version: 66.09
glider: 143
mission: 13
dive: 210
start: 11 9 111 5 38 19
data:
$ID,143
$MISSION,13
$DIVE,210
$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,-80780.422
$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,33
$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
$GPS1,091111,053224,6659.499,-5709.582,42,0.8,42,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-72.0
$GPS2,091111,053748,6659.474,-5709.563,19,0.8,19,-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,111.3,16886,-16.9,-9.167
$D_GRID,738
$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,16,-0.73,-146.0,0.0,0.0,0,65,0.00,0.00,-46.42,0.000,2,0.000,0.000,123,2517,1939,0,0,0,0,0,0
$GC,68,-0.73,-146.0,3.1,-1.3,6,136,8.73,1.20,-54.75,0.000,4,0.265,0.069,2159,1808,3081,0,0,0,0,0,0
$GC,260,-0.73,-146.0,29.3,-19.1,35,267,0.00,1.17,0.00,0.000,6,0.000,0.051,2157,2498,3084,0,0,0,0,0,0
$GC,600,-0.73,-146.0,85.5,-14.5,86,607,0.00,1.15,0.00,0.000,4,0.000,0.066,2151,3219,3084,0,0,0,0,0,0
$GC,746,-0.73,-146.0,107.1,-13.8,108,753,0.00,1.10,0.00,0.000,6,0.000,0.028,2151,2499,3084,0,0,0,0,0,0
$GC,1084,-0.73,-146.0,150.0,-12.2,159,1090,0.00,1.05,0.00,0.000,4,0.000,0.041,2151,1818,3084,0,0,0,0,0,0
$GC,1185,-0.73,-146.0,162.2,-12.1,174,1191,0.00,1.17,0.00,0.000,6,0.000,0.052,2146,2511,3084,0,0,0,0,0,0
$GC,1523,-0.73,-146.0,205.1,-13.0,225,1531,0.00,1.10,0.00,0.000,4,0.000,0.065,2141,3211,3084,0,0,0,0,0,0
$GC,1665,-0.73,-146.0,223.3,-12.5,246,1672,0.00,1.08,0.00,0.000,6,0.000,0.028,2141,2500,3084,0,0,0,0,0,0
$GC,1998,-0.73,-146.0,263.9,-11.7,288,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3083,0,0,0,0,0,0
$GC,2314,-0.73,-146.0,301.6,-12.5,313,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3083,0,0,0,0,0,0
$GC,2630,-0.73,-146.0,338.0,-11.1,338,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3083,0,0,0,0,0,0
$GC,2945,-0.73,-146.0,373.0,-11.3,363,2949,0.00,1.17,0.00,0.000,4,0.000,0.060,2137,3217,3083,0,0,0,0,0,0
$GC,2997,-0.73,-146.0,379.0,-11.5,367,3001,0.00,1.08,0.00,0.000,6,0.000,0.028,2136,2499,3083,0,0,0,0,0,0
$GC,3327,-0.73,-146.0,417.7,-12.0,393,3329,0.12,0.00,0.00,0.000,6,0.170,0.000,2166,2500,3084,0,0,0,0,0,0
$GC,3644,-0.73,-146.0,448.9,-9.8,418,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2500,3084,0,0,0,0,0,0
$GC,3957,-0.73,-146.0,479.9,-9.6,443,3960,0.00,1.17,0.00,0.000,4,0.000,0.061,2164,3217,3085,0,0,0,0,0,0
$GC,4036,-0.73,-146.0,487.8,-9.8,449,4040,0.00,1.05,0.00,0.000,6,0.000,0.027,2164,2512,3085,0,0,0,0,0,0
$GC,4379,-0.73,-146.0,520.8,-9.4,466,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2512,3086,0,0,0,0,0,0
$GC,4684,-0.73,-146.0,548.5,-9.0,476,4688,0.00,1.15,0.00,0.000,4,0.000,0.062,2159,3213,3085,0,0,0,0,0,0
$GC,4735,-0.73,-146.0,551.6,-9.0,477,4740,0.00,1.08,0.00,0.000,6,0.000,0.028,2159,2502,3085,0,0,0,0,0,0
$GC,5056,-0.73,-146.0,583.2,-9.5,488,5059,0.00,1.17,0.00,0.000,4,0.000,0.060,2154,3220,3086,0,0,0,0,0,0
