version: 66.09
glider: 143
mission: 13
dive: 302
start: 11 25 111 8 9 19
data:
$ID,143
$MISSION,13
$DIVE,302
$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,-85819.109
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-3.5
$GPS2,251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,60.9,141775,-16.9,-9.167
$D_GRID,684
$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,-146.0,0.0,0.0,0,107,0.00,0.00,-87.62,0.000,2,0.000,0.000,2441,2191,2657,0,0,0,0,0,0
$GC,110,-0.73,-146.0,3.5,-4.5,14,139,0.77,1.77,-19.70,0.000,4,0.091,0.077,2165,3210,3083,0,0,0,0,0,0
$GC,390,-0.73,-146.0,51.2,-16.1,56,396,0.00,1.10,0.00,0.000,6,0.000,0.030,2165,2497,3085,0,0,0,0,0,0
$GC,728,-0.73,-146.0,103.1,-14.1,107,734,0.00,1.17,0.00,0.000,4,0.000,0.060,2161,3202,3085,0,0,0,0,0,0
$GC,828,-0.73,-146.0,117.7,-14.6,122,835,0.00,1.08,0.00,0.000,6,0.000,0.030,2161,2502,3085,0,0,0,0,0,0
$GC,1167,-0.73,-146.0,164.5,-13.4,173,1175,0.00,1.17,0.00,0.000,4,0.000,0.060,2156,3207,3084,0,0,0,0,0,0
$GC,1195,-0.73,-146.0,168.3,-13.2,177,1204,0.00,1.08,0.00,0.000,6,0.000,0.029,2157,2505,3085,0,0,0,0,0,0
$GC,1535,-0.73,-146.0,213.6,-13.5,228,1541,0.00,1.17,0.00,0.000,4,0.000,0.060,2152,3210,3085,0,0,0,0,0,0
$GC,1588,-0.73,-146.0,220.5,-12.9,236,1595,0.00,1.08,0.00,0.000,6,0.000,0.030,2152,2506,3085,0,0,0,0,0,0
$GC,1921,-0.73,-146.0,262.5,-12.0,279,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2506,3084,0,0,0,0,0,0
$GC,2237,-0.73,-146.0,299.1,-11.3,304,2241,0.00,1.17,0.00,0.000,4,0.000,0.061,2148,3210,3084,0,0,0,0,0,0
$GC,2268,-0.73,-146.0,302.2,-11.4,306,2276,0.00,1.10,0.00,0.000,6,0.000,0.028,2147,2499,3083,0,0,0,0,0,0
$GC,2591,-0.73,-146.0,340.2,-11.7,332,2594,0.00,1.17,0.00,0.000,4,0.000,0.060,2143,3205,3084,0,0,0,0,0,0
$GC,2671,-0.73,-146.0,349.6,-11.8,338,2675,0.00,1.05,0.00,0.000,6,0.000,0.029,2143,2517,3083,0,0,0,0,0,0
$GC,3000,-0.73,-146.0,388.6,-11.8,364,3004,0.00,1.15,0.00,0.000,4,0.000,0.060,2138,3210,3083,0,0,0,0,0,0
$GC,3066,-0.73,-146.0,397.0,-12.5,369,3070,0.00,1.08,0.00,0.000,6,0.000,0.029,2139,2502,3083,0,0,0,0,0,0
$GC,3396,-0.73,-146.0,437.1,-12.2,395,3400,0.00,1.17,0.00,0.000,4,0.000,0.060,2134,3210,3084,0,0,0,0,0,0
$GC,3494,-0.73,-146.0,448.8,-12.6,402,3506,0.12,1.10,0.00,0.000,6,0.164,0.029,2164,2496,3084,0,0,0,0,0,0
$GC,3816,-0.73,-146.0,482.9,-9.9,428,3820,0.00,1.17,0.00,0.000,4,0.000,0.060,2162,3205,3084,0,0,0,0,0,0
$GC,3874,-0.73,-146.0,488.1,-10.0,432,3882,0.00,1.08,0.00,0.000,6,0.000,0.027,2161,2502,3084,0,0,0,0,0,0
$GC,4209,-0.73,-146.0,521.9,-10.0,449,4213,0.00,1.17,0.00,0.000,4,0.000,0.059,2157,3211,3085,0,0,0,0,0,0
$GC,4286,-0.73,-146.0,528.4,-9.9,451,4291,0.00,1.08,0.00,0.000,6,0.000,0.025,2157,2505,3084,0,0,0,0,0,0
$GC,4615,-0.73,-146.0,561.8,-9.9,462,4619,0.00,1.15,0.00,0.000,4,0.000,0.058,2153,3203,3085,0,0,0,0,0,0
