version: 66.09
glider: 143
mission: 13
dive: 215
start: 11 9 111 23 16 15
data:
$ID,143
$MISSION,13
$DIVE,215
$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,-80786.711
$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,31
$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
$GPS1,091111,231036,6702.022,-5651.390,38,0.7,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-69.8
$GPS2,091111,231544,6701.999,-5651.349,17,0.9,17,-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,83.9,3048,-16.9,-9.167
$D_GRID,561
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-46.55,0.000,2,0.000,0.000,125,2512,1951,0,0,0,0,0,0
$GC,68,-0.73,-146.0,3.1,-0.8,7,138,8.55,1.17,-55.72,0.000,4,0.256,0.069,2160,1812,3082,0,0,0,0,0,0
$GC,310,-0.73,-146.0,36.1,-16.6,43,319,0.00,1.17,0.00,0.000,6,0.000,0.050,2157,2508,3084,0,0,0,0,0,0
$GC,651,-0.73,-146.0,87.4,-14.2,94,658,0.00,1.12,0.00,0.000,4,0.000,0.039,2157,1812,3084,0,0,0,0,0,0
$GC,724,-0.73,-146.0,97.7,-13.7,105,730,0.00,1.17,0.00,0.000,6,0.000,0.050,2152,2510,3084,0,0,0,0,0,0
$GC,1063,-0.73,-146.0,142.4,-13.0,156,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2510,3084,0,0,0,0,0,0
$GC,1401,-0.73,-146.0,185.7,-13.0,207,1410,0.00,1.10,0.00,0.000,4,0.000,0.064,2147,3213,3083,0,0,0,0,0,0
$GC,1470,-0.73,-146.0,194.5,-12.8,217,1476,0.00,1.08,0.00,0.000,6,0.000,0.028,2147,2499,3083,0,0,0,0,0,0
$GC,1808,-0.73,-146.0,234.7,-12.0,268,1815,0.00,1.05,0.00,0.000,4,0.000,0.042,2147,1813,3082,0,0,0,0,0,0
$GC,1841,-0.73,-146.0,238.9,-12.0,273,1848,0.00,1.17,0.00,0.000,6,0.000,0.050,2142,2517,3082,0,0,0,0,0,0
$GC,2168,-0.73,-146.0,277.4,-11.9,306,2172,0.00,1.10,0.00,0.000,4,0.000,0.063,2137,3216,3082,0,0,0,0,0,0
$GC,2253,-0.73,-146.0,286.6,-11.4,312,2260,0.00,1.10,0.00,0.000,6,0.000,0.027,2137,2496,3082,0,0,0,0,0,0
$GC,2577,-0.73,-146.0,324.2,-11.2,338,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3082,0,0,0,0,0,0
$GC,2892,-0.73,-146.0,359.1,-11.1,363,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3082,0,0,0,0,0,0
$GC,3208,-0.73,-146.0,393.9,-10.9,388,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2496,3083,0,0,0,0,0,0
$GC,3523,-0.73,-146.0,428.1,-11.0,413,3526,0.00,1.17,0.00,0.000,4,0.000,0.060,2132,3217,3083,0,0,0,0,0,0
$GC,3575,-0.73,-146.0,433.9,-11.0,417,3580,0.10,1.08,0.00,0.000,6,0.146,0.028,2163,2493,3083,0,0,0,0,0,0
$GC,3904,-0.73,-146.0,462.7,-8.9,443,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2493,3084,0,0,0,0,0,0
$GC,4223,-0.73,-146.0,490.4,-9.0,468,4227,0.00,1.17,0.00,0.000,4,0.000,0.060,2160,3214,3085,0,0,0,0,0,0
$GC,4289,-0.73,-146.0,497.0,-9.5,473,4293,0.00,1.05,0.00,0.000,6,0.000,0.028,2161,2502,3085,0,0,0,0,0,0
$STATE,4572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4572,begin apogee
$GC,4578,-0.16,0.0,523.1,-9.3,484,4703,0.55,0.00,115.97,1.177,6,0.129,0.000,2340,2184,2484,0,0,0,0,0,0
