version: 66.09
glider: 143
mission: 13
dive: 291
start: 11 23 111 17 29 49
data:
$ID,143
$MISSION,13
$DIVE,291
$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,-83987.062
$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,42
$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
$GPS1,231111,172035,6646.890,-6003.311,40,0.8,40,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-54.9
$GPS2,231111,172918,6646.767,-6003.060,18,0.8,18,-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,262.1,30561,-16.9,-9.167
$D_GRID,626
$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,-146.0,0.0,0.0,0,159,0.00,0.00,-138.77,0.000,2,0.000,0.000,118,2521,2346,0,0,0,0,0,0
$GC,163,-0.73,-146.0,3.0,0.0,20,213,8.88,1.17,-32.92,0.000,4,0.262,0.095,2154,3217,3082,0,0,0,0,0,0
$GC,419,-0.73,-146.0,58.2,-21.1,58,428,0.00,1.10,0.00,0.000,6,0.000,0.034,2154,2515,3085,0,0,0,0,0,0
$GC,759,-0.73,-146.0,118.9,-16.6,109,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2515,3085,0,0,0,0,0,0
$GC,1096,-0.73,-146.0,170.3,-14.0,160,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2515,3085,0,0,0,0,0,0
$GC,1434,-0.73,-146.0,215.4,-13.0,211,1441,0.00,1.17,0.00,0.000,4,0.000,0.063,2150,3216,3085,0,0,0,0,0,0
$GC,1581,-0.73,-146.0,233.8,-12.9,233,1587,0.00,1.10,0.00,0.000,6,0.000,0.032,2150,2505,3085,0,0,0,0,0,0
$GC,1915,-0.73,-146.0,273.7,-11.8,269,1919,0.00,1.17,0.00,0.000,4,0.000,0.063,2146,3209,3085,0,0,0,0,0,0
$GC,1996,-0.73,-146.0,283.1,-12.2,275,1999,0.00,1.08,0.00,0.000,6,0.000,0.032,2145,2513,3085,0,0,0,0,0,0
$GC,2324,-0.73,-146.0,321.2,-11.1,301,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2513,3085,0,0,0,0,0,0
$GC,2642,-0.73,-146.0,354.7,-10.5,326,2646,0.00,1.17,0.00,0.000,4,0.000,0.063,2141,3214,3085,0,0,0,0,0,0
$GC,2762,-0.73,-146.0,368.0,-10.9,335,2765,0.00,1.10,0.00,0.000,6,0.000,0.031,2141,2499,3085,0,0,0,0,0,0
$GC,3092,-0.73,-146.0,405.4,-11.5,361,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3085,0,0,0,0,0,0
$GC,3406,-0.73,-146.0,440.8,-10.6,386,3409,0.00,1.17,0.00,0.000,4,0.000,0.061,2136,3207,3085,0,0,0,0,0,0
$GC,3512,-0.73,-146.0,452.4,-10.9,394,3515,0.00,1.08,0.00,0.000,6,0.000,0.029,2136,2500,3085,0,0,0,0,0,0
$GC,3843,-0.73,-146.0,489.1,-11.6,420,3845,0.12,0.00,0.00,0.000,6,0.167,0.000,2167,2500,3086,0,0,0,0,0,0
$GC,4170,-0.73,-146.0,520.0,-9.2,436,4173,0.00,1.17,0.00,0.000,4,0.000,0.061,2164,3210,3086,0,0,0,0,0,0
$GC,4247,-0.73,-146.0,526.5,-9.3,438,4251,0.00,1.10,0.00,0.000,6,0.000,0.028,2164,2495,3086,0,0,0,0,0,0
$GC,4575,-0.73,-146.0,559.2,-9.7,449,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2495,3087,0,0,0,0,0,0
