version: 66.09
glider: 143
mission: 13
dive: 293
start: 11 24 111 0 44 3
data:
$ID,143
$MISSION,13
$DIVE,293
$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,-84718.125
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,241111,001144,6640.961,-6004.403,0,2119.0,0,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-13.8
$GPS2,241111,001144,6640.961,-6004.403,181,99.0,181,-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,352.8,28339,-16.9,-9.167
$D_GRID,582
$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,-146.0,0.0,0.0,0,169,0.00,0.00,-148.52,0.000,2,0.000,0.000,114,2504,2392,0,0,0,0,0,0
$GC,172,-0.73,-146.0,3.9,-16.7,23,210,8.85,1.10,-18.90,0.000,4,0.259,0.071,2157,1816,3083,0,0,0,0,0,0
$GC,276,-0.73,-146.0,25.4,-14.7,38,283,0.00,1.17,0.00,0.000,6,0.000,0.053,2155,2497,3085,0,0,0,0,0,0
$GC,614,-0.73,-146.0,84.6,-16.8,89,621,0.00,1.15,0.00,0.000,4,0.000,0.067,2149,3213,3085,0,0,0,0,0,0
$GC,754,-0.73,-146.0,106.5,-15.1,110,760,0.00,1.10,0.00,0.000,6,0.000,0.033,2149,2505,3085,0,0,0,0,0,0
$GC,1092,-0.73,-146.0,155.8,-13.9,161,1098,0.00,1.20,0.00,0.000,4,0.000,0.061,2145,3222,3085,0,0,0,0,0,0
$GC,1231,-0.73,-146.0,174.9,-13.0,182,1238,0.00,1.10,0.00,0.000,6,0.000,0.033,2145,2513,3085,0,0,0,0,0,0
$GC,1569,-0.73,-146.0,221.4,-13.6,233,1576,0.00,1.10,0.00,0.000,4,0.000,0.044,2145,1811,3085,0,0,0,0,0,0
$GC,1603,-0.73,-146.0,225.8,-13.0,238,1609,0.00,1.20,0.00,0.000,6,0.000,0.053,2140,2512,3085,0,0,0,0,0,0
$GC,1939,-0.73,-146.0,270.6,-13.3,278,1942,0.00,1.12,0.00,0.000,4,0.000,0.067,2135,3216,3085,0,0,0,0,0,0
$GC,2073,-0.73,-146.0,288.3,-12.9,288,2077,0.08,1.10,0.00,0.000,6,0.152,0.032,2158,2502,3085,0,0,0,0,0,0
$GC,2401,-0.73,-146.0,324.9,-10.2,314,2405,0.00,1.20,0.00,0.000,4,0.000,0.062,2155,3221,3085,0,0,0,0,0,0
$GC,2442,-0.73,-146.0,328.8,-10.3,317,2446,0.00,1.10,0.00,0.000,6,0.000,0.032,2155,2508,3085,0,0,0,0,0,0
$GC,2772,-0.73,-146.0,363.3,-10.6,343,2776,0.00,1.17,0.00,0.000,4,0.000,0.061,2151,3214,3085,0,0,0,0,0,0
$GC,2791,-0.73,-146.0,364.9,-10.8,344,2798,0.00,1.10,0.00,0.000,6,0.000,0.031,2151,2504,3085,0,0,0,0,0,0
$GC,3115,-0.73,-146.0,401.3,-11.4,370,3119,0.00,1.17,0.00,0.000,4,0.000,0.061,2146,3211,3085,0,0,0,0,0,0
$GC,3154,-0.73,-146.0,406.0,-11.2,373,3158,0.00,1.08,0.00,0.000,6,0.000,0.031,2147,2509,3086,0,0,0,0,0,0
$GC,3485,-0.73,-146.0,443.2,-10.8,399,3488,0.00,1.17,0.00,0.000,4,0.000,0.060,2142,3216,3086,0,0,0,0,0,0
$GC,3542,-0.73,-146.0,449.3,-11.4,403,3553,0.00,1.10,0.00,0.000,6,0.000,0.028,2142,2504,3086,0,0,0,0,0,0
