version: 66.09
glider: 143
mission: 13
dive: 205
start: 11 8 111 9 7 21
data:
$ID,143
$MISSION,13
$DIVE,205
$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,-80774.125
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,081111,085759,6657.534,-5726.526,38,0.8,38,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-70.0
$GPS2,081111,090650,6657.503,-5726.499,24,0.7,25,-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,94.9,29607,-16.9,-9.167
$D_GRID,797
$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,-146.0,0.0,0.0,0,62,0.00,0.00,-43.78,0.000,2,0.000,0.000,121,2516,1854,0,0,0,0,0,0
$GC,65,-0.73,-146.0,3.1,-1.2,7,148,8.82,1.20,-67.70,0.000,4,0.268,0.073,2160,1814,3083,0,0,0,0,0,0
$GC,393,-0.73,-146.0,47.1,-16.9,56,402,0.00,1.17,0.00,0.000,6,0.000,0.056,2158,2495,3085,0,0,0,0,0,0
$GC,733,-0.73,-146.0,98.4,-14.9,107,740,0.00,1.15,0.00,0.000,4,0.000,0.069,2152,3213,3085,0,0,0,0,0,0
$GC,892,-0.73,-146.0,121.1,-14.5,131,899,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2505,3085,0,0,0,0,0,0
$GC,1230,-0.73,-146.0,167.7,-13.4,182,1237,0.00,1.08,0.00,0.000,4,0.000,0.047,2152,1818,3085,0,0,0,0,0,0
$GC,1290,-0.73,-146.0,175.8,-12.9,191,1297,0.00,1.20,0.00,0.000,6,0.000,0.057,2148,2517,3085,0,0,0,0,0,0
$GC,1627,-0.73,-146.0,220.6,-12.9,242,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2517,3085,0,0,0,0,0,0
$GC,1966,-0.73,-146.0,265.8,-13.4,285,1970,0.00,1.10,0.00,0.000,4,0.000,0.070,2142,3209,3084,0,0,0,0,0,0
$GC,2011,-0.73,-146.0,271.3,-13.4,288,2021,0.00,1.10,0.00,0.000,6,0.000,0.034,2142,2511,3084,0,0,0,0,0,0
$GC,2336,-0.73,-146.0,313.4,-12.8,314,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2511,3084,0,0,0,0,0,0
$GC,2650,-0.73,-146.0,353.8,-12.6,339,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2510,3084,0,0,0,0,0,0
$GC,2965,-0.73,-146.0,392.0,-12.4,364,2969,0.00,1.08,0.00,0.000,4,0.000,0.046,2142,1817,3084,0,0,0,0,0,0
$GC,3036,-0.73,-146.0,400.2,-12.3,369,3044,0.00,1.20,0.00,0.000,6,0.000,0.056,2138,2512,3084,0,0,0,0,0,0
$GC,3361,-0.73,-146.0,440.1,-12.0,395,3364,0.00,1.12,0.00,0.000,4,0.000,0.069,2133,3220,3085,0,0,0,0,0,0
$GC,3428,-0.73,-146.0,448.5,-12.3,400,3432,0.10,1.10,0.00,0.000,6,0.150,0.034,2163,2500,3084,0,0,0,0,0,0
$GC,3757,-0.73,-146.0,480.0,-9.0,426,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2500,3084,0,0,0,0,0,0
$GC,4076,-0.73,-146.0,509.5,-9.2,447,4080,0.00,1.05,0.00,0.000,4,0.000,0.045,2164,1820,3085,0,0,0,0,0,0
$GC,4109,-0.73,-146.0,512.5,-9.3,448,4112,0.00,1.17,0.00,0.000,6,0.000,0.054,2161,2512,3085,0,0,0,0,0,0
$GC,4448,-0.73,-146.0,544.4,-9.3,459,4452,0.00,1.10,0.00,0.000,4,0.000,0.067,2156,3212,3085,0,0,0,0,0,0
$GC,4517,-0.73,-146.0,550.5,-9.3,461,4520,0.00,1.08,0.00,0.000,6,0.000,0.032,2156,2503,3085,0,0,0,0,0,0
$GC,4858,-0.73,-146.0,584.0,-9.9,472,4861,0.00,1.05,0.00,0.000,4,0.000,0.044,2156,1822,3085,0,0,0,0,0,0
$GC,4895,-0.73,-146.0,587.5,-9.9,473,4900,0.00,1.20,0.00,0.000,6,0.000,0.054,2151,2520,3086,0,0,0,0,0,0
