version: 66.09
glider: 143
mission: 13
dive: 208
start: 11 8 111 21 37 56
data:
$ID,143
$MISSION,13
$DIVE,208
$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,-80777.914
$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,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,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
$GPS1,081111,213235,6658.791,-5716.768,28,0.9,28,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-71.2
$GPS2,081111,213724,6658.785,-5716.733,17,1.0,17,-33.5
$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,112.2,22170,-16.9,-9.167
$D_GRID,784
$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,-146.0,0.0,0.0,0,56,0.00,0.00,-38.33,0.000,2,0.000,0.000,122,2511,1803,0,0,0,0,0,0
$GC,59,-0.73,-146.0,3.0,-1.2,6,148,8.98,1.12,-72.85,0.000,4,0.273,0.067,2160,1807,3082,0,0,0,0,0,0
$GC,253,-0.73,-146.0,24.7,-17.2,35,260,0.00,1.20,0.00,0.000,6,0.000,0.054,2157,2503,3084,0,0,0,0,0,0
$GC,592,-0.73,-146.0,80.7,-13.8,86,598,0.00,1.15,0.00,0.000,4,0.000,0.067,2152,3220,3084,0,0,0,0,0,0
$GC,746,-0.73,-146.0,102.9,-13.8,109,752,0.00,1.12,0.00,0.000,6,0.000,0.032,2151,2495,3084,0,0,0,0,0,0
$GC,1083,-0.73,-146.0,147.1,-11.8,160,1092,0.00,1.20,0.00,0.000,4,0.000,0.063,2147,3216,3084,0,0,0,0,0,0
$GC,1138,-0.73,-146.0,153.6,-11.7,168,1148,0.00,1.10,0.00,0.000,6,0.000,0.031,2147,2498,3084,0,0,0,0,0,0
$GC,1480,-0.73,-146.0,192.8,-11.7,219,1486,0.00,1.05,0.00,0.000,4,0.000,0.043,2147,1820,3084,0,0,0,0,0,0
$GC,1579,-0.73,-146.0,204.7,-11.9,234,1586,0.00,1.17,0.00,0.000,6,0.000,0.054,2142,2510,3084,0,0,0,0,0,0
$GC,1918,-0.73,-146.0,246.6,-12.5,285,1924,0.00,1.12,0.00,0.000,4,0.000,0.066,2137,3220,3084,0,0,0,0,0,0
$GC,1962,-0.73,-146.0,251.6,-12.2,290,1970,0.00,1.12,0.00,0.000,6,0.000,0.030,2137,2498,3084,0,0,0,0,0,0
$GC,2287,-0.73,-146.0,292.0,-11.8,316,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2498,3083,0,0,0,0,0,0
$GC,2602,-0.73,-146.0,330.8,-12.5,341,2605,0.00,1.05,0.00,0.000,4,0.000,0.042,2136,1816,3083,0,0,0,0,0,0
$GC,2642,-0.73,-146.0,335.9,-12.4,344,2646,0.10,1.17,0.00,0.000,6,0.154,0.053,2162,2511,3083,0,0,0,0,0,0
$GC,2970,-0.73,-146.0,371.7,-10.9,370,2974,0.00,1.10,0.00,0.000,4,0.000,0.065,2160,3213,3083,0,0,0,0,0,0
$GC,3042,-0.73,-146.0,379.1,-11.3,375,3049,0.00,1.08,0.00,0.000,6,0.000,0.028,2160,2500,3083,0,0,0,0,0,0
$GC,3367,-0.73,-146.0,414.5,-10.7,401,3371,0.00,1.05,0.00,0.000,4,0.000,0.041,2160,1814,3084,0,0,0,0,0,0
$GC,3422,-0.73,-146.0,420.6,-11.1,405,3425,0.00,1.17,0.00,0.000,6,0.000,0.051,2155,2513,3084,0,0,0,0,0,0
$GC,3750,-0.73,-146.0,457.2,-11.0,431,3754,0.00,1.10,0.00,0.000,4,0.000,0.064,2150,3214,3084,0,0,0,0,0,0
$GC,3803,-0.73,-146.0,463.3,-11.7,435,3807,0.00,1.05,0.00,0.000,6,0.000,0.027,2150,2519,3084,0,0,0,0,0,0
$GC,4137,-0.73,-146.0,501.0,-11.4,461,4141,0.00,1.08,0.00,0.000,4,0.000,0.041,2150,1819,3085,0,0,0,0,0,0
$GC,4175,-0.73,-146.0,505.5,-11.6,462,4180,0.00,1.17,0.00,0.000,6,0.000,0.050,2145,2511,3084,0,0,0,0,0,0
$GC,4510,-0.73,-146.0,544.8,-11.6,473,4514,0.00,1.10,0.00,0.000,4,0.000,0.064,2140,3214,3085,0,0,0,0,0,0