$GC,3867,-0.73,-146.0,485.6,-11.1,429,3871,0.00,1.17,0.00,0.000,4,0.000,0.060,2138,3210,3087,0,0,0,0,0,0
$GC,3964,-0.73,-146.0,496.4,-11.5,436,3972,0.00,1.10,0.00,0.000,6,0.000,0.028,2138,2497,3086,0,0,0,0,0,0
$GC,4304,-0.73,-146.0,535.7,-11.2,449,4307,0.00,1.20,0.00,0.000,4,0.000,0.060,2133,3215,3087,0,0,0,0,0,0
$GC,4337,-0.73,-146.0,539.3,-11.0,450,4341,0.10,1.08,0.00,0.000,6,0.144,0.029,2164,2502,3087,0,0,0,0,0,0
$GC,4676,-0.73,-146.0,570.7,-9.9,461,4680,0.00,1.17,0.00,0.000,4,0.000,0.060,2162,3213,3087,0,0,0,0,0,0
$GC,4700,-0.73,-146.0,570.7,-9.9,461,4708,0.00,1.08,0.00,0.000,6,0.000,0.026,2162,2511,3087,0,0,0,0,0,0
$STATE,4798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4798,begin apogee
$GC,4804,-0.16,0.0,583.3,-10.2,465,4930,0.55,0.00,120.70,1.275,6,0.125,0.000,2341,2188,2485,0,0,0,0,0,0
$STATE,4931,end apogee,CONTROL_FINISHED_OK
$STATE,4931,begin climb
$GC,4933,0.73,146.0,588.6,0.0,469,5071,0.85,1.20,129.45,1.216,4,0.069,0.047,2635,1508,1889,0,0,0,0,0,0
$GC,5321,0.73,146.0,559.5,11.1,481,5326,0.00,1.23,0.00,0.000,6,0.000,0.041,2635,2215,1880,0,0,0,0,0,0
$GC,5657,0.73,146.0,523.0,10.6,492,5661,0.00,1.12,0.00,0.000,4,0.000,0.054,2635,2898,1878,0,0,0,0,0,0
$GC,5728,0.73,146.0,515.1,11.2,494,5733,0.00,1.15,0.00,0.000,6,0.000,0.033,2639,2207,1877,0,0,0,0,0,0
$GC,6055,0.73,146.0,478.7,10.4,513,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2206,1877,0,0,0,0,0,0
$GC,6370,0.73,146.0,446.5,9.9,538,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2206,1876,0,0,0,0,0,0
$GC,6686,0.73,146.0,414.5,10.6,563,6690,0.00,1.17,0.00,0.000,4,0.000,0.050,2639,2902,1875,0,0,0,0,0,0
$GC,6744,0.73,146.0,408.4,11.4,567,6754,0.00,1.15,0.00,0.000,6,0.000,0.033,2644,2195,1875,0,0,0,0,0,0
$GC,7068,0.73,146.0,371.5,11.2,593,7072,0.00,1.05,0.00,0.000,4,0.000,0.047,2649,1501,1875,0,0,0,0,0,0
$GC,7166,0.73,146.0,361.2,10.9,600,7174,0.00,1.17,0.00,0.000,6,0.000,0.042,2649,2215,1875,0,0,0,0,0,0
$GC,7491,0.73,146.0,326.7,10.6,626,7494,0.00,1.10,0.00,0.000,4,0.000,0.054,2649,2901,1875,0,0,0,0,0,0
$GC,7584,0.73,146.0,316.4,11.0,633,7587,0.00,1.12,0.00,0.000,6,0.000,0.034,2653,2200,1875,0,0,0,0,0,0
$GC,7914,0.73,146.0,282.1,10.4,659,7917,0.00,1.08,0.00,0.000,4,0.000,0.048,2659,1493,1875,0,0,0,0,0,0
$GC,8011,0.73,146.0,272.3,10.6,666,8019,0.00,1.17,0.00,0.000,6,0.000,0.042,2659,2210,1875,0,0,0,0,0,0
$GC,8340,0.73,146.0,237.9,10.0,701,8347,0.00,1.15,0.00,0.000,4,0.000,0.044,2663,1490,1875,0,0,0,0,0,0
$GC,8547,0.73,146.0,217.7,9.2,732,8554,0.08,1.15,0.00,0.000,6,0.150,0.044,2640,2206,1875,0,0,0,0,0,0
