version: 66.09
glider: 143
mission: 13
dive: 201
start: 11 7 111 15 30 36
data:
$ID,143
$MISSION,13
$DIVE,201
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$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,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80769.078
$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,27
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,071111,152505,6656.704,-5746.489,82,0.9,82,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-66.9
$GPS2,071111,153004,6656.677,-5746.470,24,1.1,24,-33.6
$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,119.9,43818,-16.9,-9.167
$D_GRID,862
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-25.83,0.000,2,0.000,0.000,118,2522,1611,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-3.3,4,181,8.48,1.20,-115.60,0.000,4,0.251,0.072,2159,1811,3081,0,0,0,0,0,0
$GC,321,-0.73,-146.0,28.9,-16.2,45,328,0.00,1.20,0.00,0.000,6,0.000,0.058,2156,2502,3083,0,0,0,0,0,0
$GC,660,-0.73,-146.0,86.7,-16.2,96,669,0.00,1.15,0.00,0.000,4,0.000,0.071,2151,3216,3083,0,0,0,0,0,0
$GC,750,-0.73,-146.0,100.8,-15.3,109,757,0.00,1.10,0.00,0.000,6,0.000,0.034,2150,2506,3083,0,0,0,0,0,0
$GC,1088,-0.73,-146.0,149.3,-14.4,160,1097,0.00,1.08,0.00,0.000,4,0.000,0.044,2151,1818,3084,0,0,0,0,0,0
$GC,1190,-0.73,-146.0,163.2,-13.6,175,1196,0.00,1.20,0.00,0.000,6,0.000,0.057,2146,2519,3084,0,0,0,0,0,0
$GC,1526,-0.73,-146.0,208.2,-12.8,226,1533,0.00,1.12,0.00,0.000,4,0.000,0.071,2141,3220,3083,0,0,0,0,0,0
$GC,1658,-0.73,-146.0,225.7,-13.1,246,1665,0.00,1.10,0.00,0.000,6,0.000,0.035,2141,2516,3083,0,0,0,0,0,0
$GC,1988,-0.73,-146.0,268.9,-12.8,286,1992,0.00,1.10,0.00,0.000,4,0.000,0.045,2141,1813,3083,0,0,0,0,0,0
$GC,2019,-0.73,-146.0,272.2,-12.8,288,2030,0.12,1.23,0.00,0.000,6,0.175,0.057,2165,2518,3083,0,0,0,0,0,0
$GC,2343,-0.73,-146.0,309.5,-11.9,314,2346,0.00,1.10,0.00,0.000,4,0.000,0.070,2162,3210,3083,0,0,0,0,0,0
$GC,2449,-0.73,-146.0,321.8,-11.7,322,2452,0.00,1.10,0.00,0.000,6,0.000,0.034,2162,2498,3083,0,0,0,0,0,0
$GC,2777,-0.73,-146.0,358.2,-10.5,348,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2497,3082,0,0,0,0,0,0
$GC,3095,-0.73,-146.0,389.4,-9.9,373,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2497,3083,0,0,0,0,0,0
$GC,3410,-0.73,-146.0,419.4,-9.4,398,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2497,3083,0,0,0,0,0,0
$GC,3727,-0.73,-146.0,450.9,-10.5,423,3730,0.00,1.05,0.00,0.000,4,0.000,0.045,2162,1816,3083,0,0,0,0,0,0
$GC,3771,-0.73,-146.0,455.4,-10.6,426,3779,0.00,1.20,0.00,0.000,6,0.000,0.054,2157,2514,3083,0,0,0,0,0,0
$GC,4095,-0.73,-146.0,489.6,-9.8,452,4099,0.00,1.10,0.00,0.000,4,0.000,0.069,2152,3210,3083,0,0,0,0,0,0
$GC,4237,-0.73,-146.0,503.4,-10.4,461,4240,0.00,1.08,0.00,0.000,6,0.000,0.031,2152,2504,3083,0,0,0,0,0,0
$GC,4569,-0.73,-146.0,539.6,-10.5,472,4573,0.00,1.17,0.00,0.000,4,0.000,0.064,2148,3214,3084,0,0,0,0,0,0
$GC,4647,-0.73,-146.0,546.5,-10.5,474,4651,0.00,1.08,0.00,0.000,6,0.000,0.030,2148,2503,3084,0,0,0,0,0,0
$GC,4975,-0.73,-146.0,582.1,-10.4,485,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2503,3084,0,0,0,0,0,0
$GC,5280,-0.73,-146.0,614.0,-10.3,495,5283,0.00,1.17,0.00,0.000,4,0.000,0.064,2143,3213,3084,0,0,0,0,0,0
$GC,5331,-0.73,-146.0,617.3,-10.2,496,5336,0.00,1.08,0.00,0.000,6,0.000,0.030,2143,2500,3084,0,0,0,0,0,0
$GC,5652,-0.73,-146.0,652.8,-10.8,507,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2500,3084,0,0,0,0,0,0