$GC,5229,-0.73,-146.0,622.9,-10.8,484,5233,0.00,1.10,0.00,0.000,4,0.000,0.069,2146,3215,3086,0,0,0,0,0,0
$GC,5300,-0.73,-146.0,629.9,-10.7,486,5305,0.00,1.10,0.00,0.000,6,0.000,0.031,2146,2501,3086,0,0,0,0,0,0
$GC,5635,-0.73,-146.0,666.8,-11.1,497,5639,0.00,1.05,0.00,0.000,4,0.000,0.044,2146,1819,3086,0,0,0,0,0,0
$GC,5659,-0.73,-146.0,666.8,-11.1,497,5667,0.00,1.20,0.00,0.000,6,0.000,0.054,2141,2517,3086,0,0,0,0,0,0
$GC,5975,-0.73,-146.0,704.9,-11.2,508,5979,0.00,1.10,0.00,0.000,4,0.000,0.069,2136,3213,3086,0,0,0,0,0,0
$GC,6033,-0.73,-146.0,708.8,-11.2,509,6041,0.12,1.10,0.00,0.000,6,0.169,0.031,2166,2497,3086,0,0,0,0,0,0
$GC,6347,-0.73,-146.0,742.1,-9.6,520,6350,0.00,1.05,0.00,0.000,4,0.000,0.044,2166,1816,3086,0,0,0,0,0,0
$GC,6391,-0.73,-146.0,745.1,-9.4,521,6396,0.00,1.20,0.00,0.000,6,0.000,0.054,2164,2516,3086,0,0,0,0,0,0
$GC,6718,-0.73,-146.0,776.4,-9.0,532,6722,0.00,1.10,0.00,0.000,4,0.000,0.068,2158,3214,3086,0,0,0,0,0,0
$GC,6785,-0.73,-146.0,782.5,-9.1,534,6788,0.00,1.08,0.00,0.000,6,0.000,0.030,2158,2502,3086,0,0,0,0,0,0
$STATE,6969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6969,begin apogee
$GC,6975,-0.16,0.0,799.4,-8.9,540,7104,0.57,0.00,122.05,1.411,6,0.129,0.000,2346,2201,2484,0,0,0,0,0,0
$STATE,7105,end apogee,CONTROL_FINISHED_OK
$STATE,7105,begin climb
$GC,7107,0.73,146.0,804.0,0.0,544,7247,0.82,1.17,132.18,1.351,4,0.063,0.048,2636,1510,1888,0,0,0,0,0,0
$GC,7347,0.73,146.0,787.3,10.6,551,7350,0.00,1.23,0.00,0.000,6,0.000,0.046,2636,2205,1882,0,0,0,0,0,0
$GC,7689,0.73,146.0,745.8,12.2,562,7692,0.00,1.17,0.00,0.000,4,0.000,0.056,2637,2908,1878,0,0,0,0,0,0
$GC,7741,0.73,146.0,741.3,12.4,563,7745,0.00,1.17,0.00,0.000,6,0.000,0.037,2641,2206,1878,0,0,0,0,0,0
$GC,8062,0.73,146.0,698.9,12.6,574,8066,0.00,1.10,0.00,0.000,4,0.000,0.050,2647,1497,1876,0,0,0,0,0,0
$GC,8086,0.73,146.0,698.9,12.6,574,8094,0.00,1.20,0.00,0.000,6,0.000,0.046,2646,2210,1876,0,0,0,0,0,0
$GC,8400,0.73,146.0,656.1,12.4,585,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2210,1876,0,0,0,0,0,0
$GC,8706,0.73,146.0,618.2,12.4,595,8710,0.00,1.12,0.00,0.000,4,0.000,0.057,2647,2904,1875,0,0,0,0,0,0
$GC,8740,0.73,146.0,614.0,12.5,596,8743,0.00,1.15,0.00,0.000,6,0.000,0.038,2651,2199,1875,0,0,0,0,0,0
$GC,9079,0.73,146.0,571.6,12.3,607,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1874,0,0,0,0,0,0
$GC,9385,0.73,146.0,533.7,12.5,617,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1874,0,0,0,0,0,0
$GC,9692,0.73,146.0,497.1,11.8,627,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1874,0,0,0,0,0,0
$GC,10008,0.73,146.0,459.9,11.7,652,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1874,0,0,0,0,0,0
$GC,10323,0.73,146.0,421.8,12.1,677,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,10639,0.73,146.0,383.8,11.7,702,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1874,0,0,0,0,0,0
$GC,10955,0.73,146.0,347.4,11.9,727,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,11269,0.73,146.0,310.0,11.8,752,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,11586,0.73,146.0,273.9,10.9,777,11590,0.00,1.20,0.00,0.000,4,0.000,0.054,2651,2911,1873,0,0,0,0,0,0