$GC,4719,-0.73,-146.0,572.1,-10.2,465,4724,0.00,1.05,0.00,0.000,6,0.000,0.025,2153,2519,3085,0,0,0,0,0,0
$GC,5053,-0.73,-146.0,606.1,-10.0,476,5057,0.00,1.12,0.00,0.000,4,0.000,0.059,2148,3200,3086,0,0,0,0,0,0
$GC,5086,-0.73,-146.0,609.6,-10.1,477,5090,0.00,1.05,0.00,0.000,6,0.000,0.026,2148,2501,3085,0,0,0,0,0,0
$GC,5425,-0.73,-146.0,644.1,-10.2,488,5429,0.00,1.17,0.00,0.000,4,0.000,0.059,2144,3213,3086,0,0,0,0,0,0
$GC,5497,-0.73,-146.0,650.8,-10.1,490,5502,0.00,1.10,0.00,0.000,6,0.000,0.025,2144,2493,3086,0,0,0,0,0,0
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5835,-0.16,0.0,685.4,-10.1,501,5964,0.62,0.00,121.88,1.334,6,0.132,0.000,2343,2202,2484,0,0,0,0,0,0
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5967,0.73,146.0,690.1,0.0,505,6106,0.85,1.15,131.15,1.278,4,0.063,0.044,2641,1507,1890,0,0,0,0,0,0
$GC,6355,0.73,146.0,660.7,11.2,517,6361,0.00,1.20,0.00,0.000,6,0.000,0.039,2641,2203,1883,0,0,0,0,0,0
$GC,6683,0.73,146.0,622.2,11.5,528,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1881,0,0,0,0,0,0
$GC,6989,0.73,146.0,587.7,11.3,538,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1879,0,0,0,0,0,0
$GC,7295,0.73,146.0,553.7,11.0,548,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2203,1879,0,0,0,0,0,0
$GC,7601,0.73,146.0,519.7,11.1,558,7605,0.00,1.12,0.00,0.000,4,0.000,0.051,2641,2905,1880,0,0,0,0,0,0
$GC,7667,0.73,146.0,511.9,11.3,560,7671,0.00,1.12,0.00,0.000,6,0.000,0.032,2645,2201,1879,0,0,0,0,0,0
$GC,7994,0.73,146.0,475.8,10.9,580,7998,0.00,1.08,0.00,0.000,4,0.000,0.047,2651,1497,1878,0,0,0,0,0,0
$GC,8131,0.73,146.0,461.7,10.7,590,8141,0.00,1.17,0.00,0.000,6,0.000,0.041,2651,2214,1878,0,0,0,0,0,0
$GC,8456,0.73,146.0,426.6,10.7,616,8460,0.00,1.10,0.00,0.000,4,0.000,0.053,2651,2902,1878,0,0,0,0,0,0
$GC,8607,0.73,146.0,410.0,11.3,627,8614,0.00,1.15,0.00,0.000,6,0.000,0.033,2655,2192,1878,0,0,0,0,0,0
$GC,8931,0.73,146.0,374.7,10.4,653,8935,0.00,1.05,0.00,0.000,4,0.000,0.047,2660,1496,1878,0,0,0,0,0,0
$GC,9023,0.73,146.0,365.1,10.0,660,9027,0.00,1.12,0.00,0.000,6,0.000,0.041,2660,2200,1878,0,0,0,0,0,0
$GC,9354,0.73,146.0,331.4,10.5,686,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2200,1878,0,0,0,0,0,0
$GC,9669,0.73,146.0,300.3,9.9,711,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2200,1878,0,0,0,0,0,0
$GC,9983,0.73,146.0,269.8,9.5,736,9987,0.00,1.12,0.00,0.000,4,0.000,0.047,2665,1498,1878,0,0,0,0,0,0
$GC,10041,0.73,146.0,264.7,9.5,740,10049,0.12,1.15,0.00,0.000,6,0.159,0.044,2635,2200,1878,0,0,0,0,0,0
$GC,10372,0.75,165.0,236.2,8.4,778,10394,0.00,1.15,15.90,1.023,4,0.000,0.054,2634,2901,1811,0,0,0,0,0,0
$GC,10521,0.75,165.0,222.2,9.6,800,10528,0.00,1.12,0.00,0.000,6,0.000,0.034,2637,2201,1810,0,0,0,0,0,0