$GC,4881,-0.73,-146.0,588.2,-9.5,459,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2495,3087,0,0,0,0,0,0
$GC,5188,-0.73,-146.0,614.8,-8.6,469,5192,0.00,1.20,0.00,0.000,4,0.000,0.062,2159,3216,3088,0,0,0,0,0,0
$GC,5287,-0.73,-146.0,625.0,-9.7,472,5291,0.00,1.08,0.00,0.000,6,0.000,0.028,2160,2503,3088,0,0,0,0,0,0
$STATE,5319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5326,-0.16,0.0,628.3,-10.1,473,5453,0.55,0.00,121.57,1.300,6,0.125,0.000,2339,2195,2485,0,0,0,0,0,0
$STATE,5454,end apogee,CONTROL_FINISHED_OK
$STATE,5454,begin climb
$GC,5456,0.73,146.0,633.4,0.0,477,5596,0.88,0.00,131.00,1.243,6,0.069,0.000,2636,2194,1888,0,0,0,0,0,0
$GC,5902,0.73,146.0,596.1,12.1,492,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2194,1880,0,0,0,0,0,0
$GC,6207,0.73,146.0,561.0,11.1,502,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2194,1879,0,0,0,0,0,0
$GC,6514,0.73,146.0,527.7,10.9,512,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2194,1877,0,0,0,0,0,0
$GC,6828,0.73,146.0,493.4,10.7,524,6831,0.00,1.05,0.00,0.000,4,0.000,0.047,2641,1509,1876,0,0,0,0,0,0
$GC,6933,0.73,146.0,481.9,11.1,532,6937,0.00,1.15,0.00,0.000,6,0.000,0.044,2641,2211,1876,0,0,0,0,0,0
$GC,7264,0.73,146.0,445.4,10.9,558,7267,0.00,1.12,0.00,0.000,4,0.000,0.053,2641,2912,1876,0,0,0,0,0,0
$GC,7369,0.73,146.0,433.1,11.5,566,7373,0.00,1.12,0.00,0.000,6,0.000,0.033,2646,2207,1875,0,0,0,0,0,0
$GC,7701,0.73,146.0,396.9,11.0,592,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2207,1875,0,0,0,0,0,0
$GC,8014,0.73,146.0,363.5,10.6,617,8017,0.00,1.17,0.00,0.000,4,0.000,0.048,2646,2908,1875,0,0,0,0,0,0
$GC,8119,0.73,146.0,351.6,11.2,625,8123,0.00,1.12,0.00,0.000,6,0.000,0.033,2650,2202,1875,0,0,0,0,0,0
$GC,8450,0.73,146.0,318.0,10.6,651,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2202,1875,0,0,0,0,0,0
$GC,8766,0.73,146.0,285.5,9.8,676,8770,0.00,1.17,0.00,0.000,4,0.000,0.048,2650,2904,1875,0,0,0,0,0,0
$GC,8912,0.73,146.0,270.8,9.6,687,8916,0.00,1.12,0.00,0.000,6,0.000,0.034,2655,2195,1875,0,0,0,0,0,0
$GC,9241,0.73,146.0,239.6,10.0,720,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2195,1875,0,0,0,0,0,0
$GC,9577,0.73,146.0,207.2,9.7,771,9586,0.00,1.20,0.00,0.000,4,0.000,0.049,2655,2913,1875,0,0,0,0,0,0
$GC,9673,0.74,160.9,198.4,8.5,785,9695,0.00,1.12,11.52,0.981,6,0.000,0.033,2659,2201,1828,0,0,0,0,0,0
$GC,10027,0.77,184.3,169.4,8.2,838,10056,0.00,1.10,21.38,1.011,4,0.000,0.049,2665,1493,1732,0,0,0,0,0,0
$GC,10152,0.77,184.6,158.6,9.2,856,10159,0.00,1.15,0.00,0.000,6,0.000,0.043,2665,2199,1731,0,0,0,0,0,0
$GC,10490,0.78,192.0,127.5,8.9,907,10506,0.00,1.15,7.55,0.907,4,0.000,0.054,2664,2902,1702,0,0,0,0,0,0
