.73,-146.0,0.0,0.0,0,149,0.00,0.00,-130.27,0.000,2,0.000,0.000,104,2521,2310,0,0,0,0,0,0
$GC,152,-0.73,-146.0,3.6,-3.0,19,189,8.80,1.15,-23.10,0.000,4,0.256,0.096,2156,3208,3083,0,0,0,0,0,0
$GC,439,-0.73,-146.0,58.0,-16.0,61,448,0.00,1.10,0.00,0.000,6,0.000,0.034,2156,2502,3086,0,0,0,0,0,0
$GC,780,-0.73,-146.0,115.2,-16.2,112,787,0.00,1.17,0.00,0.000,4,0.000,0.064,2152,3202,3086,0,0,0,0,0,0
$GC,886,-0.73,-146.0,131.3,-15.0,128,892,0.00,1.08,0.00,0.000,6,0.000,0.032,2152,2509,3086,0,0,0,0,0,0
$GC,1223,-0.73,-146.0,180.6,-13.6,179,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2509,3086,0,0,0,0,0,0
$GC,1562,-0.73,-146.0,224.3,-12.6,230,1568,0.00,1.17,0.00,0.000,4,0.000,0.063,2147,3211,3086,0,0,0,0,0,0
$GC,1688,-0.73,-146.0,239.9,-12.0,249,1698,0.00,1.08,0.00,0.000,6,0.000,0.031,2147,2512,3086,0,0,0,0,0,0
$GC,2023,-0.73,-146.0,281.7,-11.9,281,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2512,3086,0,0,0,0,0,0
$GC,2340,-0.73,-146.0,319.8,-12.1,306,2344,0.00,1.17,0.00,0.000,4,0.000,0.063,2143,3213,3086,0,0,0,0,0,0
$GC,2487,-0.73,-146.0,337.6,-12.0,317,2491,0.00,1.08,0.00,0.000,6,0.000,0.031,2143,2512,3086,0,0,0,0,0,0
$GC,2818,-0.73,-146.0,377.0,-11.2,343,2822,0.00,1.15,0.00,0.000,4,0.000,0.061,2139,3204,3086,0,0,0,0,0,0
$GC,2897,-0.73,-146.0,386.7,-12.0,349,2900,0.00,1.08,0.00,0.000,6,0.000,0.031,2139,2501,3086,0,0,0,0,0,0
$GC,3225,-0.73,-146.0,426.0,-11.7,375,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2501,3086,0,0,0,0,0,0
$GC,3541,-0.73,-146.0,464.1,-12.1,400,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2501,3087,0,0,0,0,0,0
$GC,3861,-0.73,-146.0,501.3,-11.6,425,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2501,3087,0,0,0,0,0,0
$GC,4163,-0.73,-146.0,536.3,-11.4,435,4166,0.00,1.17,0.00,0.000,4,0.000,0.061,2134,3209,3087,0,0,0,0,0,0
$GC,4297,-0.73,-146.0,551.8,-11.8,439,4301,0.08,1.08,0.00,0.000,6,0.147,0.029,2158,2496,3087,0,0,0,0,0,0
$GC,4637,-0.73,-146.0,587.6,-10.3,450,4640,0.00,1.17,0.00,0.000,4,0.000,0.062,2156,3204,3088,0,0,0,0,0,0
$GC,4714,-0.73,-146.0,594.1,-9.7,452,4719,0.00,1.08,0.00,0.000,6,0.000,0.028,2156,2502,3088,0,0,0,0,0,0
$GC,5046,-0.73,-146.0,628.1,-10.3,463,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2502,3088,0,0,0,0,0,0
$STATE,5131,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5131,begin apogee
$GC,5137,-0.16,0.0,637.1,-9.6,466,5266,0.57,0.00,121.88,1.308,6,0.123,0.000,2344,2197,2484,0,0,0,0,0,0
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5269,0.73,146.0,643.1,0.0,470,5408,0.85,1.20,130.55,1.250,4,0.068,0.047,2637,1512,1889,0,0,0,0,0,0
$GC,5515,0.73,146.0,628.9,11.3,478,5518,0.00,1.20,0.00,0.000,6,0.000,0.041,2637,2199,1882,0,0,0,0,0,0
$GC,5854,0.73,146.0,591.5,11.5,489,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2199,1879,0,0,0,0,0,0
$GC,6160,0.73,146.0,556.7,11.3,499,6164,0.00,1.15,0.00,0.000,4,0.000,0.054,2637,2899,1877,0,0,0,0,0,0
$GC,6231,0.73,146.0,549.2,11.4,501,6236,0.00,1.12,0.00,0.000,6,0.000,0.034,2642,2209,1877,0,0,0,0,0,0
$GC,6566,0.73,146.0,511.5,11.2,512,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2209,1877,0,0,0,0,0,0
$GC,6877,0.73,146.0,477.0,10.9,531,6881,0.00,1.10,0.00,0.000,4,0.000,0.047,2647,1493,1876,0,0,0,0,0,0
$GC,6987,0.73,146.0,465.3,11.0,539,6998,0.00,1.17,0.00,0.000,6,0.000,0.042,2647,2204,1876,0,0,0,0,0,0
$GC,7313,0.73,146.0,427.3,11.6,565,7316,0.00,1.15,0.00,0.000,4,0.000,0.045,2651,1492,1876,0,0,0,0,0,0
$GC,7418,0.73,146.0,414.9,11.6,573,7421,0.00,1.15,0.00,0.000,6,0.000,0.044,2652,2200,1875,0,0,0,0,0,0
$GC,7748,0.73,146.0,378.1,11.0,599,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,1875,0,0,0,0,0,0
