version: 66.09
glider: 143
mission: 13
dive: 209
start: 11 9 111 1 37 55
data:
$ID,143
$MISSION,13
$DIVE,209
$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,-80779.164
$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,34
$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
$GPS1,091111,013205,6700.137,-5713.667,33,0.9,33,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-71.8
$GPS2,091111,013724,6700.122,-5713.692,20,0.8,20,-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,145.1,19304,-16.9,-9.167
$D_GRID,759
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,53,0.00,0.00,-34.40,0.000,2,0.000,0.000,125,2529,1754,0,0,0,0,0,0
$GC,56,-0.73,-146.0,3.0,-1.9,5,151,8.60,1.20,-75.47,0.000,4,0.260,0.070,2158,1812,3083,0,0,0,0,0,0
$GC,390,-0.73,-146.0,47.7,-16.5,55,397,0.00,1.17,0.00,0.000,6,0.000,0.053,2156,2501,3085,0,0,0,0,0,0
$GC,726,-0.73,-146.0,98.0,-14.0,106,735,0.00,1.12,0.00,0.000,4,0.000,0.066,2150,3211,3085,0,0,0,0,0,0
$GC,808,-0.73,-146.0,109.5,-13.2,118,817,0.00,1.08,0.00,0.000,6,0.000,0.029,2150,2501,3085,0,0,0,0,0,0
$GC,1149,-0.73,-146.0,154.3,-13.7,169,1155,0.00,1.17,0.00,0.000,4,0.000,0.061,2146,3212,3085,0,0,0,0,0,0
$GC,1235,-0.73,-146.0,166.0,-13.3,182,1244,0.00,1.08,0.00,0.000,6,0.000,0.028,2146,2502,3086,0,0,0,0,0,0
$GC,1575,-0.73,-146.0,209.0,-12.6,233,1582,0.00,1.05,0.00,0.000,4,0.000,0.041,2146,1817,3085,0,0,0,0,0,0
$GC,1634,-0.73,-146.0,216.2,-11.9,242,1643,0.00,1.17,0.00,0.000,6,0.000,0.053,2141,2512,3085,0,0,0,0,0,0
$GC,1971,-0.73,-146.0,258.5,-12.5,288,1975,0.00,1.10,0.00,0.000,4,0.000,0.065,2136,3212,3084,0,0,0,0,0,0
$GC,2028,-0.73,-146.0,265.1,-12.9,292,2037,0.12,1.08,0.00,0.000,6,0.170,0.027,2165,2508,3084,0,0,0,0,0,0
$GC,2351,-0.73,-146.0,299.8,-10.3,318,2355,0.00,1.17,0.00,0.000,4,0.000,0.062,2163,3220,3084,0,0,0,0,0,0
$GC,2409,-0.73,-146.0,305.2,-10.4,322,2419,0.00,1.10,0.00,0.000,6,0.000,0.026,2163,2503,3084,0,0,0,0,0,0
$GC,2734,-0.73,-146.0,339.1,-9.9,348,2737,0.00,1.05,0.00,0.000,4,0.000,0.041,2163,1816,3084,0,0,0,0,0,0
$GC,2778,-0.73,-146.0,343.3,-10.0,351,2786,0.00,1.20,0.00,0.000,6,0.000,0.050,2158,2520,3084,0,0,0,0,0,0
$GC,3103,-0.73,-146.0,376.1,-10.2,377,3107,0.00,1.10,0.00,0.000,4,0.000,0.065,2153,3220,3084,0,0,0,0,0,0
$GC,3200,-0.73,-146.0,385.7,-9.9,384,3208,0.00,1.10,0.00,0.000,6,0.000,0.026,2153,2502,3084,0,0,0,0,0,0
$GC,3525,-0.73,-146.0,419.5,-10.1,410,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2502,3084,0,0,0,0,0,0
$GC,3841,-0.73,-146.0,451.0,-10.1,435,3845,0.00,1.17,0.00,0.000,4,0.000,0.060,2148,3219,3084,0,0,0,0,0,0
$GC,3934,-0.73,-146.0,460.7,-10.2,442,3938,0.00,1.08,0.00,0.000,6,0.000,0.027,2148,2503,3084,0,0,0,0,0,0
$GC,4264,-0.73,-146.0,493.6,-9.7,468,4268,0.00,1.05,0.00,0.000,4,0.000,0.040,2148,1812,3084,0,0,0,0,0,0
$GC,4305,-0.73,-146.0,497.3,-9.3,471,4309,0.00,1.17,0.00,0.000,6,0.000,0.050,2144,2515,3084,0,0,0,0,0,0
$GC,4621,-0.73,-146.0,526.8,-9.4,483,4625,0.00,1.10,0.00,0.000,4,0.000,0.064,2138,3218,3085,0,0,0,0,0,0
$GC,4738,-0.73,-146.0,536.9,-10.0,486,4743,0.00,1.10,0.00,0.000,6,0.000,0.026,2138,2496,3085,0,0,0,0,0,0