$GC,5127,-0.73,-146.0,589.5,-9.5,490,5132,0.00,1.08,0.00,0.000,6,0.000,0.027,2154,2512,3085,0,0,0,0,0,0
$GC,5461,-0.73,-146.0,622.2,-9.6,501,5464,0.00,1.05,0.00,0.000,4,0.000,0.040,2154,1821,3087,0,0,0,0,0,0
$GC,5511,-0.73,-146.0,625.3,-9.5,502,5516,0.00,1.17,0.00,0.000,6,0.000,0.050,2150,2515,3087,0,0,0,0,0,0
$GC,5832,-0.73,-146.0,657.4,-9.5,513,5836,0.00,1.08,0.00,0.000,4,0.000,0.063,2145,3206,3086,0,0,0,0,0,0
$GC,5902,-0.73,-146.0,663.8,-9.6,515,5907,0.00,1.08,0.00,0.000,6,0.000,0.027,2145,2494,3086,0,0,0,0,0,0
$GC,6238,-0.73,-146.0,696.4,-9.7,526,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2494,3086,0,0,0,0,0,0
$GC,6543,-0.73,-146.0,726.7,-9.9,536,6546,0.00,1.17,0.00,0.000,4,0.000,0.060,2140,3214,3086,0,0,0,0,0,0
$GC,6600,-0.73,-146.0,730.1,-10.0,537,6610,0.00,1.08,0.00,0.000,6,0.000,0.027,2140,2502,3087,0,0,0,0,0,0
$STATE,6667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6667,begin apogee
$GC,6673,-0.16,0.0,739.7,-10.2,540,6799,0.62,0.00,119.85,1.336,6,0.134,0.000,2342,2190,2485,0,0,0,0,0,0
$STATE,6800,end apogee,CONTROL_FINISHED_OK
$STATE,6800,begin climb
$GC,6802,0.73,146.0,744.0,0.0,544,6941,0.82,1.20,128.52,1.283,4,0.063,0.047,2636,1502,1888,0,0,0,0,0,0
$GC,7045,0.73,146.0,728.1,11.4,551,7053,0.00,1.23,0.00,0.000,6,0.000,0.041,2636,2203,1883,0,0,0,0,0,0
$GC,7360,0.73,146.0,684.6,12.9,562,7364,0.00,1.15,0.00,0.000,4,0.000,0.050,2636,2905,1881,0,0,0,0,0,0
$GC,7418,0.73,146.0,680.1,13.0,563,7426,0.00,1.15,0.00,0.000,6,0.000,0.034,2641,2212,1879,0,0,0,0,0,0
$GC,7734,0.73,146.0,635.8,13.0,574,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2212,1878,0,0,0,0,0,0
$GC,8038,0.73,146.0,596.3,12.8,584,8042,0.00,1.10,0.00,0.000,4,0.000,0.046,2646,1493,1878,0,0,0,0,0,0
$GC,8071,0.73,146.0,592.2,12.7,585,8075,0.00,1.15,0.00,0.000,6,0.000,0.042,2646,2206,1878,0,0,0,0,0,0
$GC,8411,0.73,146.0,548.1,13.0,596,8414,0.00,1.10,0.00,0.000,4,0.000,0.052,2646,2896,1876,0,0,0,0,0,0
$GC,8455,0.73,146.0,543.8,12.9,597,8460,0.00,1.15,0.00,0.000,6,0.000,0.034,2650,2190,1876,0,0,0,0,0,0
$GC,8782,0.73,146.0,499.2,13.3,608,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2190,1876,0,0,0,0,0,0
$GC,9098,0.73,146.0,458.1,13.5,633,9102,0.00,1.17,0.00,0.000,4,0.000,0.047,2651,2896,1876,0,0,0,0,0,0
$GC,9124,0.73,146.0,454.5,13.4,635,9128,0.00,1.10,0.00,0.000,6,0.000,0.035,2655,2205,1876,0,0,0,0,0,0
$GC,9453,0.73,146.0,411.1,13.3,661,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2204,1876,0,0,0,0,0,0
$GC,9770,0.73,146.0,369.8,13.2,686,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2205,1876,0,0,0,0,0,0
$GC,10086,0.73,146.0,328.9,12.8,711,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2205,1876,0,0,0,0,0,0
$GC,10401,0.73,146.0,290.1,12.2,736,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2204,1876,0,0,0,0,0,0
$GC,10716,0.73,146.0,252.4,11.7,761,10719,0.00,1.15,0.00,0.000,4,0.000,0.049,2655,2900,1876,0,0,0,0,0,0