$GC,8885,0.79,201.7,191.2,6.8,783,8939,0.00,1.17,45.75,1.028,4,0.000,0.044,2643,1498,1661,0,0,0,0,0,0
$GC,9039,0.79,201.7,177.8,10.0,806,9046,0.00,1.15,0.00,0.000,6,0.000,0.043,2643,2194,1657,0,0,0,0,0,0
$GC,9377,0.82,223.5,149.7,8.3,857,9399,0.00,1.20,18.58,0.982,4,0.000,0.053,2642,2909,1573,0,0,0,0,0,0
$GC,9545,0.82,223.5,133.3,9.8,882,9552,0.00,1.15,0.00,0.000,6,0.000,0.034,2647,2202,1570,0,0,0,0,0,0
$GC,9884,0.85,248.4,103.4,8.1,933,9911,0.00,0.00,21.90,0.975,6,0.000,0.000,2647,2202,1471,0,0,0,0,0,0
$GC,10242,0.90,285.3,74.5,7.6,987,10279,0.12,1.15,31.50,0.965,4,0.087,0.049,2703,1495,1321,0,0,0,0,0,0
$GC,10525,0.90,285.3,40.9,10.5,1029,10532,0.00,1.17,0.00,0.000,6,0.000,0.044,2703,2207,1315,0,0,0,0,0,0
$FREEZE,8.38,-0.708,-1.699,2,3,0
$FREEZE,7.77,-0.777,-1.702,2,3,0
$FREEZE,7.23,-0.719,-1.698,2,3,0
$FREEZE,6.30,-0.781,-1.701,2,3,0
$FREEZE,5.49,-0.661,-1.694,2,3,0
$FREEZE,4.67,-0.721,-1.697,2,3,0
$FREEZE,3.86,-0.917,-1.707,2,3,0
$FREEZE,3.14,-0.818,-1.701,2,3,0
$FREEZE,2.33,-0.726,-1.694,2,3,0
$FREEZE,1.86,-0.738,-1.694,2,3,0
$STATE,10864,end climb,SURFACE_DEPTH_REACHED
$STATE,10864,begin surface coast
$FREEZE,1.82,-0.734,-1.693,2,3,0
$FREEZE,1.80,-0.924,-1.703,2,3,0
$FREEZE,1.91,-0.739,-1.692,2,3,0
$FINISH,1.9,1.024855
$STATE,10884,end surface coast,CONTROL_FINISHED_OK
$STATE,10884,begin surface
$SM_CCo,10901,101.60,0.087,0,0,441,501.15
$SM_GC,3.01,7.18,0.52,101.60,0.060,0.056,0.087,121,2523,441,-7.07,-0.57,501.15,0,0,0,0,0,0
$RAFOS_CLK,796
$RAFOS,6,1322095744,0.833333,0.817778,83,57,56,0,0,0,785,214,228,0,0,0
$RAFOS,3,1322094301,0.433333,0.416944,123,67,57,0,0,0,762,210,180,0,0,0
$RAFOS_FIX,6643.473633,-5957.118652,241111,000036,4,111,8.50
$IRIDIUM_FIX,6620.33,-5953.65,231111,171757
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.5,17.5
$24V_AH,22.6,37.061
$10V_AH,10.1,27.894
$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,17.800,51.275,367.875,101.600,0.000,0.000,0.000,123.850,3.500,0.000,182.012,2954.497,5643.751,655.542,2085.123,239.474,0.000,1734.262,0.000,1768.839,360.000,13.215,0.000
$DEVICE_MAMPS,259.335,71.145,1275.255,87.210,0.000,0.000,0.000,241.178,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.422,611.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150220
$DATA_FILE_SIZE,43340,1083
$CAP_FILE_SIZE,116401,0
$CFSIZE,260165632,227672064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$CURRENT,1.622,337.8,1
$GPS,241111,001144,6640.961,-6004.403,181,99.0,181,-33.9