version: 66.09
glider: 143
mission: 13
dive: 294
start: 11 24 111 3 49 40
data:
$ID,143
$MISSION,13
$DIVE,294
$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,42
$R_STBD_OVSHOOT,28
$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,-6004.403,181,99.0,181,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-43.5
$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,262.8,28339,-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,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,44,0.00,0.00,-25.30,0.000,2,0.000,0.000,120,2533,894,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-0.5,4,202,7.65,1.15,-138.38,0.000,4,0.203,0.092,2157,3216,3082,0,0,0,0,0,0
$GC,429,-0.73,-146.0,47.4,-16.8,61,438,0.00,1.10,0.00,0.000,6,0.000,0.031,2157,2508,3084,0,0,0,0,0,0
$GC,767,-0.73,-146.0,100.2,-15.5,112,774,0.00,1.10,0.00,0.000,4,0.000,0.041,2157,1811,3084,0,0,0,0,0,0
$GC,840,-0.73,-146.0,111.5,-15.8,123,847,0.00,1.17,0.00,0.000,6,0.000,0.050,2153,2498,3084,0,0,0,0,0,0
$GC,1179,-0.73,-146.0,159.6,-13.9,174,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2498,3084,0,0,0,0,0,0
$GC,1516,-0.73,-146.0,205.3,-12.6,225,1525,0.00,1.15,0.00,0.000,4,0.000,0.067,2147,3217,3084,0,0,0,0,0,0
$GC,1623,-0.73,-146.0,219.1,-13.0,241,1632,0.00,1.10,0.00,0.000,6,0.000,0.032,2147,2507,3085,0,0,0,0,0,0
$GC,1967,-0.73,-146.0,260.6,-11.6,286,1971,0.00,1.17,0.00,0.000,4,0.000,0.061,2143,3212,3084,0,0,0,0,0,0
$GC,2025,-0.73,-146.0,267.5,-12.3,290,2032,0.00,1.10,0.00,0.000,6,0.000,0.031,2143,2508,3084,0,0,0,0,0,0
$GC,2350,-0.73,-146.0,308.2,-12.1,316,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2508,3084,0,0,0,0,0,0
$GC,2665,-0.73,-146.0,344.5,-11.0,341,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2508,3084,0,0,0,0,0,0
$GC,2980,-0.73,-146.0,379.2,-11.2,366,2984,0.00,1.17,0.00,0.000,4,0.000,0.061,2139,3214,3084,0,0,0,0,0,0
$GC,3090,-0.73,-146.0,391.2,-11.0,374,3094,0.00,1.10,0.00,0.000,6,0.000,0.031,2138,2497,3083,0,0,0,0,0,0
$GC,3419,-0.73,-146.0,426.7,-10.5,400,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2497,3084,0,0,0,0,0,0
$GC,3738,-0.73,-146.0,459.8,-9.8,425,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2497,3084,0,0,0,0,0,0
$GC,4051,-0.73,-146.0,491.1,-9.7,450,4055,0.00,1.20,0.00,0.000,4,0.000,0.060,2134,3219,3084,0,0,0,0,0,0
$GC,4130,-0.73,-146.0,499.5,-10.5,456,4135,0.10,1.08,0.00,0.000,6,0.145,0.029,2165,2509,3085,0,0,0,0,0,0
$GC,4450,-0.73,-146.0,527.7,-9.2,467,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2509,3085,0,0,0,0,0,0
$GC,4758,-0.73,-146.0,554.8,-8.8,477,4761,0.00,1.17,0.00,0.000,4,0.000,0.060,2162,3219,3085,0,0,0,0,0,0
$GC,4849,-0.73,-146.0,561.0,-8.8,479,4857,0.00,1.08,0.00,0.000,6,0.000,0.027,2162,2503,3086,0,0,0,0,0,0
$STATE,5069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5069,begin apogee
$GC,5075,-0.16,0.0,583.2,-8.9,487,5201,0.55,0.00,120.38,1.273,6,0.127,0.000,2340,2194,2485,0,0,0,0,0,0
$STATE,5201,end apogee,CONTROL_FINISHED_OK
$STATE,5201,begin climb
$GC,5204,0.73,146.0,587.9,0.0,491,5341,0.85,1.20,129.18,1.215,4,0.068,0.046,2635,1512,1889,0,0,0,0,0,0
$GC,5591,0.73,146.0,557.9,11.1,503,5596,0.00,1.23,0.00,0.000,6,0.000,0.041,2635,2217,1880,0,0,0,0,0,0
$GC,5926,0.73,146.0,519.4,11.4,514,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2217,1878,0,0,0,0,0,0
$GC,6238,0.73,146.0,487.4,10.2,530,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2217,1876,0,0,0,0,0,0
$GC,6550,0.73,146.0,454.5,10.3,555,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2217,1876,0,0,0,0,0,0
$GC,6866,0.73,146.0,421.1,10.7,580,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2217,1875,0,0,0,0,0,0
$GC,7182,0.73,146.0,386.4,10.8,605,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2217,1875,0,0,0,0,0,0