$GC,5959,-0.73,-146.0,685.5,-10.6,517,5962,0.00,1.17,0.00,0.000,4,0.000,0.064,2138,3212,3084,0,0,0,0,0,0
$GC,6038,-0.73,-146.0,692.8,-10.9,519,6042,0.00,1.08,0.00,0.000,6,0.000,0.029,2138,2499,3084,0,0,0,0,0,0
$GC,6364,-0.73,-146.0,729.8,-10.8,530,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2499,3084,0,0,0,0,0,0
$GC,6671,-0.73,-146.0,762.7,-10.7,540,6674,0.00,1.17,0.00,0.000,4,0.000,0.063,2133,3211,3084,0,0,0,0,0,0
$GC,6727,-0.73,-146.0,766.2,-10.7,541,6736,0.12,1.08,0.00,0.000,6,0.168,0.029,2164,2510,3084,0,0,0,0,0,0
$GC,7042,-0.73,-146.0,796.5,-8.8,552,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2511,3085,0,0,0,0,0,0
$GC,7348,-0.73,-146.0,822.5,-8.6,562,7352,0.00,1.15,0.00,0.000,4,0.000,0.063,2161,3210,3084,0,0,0,0,0,0
$GC,7406,-0.73,-146.0,825.4,-8.6,563,7414,0.00,1.08,0.00,0.000,6,0.000,0.028,2161,2506,3085,0,0,0,0,0,0
$GC,7720,-0.73,-146.0,855.9,-8.8,574,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2506,3085,0,0,0,0,0,0
$STATE,7779,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7779,begin apogee
$GC,7786,-0.16,0.0,861.6,-9.0,576,7914,0.55,0.00,122.75,1.447,6,0.132,0.000,2341,2187,2484,0,0,0,0,0,0
$STATE,7915,end apogee,CONTROL_FINISHED_OK
$STATE,7915,begin climb
$GC,7917,0.73,146.0,866.3,0.0,580,8058,0.85,1.23,133.10,1.388,4,0.070,0.048,2633,1501,1889,0,0,0,0,0,0
$GC,8308,0.73,146.0,833.4,12.1,591,8313,0.00,1.23,0.00,0.000,6,0.000,0.044,2633,2205,1880,0,0,0,0,0,0
$GC,8632,0.73,146.0,792.6,11.7,602,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2205,1878,0,0,0,0,0,0
$GC,8935,0.73,146.0,757.3,11.6,612,8938,0.00,1.15,0.00,0.000,4,0.000,0.056,2633,2907,1876,0,0,0,0,0,0
$GC,8968,0.73,146.0,753.0,11.9,613,8971,0.00,1.15,0.00,0.000,6,0.000,0.037,2638,2205,1876,0,0,0,0,0,0
$GC,9307,0.73,146.0,712.3,11.9,624,9311,0.00,1.10,0.00,0.000,4,0.000,0.049,2643,1493,1875,0,0,0,0,0,0
$GC,9342,0.73,146.0,708.4,11.8,625,9345,0.00,1.15,0.00,0.000,6,0.000,0.046,2643,2197,1875,0,0,0,0,0,0
$GC,9681,0.73,146.0,668.7,11.6,636,9684,0.00,1.15,0.00,0.000,4,0.000,0.058,2643,2905,1875,0,0,0,0,0,0
$GC,9732,0.73,146.0,664.7,11.8,637,9737,0.00,1.17,0.00,0.000,6,0.000,0.038,2648,2195,1875,0,0,0,0,0,0
$GC,10053,0.73,146.0,621.5,12.8,648,10056,0.00,1.08,0.00,0.000,4,0.000,0.050,2653,1494,1874,0,0,0,0,0,0
$GC,10070,0.73,146.0,621.5,12.8,648,10075,0.00,1.17,0.00,0.000,6,0.000,0.047,2653,2203,1874,0,0,0,0,0,0
$GC,10391,0.73,146.0,577.7,13.1,659,10395,0.00,1.15,0.00,0.000,4,0.000,0.047,2658,1491,1874,0,0,0,0,0,0
$GC,10409,0.73,146.0,577.7,13.1,659,10414,0.00,1.17,0.00,0.000,6,0.000,0.047,2658,2202,1874,0,0,0,0,0,0
$GC,10731,0.73,146.0,531.5,13.3,670,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2202,1874,0,0,0,0,0,0
$GC,11039,0.73,146.0,490.8,13.0,683,11043,0.00,1.12,0.00,0.000,4,0.000,0.047,2662,1497,1874,0,0,0,0,0,0
$GC,11053,0.73,146.0,489.0,12.7,684,11056,0.00,1.15,0.00,0.000,6,0.000,0.047,2662,2206,1874,0,0,0,0,0,0
$GC,11384,0.73,146.0,446.2,12.9,710,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2206,1874,0,0,0,0,0,0
$GC,11697,0.73,146.0,406.3,12.8,735,11701,0.00,1.15,0.00,0.000,4,0.000,0.047,2666,1490,1872,0,0,0,0,0,0
$GC,11728,0.73,146.0,403.0,12.2,737,11739,0.12,1.17,0.00,0.000,6,0.164,0.046,2636,2206,1873,0,0,0,0,0,0
$GC,12052,0.73,146.0,366.3,11.0,763,12053,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2206,1873,0,0,0,0,0,0