$GC,10757,0.78,192.0,102.6,9.4,947,10766,0.00,1.12,0.00,0.000,6,0.000,0.034,2669,2204,1700,0,0,0,0,0,0
$GC,11098,0.84,238.0,74.6,7.2,998,11140,0.00,0.00,39.60,0.976,6,0.000,0.000,2669,2203,1513,0,0,0,0,0,0
$GC,11471,0.84,238.0,41.7,9.4,1054,11479,0.00,1.10,0.00,0.000,4,0.000,0.047,2674,1491,1507,0,0,0,0,0,0
$GC,11691,0.87,267.6,24.1,7.9,1087,11713,0.00,1.15,17.30,0.903,6,0.000,0.041,2675,2200,1393,0,0,0,0,0,0
$FREEZE,8.91,-1.342,-1.729,2,1,0
$FREEZE,8.49,-1.343,-1.729,2,1,0
$FREEZE,8.28,-1.340,-1.728,2,1,0
$FREEZE,7.55,-1.330,-1.727,2,1,0
$FREEZE,6.85,-1.316,-1.726,2,1,0
$FREEZE,6.03,-1.332,-1.727,2,1,0
$FREEZE,5.45,-1.334,-1.726,2,1,0
$FREEZE,4.91,-0.563,-1.680,2,1,0
$FREEZE,3.97,-1.176,-1.715,2,1,0
$FREEZE,3.02,-0.560,-1.679,2,1,0
$FREEZE,2.52,-0.603,-1.681,2,1,0
$FREEZE,2.13,-0.553,-1.677,2,1,0
$FREEZE,1.74,-0.525,-1.676,2,1,0
$STATE,11974,end climb,SURFACE_DEPTH_REACHED
$STATE,11974,begin surface coast
$FREEZE,1.62,-1.359,-1.724,2,1,0
$FREEZE,1.61,-1.325,-1.722,2,1,0
$FREEZE,1.57,-1.344,-1.723,2,1,0
$FINISH,1.6,1.025317
$STATE,11994,end surface coast,CONTROL_FINISHED_OK
$STATE,11994,begin surface
$SM_CCo,12012,109.78,0.086,0,0,442,501.15
$SM_GC,2.45,7.00,0.52,109.78,0.050,0.055,0.086,114,2517,442,-7.08,-0.79,501.15,0,0,0,0,0,0
$RAFOS_CLK,791
$RAFOS,5,1322080865,20.700001,20.684723,115,65,59,0,0,0,893,207,184,0,0,0
$RAFOS,4,1322080384,20.566668,20.551111,67,59,57,0,0,0,680,152,211,0,0,0
$RAFOS,3,1322079906,20.433332,20.418333,97,57,53,0,0,0,722,178,197,0,0,0
$RAFOS,2,1322079421,20.299999,20.283611,107,58,58,0,0,0,623,219,114,0,0,0
$RAFOS,1,1322078944,20.166666,20.151112,133,62,58,0,0,0,525,197,209,0,0,0
$RAFOS,0,1322078463,20.033333,20.017500,128,69,67,0,0,0,642,188,170,0,0,0
$RAFOS_FIX,6642.634766,-5957.339355,231111,202023,5,103,0.83
$IRIDIUM_FIX,6614.97,-5959.11,231111,101022
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.41
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,34
$ALTIM_TOP_PING,19.8,18.1
$ALTIM_BOTTOM_PING,500.2,176.2
$24V_AH,22.6,36.811
$10V_AH,10.0,27.736
$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,17.425,35.000,349.925,109.775,0.000,0.000,0.000,372.275,10.250,0.000,19.187,3069.733,6546.264,642.838,2151.662,253.349,0.000,1948.895,0.000,1782.404,2520.000,14.588,0.000
$DEVICE_MAMPS,262.395,94.860,1300.500,86.445,0.000,0.000,0.000,303.359,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.689,636.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150212
$DATA_FILE_SIZE,43412,1133
$CAP_FILE_SIZE,117684,0
$CFSIZE,260165632,227803136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$CURRENT,0.839,125.4,1
$GPS,231111,202523,6642.635,-5957.339,0,5102.8,0,-33.9