version: 66.09
glider: 143
mission: 13
dive: 213
start: 11 9 111 16 38 38
data:
$ID,143
$MISSION,13
$DIVE,213
$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,-80784.195
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,091111,163323,6701.659,-5700.229,71,0.8,71,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.5
$GPS2,091111,163806,6701.646,-5700.221,15,1.9,15,-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,148.1,9175,-16.9,-9.167
$D_GRID,676
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.75,0.000,2,0.000,0.000,125,2516,1879,0,0,0,0,0,0
$GC,63,-0.73,-146.0,3.1,-1.7,6,136,8.62,1.20,-58.45,0.000,4,0.260,0.068,2158,1806,3083,0,0,0,0,0,0
$GC,374,-0.73,-146.0,48.4,-15.1,53,383,0.00,1.20,0.00,0.000,6,0.000,0.051,2156,2512,3085,0,0,0,0,0,0
$GC,715,-0.73,-146.0,101.9,-13.6,104,721,0.00,1.10,0.00,0.000,4,0.000,0.064,2150,3211,3085,0,0,0,0,0,0
$GC,874,-0.73,-146.0,123.9,-14.3,128,881,0.00,1.08,0.00,0.000,6,0.000,0.030,2150,2501,3084,0,0,0,0,0,0
$GC,1212,-0.73,-146.0,169.4,-12.8,179,1218,0.00,1.17,0.00,0.000,4,0.000,0.060,2146,3213,3084,0,0,0,0,0,0
$GC,1271,-0.73,-146.0,177.0,-12.4,188,1278,0.00,1.08,0.00,0.000,6,0.000,0.028,2146,2503,3083,0,0,0,0,0,0
$GC,1609,-0.73,-146.0,218.7,-11.8,239,1616,0.00,1.05,0.00,0.000,4,0.000,0.041,2146,1819,3083,0,0,0,0,0,0
$GC,1649,-0.73,-146.0,223.5,-12.1,245,1658,0.00,1.17,0.00,0.000,6,0.000,0.052,2141,2516,3083,0,0,0,0,0,0
$GC,1990,-0.73,-146.0,262.7,-10.8,288,1994,0.00,1.10,0.00,0.000,4,0.000,0.065,2136,3217,3083,0,0,0,0,0,0
$GC,2169,-0.73,-146.0,282.8,-11.9,301,2178,0.08,1.08,0.00,0.000,6,0.153,0.028,2159,2503,3083,0,0,0,0,0,0
$GC,2490,-0.73,-146.0,316.9,-10.4,327,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2503,3083,0,0,0,0,0,0
$GC,2807,-0.73,-146.0,349.4,-10.3,352,2810,0.00,1.17,0.00,0.000,4,0.000,0.061,2156,3219,3083,0,0,0,0,0,0
$GC,2859,-0.73,-146.0,355.0,-10.1,356,2863,0.00,1.08,0.00,0.000,6,0.000,0.028,2156,2501,3083,0,0,0,0,0,0
$GC,3192,-0.73,-146.0,388.9,-10.4,382,3196,0.00,1.17,0.00,0.000,4,0.000,0.059,2152,3220,3084,0,0,0,0,0,0
$GC,3246,-0.73,-146.0,394.9,-10.5,386,3250,0.00,1.08,0.00,0.000,6,0.000,0.028,2152,2498,3084,0,0,0,0,0,0
$GC,3577,-0.73,-146.0,428.8,-9.8,412,3580,0.00,1.02,0.00,0.000,4,0.000,0.039,2152,1822,3084,0,0,0,0,0,0
$GC,3674,-0.73,-146.0,437.9,-9.6,419,3682,0.00,1.17,0.00,0.000,6,0.000,0.049,2147,2517,3085,0,0,0,0,0,0
$GC,3999,-0.73,-146.0,469.8,-9.6,445,4003,0.00,1.08,0.00,0.000,4,0.000,0.063,2142,3209,3085,0,0,0,0,0,0
$GC,4131,-0.73,-146.0,483.3,-10.1,455,4135,0.00,1.05,0.00,0.000,6,0.000,0.028,2142,2498,3085,0,0,0,0,0,0
