version: 66.09
glider: 143
mission: 13
dive: 212
start: 11 9 111 13 7 3
data:
$ID,143
$MISSION,13
$DIVE,212
$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,-80782.938
$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,47
$R_STBD_OVSHOOT,24
$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
$GPS1,091111,130153,6701.222,-5702.904,37,0.7,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-70.0
$GPS2,091111,130631,6701.230,-5702.939,19,0.8,19,-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,134.9,11275,-16.9,-9.167
$D_GRID,697
$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,15,-0.73,-146.0,0.0,0.0,0,58,0.00,0.00,-40.17,0.000,2,0.000,0.000,116,2512,1851,0,0,0,0,0,0
$GC,61,-0.73,-146.0,3.1,-1.6,6,150,8.73,1.15,-70.03,0.000,4,0.260,0.070,2161,1821,3083,0,0,0,0,0,0
$GC,402,-0.73,-146.0,50.7,-16.9,57,409,0.00,1.17,0.00,0.000,6,0.000,0.051,2158,2514,3084,0,0,0,0,0,0
$GC,739,-0.73,-146.0,102.4,-14.0,108,745,0.00,1.10,0.00,0.000,4,0.000,0.064,2153,3212,3085,0,0,0,0,0,0
$GC,851,-0.73,-146.0,117.9,-13.8,125,858,0.00,1.08,0.00,0.000,6,0.000,0.028,2153,2503,3084,0,0,0,0,0,0
$GC,1189,-0.73,-146.0,161.7,-11.7,176,1196,0.00,1.05,0.00,0.000,4,0.000,0.041,2153,1818,3084,0,0,0,0,0,0
$GC,1275,-0.73,-146.0,171.9,-12.3,189,1281,0.00,1.17,0.00,0.000,6,0.000,0.051,2148,2516,3084,0,0,0,0,0,0
$GC,1612,-0.73,-146.0,214.4,-11.9,240,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2516,3083,0,0,0,0,0,0
$GC,1947,-0.73,-146.0,255.4,-12.7,288,1950,0.00,1.10,0.00,0.000,4,0.000,0.064,2143,3216,3083,0,0,0,0,0,0
$GC,2040,-0.73,-146.0,266.6,-12.4,295,2044,0.00,1.08,0.00,0.000,6,0.000,0.028,2143,2501,3082,0,0,0,0,0,0
$GC,2369,-0.73,-146.0,305.0,-11.5,321,2372,0.00,1.05,0.00,0.000,4,0.000,0.041,2143,1812,3082,0,0,0,0,0,0
$GC,2435,-0.73,-146.0,312.3,-10.9,326,2438,0.00,1.17,0.00,0.000,6,0.000,0.050,2138,2514,3082,0,0,0,0,0,0
$GC,2765,-0.73,-146.0,348.3,-10.5,352,2769,0.00,1.10,0.00,0.000,4,0.000,0.063,2133,3219,3083,0,0,0,0,0,0
$GC,2859,-0.73,-146.0,358.9,-11.2,359,2863,0.10,1.08,0.00,0.000,6,0.149,0.028,2164,2499,3083,0,0,0,0,0,0
$GC,3188,-0.73,-146.0,389.3,-8.9,385,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2499,3083,0,0,0,0,0,0
$GC,3503,-0.73,-146.0,418.7,-9.4,410,3507,0.00,1.17,0.00,0.000,4,0.000,0.061,2161,3217,3083,0,0,0,0,0,0
$GC,3614,-0.73,-146.0,428.6,-9.2,418,3624,0.00,1.08,0.00,0.000,6,0.000,0.027,2161,2504,3083,0,0,0,0,0,0
$GC,3938,-0.73,-146.0,458.8,-9.5,444,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2504,3084,0,0,0,0,0,0
$GC,4253,-0.73,-146.0,488.4,-9.4,469,4257,0.00,1.15,0.00,0.000,4,0.000,0.059,2156,3211,3084,0,0,0,0,0,0