$GC,8064,0.73,146.0,342.8,11.4,624,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,1874,0,0,0,0,0,0
$GC,8377,0.73,146.0,307.1,11.1,649,8381,0.00,1.12,0.00,0.000,4,0.000,0.054,2651,2902,1875,0,0,0,0,0,0
$GC,8549,0.73,146.0,287.8,11.0,662,8553,0.00,1.12,0.00,0.000,6,0.000,0.035,2656,2202,1875,0,0,0,0,0,0
$GC,8881,0.73,146.0,253.4,10.2,688,8884,0.00,1.17,0.00,0.000,4,0.000,0.050,2656,2902,1875,0,0,0,0,0,0
$GC,9140,0.73,146.0,225.8,10.5,724,9147,0.00,1.12,0.00,0.000,6,0.000,0.035,2660,2199,1875,0,0,0,0,0,0
$GC,9478,0.76,175.1,195.1,7.9,775,9505,0.00,0.00,23.38,1.024,6,0.000,0.000,2660,2199,1770,0,0,0,0,0,0
$GC,9837,0.78,188.5,164.3,8.6,829,9859,0.00,1.20,13.02,0.975,4,0.000,0.048,2660,2915,1714,0,0,0,0,0,0
$GC,9966,0.78,188.5,151.5,10.3,848,9973,0.00,1.17,0.00,0.000,6,0.000,0.036,2665,2198,1711,0,0,0,0,0,0
$GC,10305,0.78,189.7,119.6,9.1,899,10314,0.00,1.08,0.00,0.000,4,0.000,0.048,2670,1496,1711,0,0,0,0,0,0
$GC,10454,0.78,189.7,106.0,9.2,921,10460,0.00,1.15,0.00,0.000,6,0.000,0.044,2670,2200,1709,0,0,0,0,0,0
$GC,10793,0.82,226.2,78.2,7.6,972,10832,0.00,1.17,31.80,0.979,4,0.000,0.055,2670,2909,1562,0,0,0,0,0,0
$GC,11086,0.84,240.9,52.3,8.5,1016,11105,0.00,1.17,13.10,0.926,6,0.000,0.035,2675,2192,1502,0,0,0,0,0,0
$GC,11436,0.89,282.4,22.0,7.4,1069,11465,0.00,1.27,24.10,0.897,4,0.000,0.049,2674,2913,1331,0,0,0,0,0,0
$FREEZE,8.80,0.581,-1.618,2,5,0
$FREEZE,8.06,0.596,-1.617,2,5,0
$FREEZE,7.43,-0.916,-1.701,2,5,0
$FREEZE,6.60,-0.440,-1.672,2,5,0
$FREEZE,5.96,0.106,-1.642,2,5,0
$FREEZE,5.16,-0.623,-1.682,2,5,0
$FREEZE,4.65,-0.520,-1.675,2,5,0
$FREEZE,3.94,-0.181,-1.655,2,5,0
$FREEZE,3.46,0.915,-1.595,2,5,0
$FREEZE,3.02,0.930,-1.594,2,5,0
$FREEZE,2.52,0.670,-1.607,2,5,0
$FREEZE,2.04,0.630,-1.609,2,5,0
$FREEZE,1.97,0.686,-1.606,2,5,0
$STATE,11660,end climb,SURFACE_DEPTH_REACHED
$STATE,11660,begin surface coast
$FREEZE,1.84,0.848,-1.597,2,5,0
$FREEZE,1.81,0.623,-1.609,2,5,0
$FREEZE,1.84,-0.717,-1.683,2,5,0
$FREEZE,1.82,-0.627,-1.678,2,5,0
$FREEZE,1.80,-0.590,-1.676,2,5,0
$FINISH,1.8,1.024619
$STATE,11694,end surface coast,CONTROL_FINISHED_OK
$STATE,11694,begin surface
$SM_CCo,11712,102.50,0.088,0,0,442,501.15
$SM_GC,2.63,7.30,0.68,102.50,0.071,0.034,0.088,106,2490,442,-7.07,0.99,501.15,0,0,0,0,0,0
$RAFOS_CLK,853
$RAFOS,6,1322023756,4.833333,4.821111,147,70,62,0,0,0,748,210,130,0,0,0
$RAFOS,5,1322023290,4.700000,4.691667,99,65,54,0,0,0,764,152,194,0,0,0
$RAFOS,4,1322022783,4.566667,4.550833,122,64,58,0,0,0,694,199,152,0,0,0
$RAFOS,3,1322022324,4.433333,4.423333,83,61,61,0,0,0,633,208,178,0,0,0
$RAFOS,2,1322021827,4.300000,4.285278,80,63,58,0,0,0,593,208,125,0,0,0
$RAFOS,1,1322021353,4.166667,4.153611,123,82,58,0,0,0,473,190,210,0,0,0
$RAFOS,0,1322020861,4.033333,4.016944,155,62,61,0,0,0,651,141,213,0,0,0
$RAFOS_FIX,6643.985352,-5959.585449,231111,040413,6,114,0.28
$IRIDIUM_FIX,6625.71,-6000.37,221111,131343
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.06
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,16.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,600.1,50.0
$24V_AH,22.6,36.311
$10V_AH,10.1,27.349
$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,17.600,38.875,357.825,102.500,0.000,0.000,0.000,123.100,3.250,0.000,181.006,3050.241,6386.168,606.105,2115.333,285.940,0.000,1681.358,0.000,1799.603,2520.000,20.792,0.000
$DEVICE_MAMPS,255.510,96.390,1308.150,87.975,0.000,0.000,0.000,197.750,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.800,628.066,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43331,1108
$CAP_FILE_SIZE,116933,0
$CFSIZE,260165632,228073472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$CURRENT,0.510,113.8,1
$GPS,231111,043013,6643.985,-5959.585,0,6114.3,0,-34.0