version: 66.09
glider: 143
mission: 13
dive: 214
start: 11 9 111 20 3 14
data:
$ID,143
$MISSION,13
$DIVE,214
$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,-80785.445
$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,25
$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
$GPS1,091111,195736,6700.821,-5655.068,27,1.0,27,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-67.9
$GPS2,091111,200242,6700.793,-5654.965,18,0.9,18,-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,80.7,6481,-16.9,-9.167
$D_GRID,632
$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,-146.0,0.0,0.0,0,55,0.00,0.00,-37.40,0.000,2,0.000,0.000,124,2522,1814,0,0,0,0,0,0
$GC,58,-0.73,-146.0,3.2,-2.2,6,138,8.45,1.17,-65.68,0.000,4,0.252,0.067,2164,1810,3083,0,0,0,0,0,0
$GC,258,-0.73,-146.0,29.2,-17.7,36,266,0.00,1.20,0.00,0.000,6,0.000,0.050,2161,2518,3084,0,0,0,0,0,0
$GC,598,-0.73,-146.0,86.2,-13.3,87,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2518,3084,0,0,0,0,0,0
$GC,935,-0.73,-146.0,129.5,-12.3,138,941,0.00,1.15,0.00,0.000,4,0.000,0.039,2161,1810,3083,0,0,0,0,0,0
$GC,975,-0.73,-146.0,134.4,-12.1,144,984,0.00,1.17,0.00,0.000,6,0.000,0.052,2156,2505,3084,0,0,0,0,0,0
$GC,1316,-0.73,-146.0,173.1,-11.8,195,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3083,0,0,0,0,0,0
$GC,1654,-0.73,-146.0,212.1,-11.8,246,1660,0.00,1.12,0.00,0.000,4,0.000,0.066,2150,3218,3082,0,0,0,0,0,0
$GC,1734,-0.73,-146.0,221.3,-11.2,258,1741,0.00,1.08,0.00,0.000,6,0.000,0.030,2151,2502,3082,0,0,0,0,0,0
$GC,2067,-0.73,-146.0,258.9,-10.8,303,2071,0.00,1.05,0.00,0.000,4,0.000,0.041,2151,1815,3082,0,0,0,0,0,0
$GC,2085,-0.73,-146.0,260.4,-10.9,304,2096,0.00,1.20,0.00,0.000,6,0.000,0.050,2146,2521,3082,0,0,0,0,0,0
$GC,2409,-0.73,-146.0,296.1,-10.5,330,2412,0.00,1.08,0.00,0.000,4,0.000,0.063,2141,3211,3082,0,0,0,0,0,0
$GC,2481,-0.73,-146.0,303.2,-10.6,335,2488,0.00,1.08,0.00,0.000,6,0.000,0.028,2141,2503,3082,0,0,0,0,0,0
$GC,2805,-0.73,-146.0,337.7,-11.0,361,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3082,0,0,0,0,0,0
$GC,3120,-0.73,-146.0,372.3,-10.8,386,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3082,0,0,0,0,0,0
$GC,3438,-0.73,-146.0,407.7,-11.2,411,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3083,0,0,0,0,0,0
$GC,3752,-0.73,-146.0,444.6,-11.7,436,3756,0.00,1.15,0.00,0.000,4,0.000,0.059,2136,3210,3083,0,0,0,0,0,0
$GC,3792,-0.73,-146.0,449.4,-11.7,439,3796,0.00,1.05,0.00,0.000,6,0.000,0.028,2137,2505,3083,0,0,0,0,0,0
$GC,4124,-0.73,-146.0,488.1,-11.5,465,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2505,3083,0,0,0,0,0,0
$GC,4449,-0.73,-146.0,524.2,-11.1,481,4451,0.12,0.00,0.00,0.000,6,0.172,0.000,2166,2505,3084,0,0,0,0,0,0
$GC,4754,-0.73,-146.0,551.5,-8.7,491,4758,0.00,1.15,0.00,0.000,4,0.000,0.060,2163,3211,3084,0,0,0,0,0,0
$GC,4799,-0.73,-146.0,554.6,-8.8,492,4804,0.00,1.08,0.00,0.000,6,0.000,0.027,2164,2494,3084,0,0,0,0,0,0
$GC,5127,-0.73,-146.0,583.8,-8.0,503,5130,0.00,1.17,0.00,0.000,4,0.000,0.059,2159,3217,3085,0,0,0,0,0,0
$GC,5184,-0.73,-146.0,586.6,-8.0,504,5194,0.00,1.08,0.00,0.000,6,0.000,0.027,2158,2499,3085,0,0,0,0,0,0
$STATE,5496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5497,begin apogee
$GC,5503,-0.16,0.0,617.6,-8.6,515,5628,0.55,0.00,117.12,1.239,6,0.123,0.000,2341,2197,2484,0,0,0,0,0,0
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5631,0.73,146.0,618.6,0.0,519,5763,0.82,0.00,125.12,1.193,6,0.069,0.000,2629,2197,1889,0,0,0,0,0,0
$GC,6060,0.73,146.0,583.3,11.3,533,6064,0.00,1.05,0.00,0.000,4,0.000,0.045,2633,1513,1882,0,0,0,0,0,0
$GC,6184,0.73,146.0,570.8,12.2,536,6194,0.00,1.17,0.00,0.000,6,0.000,0.041,2633,2216,1881,0,0,0,0,0,0
