version: 66.09
glider: 143
mission: 13
dive: 288
start: 11 23 111 6 33 27
data:
$ID,143
$MISSION,13
$DIVE,288
$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,-83618.531
$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,51
$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
$GPS1,231111,043013,6643.985,-5959.585,0,6114.3,0,-34.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-38.6
$GPS2,231111,043013,6643.985,-5959.585,181,99.0,181,-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,342.4,32015,-16.9,-9.167
$D_GRID,648
$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,-146.0,0.0,0.0,0,197,0.00,0.00,-176.05,0.000,2,0.000,0.000,105,2480,2926,0,0,0,0,0,0
$GC,200,-0.73,-146.0,3.8,-3.6,27,221,8.88,1.27,-3.88,0.000,4,0.260,0.093,2158,3216,3084,0,0,0,0,0,0
$GC,341,-0.73,-146.0,42.3,-17.5,47,348,0.00,1.10,0.00,0.000,6,0.000,0.034,2158,2516,3086,0,0,0,0,0,0
$GC,679,-0.73,-146.0,96.6,-14.2,98,686,0.00,1.10,0.00,0.000,4,0.000,0.044,2158,1818,3086,0,0,0,0,0,0
$GC,713,-0.73,-146.0,101.5,-14.3,103,720,0.00,1.17,0.00,0.000,6,0.000,0.055,2154,2498,3086,0,0,0,0,0,0
$GC,1050,-0.73,-146.0,150.9,-14.3,154,1057,0.00,1.15,0.00,0.000,4,0.000,0.068,2149,3213,3086,0,0,0,0,0,0
$GC,1210,-0.73,-146.0,174.0,-14.7,178,1216,0.00,1.10,0.00,0.000,6,0.000,0.033,2149,2505,3086,0,0,0,0,0,0
$GC,1550,-0.73,-146.0,222.6,-13.3,229,1556,0.00,1.08,0.00,0.000,4,0.000,0.046,2149,1817,3086,0,0,0,0,0,0
$GC,1570,-0.73,-146.0,225.7,-13.8,232,1579,0.00,1.20,0.00,0.000,6,0.000,0.055,2144,2515,3086,0,0,0,0,0,0
$GC,1903,-0.73,-146.0,271.7,-14.0,271,1907,0.00,1.12,0.00,0.000,4,0.000,0.067,2139,3219,3085,0,0,0,0,0,0
$GC,1916,-0.73,-146.0,273.6,-13.9,272,1920,0.00,1.10,0.00,0.000,6,0.000,0.032,2139,2506,3086,0,0,0,0,0,0
$GC,2247,-0.73,-146.0,316.5,-12.7,298,2251,0.00,1.17,0.00,0.000,4,0.000,0.063,2134,3210,3085,0,0,0,0,0,0
$GC,2332,-0.73,-146.0,326.8,-12.4,304,2343,0.12,1.10,0.00,0.000,6,0.167,0.031,2163,2506,3085,0,0,0,0,0,0
$GC,2655,-0.73,-146.0,359.2,-9.7,330,2658,0.00,1.17,0.00,0.000,4,0.000,0.063,2161,3211,3085,0,0,0,0,0,0
$GC,2726,-0.73,-146.0,365.8,-9.8,335,2734,0.00,1.08,0.00,0.000,6,0.000,0.031,2161,2513,3085,0,0,0,0,0,0
$GC,3052,-0.73,-146.0,398.4,-9.7,361,3055,0.00,1.17,0.00,0.000,4,0.000,0.063,2157,3213,3086,0,0,0,0,0,0
$GC,3096,-0.73,-146.0,402.7,-10.0,364,3106,0.00,1.10,0.00,0.000,6,0.000,0.031,2157,2506,3086,0,0,0,0,0,0
$GC,3421,-0.73,-146.0,436.3,-10.4,390,3425,0.00,1.17,0.00,0.000,4,0.000,0.063,2152,3212,3086,0,0,0,0,0,0
$GC,3439,-0.73,-146.0,437.8,-10.4,391,3446,0.00,1.10,0.00,0.000,6,0.000,0.030,2152,2504,3086,0,0,0,0,0,0
$GC,3765,-0.73,-146.0,472.1,-10.2,417,3769,0.00,1.17,0.00,0.000,4,0.000,0.062,2148,3211,3086,0,0,0,0,0,0
$GC,3844,-0.73,-146.0,480.7,-10.5,423,3848,0.00,1.08,0.00,0.000,6,0.000,0.030,2148,2503,3086,0,0,0,0,0,0
$GC,4188,-0.73,-146.0,516.7,-10.7,443,4192,0.00,1.17,0.00,0.000,4,0.000,0.061,2143,3211,3087,0,0,0,0,0,0