$GC,4450,-0.73,-146.0,516.6,-10.6,473,4454,0.00,1.02,0.00,0.000,4,0.000,0.040,2142,1821,3085,0,0,0,0,0,0
$GC,4503,-0.73,-146.0,520.3,-10.5,474,4507,0.00,1.15,0.00,0.000,6,0.000,0.050,2138,2509,3085,0,0,0,0,0,0
$GC,4822,-0.73,-146.0,556.1,-10.5,485,4826,0.00,1.10,0.00,0.000,4,0.000,0.062,2132,3217,3085,0,0,0,0,0,0
$GC,4933,-0.73,-146.0,567.2,-11.1,488,4938,0.12,1.08,0.00,0.000,6,0.166,0.027,2162,2504,3085,0,0,0,0,0,0
$GC,5262,-0.73,-146.0,599.3,-9.7,499,5265,0.00,1.02,0.00,0.000,4,0.000,0.038,2162,1824,3086,0,0,0,0,0,0
$GC,5306,-0.73,-146.0,602.5,-9.6,500,5311,0.00,1.17,0.00,0.000,6,0.000,0.047,2160,2523,3086,0,0,0,0,0,0
$GC,5633,-0.73,-146.0,634.5,-9.3,511,5637,0.00,1.08,0.00,0.000,4,0.000,0.062,2155,3214,3086,0,0,0,0,0,0
$GC,5750,-0.73,-146.0,644.0,-9.5,514,5755,0.00,1.08,0.00,0.000,6,0.000,0.027,2154,2496,3086,0,0,0,0,0,0
$STATE,5916,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5916,begin apogee
$GC,5922,-0.16,0.0,661.5,-9.5,520,6048,0.57,0.00,118.40,1.272,6,0.131,0.000,2341,2194,2485,0,0,0,0,0,0
$STATE,6049,end apogee,CONTROL_FINISHED_OK
$STATE,6049,begin climb
$GC,6051,0.73,146.0,665.8,0.0,524,6185,0.82,1.10,126.20,1.226,4,0.065,0.044,2637,1508,1888,0,0,0,0,0,0
$GC,6316,0.73,146.0,645.8,12.2,532,6321,0.00,1.20,0.00,0.000,6,0.000,0.041,2637,2203,1883,0,0,0,0,0,0
$GC,6636,0.73,146.0,603.6,12.4,543,6640,0.00,1.15,0.00,0.000,4,0.000,0.050,2637,2910,1881,0,0,0,0,0,0
$GC,6688,0.73,146.0,599.3,12.5,544,6692,0.00,1.15,0.00,0.000,6,0.000,0.033,2642,2204,1879,0,0,0,0,0,0
$GC,7008,0.73,146.0,554.3,13.9,555,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,1878,0,0,0,0,0,0
$GC,7314,0.73,146.0,512.5,13.7,565,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2204,1878,0,0,0,0,0,0
$GC,7635,0.73,146.0,469.3,13.2,586,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2204,1877,0,0,0,0,0,0
$GC,7949,0.73,146.0,427.3,13.2,611,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2204,1877,0,0,0,0,0,0
$GC,8265,0.73,146.0,385.8,12.9,636,8268,0.00,1.17,0.00,0.000,4,0.000,0.047,2642,2910,1877,0,0,0,0,0,0
$GC,8309,0.73,146.0,380.6,13.1,639,8317,0.00,1.15,0.00,0.000,6,0.000,0.034,2646,2194,1877,0,0,0,0,0,0
$GC,8634,0.73,146.0,337.6,12.7,665,8637,0.00,1.17,0.00,0.000,4,0.000,0.047,2646,2904,1877,0,0,0,0,0,0
$GC,8648,0.73,146.0,335.7,12.8,666,8652,0.00,1.10,0.00,0.000,6,0.000,0.034,2651,2201,1877,0,0,0,0,0,0
$GC,8978,0.73,146.0,294.3,12.0,692,8982,0.00,1.17,0.00,0.000,4,0.000,0.048,2650,2911,1877,0,0,0,0,0,0
$GC,9023,0.73,146.0,289.1,12.6,695,9030,0.00,1.15,0.00,0.000,6,0.000,0.034,2656,2191,1877,0,0,0,0,0,0
$GC,9348,0.73,146.0,249.6,11.8,721,9357,0.00,1.17,0.00,0.000,4,0.000,0.049,2655,2902,1877,0,0,0,0,0,0
