version: 66.09
glider: 143
mission: 13
dive: 216
start: 11 10 111 1 49 56
data:
$ID,143
$MISSION,13
$DIVE,216
$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,-80787.969
$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,45
$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
$GPS1,101111,014439,6703.416,-5649.488,27,1.9,28,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.5
$GPS2,101111,014925,6703.320,-5649.508,22,1.8,22,-33.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,265.5,162369,-16.9,-9.167
$D_GRID,535
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-50.17,0.000,2,0.000,0.000,120,2525,2012,0,0,0,0,0,0
$GC,71,-0.73,-146.0,3.1,-0.7,7,133,8.60,1.15,-46.90,0.000,4,0.260,0.093,2158,3214,3082,0,0,0,0,0,0
$GC,297,-0.73,-146.0,35.2,-16.8,41,304,0.00,1.08,0.00,0.000,6,0.000,0.029,2158,2509,3083,0,0,0,0,0,0
$GC,636,-0.73,-146.0,86.5,-13.2,92,643,0.00,1.15,0.00,0.000,4,0.000,0.061,2154,3207,3084,0,0,0,0,0,0
$GC,768,-0.73,-146.0,104.0,-12.7,112,775,0.00,1.05,0.00,0.000,6,0.000,0.029,2153,2509,3083,0,0,0,0,0,0
$GC,1106,-0.73,-146.0,148.8,-13.4,163,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2509,3083,0,0,0,0,0,0
$GC,1443,-0.73,-146.0,191.5,-12.3,214,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2509,3083,0,0,0,0,0,0
$GC,1782,-0.73,-146.0,231.7,-11.1,265,1789,0.00,1.05,0.00,0.000,4,0.000,0.042,2153,1822,3082,0,0,0,0,0,0
$GC,1829,-0.73,-146.0,237.0,-11.4,272,1836,0.00,1.12,0.00,0.000,6,0.000,0.051,2149,2494,3082,0,0,0,0,0,0
$GC,2164,-0.73,-146.0,274.8,-11.4,307,2168,0.00,1.12,0.00,0.000,4,0.000,0.065,2144,3213,3081,0,0,0,0,0,0
$GC,2272,-0.73,-146.0,287.4,-11.9,315,2275,0.00,1.05,0.00,0.000,6,0.000,0.028,2144,2512,3082,0,0,0,0,0,0
$GC,2600,-0.73,-146.0,325.5,-11.4,341,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2512,3082,0,0,0,0,0,0
$GC,2916,-0.73,-146.0,361.2,-11.3,366,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2512,3082,0,0,0,0,0,0
$GC,3233,-0.73,-146.0,396.0,-10.9,391,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2512,3082,0,0,0,0,0,0
$GC,3549,-0.73,-146.0,430.0,-10.7,416,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2512,3083,0,0,0,0,0,0
$GC,3863,-0.73,-146.0,462.5,-10.2,441,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2512,3083,0,0,0,0,0,0
$GC,4180,-0.73,-146.0,495.6,-10.4,466,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2512,3084,0,0,0,0,0,0
$STATE,4349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4349,begin apogee
$GC,4355,-0.16,0.0,513.3,-10.4,474,4481,0.60,0.00,115.97,1.170,6,0.133,0.000,2338,2186,2484,0,0,0,0,0,0
$STATE,4482,end apogee,CONTROL_FINISHED_OK
$STATE,4482,begin climb
$GC,4484,0.73,146.0,516.0,0.0,478,4617,0.85,1.15,122.95,1.125,4,0.070,0.048,2638,1512,1888,0,0,0,0,0,0
$GC,4682,0.73,146.0,503.1,9.4,484,4687,0.00,1.23,0.00,0.000,6,0.000,0.042,2637,2213,1885,0,0,0,0,0,0
$GC,5007,0.73,146.0,459.0,13.2,509,5011,0.00,1.12,0.00,0.000,4,0.000,0.050,2637,2911,1882,0,0,0,0,0,0
$GC,5112,0.73,146.0,445.0,12.9,517,5116,0.00,1.12,0.00,0.000,6,0.000,0.034,2642,2212,1880,0,0,0,0,0,0
$GC,5442,0.73,146.0,403.5,12.5,543,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2212,1880,0,0,0,0,0,0
$GC,5757,0.73,146.0,365.4,12.2,568,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2212,1879,0,0,0,0,0,0
$GC,6072,0.73,146.0,326.9,12.4,593,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2211,1879,0,0,0,0,0,0
$GC,6387,0.73,146.0,287.7,12.4,618,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2212,1879,0,0,0,0,0,0
$GC,6703,0.73,146.0,249.7,11.9,643,6712,0.00,1.15,0.00,0.000,4,0.000,0.048,2642,2910,1879,0,0,0,0,0,0
$GC,6832,0.73,146.0,234.0,12.3,662,6838,0.00,1.12,0.00,0.000,6,0.000,0.034,2646,2194,1879,0,0,0,0,0,0
$GC,7168,0.73,146.0,195.7,11.2,713,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2195,1879,0,0,0,0,0,0
$GC,7507,0.73,146.0,159.9,10.2,764,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,1879,0,0,0,0,0,0
$GC,7843,0.73,146.0,125.6,9.7,815,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2195,1879,0,0,0,0,0,0
$GC,8182,0.73,148.3,94.4,9.1,866,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2194,1879,0,0,0,0,0,0
$GC,8519,0.77,182.4,64.8,7.7,917,8552,0.00,0.00,29.35,0.900,6,0.000,0.000,2647,2194,1741,0,0,0,0,0,0
$GC,8884,0.88,275.1,40.2,5.3,972,8965,0.12,0.00,77.10,0.878,6,0.090,0.000,2697,2194,1362,0,0,0,0,0,0
$STATE,9207,end climb,SURFACE_DEPTH_REACHED
$STATE,9208,begin surface coast
$FINISH,1.8,1.022301
$STATE,9223,end surface coast,CONTROL_FINISHED_OK
$STATE,9224,begin surface
$SM_CCo,9240,10.27,0.077,0,0,1261,300.00
$SM_GC,2.80,6.97,0.60,10.27,0.044,0.056,0.077,123,2516,1261,-7.06,-0.74,300.00,0,0,0,0,0,0
$RAFOS_CLK,550
$RAFOS,2,1320898624,4.300000,4.284444,64,60,53,0,0,0,197,142,181,0,0,0
$RAFOS,1,1320898141,4.166667,4.150278,60,59,59,0,0,0,190,201,218,0,0,0
$RAFOS,0,1320897665,4.033333,4.018055,63,62,56,0,0,0,203,218,119,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6631.12,-5646.10,091111,232322
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.51
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,17.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,400.1,127.4
$24V_AH,23.4,27.318
$10V_AH,10.3,20.978
$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,17.150,16.750,345.375,10.275,0.000,0.000,0.000,174.750,4.500,0.000,23.746,2738.094,4457.597,444.656,1744.487,161.232,0.000,1429.497,0.000,1554.953,1080.000,9.302,0.000
$DEVICE_MAMPS,260.100,93.330,1170.450,77.265,0.000,0.000,0.000,249.431,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.366,578.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40060,1023
$CAP_FILE_SIZE,90996,0
$CFSIZE,260165632,233046016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.9
$CURRENT,0.100,  3.5,1
$GPS,101111,042535,6702.750,-5652.714,42,0.8,42,-33.5