$GC,10768,0.73,146.0,246.1,12.2,767,10774,0.00,1.10,0.00,0.000,6,0.000,0.034,2660,2199,1876,0,0,0,0,0,0
$GC,11106,0.73,146.0,207.0,11.7,818,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2199,1876,0,0,0,0,0,0
$GC,11443,0.73,146.0,169.4,10.5,869,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2199,1876,0,0,0,0,0,0
$GC,11784,0.73,146.0,133.0,11.1,920,11791,0.00,1.17,0.00,0.000,4,0.000,0.048,2660,2910,1876,0,0,0,0,0,0
$GC,11837,0.73,146.0,126.9,11.2,928,11844,0.08,1.12,0.00,0.000,6,0.149,0.034,2640,2195,1876,0,0,0,0,0,0
$GC,12177,0.74,158.6,94.3,8.6,979,12190,0.00,1.08,9.68,0.861,4,0.000,0.046,2643,1494,1838,0,0,0,0,0,0
$GC,12231,0.75,163.2,89.4,9.0,987,12244,0.00,1.12,5.60,0.757,6,0.000,0.042,2643,2202,1818,0,0,0,0,0,0
$GC,12575,0.85,249.2,61.5,5.5,1039,12656,0.00,1.17,72.03,0.901,4,0.000,0.050,2643,2901,1467,0,0,0,0,0,0
$GC,12748,0.85,249.2,48.3,9.4,1065,12757,0.00,1.15,0.00,0.000,6,0.000,0.034,2648,2199,1464,0,0,0,0,0,0
$GC,13088,0.85,249.2,16.9,9.3,1116,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2199,1461,0,0,0,0,0,0
$STATE,13244,end climb,SURFACE_DEPTH_REACHED
$STATE,13244,begin surface coast
$FINISH,1.8,1.013246
$STATE,13272,end surface coast,CONTROL_FINISHED_OK
$STATE,13272,begin surface
$SM_CCo,13289,22.55,0.079,0,0,1262,300.00
$SM_GC,2.25,6.68,0.57,22.55,0.036,0.049,0.079,121,2512,1262,-7.06,-0.88,300.00,0,0,0,0,0,0
$RAFOS_CLK,822
$RAFOS,6,1320828547,8.833333,8.818611,97,61,59,0,0,0,793,182,123,0,0,0
$RAFOS,5,1320828063,8.700000,8.684167,97,65,62,0,0,0,605,203,215,0,0,0
$RAFOS,4,1320827585,8.566667,8.551389,99,61,58,0,0,0,832,209,143,0,0,0
$RAFOS,3,1320827105,8.433333,8.418056,104,68,63,0,0,0,938,206,189,0,0,0
$RAFOS,2,1320826625,8.300000,8.284722,75,62,59,0,0,0,1010,210,170,0,0,0
$RAFOS,1,1320826144,8.166667,8.151111,64,61,59,0,0,0,1008,193,206,0,0,0
$RAFOS,0,1320825665,8.033334,8.018056,73,63,56,0,0,0,1135,204,217,0,0,0
$RAFOS_FIX,6658.963867,-5712.811035,091111,080844,7,87,0.25
$IRIDIUM_FIX,6631.12,-5708.95,091111,010151
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.55
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,17.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,651.6,101.9
$24V_AH,22.9,26.676
$10V_AH,10.3,20.528
$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,17.050,46.200,335.675,22.550,0.000,0.000,0.000,210.525,7.000,0.000,19.839,3159.416,7733.557,495.664,2062.502,210.699,0.000,1684.005,0.000,1831.552,2520.000,18.068,0.000
$DEVICE_MAMPS,264.690,68.850,1335.690,78.795,0.000,0.000,0.000,253.925,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.083,625.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150232
$DATA_FILE_SIZE,43321,1144
$CAP_FILE_SIZE,123764,0
$CFSIZE,260165632,233381888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.4
$CURRENT,0.108,211.3,1
$GPS,091111,092159,6659.329,-5704.680,38,0.7,38,-33.5