version: 66.09
glider: 143
mission: 13
dive: 303
start: 11 25 111 12 3 24
data:
$ID,143
$MISSION,13
$DIVE,303
$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,-86186.492
$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,21
$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
$GPS1,251111,082725,6639.683,-5940.160,0,7119.6,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-53.1
$GPS2,251111,082725,6639.683,-5940.160,181,99.0,181,-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,59.6,131611,-27.7,-9.167
$D_GRID,812
$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,-0.96,-55.4,0.0,0.0,0,76,0.00,0.00,-58.25,0.000,2,0.000,0.000,114,2526,1321,0,0,0,0,0,0
$GC,80,-1.03,-107.2,3.1,-3.4,9,223,8.07,1.20,-124.53,0.000,4,0.243,0.074,2066,1815,2924,0,0,0,0,0,0
$GC,321,-1.03,-107.2,28.9,-26.5,45,328,0.00,1.20,0.00,0.000,6,0.000,0.053,2064,2510,2926,0,0,0,0,0,0
$GC,659,-1.03,-107.2,105.5,-20.8,96,665,0.00,1.12,0.00,0.000,4,0.000,0.066,2059,3213,2926,0,0,0,0,0,0
$GC,765,-1.03,-107.2,128.2,-21.6,112,772,0.00,1.10,0.00,0.000,6,0.000,0.034,2059,2511,2926,0,0,0,0,0,0
$GC,1106,-1.03,-107.2,194.6,-17.6,163,1113,0.00,1.17,0.00,0.000,4,0.000,0.060,2054,3214,2926,0,0,0,0,0,0
$GC,1141,-1.03,-107.2,201.9,-19.5,168,1147,0.00,1.10,0.00,0.000,6,0.000,0.034,2054,2511,2926,0,0,0,0,0,0
$GC,1483,-1.03,-107.2,266.5,-18.5,213,1486,0.00,1.17,0.00,0.000,4,0.000,0.061,2050,3213,2926,0,0,0,0,0,0
$GC,1575,-1.03,-107.2,284.4,-19.4,220,1579,0.00,1.10,0.00,0.000,6,0.000,0.033,2050,2506,2926,0,0,0,0,0,0
$GC,1904,-1.03,-107.2,344.3,-18.5,246,1908,0.00,1.17,0.00,0.000,4,0.000,0.060,2045,3213,2926,0,0,0,0,0,0
$GC,1971,-1.03,-107.2,356.6,-18.8,251,1975,0.00,1.10,0.00,0.000,6,0.000,0.033,2045,2503,2926,0,0,0,0,0,0
$GC,2300,-1.03,-107.2,416.9,-17.8,277,2303,0.00,1.08,0.00,0.000,4,0.000,0.043,2045,1811,2926,0,0,0,0,0,0
$GC,2344,-1.03,-107.2,424.1,-17.7,280,2352,0.00,1.23,0.00,0.000,6,0.000,0.050,2040,2522,2926,0,0,0,0,0,0
$GC,2667,-1.03,-107.2,482.5,-17.3,306,2671,0.00,1.10,0.00,0.000,4,0.000,0.064,2036,3217,2926,0,0,0,0,0,0
$GC,2698,-1.03,-107.2,487.1,-17.8,308,2707,0.10,1.12,0.00,0.000,6,0.202,0.031,2059,2497,2925,0,0,0,0,0,0
$GC,3029,-1.03,-107.2,540.3,-15.6,323,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2498,2926,0,0,0,0,0,0
$GC,3333,-1.03,-107.2,586.5,-14.7,333,3337,0.00,1.17,0.00,0.000,4,0.000,0.060,2056,3209,2926,0,0,0,0,0,0
$GC,3391,-1.03,-107.2,591.4,-14.6,334,3401,0.00,1.10,0.00,0.000,6,0.000,0.031,2056,2502,2926,0,0,0,0,0,0
$GC,3705,-1.03,-107.2,641.8,-14.9,345,3708,0.00,1.17,0.00,0.000,4,0.000,0.059,2053,3212,2927,0,0,0,0,0,0
$GC,3776,-1.03,-107.2,651.9,-15.1,347,3781,0.00,1.10,0.00,0.000,6,0.000,0.031,2052,2504,2927,0,0,0,0,0,0
$GC,4112,-1.03,-107.2,702.6,-15.0,358,4116,0.00,1.17,0.00,0.000,4,0.000,0.059,2047,3213,2927,0,0,0,0,0,0
$GC,4196,-1.03,-107.2,712.9,-15.1,360,4200,0.00,1.10,0.00,0.000,6,0.000,0.031,2047,2504,2927,0,0,0,0,0,0