$GC,4245,-0.73,-146.0,520.3,-10.7,444,4256,0.00,1.10,0.00,0.000,6,0.000,0.029,2143,2498,3087,0,0,0,0,0,0
$GC,4559,-0.73,-146.0,557.5,-11.0,455,4563,0.00,1.20,0.00,0.000,4,0.000,0.062,2139,3220,3088,0,0,0,0,0,0
$GC,4643,-0.73,-146.0,564.8,-11.1,457,4648,0.00,1.10,0.00,0.000,6,0.000,0.029,2139,2510,3088,0,0,0,0,0,0
$GC,4964,-0.73,-146.0,602.0,-11.1,468,4967,0.00,1.17,0.00,0.000,4,0.000,0.062,2134,3216,3088,0,0,0,0,0,0
$GC,5014,-0.73,-146.0,605.6,-11.1,469,5020,0.12,1.10,0.00,0.000,6,0.163,0.028,2164,2498,3088,0,0,0,0,0,0
$GC,5335,-0.73,-146.0,638.1,-9.6,480,5339,0.00,1.20,0.00,0.000,4,0.000,0.061,2162,3214,3089,0,0,0,0,0,0
$GC,5426,-0.73,-146.0,644.5,-9.8,482,5433,0.00,1.10,0.00,0.000,6,0.000,0.029,2162,2502,3089,0,0,0,0,0,0
$STATE,5462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5462,begin apogee
$GC,5468,-0.16,0.0,650.7,-9.7,484,5596,0.55,0.00,121.85,1.313,6,0.125,0.000,2342,2194,2485,0,0,0,0,0,0
$STATE,5597,end apogee,CONTROL_FINISHED_OK
$STATE,5597,begin climb
$GC,5599,0.73,146.0,656.0,0.0,488,5740,0.85,1.20,130.45,1.255,4,0.067,0.048,2635,1509,1888,0,0,0,0,0,0
$GC,5983,0.73,146.0,626.4,11.3,500,5988,0.00,1.23,0.00,0.000,6,0.000,0.042,2635,2212,1880,0,0,0,0,0,0
$GC,6318,0.73,146.0,586.6,11.5,511,6321,0.00,1.15,0.00,0.000,4,0.000,0.054,2635,2911,1879,0,0,0,0,0,0
$GC,6496,0.73,146.0,567.2,11.7,516,6500,0.00,1.15,0.00,0.000,6,0.000,0.035,2640,2208,1877,0,0,0,0,0,0
$GC,6822,0.73,146.0,529.1,11.1,527,6826,0.00,1.10,0.00,0.000,4,0.000,0.047,2646,1495,1877,0,0,0,0,0,0
$GC,6993,0.73,146.0,510.8,10.9,532,6997,0.00,1.17,0.00,0.000,6,0.000,0.042,2646,2206,1875,0,0,0,0,0,0
$GC,7316,0.73,146.0,475.4,10.9,552,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2205,1875,0,0,0,0,0,0
$GC,7630,0.73,146.0,440.3,11.2,577,7633,0.00,1.15,0.00,0.000,4,0.000,0.044,2650,1491,1875,0,0,0,0,0,0
$GC,7775,0.73,146.0,424.8,10.7,588,7778,0.00,1.15,0.00,0.000,6,0.000,0.044,2650,2200,1874,0,0,0,0,0,0
$GC,8105,0.73,146.0,389.6,10.9,614,8108,0.00,1.12,0.00,0.000,4,0.000,0.045,2654,1497,1874,0,0,0,0,0,0
$GC,8199,0.73,146.0,379.3,10.9,621,8202,0.00,1.15,0.00,0.000,6,0.000,0.043,2654,2208,1874,0,0,0,0,0,0
$GC,8529,0.73,146.0,343.4,10.3,647,8533,0.00,1.15,0.00,0.000,4,0.000,0.044,2658,1491,1874,0,0,0,0,0,0
$GC,8741,0.73,146.0,321.6,10.1,663,8745,0.00,1.15,0.00,0.000,6,0.000,0.044,2659,2205,1874,0,0,0,0,0,0
$GC,9071,0.73,146.0,288.5,10.3,689,9075,0.00,1.12,0.00,0.000,4,0.000,0.054,2659,2907,1874,0,0,0,0,0,0
$GC,9204,0.73,146.0,274.4,10.7,699,9208,0.08,1.12,0.00,0.000,6,0.153,0.034,2639,2203,1874,0,0,0,0,0,0
$GC,9528,0.74,156.6,244.5,8.7,729,9544,0.00,1.08,7.88,0.949,4,0.000,0.047,2643,1497,1846,0,0,0,0,0,0
$GC,9651,0.75,166.3,233.8,8.8,747,9665,0.00,1.15,10.23,0.980,6,0.000,0.043,2643,2207,1806,0,0,0,0,0,0
$GC,9995,0.76,176.8,204.0,8.7,799,10009,0.00,1.15,10.32,0.975,4,0.000,0.054,2643,2902,1764,0,0,0,0,0,0
$GC,10089,0.77,183.0,195.5,8.9,813,10105,0.00,1.15,7.18,0.913,6,0.000,0.035,2648,2194,1737,0,0,0,0,0,0
