version: 66.09
glider: 143
mission: 13
dive: 211
start: 11 9 111 9 27 43
data:
$ID,143
$MISSION,13
$DIVE,211
$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,-80781.688
$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,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
$GPS1,091111,092159,6659.329,-5704.680,38,0.7,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-71.6
$GPS2,091111,092712,6659.320,-5704.669,19,0.8,19,-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,82.0,13834,-16.9,-9.167
$D_GRID,717
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-49.70,0.000,2,0.000,0.000,120,2515,1987,0,0,0,0,0,0
$GC,71,-0.73,-146.0,3.1,-1.2,7,139,8.62,1.20,-52.92,0.000,4,0.261,0.068,2157,1805,3082,0,0,0,0,0,0
$GC,174,-0.73,-146.0,12.4,-14.9,22,183,0.00,1.20,0.00,0.000,6,0.000,0.051,2155,2509,3084,0,0,0,0,0,0
$GC,513,-0.73,-146.0,73.6,-16.1,73,520,0.00,1.12,0.00,0.000,4,0.000,0.063,2149,3220,3084,0,0,0,0,0,0
$GC,634,-0.73,-146.0,90.8,-14.3,91,641,0.00,1.10,0.00,0.000,6,0.000,0.028,2149,2499,3084,0,0,0,0,0,0
$GC,972,-0.73,-146.0,137.4,-13.8,142,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2499,3084,0,0,0,0,0,0
$GC,1311,-0.73,-146.0,181.3,-12.4,193,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2499,3084,0,0,0,0,0,0
$GC,1649,-0.73,-146.0,220.5,-11.1,244,1656,0.00,1.17,0.00,0.000,4,0.000,0.059,2145,3216,3083,0,0,0,0,0,0
$GC,1697,-0.73,-146.0,225.7,-11.3,251,1704,0.00,1.08,0.00,0.000,6,0.000,0.027,2146,2501,3083,0,0,0,0,0,0
$GC,2029,-0.73,-146.0,263.4,-11.3,293,2033,0.00,1.05,0.00,0.000,4,0.000,0.041,2145,1814,3083,0,0,0,0,0,0
$GC,2095,-0.73,-146.0,271.1,-11.5,298,2098,0.00,1.17,0.00,0.000,6,0.000,0.050,2140,2516,3083,0,0,0,0,0,0
$GC,2425,-0.73,-146.0,309.7,-11.4,324,2429,0.00,1.10,0.00,0.000,4,0.000,0.063,2135,3219,3083,0,0,0,0,0,0
$GC,2478,-0.73,-146.0,316.0,-11.7,328,2482,0.08,1.08,0.00,0.000,6,0.154,0.028,2158,2499,3083,0,0,0,0,0,0
$GC,2806,-0.73,-146.0,349.1,-10.0,354,2810,0.00,1.17,0.00,0.000,4,0.000,0.060,2155,3215,3083,0,0,0,0,0,0
$GC,2876,-0.73,-146.0,356.0,-10.3,359,2884,0.00,1.08,0.00,0.000,6,0.000,0.027,2155,2507,3083,0,0,0,0,0,0
$GC,3201,-0.73,-146.0,390.5,-10.7,385,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2507,3083,0,0,0,0,0,0
$GC,3515,-0.73,-146.0,423.6,-10.4,410,3519,0.00,1.15,0.00,0.000,4,0.000,0.060,2151,3213,3084,0,0,0,0,0,0
$GC,3568,-0.73,-146.0,429.4,-10.9,414,3572,0.00,1.05,0.00,0.000,6,0.000,0.028,2151,2506,3084,0,0,0,0,0,0
$GC,3898,-0.73,-146.0,465.0,-10.8,440,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2506,3084,0,0,0,0,0,0
$GC,4213,-0.73,-146.0,498.1,-10.5,465,4217,0.00,1.15,0.00,0.000,4,0.000,0.060,2146,3211,3085,0,0,0,0,0,0
$GC,4247,-0.73,-146.0,501.9,-10.7,468,4251,0.00,1.05,0.00,0.000,6,0.000,0.028,2146,2506,3084,0,0,0,0,0,0
$GC,4587,-0.73,-146.0,537.2,-10.3,479,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2506,3085,0,0,0,0,0,0