$GC,4518,-1.03,-107.2,764.4,-16.0,371,4522,0.00,1.17,0.00,0.000,4,0.000,0.059,2043,3216,2928,0,0,0,0,0,0
$GC,4642,-1.03,-107.2,780.3,-15.8,374,4652,0.00,1.10,0.00,0.000,6,0.000,0.031,2043,2506,2928,0,0,0,0,0,0
$STATE,4831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4831,begin apogee
$GC,4837,-0.16,0.0,814.3,-15.8,381,4934,1.00,0.00,91.55,1.421,6,0.162,0.000,2338,2187,2484,0,0,0,0,0,0
$STATE,4937,end apogee,CONTROL_FINISHED_OK
$STATE,4937,begin climb
$GC,4939,1.03,107.2,818.9,0.0,384,5044,1.15,1.12,97.68,1.372,4,0.069,0.044,2735,1505,2047,0,0,0,0,0,0
$GC,5228,1.03,107.2,793.1,13.5,393,5233,0.00,1.23,0.00,0.000,6,0.000,0.041,2735,2213,2040,0,0,0,0,0,0
$GC,5562,1.03,107.2,749.7,12.7,404,5565,0.00,1.17,0.00,0.000,4,0.000,0.041,2740,1495,2037,0,0,0,0,0,0
$GC,5607,1.03,107.2,745.1,13.0,405,5611,0.00,1.20,0.00,0.000,6,0.000,0.041,2739,2214,2037,0,0,0,0,0,0
$GC,5934,1.03,107.2,701.4,12.6,416,5937,0.00,1.12,0.00,0.000,4,0.000,0.054,2740,2905,2036,0,0,0,0,0,0
$GC,6050,1.03,107.2,688.6,12.8,419,6055,0.00,1.15,0.00,0.000,6,0.000,0.035,2744,2207,2035,0,0,0,0,0,0
$GC,6372,1.03,107.2,645.2,13.1,430,6375,0.00,1.10,0.00,0.000,4,0.000,0.048,2749,1491,2035,0,0,0,0,0,0
$GC,6514,1.03,107.2,628.0,12.9,434,6520,0.00,1.20,0.00,0.000,6,0.000,0.044,2749,2214,2035,0,0,0,0,0,0
$GC,6842,1.03,107.2,583.8,13.2,445,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2215,2034,0,0,0,0,0,0
$GC,7150,1.03,107.2,544.5,12.5,455,7154,0.00,1.15,0.00,0.000,4,0.000,0.044,2754,1496,2034,0,0,0,0,0,0
$GC,7300,1.03,107.2,528.0,12.2,459,7305,0.00,1.17,0.00,0.000,6,0.000,0.044,2754,2208,2034,0,0,0,0,0,0
$GC,7618,1.03,107.2,487.7,12.1,474,7621,0.00,1.15,0.00,0.000,4,0.000,0.044,2758,1493,2034,0,0,0,0,0,0
$GC,7791,1.03,107.2,467.1,11.7,487,7795,0.00,1.15,0.00,0.000,6,0.000,0.045,2758,2204,2034,0,0,0,0,0,0
$GC,8122,1.03,107.2,429.2,11.5,513,8125,0.00,1.12,0.00,0.000,4,0.000,0.045,2762,1496,2034,0,0,0,0,0,0
$GC,8378,1.03,107.2,400.2,11.8,532,8386,0.12,1.17,0.00,0.000,6,0.197,0.044,2736,2212,2034,0,0,0,0,0,0
$GC,8703,1.03,107.2,365.7,10.5,558,8707,0.00,1.15,0.00,0.000,4,0.000,0.044,2739,1491,2034,0,0,0,0,0,0
$GC,8959,1.03,107.2,340.8,9.6,577,8967,0.00,1.17,0.00,0.000,6,0.000,0.044,2739,2208,2035,0,0,0,0,0,0
$GC,9286,1.03,107.2,308.6,9.9,603,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2209,2034,0,0,0,0,0,0
$GC,9598,1.03,107.6,278.8,9.1,628,9601,0.00,1.10,0.00,0.000,4,0.000,0.056,2739,2898,2034,0,0,0,0,0,0
$GC,9704,1.03,111.6,269.3,8.7,636,9708,0.00,1.10,0.00,0.000,6,0.000,0.034,2743,2203,2033,0,0,0,0,0,0
$GC,10030,1.04,116.7,241.9,8.6,669,10046,0.00,1.15,6.95,0.923,4,0.000,0.045,2743,2910,2008,0,0,0,0,0,0
$GC,10297,1.05,125.9,219.6,8.1,709,10313,0.00,1.15,9.48,0.963,6,0.000,0.036,2748,2190,1971,0,0,0,0,0,0
$GC,10644,1.06,136.7,191.2,8.0,761,10660,0.00,1.25,10.75,0.973,4,0.000,0.049,2748,2914,1926,0,0,0,0,0,0