$GC,9443,0.73,146.0,238.1,11.8,735,9449,0.00,1.10,0.00,0.000,6,0.000,0.034,2660,2201,1877,0,0,0,0,0,0
$GC,9781,0.73,146.0,199.1,11.5,786,9788,0.00,1.15,0.00,0.000,4,0.000,0.048,2660,2897,1877,0,0,0,0,0,0
$GC,9821,0.73,146.0,194.1,12.3,792,9828,0.10,1.10,0.00,0.000,6,0.154,0.033,2633,2197,1877,0,0,0,0,0,0
$GC,10159,0.73,146.0,157.0,10.8,843,10166,0.00,1.17,0.00,0.000,4,0.000,0.048,2633,2910,1877,0,0,0,0,0,0
$GC,10219,0.73,146.0,150.5,11.1,852,10226,0.00,1.12,0.00,0.000,6,0.000,0.034,2636,2190,1877,0,0,0,0,0,0
$GC,10557,0.73,146.0,115.5,9.3,903,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2189,1877,0,0,0,0,0,0
$GC,10896,0.76,173.6,87.6,8.0,954,10924,0.00,1.23,21.80,0.906,4,0.000,0.050,2636,2902,1777,0,0,0,0,0,0
$GC,10972,0.76,178.2,81.3,9.0,965,10982,0.00,1.12,5.43,0.741,6,0.000,0.035,2641,2198,1758,0,0,0,0,0,0
$GC,11314,0.86,253.4,56.0,6.0,1016,11384,0.10,1.25,63.12,0.894,4,0.102,0.048,2685,2900,1451,0,0,0,0,0,0
$GC,11432,0.86,253.4,44.5,11.4,1033,11441,0.00,1.15,0.00,0.000,6,0.000,0.034,2690,2199,1448,0,0,0,0,0,0
$GC,11772,0.86,253.4,2.0,13.6,1084,11779,0.00,1.08,0.00,0.000,4,0.000,0.047,2689,1493,1442,0,0,0,0,0,0
$STATE,11786,end climb,SURFACE_DEPTH_REACHED
$STATE,11786,begin surface coast
$FINISH,1.9,1.025816
$STATE,11811,end surface coast,CONTROL_FINISHED_OK
$STATE,11811,begin surface
$SM_CCo,11829,20.65,0.078,0,0,1261,300.00
$SM_GC,2.60,6.93,1.70,20.65,0.045,0.044,0.078,125,2509,1261,-7.06,-0.85,300.00,0,0,0,0,0,0
$RAFOS_CLK,719
$RAFOS,6,1320857345,16.833334,16.818056,76,66,57,0,0,0,818,199,182,0,0,0
$RAFOS,5,1320856866,16.700001,16.684999,159,63,60,0,0,0,614,229,206,0,0,0
$RAFOS,3,1320855907,16.433332,16.418612,99,66,58,0,0,0,951,229,164,0,0,0
$RAFOS_FIX,6700.176758,-5706.934082,091111,161612,4,104,0.00
$IRIDIUM_FIX,6631.12,-5658.34,091111,131331
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.35
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,17.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,552.8,121.3
$24V_AH,23.1,27.017
$10V_AH,10.3,20.764
$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,17.350,55.050,334.950,20.650,0.000,0.000,0.000,174.175,6.000,0.000,16.561,2979.991,6488.197,501.510,1977.758,205.671,0.000,1634.936,0.000,1787.817,720.000,14.595,0.000
$DEVICE_MAMPS,260.100,68.085,1272.195,78.030,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.266,599.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150264
$DATA_FILE_SIZE,43392,1090
$CAP_FILE_SIZE,120424,0
$CFSIZE,260165632,233189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1466.8
$CURRENT,0.020,104.7,1
$GPS,091111,195736,6700.821,-5655.068,27,1.0,27,-33.5