$GC,10860,0.75,165.0,192.6,9.2,851,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2201,1809,0,0,0,0,0,0
$GC,11197,0.76,177.3,163.8,8.6,902,11213,0.00,1.23,11.40,0.970,4,0.000,0.050,2637,2908,1762,0,0,0,0,0,0
$GC,11347,0.77,184.9,150.9,8.8,924,11361,0.00,1.15,8.27,0.925,6,0.000,0.034,2642,2194,1731,0,0,0,0,0,0
$GC,11692,0.81,217.2,121.9,7.8,976,11726,0.00,1.12,28.45,0.988,4,0.000,0.047,2647,1493,1599,0,0,0,0,0,0
$GC,11899,0.81,217.2,103.7,9.4,1007,11906,0.00,1.15,0.00,0.000,6,0.000,0.042,2647,2196,1595,0,0,0,0,0,0
$GC,12237,0.84,240.8,75.0,8.2,1058,12265,0.00,1.12,20.88,0.957,4,0.000,0.050,2647,2914,1502,0,0,0,0,0,0
$GC,12504,0.87,260.9,52.4,8.3,1098,12527,0.00,1.15,17.90,0.936,6,0.000,0.033,2652,2201,1420,0,0,0,0,0,0
$GC,12859,0.98,354.4,23.9,5.2,1151,12918,0.20,1.15,54.08,0.894,4,0.067,0.048,2740,1497,1038,0,0,0,0,0,0
$FREEZE,8.77,-1.287,-1.735,2,5,0
$FREEZE,7.66,-1.364,-1.742,2,5,0
$FREEZE,6.78,-1.354,-1.732,2,5,0
$FREEZE,5.78,-0.902,-1.710,2,5,0
$FREEZE,4.84,-0.719,-1.698,2,5,0
$FREEZE,3.68,-0.724,-1.697,2,5,0
$FREEZE,2.56,-0.710,-1.695,2,5,0
$FREEZE,1.78,-1.287,-1.728,2,5,0
$STATE,13029,end climb,SURFACE_DEPTH_REACHED
$STATE,13029,begin surface coast
$FREEZE,1.87,-1.094,-1.716,2,5,0
$FREEZE,1.80,-0.924,-1.707,2,5,0
$FINISH,1.8,1.025067
$STATE,13043,end surface coast,CONTROL_FINISHED_OK
$STATE,13044,begin surface
$SM_CCo,13062,67.68,0.086,0,0,442,501.15
$SM_GC,2.73,7.45,1.75,67.68,0.063,0.047,0.086,117,2510,442,-7.07,-0.71,501.15,0,0,0,0,0,0
$RAFOS_CLK,914
$RAFOS,6,1322210946,8.833333,8.818334,130,61,60,0,0,0,776,120,217,0,0,0
$RAFOS,5,1322210465,8.700000,8.684722,99,59,58,0,0,0,844,178,201,0,0,0
$RAFOS,4,1322209985,8.566667,8.551389,112,62,60,0,0,0,632,205,169,0,0,0
$RAFOS,3,1322209504,8.433333,8.417778,147,74,61,0,0,0,676,159,202,0,0,0
$RAFOS,2,1322209026,8.300000,8.285000,131,63,59,0,0,0,575,146,205,0,0,0
$RAFOS,1,1322208589,8.166667,8.163611,127,65,62,0,0,0,355,186,151,0,0,0
$RAFOS,0,1322208063,8.033334,8.017500,91,64,63,0,0,0,708,210,191,0,0,0
$RAFOS_FIX,6639.682617,-5940.160156,251111,080825,7,120,0.70
$IRIDIUM_FIX,6614.97,-6004.54,241111,171709
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,22.5,38.143
$10V_AH,10.1,28.615
$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,10.150,55.850,409.900,67.675,0.000,0.000,0.000,0.000,3.500,0.000,0.000,3217.034,7232.729,599.489,1977.507,184.927,0.000,1641.547,0.000,1956.246,2160.000,16.742,0.000
$DEVICE_MAMPS,164.475,77.265,1334.160,85.680,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.769,655.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150192
$DATA_FILE_SIZE,46660,1178
$CAP_FILE_SIZE,125640,0
$CFSIZE,260165632,227065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$CURRENT,8.170,106.0,1
$GPS,251111,082725,6639.683,-5940.160,0,7119.6,0,-33.8