$GC,10734,1.06,136.7,183.2,9.5,774,10743,0.00,1.15,0.00,0.000,6,0.000,0.035,2753,2199,1925,0,0,0,0,0,0
$GC,11074,1.07,144.4,155.2,8.3,825,11090,0.00,1.05,7.40,0.907,4,0.000,0.045,2758,1494,1897,0,0,0,0,0,0
$GC,11289,1.08,148.2,137.1,8.7,857,11304,0.00,1.15,5.22,0.827,6,0.000,0.044,2758,2201,1879,0,0,0,0,0,0
$GC,11635,1.09,158.9,106.8,8.0,909,11651,0.00,1.17,10.50,0.943,4,0.000,0.044,2762,1491,1837,0,0,0,0,0,0
$GC,11718,1.10,168.7,99.9,8.1,921,11734,0.00,1.15,10.18,0.931,6,0.000,0.044,2762,2199,1797,0,0,0,0,0,0
$GC,12065,1.12,183.2,72.1,7.6,973,12087,0.00,1.17,13.32,0.946,4,0.000,0.054,2762,2905,1738,0,0,0,0,0,0
$GC,12339,1.16,215.8,49.5,5.6,1014,12375,0.00,1.15,28.60,0.952,6,0.000,0.035,2766,2196,1604,0,0,0,0,0,0
$FREEZE,8.98,-0.804,-1.708,2,6,0
$GC,12708,1.16,215.8,9.0,11.8,1069,12715,0.00,1.20,0.00,0.000,4,0.000,0.049,2766,2906,1599,0,0,0,0,0,0
$FREEZE,6.94,-1.392,-1.741,2,6,0
$FREEZE,6.34,-1.385,-1.740,2,6,0
$FREEZE,5.50,-0.899,-1.710,2,6,0
$FREEZE,4.64,-1.368,-1.738,2,6,0
$FREEZE,3.66,-1.383,-1.738,2,6,0
$GC,12750,1.16,215.8,3.7,12.7,1075,12757,0.00,1.15,0.00,0.000,6,0.000,0.036,2770,2201,1599,0,0,0,0,0,0
$FREEZE,1.64,-0.054,-1.658,2,6,0
$STATE,12762,end climb,SURFACE_DEPTH_REACHED
$STATE,12763,begin surface coast
$FREEZE,1.62,-0.187,-0.113,2,6,0
$FINISH,1.6,1.001481
$STATE,12770,end surface coast,FINISH_DEPTH_REACHED
$STATE,12771,begin surface
$SM_CCo,12787,133.18,0.086,0,0,442,501.15
$SM_GC,2.41,7.28,0.57,133.18,0.050,0.046,0.086,116,2512,442,-7.08,-0.85,501.15,0,0,0,0,0,0
$RAFOS_CLK,929
$RAFOS,6,1322225345,12.833333,12.818055,121,59,58,0,0,0,750,146,191,0,0,0
$RAFOS,5,1322224865,12.700000,12.684722,99,62,57,0,0,0,825,180,199,0,0,0
$RAFOS,4,1322224392,12.566667,12.553333,147,68,59,0,0,0,571,149,219,0,0,0
$RAFOS,3,1322223902,12.433333,12.417222,168,62,59,0,0,0,716,170,212,0,0,0
$RAFOS,2,1322223426,12.300000,12.285000,109,62,60,0,0,0,610,157,210,0,0,0
$RAFOS,1,1322222943,12.166667,12.150833,138,67,62,0,0,0,587,188,205,0,0,0
$RAFOS_FIX,6642.160645,-5934.736328,251111,121238,6,130,0.41
$IRIDIUM_FIX,6614.97,-6004.54,241111,171709
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.39
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,754.6,103.6
$24V_AH,22.5,38.249
$10V_AH,10.1,28.698
$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,17.725,60.775,291.625,133.175,0.000,0.000,0.000,123.025,5.750,0.000,183.370,2993.408,7371.337,657.561,2214.299,345.286,0.000,1795.964,0.000,1894.320,2160.000,23.227,0.000
$DEVICE_MAMPS,243.270,74.205,1420.605,85.680,0.000,0.000,0.000,238.931,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.930,600.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150128
$DATA_FILE_SIZE,43338,1078
$CAP_FILE_SIZE,131160,0
$CFSIZE,260165632,226996224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$CURRENT,0.532,359.2,1
$GPS,251111,154028,6644.738,-5938.333,36,1.0,40,-33.8