$GC,4894,-0.73,-146.0,566.8,-9.5,489,4898,0.00,1.15,0.00,0.000,4,0.000,0.060,2142,3213,3085,0,0,0,0,0,0
$GC,4932,-0.73,-146.0,570.3,-9.6,490,4937,0.00,1.08,0.00,0.000,6,0.000,0.027,2142,2497,3085,0,0,0,0,0,0
$GC,5266,-0.73,-146.0,605.1,-10.4,501,5269,0.00,1.17,0.00,0.000,4,0.000,0.059,2137,3219,3086,0,0,0,0,0,0
$GC,5303,-0.73,-146.0,608.5,-10.4,502,5308,0.00,1.08,0.00,0.000,6,0.000,0.026,2137,2506,3085,0,0,0,0,0,0
$GC,5637,-0.73,-146.0,644.5,-10.9,513,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3086,0,0,0,0,0,0
$GC,5944,-0.73,-146.0,677.4,-10.8,523,5948,0.00,1.15,0.00,0.000,4,0.000,0.060,2132,3212,3086,0,0,0,0,0,0
$GC,5995,-0.73,-146.0,681.1,-10.7,524,6001,0.12,1.08,0.00,0.000,6,0.163,0.027,2163,2496,3086,0,0,0,0,0,0
$GC,6318,-0.73,-146.0,710.6,-8.6,535,6322,0.00,1.17,0.00,0.000,4,0.000,0.060,2160,3217,3086,0,0,0,0,0,0
$GC,6376,-0.73,-146.0,713.8,-8.7,536,6384,0.00,1.08,0.00,0.000,6,0.000,0.027,2160,2499,3086,0,0,0,0,0,0
$STATE,6412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6412,begin apogee
$GC,6418,-0.16,0.0,719.7,-9.1,538,6544,0.55,0.00,119.25,1.320,6,0.127,0.000,2340,2198,2485,0,0,0,0,0,0
$STATE,6545,end apogee,CONTROL_FINISHED_OK
$STATE,6545,begin climb
$GC,6547,0.73,146.0,724.4,0.0,542,6683,0.85,1.17,127.65,1.271,4,0.070,0.044,2639,1516,1888,0,0,0,0,0,0
$GC,6767,0.73,146.0,709.2,11.1,549,6772,0.00,1.23,0.00,0.000,6,0.000,0.040,2639,2217,1884,0,0,0,0,0,0
$GC,7103,0.73,146.0,665.7,12.9,560,7107,0.00,1.12,0.00,0.000,4,0.000,0.050,2639,2908,1879,0,0,0,0,0,0
$GC,7170,0.73,146.0,656.6,13.2,562,7174,0.00,1.12,0.00,0.000,6,0.000,0.034,2644,2214,1879,0,0,0,0,0,0
$GC,7510,0.73,146.0,610.7,13.7,573,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2214,1877,0,0,0,0,0,0
$GC,7816,0.73,146.0,569.8,13.2,583,7820,0.00,1.08,0.00,0.000,4,0.000,0.045,2649,1499,1877,0,0,0,0,0,0
$GC,7854,0.73,146.0,565.4,13.2,584,7859,0.00,1.15,0.00,0.000,6,0.000,0.041,2649,2206,1875,0,0,0,0,0,0
$GC,8190,0.73,146.0,519.4,13.7,595,8193,0.00,1.10,0.00,0.000,4,0.000,0.052,2649,2898,1875,0,0,0,0,0,0
$GC,8241,0.73,146.0,514.4,13.9,596,8246,0.00,1.15,0.00,0.000,6,0.000,0.034,2654,2190,1875,0,0,0,0,0,0
$GC,8562,0.73,146.0,467.2,13.7,617,8566,0.00,1.05,0.00,0.000,4,0.000,0.047,2659,1493,1874,0,0,0,0,0,0
$GC,8606,0.73,146.0,461.8,13.6,620,8614,0.00,1.15,0.00,0.000,6,0.000,0.042,2659,2202,1874,0,0,0,0,0,0
$GC,8931,0.73,146.0,415.5,14.2,646,8935,0.00,1.10,0.00,0.000,4,0.000,0.053,2659,2900,1874,0,0,0,0,0,0
$GC,8984,0.73,146.0,407.5,14.8,650,8988,0.08,1.12,0.00,0.000,6,0.152,0.034,2640,2191,1874,0,0,0,0,0,0
$GC,9314,0.73,146.0,364.9,12.5,676,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2191,1874,0,0,0,0,0,0
$GC,9628,0.73,146.0,327.0,11.8,701,9632,0.00,1.17,0.00,0.000,4,0.000,0.049,2639,2900,1874,0,0,0,0,0,0
$GC,9681,0.73,146.0,320.5,12.5,705,9686,0.00,1.10,0.00,0.000,6,0.000,0.034,2642,2199,1874,0,0,0,0,0,0
$GC,10011,0.73,146.0,280.6,11.7,731,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,1874,0,0,0,0,0,0