$GC,7500,0.73,146.0,353.4,10.4,630,7504,0.00,1.10,0.00,0.000,4,0.000,0.054,2635,2904,1875,0,0,0,0,0,0
$GC,7619,0.73,146.0,340.1,10.9,639,7623,0.00,1.10,0.00,0.000,6,0.000,0.033,2639,2208,1875,0,0,0,0,0,0
$GC,7949,0.73,146.0,304.7,10.1,665,7953,0.00,1.08,0.00,0.000,4,0.000,0.046,2645,1495,1875,0,0,0,0,0,0
$GC,8029,0.73,146.0,296.7,10.1,671,8033,0.00,1.15,0.00,0.000,6,0.000,0.041,2645,2212,1875,0,0,0,0,0,0
$GC,8359,0.73,146.0,264.2,9.9,697,8363,0.00,1.10,0.00,0.000,4,0.000,0.053,2645,2902,1875,0,0,0,0,0,0
$GC,8552,0.73,146.0,243.9,10.2,715,8559,0.00,1.12,0.00,0.000,6,0.000,0.034,2650,2195,1875,0,0,0,0,0,0
$GC,8891,0.73,150.9,211.5,9.0,766,8898,0.00,1.17,0.00,0.000,4,0.000,0.047,2649,2905,1875,0,0,0,0,0,0
$GC,9137,0.77,181.0,190.5,7.9,803,9171,0.00,1.12,28.23,1.027,6,0.000,0.033,2654,2194,1746,0,0,0,0,0,0
$GC,9503,0.77,182.5,159.0,9.1,858,9510,0.00,1.05,0.00,0.000,4,0.000,0.045,2659,1496,1743,0,0,0,0,0,0
$GC,9590,0.77,182.9,151.1,9.2,871,9597,0.00,1.15,0.00,0.000,6,0.000,0.041,2659,2204,1742,0,0,0,0,0,0
$GC,9929,0.79,195.7,121.5,8.6,922,9948,0.00,1.10,13.23,0.963,4,0.000,0.050,2659,2902,1686,0,0,0,0,0,0
$GC,10048,0.79,195.7,110.7,9.2,940,10054,0.00,1.12,0.00,0.000,6,0.000,0.033,2663,2203,1685,0,0,0,0,0,0
$GC,10387,0.83,232.5,82.6,7.6,991,10421,0.00,0.00,31.80,0.975,6,0.000,0.000,2663,2203,1536,0,0,0,0,0,0
$GC,10752,0.83,232.5,49.3,9.2,1046,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2203,1530,0,0,0,0,0,0
$GC,11090,0.84,239.7,21.2,8.9,1097,11100,0.00,1.12,3.60,0.630,4,0.000,0.046,2669,1489,1507,0,0,0,0,0,0
$GC,11147,0.93,312.1,17.0,6.1,1105,11190,0.00,1.15,37.83,0.116,6,0.000,0.043,2669,2196,1212,0,0,0,0,0,0
$FREEZE,8.26,-0.684,-1.692,2,4,0
$FREEZE,7.47,-0.885,-1.703,2,4,0
$FREEZE,6.47,-0.712,-1.692,2,4,0
$FREEZE,5.67,-0.710,-1.691,2,4,0
$FREEZE,5.19,-0.899,-1.702,2,4,0
$FREEZE,4.65,-1.017,-1.708,2,4,0
$FREEZE,4.07,-0.691,-1.689,2,4,0
$FREEZE,3.38,-0.696,-1.688,2,4,0
$FREEZE,2.86,-0.733,-1.690,2,4,0
$FREEZE,2.26,-0.792,-1.693,2,4,0
$FREEZE,1.93,-0.793,-1.689,2,4,0
$STATE,11321,end climb,SURFACE_DEPTH_REACHED
$STATE,11321,begin surface coast
$FREEZE,2.01,-0.738,-1.685,2,4,0
$FREEZE,2.00,-0.725,-1.685,2,4,0
$FREEZE,1.91,-1.005,-1.701,2,4,0
$FREEZE,2.02,-1.028,-1.702,2,4,0
$FINISH,2.0,1.025007
$STATE,11348,end surface coast,CONTROL_FINISHED_OK
$STATE,11350,begin surface
$SM_CCo,11366,105.60,0.509,1,0,441,501.15
$SM_GC,2.34,6.95,0.52,105.60,0.048,0.052,0.509,109,2517,441,-7.08,-0.85,501.15,0,0,0,0,1,0
$RAFOS_CLK,802
$RAFOS,6,1322110148,4.833333,4.818889,123,64,62,0,0,0,788,206,189,0,0,0
$RAFOS,5,1322109664,4.700000,4.684444,99,65,60,0,0,0,906,223,152,0,0,0
$RAFOS,4,1322109191,4.566667,4.553056,144,66,64,0,0,0,651,126,173,0,0,0
$RAFOS,3,1322108711,4.433333,4.419722,115,59,59,0,0,0,700,211,136,0,0,0
$RAFOS,2,1322108223,4.300000,4.284167,115,68,58,0,0,0,613,194,119,0,0,0
$RAFOS,1,1322107742,4.166667,4.150556,120,70,63,0,0,0,537,181,201,0,0,0
$RAFOS,0,1322107266,4.033333,4.018333,112,59,57,0,0,0,640,216,184,0,0,0
$RAFOS_FIX,6642.962402,-5956.741699,241111,040452,6,118,0.43
$IRIDIUM_FIX,6620.33,-5953.65,231111,171757
$TT8_MAMPS,0.025466,0.025466
$HUMID,56.22
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,22.6,37.185
$10V_AH,10.2,27.957
$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,16.100,34.900,364.225,105.600,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3085.637,5866.001,626.009,1816.969,164.612,0.000,1573.820,0.000,1803.921,2520.000,13.220,0.000
$DEVICE_MAMPS,203.490,91.800,1272.960,508.725,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.861,644.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150240
$DATA_FILE_SIZE,43306,1135
$CAP_FILE_SIZE,110642,0
$CFSIZE,260165632,227610624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.9
$CURRENT,4.374, 54.6,1
$GPS,241111,042952,6642.962,-5956.742,0,6118.0,0,-33.9