$GC,4614,-0.73,-146.0,556.5,-11.6,476,4619,0.00,1.10,0.00,0.000,6,0.000,0.028,2140,2496,3085,0,0,0,0,0,0
$GC,4948,-0.73,-146.0,594.7,-11.2,487,4951,0.00,1.02,0.00,0.000,4,0.000,0.041,2140,1824,3085,0,0,0,0,0,0
$GC,4999,-0.73,-146.0,598.4,-11.2,488,5004,0.12,1.17,0.00,0.000,6,0.172,0.050,2165,2514,3085,0,0,0,0,0,0
$GC,5319,-0.73,-146.0,630.6,-9.4,499,5323,0.00,1.10,0.00,0.000,4,0.000,0.064,2162,3216,3085,0,0,0,0,0,0
$GC,5396,-0.73,-146.0,637.0,-9.4,501,5401,0.00,1.10,0.00,0.000,6,0.000,0.026,2162,2495,3085,0,0,0,0,0,0
$GC,5724,-0.73,-146.0,667.7,-9.1,512,5727,0.00,1.02,0.00,0.000,4,0.000,0.041,2162,1824,3085,0,0,0,0,0,0
$GC,5768,-0.73,-146.0,670.8,-9.2,513,5773,0.00,1.17,0.00,0.000,6,0.000,0.051,2157,2513,3085,0,0,0,0,0,0
$GC,6100,-0.73,-146.0,702.2,-9.3,524,6103,0.00,1.10,0.00,0.000,4,0.000,0.065,2152,3213,3085,0,0,0,0,0,0
$GC,6184,-0.73,-146.0,709.0,-9.4,526,6189,0.00,1.08,0.00,0.000,6,0.000,0.027,2152,2515,3085,0,0,0,0,0,0
$GC,6506,-0.73,-146.0,741.4,-9.6,537,6509,0.00,1.08,0.00,0.000,4,0.000,0.041,2152,1812,3085,0,0,0,0,0,0
$GC,6550,-0.73,-146.0,744.7,-9.6,538,6555,0.00,1.20,0.00,0.000,6,0.000,0.051,2148,2518,3085,0,0,0,0,0,0
$STATE,6877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6877,begin apogee
$GC,6883,-0.16,0.0,778.0,-9.8,549,7010,0.60,0.00,121.05,1.391,6,0.136,0.000,2341,2181,2485,0,0,0,0,0,0
$STATE,7011,end apogee,CONTROL_FINISHED_OK
$STATE,7011,begin climb
$GC,7013,0.73,146.0,782.6,0.0,553,7154,0.85,1.40,131.12,1.333,4,0.067,0.050,2636,2901,1888,0,0,0,0,0,0
$GC,7404,0.73,146.0,748.3,12.6,565,7409,0.00,1.20,0.00,0.000,6,0.000,0.036,2640,2204,1881,0,0,0,0,0,0
$GC,7731,0.73,146.0,706.8,12.3,576,7735,0.00,1.20,0.00,0.000,4,0.000,0.049,2640,2902,1878,0,0,0,0,0,0
$GC,7901,0.73,146.0,685.5,12.7,581,7906,0.00,1.17,0.00,0.000,6,0.000,0.035,2645,2194,1877,0,0,0,0,0,0
$GC,8235,0.73,146.0,642.9,12.9,592,8239,0.00,1.20,0.00,0.000,4,0.000,0.050,2645,2903,1876,0,0,0,0,0,0
$GC,8279,0.73,146.0,638.7,12.9,593,8284,0.00,1.17,0.00,0.000,6,0.000,0.035,2650,2188,1876,0,0,0,0,0,0
$GC,8608,0.73,146.0,595.4,12.7,604,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2188,1875,0,0,0,0,0,0
$GC,8913,0.73,146.0,557.7,12.2,614,8916,0.00,1.20,0.00,0.000,4,0.000,0.050,2650,2902,1874,0,0,0,0,0,0
$GC,8981,0.73,146.0,549.5,12.3,616,8985,0.00,1.12,0.00,0.000,6,0.000,0.036,2655,2201,1874,0,0,0,0,0,0
$GC,9321,0.73,146.0,508.2,12.1,627,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2201,1875,0,0,0,0,0,0
$GC,9641,0.73,146.0,469.4,11.7,648,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2201,1873,0,0,0,0,0,0
$GC,9958,0.73,146.0,430.1,12.5,673,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2201,1873,0,0,0,0,0,0
$GC,10270,0.73,146.0,390.1,12.6,698,10274,0.00,1.17,0.00,0.000,4,0.000,0.051,2654,2903,1873,0,0,0,0,0,0
$GC,10315,0.73,146.0,384.7,13.4,701,10323,0.00,1.15,0.00,0.000,6,0.000,0.036,2659,2195,1873,0,0,0,0,0,0
$GC,10638,0.73,146.0,342.9,12.5,727,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2195,1873,0,0,0,0,0,0
$GC,10956,0.73,146.0,302.0,13.0,752,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2194,1873,0,0,0,0,0,0