$GC,10435,0.79,202.8,164.3,8.3,865,10458,0.00,1.12,18.15,1.000,4,0.000,0.048,2653,1491,1658,0,0,0,0,0,0
$GC,10598,0.82,226.7,150.9,8.2,889,10626,0.00,1.17,21.40,0.991,6,0.000,0.044,2653,2206,1559,0,0,0,0,0,0
$GC,10959,0.83,233.4,119.9,8.9,943,10972,0.00,1.12,6.75,0.869,4,0.000,0.050,2653,2911,1533,0,0,0,0,0,0
$GC,11225,0.85,243.7,95.1,8.7,983,11239,0.00,1.15,10.05,0.924,6,0.000,0.035,2657,2204,1491,0,0,0,0,0,0
$GC,11572,0.85,249.0,65.0,8.9,1035,11585,0.00,0.00,5.95,0.833,6,0.000,0.000,2657,2203,1468,0,0,0,0,0,0
$GC,11917,0.91,292.3,35.5,7.3,1087,11963,0.10,1.12,37.50,0.952,4,0.104,0.048,2703,1497,1291,0,0,0,0,0,0
$GC,12057,0.91,292.3,21.3,10.3,1108,12064,0.00,1.17,0.00,0.000,6,0.000,0.044,2703,2203,1288,0,0,0,0,0,0
$FREEZE,8.83,1.148,-1.578,2,6,0
$FREEZE,8.24,1.145,-1.578,2,6,0
$FREEZE,7.61,1.157,-1.577,2,6,0
$FREEZE,6.98,1.153,-1.577,2,6,0
$FREEZE,6.44,1.151,-1.576,2,6,0
$FREEZE,5.75,1.086,-1.579,2,6,0
$FREEZE,5.02,1.086,-1.579,2,6,0
$FREEZE,4.28,1.052,-1.580,2,6,0
$FREEZE,3.26,1.085,-1.578,2,6,0
$FREEZE,2.61,1.073,-1.578,2,6,0
$FREEZE,1.82,1.112,-1.575,2,6,0
$STATE,12239,end climb,SURFACE_DEPTH_REACHED
$STATE,12239,begin surface coast
$FREEZE,1.56,1.067,-0.660,2,6,0
$FREEZE,1.51,0.579,-0.796,2,6,0
$FINISH,1.5,1.011741
$STATE,12253,end surface coast,CONTROL_FINISHED_OK
$STATE,12254,begin surface
$SM_CCo,12271,97.75,0.086,0,0,442,501.15
$SM_GC,2.31,7.07,0.52,97.75,0.048,0.056,0.086,116,2515,442,-7.08,-0.76,501.15,0,0,0,0,0,0
$RAFOS_CLK,891
$RAFOS,6,1322038142,8.833333,8.817223,139,62,58,0,0,0,802,219,209,0,0,0
$RAFOS,5,1322037666,8.700000,8.685000,89,64,56,0,0,0,884,224,206,0,0,0
$RAFOS,4,1322037193,8.566667,8.553611,105,60,59,0,0,0,634,197,220,0,0,0
$RAFOS,3,1322036704,8.433333,8.417778,107,65,61,0,0,0,744,222,188,0,0,0
$RAFOS,2,1322036230,8.300000,8.286111,107,70,58,0,0,0,588,198,214,0,0,0
$RAFOS,1,1322035743,8.166667,8.150833,120,65,56,0,0,0,522,198,175,0,0,0
$RAFOS,0,1322035278,8.033334,8.021667,123,59,58,0,0,0,576,214,152,0,0,0
$RAFOS_FIX,6643.152344,-5957.027832,231111,080813,6,112,0.17
$IRIDIUM_FIX,6625.71,-6000.37,221111,131343
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.22
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,550.7,121.3
$24V_AH,22.6,36.441
$10V_AH,10.1,27.434
$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,17.775,60.375,387.700,97.750,0.000,0.000,0.000,123.525,5.000,0.000,183.344,3128.518,6600.379,680.979,2279.324,340.329,0.000,1867.097,0.000,1957.854,2520.000,16.207,0.000
$DEVICE_MAMPS,260.100,93.330,1312.740,85.680,0.000,0.000,0.000,239.680,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.820,637.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150164
$DATA_FILE_SIZE,43333,1138
$CAP_FILE_SIZE,134165,0
$CFSIZE,260165632,227991552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.5
$CURRENT,0.049,  3.8,1
$GPS,231111,100122,6645.834,-6002.353,25,1.0,41,-33.9