$GC,6498,0.73,146.0,527.7,12.8,547,6502,0.00,1.10,0.00,0.000,4,0.000,0.051,2633,2902,1880,0,0,0,0,0,0
$GC,6615,0.73,146.0,514.6,13.1,550,6620,0.00,1.12,0.00,0.000,6,0.000,0.034,2638,2207,1878,0,0,0,0,0,0
$GC,6936,0.73,146.0,471.8,12.7,571,6940,0.00,1.15,0.00,0.000,4,0.000,0.047,2638,2898,1878,0,0,0,0,0,0
$GC,7060,0.73,146.0,456.4,12.8,580,7070,0.00,1.12,0.00,0.000,6,0.000,0.032,2642,2198,1878,0,0,0,0,0,0
$GC,7385,0.73,146.0,415.4,12.5,606,7388,0.00,1.17,0.00,0.000,4,0.000,0.047,2643,2908,1878,0,0,0,0,0,0
$GC,7508,0.73,146.0,400.0,12.8,615,7516,0.00,1.15,0.00,0.000,6,0.000,0.034,2647,2191,1878,0,0,0,0,0,0
$GC,7835,0.73,146.0,358.4,12.5,641,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2191,1878,0,0,0,0,0,0
$GC,8147,0.73,146.0,318.8,12.6,666,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2191,1878,0,0,0,0,0,0
$GC,8463,0.73,146.0,279.4,12.4,691,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2191,1878,0,0,0,0,0,0
$GC,8784,0.73,146.0,240.1,11.7,722,8791,0.00,1.17,0.00,0.000,4,0.000,0.049,2647,2900,1878,0,0,0,0,0,0
$GC,8923,0.73,146.0,223.0,12.0,743,8930,0.00,1.10,0.00,0.000,6,0.000,0.034,2652,2199,1878,0,0,0,0,0,0
$GC,9261,0.73,146.0,183.9,11.2,794,9268,0.00,1.15,0.00,0.000,4,0.000,0.048,2652,2897,1877,0,0,0,0,0,0
$GC,9355,0.73,146.0,172.5,12.3,808,9363,0.00,1.10,0.00,0.000,6,0.000,0.034,2657,2195,1878,0,0,0,0,0,0
$GC,9694,0.73,146.0,132.6,10.8,859,9701,0.00,1.05,0.00,0.000,4,0.000,0.046,2662,1492,1878,0,0,0,0,0,0
$GC,9854,0.73,146.0,115.8,10.1,883,9860,0.00,1.12,0.00,0.000,6,0.000,0.044,2662,2203,1878,0,0,0,0,0,0
$GC,10192,0.76,172.2,86.1,8.1,934,10220,0.00,1.08,21.23,0.904,4,0.000,0.042,2666,1495,1781,0,0,0,0,0,0
$GC,10334,0.76,172.2,72.2,10.9,955,10340,0.00,1.12,0.00,0.000,6,0.000,0.043,2666,2200,1780,0,0,0,0,0,0
$GC,10672,0.82,226.9,43.8,6.9,1006,10726,0.00,1.15,45.80,0.892,4,0.000,0.046,2670,1501,1558,0,0,0,0,0,0
$GC,10821,0.82,226.9,29.9,10.7,1028,10829,0.00,1.15,0.00,0.000,6,0.000,0.043,2670,2205,1555,0,0,0,0,0,0
$STATE,11078,end climb,SURFACE_DEPTH_REACHED
$STATE,11078,begin surface coast
$FINISH,1.8,1.020960
$STATE,11094,end surface coast,CONTROL_FINISHED_OK
$STATE,11094,begin surface
$SM_CCo,11111,33.83,0.076,0,0,1261,300.00
$SM_GC,2.90,6.78,0.50,33.83,0.037,0.055,0.076,126,2510,1261,-7.06,-0.99,300.00,0,0,0,0,0,0
$RAFOS_CLK,670
$RAFOS,6,1320871745,20.833334,20.818056,99,57,55,0,0,0,828,204,167,0,0,0
$RAFOS,5,1320871274,20.700001,20.687222,91,64,60,0,0,0,583,199,222,0,0,0
$RAFOS,4,1320870785,20.566668,20.551390,75,59,57,0,0,0,865,157,215,0,0,0
$RAFOS,3,1320870307,20.433332,20.418612,66,61,57,0,0,0,178,135,202,0,0,0
$RAFOS,2,1320869821,20.299999,20.283611,62,59,57,0,0,0,159,217,193,0,0,0
$RAFOS,1,1320869345,20.166666,20.151388,63,59,57,0,0,0,182,217,117,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6631.12,-5701.34,091111,161610
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.51
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,17.00
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,500.5,130.9
$24V_AH,23.2,27.118
$10V_AH,10.3,20.840
$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,16.725,39.150,309.275,33.825,0.000,0.000,0.000,194.850,6.250,0.000,19.202,2872.033,6007.641,499.489,1897.972,192.140,0.000,1586.348,0.000,1689.862,2160.000,12.849,0.000
$DEVICE_MAMPS,251.685,66.555,1239.300,76.500,0.000,0.000,0.000,251.678,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.868,593.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,40007,1069
$CAP_FILE_SIZE,108453,0
$CFSIZE,260165632,233140224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1466.0
$CURRENT,0.010,166.3,1
$GPS,091111,231036,6702.022,-5651.390,38,0.7,38,-33.5