$GC,4319,-0.73,-146.0,494.8,-9.8,474,4323,0.00,1.05,0.00,0.000,6,0.000,0.028,2156,2505,3084,0,0,0,0,0,0
$GC,4658,-0.73,-146.0,527.1,-9.6,488,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3085,0,0,0,0,0,0
$GC,4965,-0.73,-146.0,557.3,-9.8,498,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3085,0,0,0,0,0,0
$GC,5271,-0.73,-146.0,587.4,-9.9,508,5274,0.00,1.15,0.00,0.000,4,0.000,0.060,2152,3210,3086,0,0,0,0,0,0
$GC,5337,-0.73,-146.0,594.0,-9.8,510,5340,0.00,1.05,0.00,0.000,6,0.000,0.028,2152,2502,3085,0,0,0,0,0,0
$GC,5676,-0.73,-146.0,627.3,-9.7,521,5680,0.00,1.15,0.00,0.000,4,0.000,0.059,2147,3210,3085,0,0,0,0,0,0
$GC,5743,-0.73,-146.0,633.9,-9.8,523,5747,0.00,1.05,0.00,0.000,6,0.000,0.028,2147,2501,3085,0,0,0,0,0,0
$GC,6083,-0.73,-146.0,668.5,-10.1,534,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2501,3085,0,0,0,0,0,0
$STATE,6358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6358,begin apogee
$GC,6365,-0.16,0.0,696.8,-10.2,543,6489,0.60,0.00,118.90,1.307,6,0.136,0.000,2340,2192,2485,0,0,0,0,0,0
$STATE,6490,end apogee,CONTROL_FINISHED_OK
$STATE,6490,begin climb
$GC,6492,0.73,146.0,701.7,0.0,547,6627,0.85,1.30,127.40,1.258,4,0.069,0.044,2635,2906,1888,0,0,0,0,0,0
$GC,6659,0.74,160.9,693.1,8.5,552,6680,0.00,1.23,14.75,1.134,6,0.000,0.032,2639,2209,1827,0,0,0,0,0,0
$GC,6987,0.74,160.9,649.7,12.9,563,6991,0.00,1.20,0.00,0.000,4,0.000,0.046,2640,2911,1821,0,0,0,0,0,0
$GC,6998,0.74,160.9,649.7,12.9,563,7003,0.00,1.20,0.00,0.000,6,0.000,0.033,2645,2195,1821,0,0,0,0,0,0
$GC,7325,0.74,160.9,603.0,13.7,574,7329,0.00,1.20,0.00,0.000,4,0.000,0.046,2645,2906,1819,0,0,0,0,0,0
$GC,7359,0.74,160.9,598.5,13.7,575,7363,0.00,1.15,0.00,0.000,6,0.000,0.034,2649,2195,1820,0,0,0,0,0,0
$GC,7698,0.74,160.9,552.4,13.6,586,7702,0.00,1.20,0.00,0.000,4,0.000,0.047,2649,2910,1819,0,0,0,0,0,0
$GC,7709,0.74,160.9,552.4,13.6,586,7714,0.00,1.17,0.00,0.000,6,0.000,0.034,2654,2189,1819,0,0,0,0,0,0
$GC,8037,0.74,160.9,503.7,14.6,597,8040,0.00,1.20,0.00,0.000,4,0.000,0.047,2654,2908,1817,0,0,0,0,0,0
$GC,8094,0.74,160.9,495.9,14.7,600,8102,0.00,1.15,0.00,0.000,6,0.000,0.034,2659,2199,1817,0,0,0,0,0,0
$GC,8419,0.74,160.9,446.8,15.2,626,8423,0.00,1.05,0.00,0.000,4,0.000,0.047,2664,1497,1817,0,0,0,0,0,0
$GC,8450,0.74,160.9,442.7,14.7,628,8458,0.00,1.17,0.00,0.000,6,0.000,0.041,2664,2220,1817,0,0,0,0,0,0
$GC,8775,0.74,160.9,394.6,14.6,654,8779,0.00,1.08,0.00,0.000,4,0.000,0.052,2664,2899,1817,0,0,0,0,0,0
$GC,8806,0.74,160.9,390.4,14.7,656,8814,0.00,1.15,0.00,0.000,6,0.000,0.034,2669,2188,1817,0,0,0,0,0,0
$GC,9131,0.74,160.9,342.3,14.4,682,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2188,1817,0,0,0,0,0,0