$GC,10328,0.73,146.0,245.5,11.1,759,10337,0.00,1.17,0.00,0.000,4,0.000,0.049,2643,2909,1874,0,0,0,0,0,0
$GC,10384,0.73,146.0,238.9,11.8,767,10393,0.00,1.12,0.00,0.000,6,0.000,0.034,2648,2193,1874,0,0,0,0,0,0
$GC,10724,0.73,146.0,201.4,11.2,818,10731,0.00,1.17,0.00,0.000,4,0.000,0.049,2647,2905,1874,0,0,0,0,0,0
$GC,10777,0.73,146.0,195.2,11.4,826,10784,0.00,1.10,0.00,0.000,6,0.000,0.034,2652,2200,1874,0,0,0,0,0,0
$GC,11114,0.73,146.0,158.3,10.3,877,11122,0.00,1.05,0.00,0.000,4,0.000,0.047,2657,1494,1874,0,0,0,0,0,0
$GC,11269,0.73,146.0,141.8,10.5,900,11276,0.00,1.12,0.00,0.000,6,0.000,0.043,2657,2206,1874,0,0,0,0,0,0
$GC,11609,0.73,146.0,106.1,10.2,951,11618,0.00,1.10,0.00,0.000,4,0.000,0.052,2657,2907,1874,0,0,0,0,0,0
$GC,11817,0.75,165.4,86.2,8.3,982,11838,0.00,1.10,15.20,0.893,6,0.000,0.035,2662,2204,1809,0,0,0,0,0,0
$GC,12169,0.87,261.2,59.2,5.1,1035,12258,0.00,1.08,79.53,0.897,4,0.000,0.044,2667,1494,1418,0,0,0,0,0,0
$GC,12344,0.87,261.2,41.8,12.2,1061,12351,0.00,1.15,0.00,0.000,6,0.000,0.042,2667,2195,1414,0,0,0,0,0,0
$GC,12683,0.87,261.2,4.3,10.2,1112,12690,0.00,1.12,0.00,0.000,4,0.000,0.044,2672,1494,1411,0,0,0,0,0,0
$STATE,12701,end climb,SURFACE_DEPTH_REACHED
$STATE,12701,begin surface coast
$FINISH,1.7,1.016552
$STATE,12715,end surface coast,CONTROL_FINISHED_OK
$STATE,12715,begin surface
$SM_CCo,12733,16.83,0.079,0,0,1261,300.00
$SM_GC,2.99,6.80,1.70,16.83,0.037,0.044,0.079,117,2509,1261,-7.08,-0.85,300.00,0,0,0,0,0,0
$RAFOS_CLK,780
$RAFOS,6,1320842944,12.833333,12.817778,65,57,54,0,0,0,177,199,130,0,0,0
$RAFOS,5,1320842467,12.700000,12.685278,65,58,54,0,0,0,582,219,205,0,0,0
$RAFOS,4,1320841982,12.566667,12.550555,83,59,58,0,0,0,851,178,216,0,0,0
$RAFOS,3,1320841505,12.433333,12.418056,67,60,58,0,0,0,950,204,162,0,0,0
$RAFOS,2,1320841021,12.300000,12.283611,72,61,52,0,0,0,1037,207,187,0,0,0
$RAFOS,1,1320840547,12.166667,12.151944,67,65,59,0,0,0,203,993,150,0,0,0
$RAFOS,0,1320840072,12.033333,12.020000,65,59,57,0,0,0,195,207,149,0,0,0
$RAFOS_FIX,6701.478027,-5713.192871,091111,121256,4,72,0.67
$IRIDIUM_FIX,6631.12,-5659.72,091111,050519
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.59
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,17.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,651.1,79.2
$24V_AH,22.9,26.791
$10V_AH,10.3,20.609
$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,17.100,57.125,341.625,16.825,0.000,0.000,0.000,199.325,7.000,0.000,20.706,3069.151,7253.744,508.598,2034.095,217.345,0.000,1690.104,0.000,1810.162,2520.000,18.008,0.000
$DEVICE_MAMPS,260.865,68.085,1319.625,78.795,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.965,612.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,43343,1117
$CAP_FILE_SIZE,125098,0
$CFSIZE,260165632,233316352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1466.4
$CURRENT,0.176,296.2,1
$GPS,091111,130153,6701.222,-5702.904,37,0.7,37,-33.5