$GC,12369,0.73,146.0,332.8,10.5,788,12372,0.00,1.12,0.00,0.000,4,0.000,0.057,2636,2909,1873,0,0,0,0,0,0
$GC,12426,0.73,146.0,326.9,10.9,792,12434,0.00,1.17,0.00,0.000,6,0.000,0.037,2640,2185,1873,0,0,0,0,0,0
$GC,12753,0.73,146.0,291.8,10.7,818,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2185,1873,0,0,0,0,0,0
$GC,13064,0.73,146.0,259.7,9.8,843,13068,0.00,1.20,0.00,0.000,4,0.000,0.054,2640,2901,1873,0,0,0,0,0,0
$GC,13131,0.73,146.0,253.2,9.8,848,13134,0.00,1.12,0.00,0.000,6,0.000,0.037,2644,2198,1873,0,0,0,0,0,0
$GC,13466,0.73,146.0,220.8,9.9,896,13473,0.00,1.08,0.00,0.000,4,0.000,0.050,2650,1490,1873,0,0,0,0,0,0
$GC,13572,0.73,146.0,210.5,9.7,912,13579,0.00,1.15,0.00,0.000,6,0.000,0.047,2650,2205,1873,0,0,0,0,0,0
$GC,13909,0.73,146.0,179.6,9.3,963,13916,0.00,1.10,0.00,0.000,4,0.000,0.056,2650,2898,1873,0,0,0,0,0,0
$GC,14048,0.73,146.0,165.7,9.6,984,14055,0.00,1.12,0.00,0.000,6,0.000,0.037,2655,2193,1873,0,0,0,0,0,0
$GC,14386,0.77,179.8,136.0,7.7,1035,14420,0.00,1.17,26.48,0.997,4,0.000,0.050,2654,2908,1753,0,0,0,0,0,0
$GC,14540,0.77,179.8,121.7,9.4,1058,14547,0.00,1.15,0.00,0.000,6,0.000,0.037,2659,2200,1751,0,0,0,0,0,0
$GC,14878,0.77,179.8,90.7,9.8,1109,14886,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2200,1750,0,0,0,0,0,0
$GC,15217,0.85,244.0,60.2,6.5,1160,15278,0.00,1.27,54.50,0.961,4,0.000,0.053,2659,2906,1489,0,0,0,0,0,0
$GC,15365,0.85,244.0,48.0,10.3,1182,15371,0.00,1.17,0.00,0.000,6,0.000,0.036,2664,2198,1485,0,0,0,0,0,0
$GC,15703,0.85,244.0,13.7,9.2,1233,15712,0.00,1.10,0.00,0.000,4,0.000,0.051,2668,1494,1481,0,0,0,0,0,0
$GC,15752,0.85,244.0,8.8,9.5,1240,15759,0.00,1.17,0.00,0.000,6,0.000,0.047,2669,2205,1481,0,0,0,0,0,0
$STATE,15818,end climb,SURFACE_DEPTH_REACHED
$STATE,15818,begin surface coast
$FINISH,1.9,1.023987
$STATE,15837,end surface coast,CONTROL_FINISHED_OK
$STATE,15837,begin surface
$SM_CCo,15854,25.73,0.087,0,0,1261,300.00
$SM_GC,2.41,6.95,0.52,25.73,0.050,0.063,0.087,122,2509,1261,-7.06,-0.74,300.00,0,0,0,0,0,0
$RAFOS_CLK,1038
$RAFOS,6,1320684562,16.833334,16.822779,75,64,61,0,0,0,630,196,221,0,0,0
$RAFOS,5,1320684067,16.700001,16.685278,62,56,56,0,0,0,206,176,507,0,0,0
$RAFOS,4,1320683587,16.566668,16.551945,82,62,56,0,0,0,718,199,144,0,0,0
$RAFOS,3,1320683103,16.433332,16.417500,67,64,57,0,0,0,209,861,224,0,0,0
$RAFOS,2,1320682624,16.299999,16.284445,71,64,62,0,0,0,210,124,163,0,0,0
$RAFOS,1,1320682151,16.166666,16.153055,63,59,59,0,0,0,212,200,867,0,0,0
$RAFOS,0,1320681664,16.033333,16.017778,63,62,56,0,0,0,215,175,201,0,0,0
$RAFOS_FIX,6656.994629,-5751.854980,071111,161644,2,78,0.89
$IRIDIUM_FIX,6631.12,-5751.53,071111,101035
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.82
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,752.9,123.6
$24V_AH,22.5,25.556
$10V_AH,10.3,19.727
$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,17.200,64.950,336.825,25.725,0.000,0.000,0.000,180.025,6.750,0.000,24.985,3449.537,9655.459,559.680,2274.927,250.091,0.000,1856.005,0.000,2068.131,2520.000,23.477,0.000
$DEVICE_MAMPS,250.920,71.910,1446.615,87.210,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.529,681.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,46633,1253
$CAP_FILE_SIZE,145198,0
$CFSIZE,260165632,233984000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.3
$CURRENT,0.057,177.0,1
$GPS,071111,195654,6656.249,-5739.458,44,0.9,44,-33.6