$GC,9446,0.74,160.9,296.6,13.9,707,9450,0.00,1.05,0.00,0.000,4,0.000,0.047,2674,1490,1817,0,0,0,0,0,0
$GC,9513,0.74,160.9,286.9,14.4,712,9517,0.10,1.12,0.00,0.000,6,0.152,0.043,2643,2202,1817,0,0,0,0,0,0
$GC,9835,0.74,160.9,248.2,12.1,738,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2201,1817,0,0,0,0,0,0
$GC,10175,0.74,160.9,206.3,12.1,789,10182,0.00,1.10,0.00,0.000,4,0.000,0.052,2643,2899,1817,0,0,0,0,0,0
$GC,10381,0.74,160.9,181.3,11.7,820,10387,0.00,1.10,0.00,0.000,6,0.000,0.034,2646,2199,1817,0,0,0,0,0,0
$GC,10719,0.74,160.9,144.4,10.0,871,10725,0.00,1.05,0.00,0.000,4,0.000,0.047,2651,1495,1816,0,0,0,0,0,0
$GC,10778,0.74,160.9,138.0,10.3,880,10785,0.00,1.12,0.00,0.000,6,0.000,0.042,2651,2207,1817,0,0,0,0,0,0
$GC,11118,0.75,167.8,104.4,8.9,931,11131,0.00,1.10,5.30,0.763,4,0.000,0.052,2651,2898,1799,0,0,0,0,0,0
$GC,11384,0.78,189.0,80.3,8.3,971,11413,0.00,1.10,19.15,0.903,6,0.000,0.035,2656,2200,1713,0,0,0,0,0,0
$GC,11744,0.87,264.1,51.3,6.0,1025,11813,0.00,1.15,62.70,0.889,4,0.000,0.047,2661,1492,1407,0,0,0,0,0,0
$GC,11920,0.87,264.1,34.1,9.6,1051,11927,0.00,1.15,0.00,0.000,6,0.000,0.043,2661,2195,1403,0,0,0,0,0,0
$STATE,12211,end climb,SURFACE_DEPTH_REACHED
$STATE,12211,begin surface coast
$FINISH,1.6,1.014320
$STATE,12230,end surface coast,CONTROL_FINISHED_OK
$STATE,12230,begin surface
$SM_CCo,12246,15.57,0.078,0,0,1261,300.00
$SM_GC,2.67,6.85,0.52,15.57,0.045,0.051,0.078,126,2514,1261,-7.06,-0.85,300.00,0,0,0,0,0,0
$RAFOS_CLK,751
$RAFOS,2,1320855424,16.299999,16.284445,82,62,57,0,0,0,1032,194,224,0,0,0
$RAFOS,1,1320854945,16.166666,16.151388,60,59,59,0,0,0,227,202,191,0,0,0
$RAFOS,0,1320854461,16.033333,16.016945,65,62,56,0,0,0,181,208,154,0,0,0
$RAFOS_FIX,6701.478027,-5713.192871,091111,121256,4,72,0.67
$IRIDIUM_FIX,6631.12,-5701.34,091111,090945
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.30
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,17.10
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,600.3,110.7
$24V_AH,23.0,26.907
$10V_AH,10.3,20.686
$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,17.225,50.625,348.200,15.575,0.000,0.000,0.000,167.800,6.000,0.000,19.974,2974.419,6914.409,506.362,1946.865,206.307,0.000,1618.521,0.000,1758.350,1440.000,19.353,0.000
$DEVICE_MAMPS,260.100,69.615,1307.385,78.030,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.490,602.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43291,1098
$CAP_FILE_SIZE,118302,0
$CFSIZE,260165632,233259008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.9
$CURRENT,0.199,309.6,1
$GPS,091111,163323,6701.659,-5700.229,71,0.8,71,-33.5