$GC,5059,-0.73,-146.0,572.0,-10.8,497,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2496,3086,0,0,0,0,0,0
$GC,5366,-0.73,-146.0,604.0,-10.4,507,5370,0.00,1.17,0.00,0.000,4,0.000,0.061,2134,3213,3086,0,0,0,0,0,0
$GC,5437,-0.73,-146.0,611.1,-10.5,509,5442,0.12,1.08,0.00,0.000,6,0.168,0.026,2164,2503,3086,0,0,0,0,0,0
$GC,5771,-0.73,-146.0,640.6,-8.8,520,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2503,3086,0,0,0,0,0,0
$GC,6077,-0.73,-146.0,669.0,-9.4,530,6080,0.00,1.17,0.00,0.000,4,0.000,0.060,2160,3220,3086,0,0,0,0,0,0
$GC,6134,-0.73,-146.0,672.2,-9.4,531,6142,0.00,1.08,0.00,0.000,6,0.000,0.026,2161,2518,3086,0,0,0,0,0,0
$GC,6449,-0.73,-146.0,703.7,-9.2,542,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2518,3086,0,0,0,0,0,0
$GC,6755,-0.73,-146.0,731.4,-9.0,552,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2518,3086,0,0,0,0,0,0
$STATE,7028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7028,begin apogee
$GC,7034,-0.16,0.0,757.0,-9.4,561,7161,0.55,0.00,120.85,1.373,6,0.130,0.000,2340,2180,2485,0,0,0,0,0,0
$STATE,7161,end apogee,CONTROL_FINISHED_OK
$STATE,7161,begin climb
$GC,7164,0.73,146.0,761.5,0.0,565,7303,0.85,1.15,130.40,1.317,4,0.068,0.047,2639,1515,1888,0,0,0,0,0,0
$GC,7441,0.73,146.0,743.2,11.7,573,7449,0.00,1.23,0.00,0.000,6,0.000,0.041,2639,2215,1883,0,0,0,0,0,0
$GC,7756,0.73,146.0,701.8,12.2,584,7759,0.00,1.12,0.00,0.000,4,0.000,0.053,2639,2898,1878,0,0,0,0,0,0
$GC,7794,0.73,146.0,697.6,12.3,585,7798,0.00,1.15,0.00,0.000,6,0.000,0.034,2644,2204,1879,0,0,0,0,0,0
$GC,8127,0.73,146.0,655.6,12.2,596,8131,0.00,1.20,0.00,0.000,4,0.000,0.048,2644,2908,1878,0,0,0,0,0,0
$GC,8198,0.73,146.0,647.2,12.5,598,8203,0.00,1.17,0.00,0.000,6,0.000,0.034,2649,2196,1876,0,0,0,0,0,0
$GC,8532,0.73,146.0,604.1,12.9,609,8536,0.00,1.20,0.00,0.000,4,0.000,0.050,2647,2905,1876,0,0,0,0,0,0
$GC,8567,0.73,146.0,599.9,12.7,610,8570,0.00,1.15,0.00,0.000,6,0.000,0.035,2653,2195,1876,0,0,0,0,0,0
$GC,8906,0.73,146.0,556.8,12.7,621,8909,0.00,1.20,0.00,0.000,4,0.000,0.050,2653,2906,1875,0,0,0,0,0,0
$GC,8965,0.73,146.0,552.5,12.7,622,8974,0.00,1.15,0.00,0.000,6,0.000,0.035,2658,2191,1876,0,0,0,0,0,0
$GC,9278,0.73,146.0,510.2,12.6,633,9281,0.00,1.20,0.00,0.000,4,0.000,0.050,2658,2904,1874,0,0,0,0,0,0
$GC,9335,0.73,146.0,505.9,12.7,634,9345,0.00,1.15,0.00,0.000,6,0.000,0.036,2662,2198,1874,0,0,0,0,0,0
$GC,9667,0.73,146.0,460.5,12.9,659,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2198,1873,0,0,0,0,0,0
$GC,9979,0.73,146.0,420.2,13.2,684,9982,0.00,1.17,0.00,0.000,4,0.000,0.050,2662,2898,1873,0,0,0,0,0,0
$GC,9997,0.73,146.0,418.5,13.2,685,10005,0.12,1.15,0.00,0.000,6,0.177,0.035,2638,2191,1873,0,0,0,0,0,0
$GC,10321,0.73,146.0,379.3,11.9,711,10325,0.00,1.20,0.00,0.000,4,0.000,0.050,2637,2911,1873,0,0,0,0,0,0
$GC,10392,0.73,146.0,371.0,12.4,716,10401,0.00,1.15,0.00,0.000,6,0.000,0.034,2641,2198,1873,0,0,0,0,0,0
$GC,10715,0.73,146.0,330.9,11.9,742,10719,0.00,1.17,0.00,0.000,4,0.000,0.049,2641,2904,1873,0,0,0,0,0,0
$GC,10759,0.73,146.0,326.1,12.3,745,10767,0.00,1.15,0.00,0.000,6,0.000,0.034,2646,2190,1873,0,0,0,0,0,0
$GC,11084,0.73,146.0,286.2,11.7,771,11088,0.00,1.20,0.00,0.000,4,0.000,0.050,2646,2913,1873,0,0,0,0,0,0