$GC,11271,0.73,146.0,261.2,12.5,777,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2194,1873,0,0,0,0,0,0
$GC,11595,0.73,146.0,221.0,11.3,819,11601,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2195,1873,0,0,0,0,0,0
$GC,11932,0.73,146.0,182.9,11.4,870,11939,0.00,1.05,0.00,0.000,4,0.000,0.049,2665,1496,1873,0,0,0,0,0,0
$GC,12025,0.73,146.0,172.5,11.2,884,12035,0.08,1.12,0.00,0.000,6,0.145,0.044,2640,2203,1873,0,0,0,0,0,0
$GC,12364,0.74,159.8,140.2,8.6,935,12381,0.00,1.15,10.18,0.908,4,0.000,0.053,2640,2910,1833,0,0,0,0,0,0
$GC,12493,0.74,159.8,128.1,9.4,954,12499,0.00,1.12,0.00,0.000,6,0.000,0.034,2643,2201,1833,0,0,0,0,0,0
$GC,12831,0.74,160.7,99.5,9.1,1005,12838,0.00,1.08,0.00,0.000,4,0.000,0.047,2649,1489,1832,0,0,0,0,0,0
$GC,12860,0.77,180.2,97.2,8.3,1009,12888,0.00,1.12,18.70,0.939,6,0.000,0.044,2648,2195,1749,0,0,0,0,0,0
$GC,13220,0.78,189.9,64.3,8.8,1063,13236,0.00,1.17,9.50,0.869,4,0.000,0.052,2648,2908,1710,0,0,0,0,0,0
$GC,13256,0.83,229.2,61.6,7.5,1068,13294,0.00,1.15,34.17,0.914,6,0.000,0.034,2653,2195,1550,0,0,0,0,0,0
$GC,13626,0.84,235.5,27.6,8.9,1123,13634,0.00,1.10,4.60,0.692,4,0.000,0.047,2658,1497,1524,0,0,0,0,0,0
$GC,13722,0.86,256.7,18.9,8.3,1137,13742,0.00,1.15,11.27,0.118,6,0.000,0.044,2658,2200,1436,0,0,0,0,0,0
$STATE,13892,end climb,SURFACE_DEPTH_REACHED
$STATE,13892,begin surface coast
$FINISH,1.7,1.024106
$STATE,13913,end surface coast,CONTROL_FINISHED_OK
$STATE,13913,begin surface
$SM_CCo,13929,19.73,0.082,0,0,1261,300.00
$SM_GC,2.35,6.85,0.52,19.73,0.047,0.050,0.082,126,2526,1261,-7.06,-0.62,300.00,0,0,0,0,0,0
$RAFOS_CLK,891
$RAFOS,6,1320799743,0.833333,0.817500,66,63,58,0,0,0,791,209,186,0,0,0
$RAFOS,5,1320799265,0.700000,0.684722,99,60,57,0,0,0,569,198,215,0,0,0
$RAFOS,4,1320798786,0.566667,0.551667,63,58,57,0,0,0,208,137,217,0,0,0
$RAFOS,3,1320798304,0.433333,0.417778,100,63,59,0,0,0,925,190,206,0,0,0
$RAFOS,2,1320797825,0.300000,0.284722,67,63,57,0,0,0,990,199,219,0,0,0
$RAFOS,1,1320797349,0.166667,0.152500,83,67,67,0,0,0,957,214,181,0,0,0
$RAFOS,0,1320796880,0.033333,0.022222,65,60,60,0,0,0,1027,193,178,0,0,0
$RAFOS_FIX,6659.858398,-5721.936035,091111,000057,6,80,0.42
$IRIDIUM_FIX,6631.12,-5718.20,081111,171752
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.37
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,16.90
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,702.2,88.8
$24V_AH,22.7,26.441
$10V_AH,10.3,20.358
$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,17.575,59.950,340.600,19.725,0.000,0.000,0.000,176.750,6.500,0.000,18.595,3237.755,8117.141,513.219,2168.595,225.139,0.000,1744.484,0.000,1965.859,2520.000,22.863,0.000
$DEVICE_MAMPS,273.105,67.320,1390.770,81.855,0.000,0.000,0.000,264.411,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.010,640.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150312
$DATA_FILE_SIZE,46600,1166
$CAP_FILE_SIZE,135245,0
$CFSIZE,260165632,233500672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1460.6
$CURRENT,0.184,311.1,1
$GPS,091111,013205,6700.137,-5713.667,33,0.9,33,-33.5