$GC,11752,0.73,146.0,256.3,10.9,789,11761,0.00,1.15,0.00,0.000,6,0.000,0.037,2656,2195,1873,0,0,0,0,0,0
$GC,12086,0.73,146.0,221.7,10.6,836,12093,0.00,1.20,0.00,0.000,4,0.000,0.054,2656,2911,1873,0,0,0,0,0,0
$GC,12199,0.73,146.0,209.4,11.2,853,12207,0.00,1.15,0.00,0.000,6,0.000,0.038,2661,2192,1873,0,0,0,0,0,0
$GC,12538,0.73,146.0,175.1,10.8,904,12545,0.00,1.20,0.00,0.000,4,0.000,0.054,2660,2908,1873,0,0,0,0,0,0
$GC,12633,0.73,146.0,164.9,11.2,918,12641,0.10,1.12,0.00,0.000,6,0.153,0.038,2634,2201,1873,0,0,0,0,0,0
$GC,12971,0.75,165.5,133.7,8.3,969,12993,0.00,1.05,15.20,0.967,4,0.000,0.047,2638,1495,1809,0,0,0,0,0,0
$GC,13039,0.75,165.5,127.6,9.4,979,13046,0.00,1.15,0.00,0.000,6,0.000,0.047,2638,2202,1808,0,0,0,0,0,0
$GC,13379,0.80,206.6,100.2,7.4,1030,13419,0.00,1.20,35.55,0.972,4,0.000,0.055,2638,2914,1641,0,0,0,0,0,0
$GC,13461,0.81,211.5,93.7,9.0,1042,13474,0.00,1.17,5.60,0.786,6,0.000,0.036,2643,2199,1621,0,0,0,0,0,0
$GC,13805,0.81,211.5,62.4,9.4,1094,13811,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,1617,0,0,0,0,0,0
$GC,14142,0.89,277.6,36.2,6.4,1145,14206,0.12,1.17,55.47,0.933,4,0.090,0.051,2699,1491,1352,0,0,0,0,0,0
$STATE,14435,end climb,SURFACE_DEPTH_REACHED
$STATE,14435,begin surface coast
$FINISH,1.7,1.025814
$STATE,14450,end surface coast,CONTROL_FINISHED_OK
$STATE,14450,begin surface
$SM_CCo,14468,9.30,0.086,0,0,1261,300.00
$SM_GC,3.91,6.97,1.73,9.30,0.040,0.046,0.086,119,2506,1261,-7.08,-0.90,300.00,0,0,0,0,0,0
$RAFOS_CLK,942
$RAFOS,6,1320756543,12.833333,12.817500,60,59,59,0,0,0,203,173,217,0,0,0
$RAFOS,5,1320756064,12.700000,12.684444,128,60,59,0,0,0,541,141,177,0,0,0
$RAFOS,4,1320755585,12.566667,12.551389,130,60,57,0,0,0,773,193,162,0,0,0
$RAFOS,3,1320755107,12.433333,12.418612,75,57,57,0,0,0,208,134,217,0,0,0
$RAFOS,2,1320754621,12.300000,12.283611,91,60,58,0,0,0,977,171,210,0,0,0
$RAFOS,1,1320754154,12.166667,12.153889,73,57,55,0,0,0,899,207,149,0,0,0
$RAFOS,0,1320753662,12.033333,12.017222,64,61,56,0,0,0,215,147,199,0,0,0
$RAFOS_FIX,6659.308105,-5734.194824,081111,121212,4,106,0.54
$IRIDIUM_FIX,6625.71,-5727.10,081111,080847
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.40
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,750.9,87.4
$24V_AH,22.6,26.073
$10V_AH,10.1,20.099
$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,17.650,55.600,366.050,9.300,0.000,0.000,0.000,350.325,9.750,0.000,26.612,3315.202,8673.759,523.786,2319.686,229.363,0.000,1917.519,0.000,1948.885,2520.000,21.556,0.000
$DEVICE_MAMPS,267.750,73.440,1411.425,85.680,0.000,0.000,0.000,270.403,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.706,658.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,46665,1191
$CAP_FILE_SIZE,135115,0
$CFSIZE,260165632,233713664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.1
$CURRENT,0.229,301.4,1
$GPS,081111,131053,6659.545,-5724.927,37,0.8,37,-33.6