$GC,11176,0.73,146.0,274.9,12.3,778,11180,0.00,1.12,0.00,0.000,6,0.000,0.034,2650,2199,1873,0,0,0,0,0,0
$GC,11504,0.73,146.0,236.4,11.1,812,11511,0.00,1.05,0.00,0.000,4,0.000,0.047,2655,1496,1873,0,0,0,0,0,0
$GC,11531,0.73,146.0,233.5,11.1,816,11537,0.00,1.12,0.00,0.000,6,0.000,0.044,2655,2204,1873,0,0,0,0,0,0
$GC,11869,0.73,146.0,197.3,10.8,867,11876,0.00,1.10,0.00,0.000,4,0.000,0.053,2655,2901,1873,0,0,0,0,0,0
$GC,12037,0.73,146.0,179.4,10.4,892,12044,0.00,1.10,0.00,0.000,6,0.000,0.035,2660,2204,1873,0,0,0,0,0,0
$GC,12376,0.73,146.0,144.6,10.2,943,12383,0.00,1.15,0.00,0.000,4,0.000,0.049,2660,2899,1873,0,0,0,0,0,0
$GC,12474,0.73,146.0,134.0,10.4,958,12484,0.08,1.10,0.00,0.000,6,0.156,0.034,2640,2200,1873,0,0,0,0,0,0
$GC,12816,0.75,164.6,103.1,8.4,1009,12838,0.00,1.08,14.23,0.905,4,0.000,0.048,2644,1493,1814,0,0,0,0,0,0
$GC,12898,0.77,180.6,96.0,8.5,1021,12920,0.00,1.15,15.15,0.910,6,0.000,0.044,2644,2207,1747,0,0,0,0,0,0
$GC,13250,0.83,232.6,65.2,7.0,1074,13298,0.00,1.20,44.15,0.913,4,0.000,0.044,2649,1497,1536,0,0,0,0,0,0
$GC,13332,0.86,258.5,59.1,8.1,1086,13361,0.00,1.17,22.95,0.872,6,0.000,0.044,2649,2204,1430,0,0,0,0,0,0
$GC,13692,0.86,258.5,24.8,11.4,1140,13699,0.00,1.12,0.00,0.000,4,0.000,0.051,2648,2906,1424,0,0,0,0,0,0
$GC,13799,0.86,258.5,13.3,10.2,1156,13806,0.00,1.15,0.00,0.000,6,0.000,0.035,2653,2198,1424,0,0,0,0,0,0
$STATE,13903,end climb,SURFACE_DEPTH_REACHED
$STATE,13903,begin surface coast
$FINISH,1.7,1.010823
$STATE,13927,end surface coast,CONTROL_FINISHED_OK
$STATE,13927,begin surface
$SM_CCo,13943,18.35,0.080,0,0,1262,300.00
$SM_GC,2.73,6.82,0.57,18.35,0.046,0.047,0.080,124,2515,1262,-7.06,-0.90,300.00,0,0,0,0,0,0
$RAFOS_CLK,882
$RAFOS,6,1320814144,4.833333,4.817778,80,62,62,0,0,0,797,195,177,0,0,0
$RAFOS,5,1320813667,4.700000,4.685278,99,64,63,0,0,0,567,180,119,0,0,0
$RAFOS,4,1320813186,4.566667,4.551667,73,59,59,0,0,0,810,221,146,0,0,0
$RAFOS,3,1320812702,4.433333,4.417222,75,62,60,0,0,0,941,219,201,0,0,0
$RAFOS,2,1320812223,4.300000,4.284167,89,62,58,0,0,0,1003,157,213,0,0,0
$RAFOS,1,1320811767,4.166667,4.157500,66,65,61,0,0,0,206,871,217,0,0,0
$RAFOS,0,1320811265,4.033333,4.018055,72,67,59,0,0,0,215,1118,227,0,0,0
$RAFOS_FIX,6658.813965,-5719.412109,091111,040412,5,83,0.45
$IRIDIUM_FIX,6631.12,-5716.55,081111,212123
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.74
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,700.9,68.5
$24V_AH,22.7,26.561
$10V_AH,10.3,20.444
$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,17.275,67.100,347.725,18.350,0.000,0.000,0.000,204.025,6.750,0.000,21.615,3259.372,8075.680,565.403,2172.663,228.902,0.000,1822.162,0.000,1944.630,2520.000,19.745,0.000
$DEVICE_MAMPS,260.100,69.615,1373.175,80.325,0.000,0.000,0.000,251.678,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.061,639.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150308
$DATA_FILE_SIZE,46707,1175
$CAP_FILE_SIZE,137647,0
$CFSIZE,260165632,233431040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1462.8
$CURRENT,0.090,278.1,1
$GPS,091111,053224,6659.499,-5709.582,42,0.8,42,-33.5