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4706,0.73,146.0,526.9,0.0,488,4836,0.88,1.15,123.85,1.132,4,0.071,0.046,2642,1504,1888,0,0,0,0,0,0
$GC,4867,0.77,182.9,519.7,7.6,493,4906,0.00,1.25,33.80,1.077,6,0.000,0.041,2642,2216,1739,0,0,0,0,0,0
$GC,5224,0.77,182.9,463.1,15.6,515,5228,0.00,1.10,0.00,0.000,4,0.000,0.050,2642,2898,1732,0,0,0,0,0,0
$GC,5282,0.77,182.9,454.7,15.7,519,5292,0.00,1.12,0.00,0.000,6,0.000,0.034,2646,2215,1733,0,0,0,0,0,0
$GC,5605,0.77,182.9,402.2,15.8,545,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2215,1732,0,0,0,0,0,0
$GC,5921,0.77,182.9,352.9,15.8,570,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2214,1731,0,0,0,0,0,0
$GC,6237,0.77,182.9,304.1,15.5,595,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2214,1731,0,0,0,0,0,0
$GC,6553,0.77,182.9,255.9,15.5,620,6557,0.00,1.08,0.00,0.000,4,0.000,0.048,2652,1499,1731,0,0,0,0,0,0
$GC,6606,0.77,182.9,247.7,14.7,625,6613,0.00,1.12,0.00,0.000,6,0.000,0.042,2652,2206,1731,0,0,0,0,0,0
$GC,6946,0.77,182.9,198.2,14.6,676,6952,0.00,1.10,0.00,0.000,4,0.000,0.052,2651,2904,1731,0,0,0,0,0,0
$GC,7045,0.77,182.9,183.7,14.3,691,7054,0.00,1.12,0.00,0.000,6,0.000,0.036,2656,2191,1731,0,0,0,0,0,0
$GC,7385,0.77,182.9,140.9,11.7,742,7392,0.00,1.17,0.00,0.000,4,0.000,0.049,2656,2903,1731,0,0,0,0,0,0
$GC,7480,0.77,182.9,129.8,12.0,756,7487,0.00,1.10,0.00,0.000,6,0.000,0.035,2661,2201,1731,0,0,0,0,0,0
$GC,7818,0.77,182.9,92.3,11.0,807,7827,0.00,1.05,0.00,0.000,4,0.000,0.050,2666,1498,1731,0,0,0,0,0,0
$GC,8019,0.77,182.9,72.5,9.9,837,8025,0.00,1.12,0.00,0.000,6,0.000,0.044,2666,2205,1731,0,0,0,0,0,0
$GC,8358,0.81,215.6,41.6,7.8,888,8392,0.00,1.10,26.70,0.887,4,0.000,0.049,2666,2911,1606,0,0,0,0,0,0
$GC,8467,0.81,215.6,31.5,11.4,904,8474,0.00,1.12,0.00,0.000,6,0.000,0.035,2670,2205,1604,0,0,0,0,0,0
$STATE,8750,end climb,SURFACE_DEPTH_REACHED
$STATE,8750,begin surface coast
$FINISH,1.8,1.005446
$STATE,8771,end surface coast,CONTROL_FINISHED_OK
$STATE,8771,begin surface
$SM_CCo,8788,39.67,0.077,0,0,1261,300.00
$SM_GC,2.91,6.82,0.55,39.67,0.046,0.050,0.077,121,2512,1261,-7.06,-1.02,300.00,0,0,0,0,0,0
$RAFOS_CLK,526
$RAFOS,6,1320886153,0.833333,0.820278,67,63,62,0,0,0,790,223,209,0,0,0
$RAFOS,5,1320885671,0.700000,0.686389,62,61,59,0,0,0,169,208,191,0,0,0
$RAFOS,4,1320885182,0.566667,0.550556,65,64,57,0,0,0,216,190,168,0,0,0
$RAFOS,3,1320884704,0.433333,0.417778,60,58,56,0,0,0,214,193,147,0,0,0
$RAFOS,2,1320884224,0.300000,0.284444,68,66,59,0,0,0,193,208,165,0,0,0
$RAFOS,1,1320883742,0.166667,0.150556,57,57,55,0,0,0,152,199,127,0,0,0
$RAFOS,0,1320883262,0.033333,0.017222,67,56,55,0,0,0,209,156,192,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6631.12,-5656.72,091111,191922
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.51
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,17.10
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,450.5,87.3
$24V_AH,23.4,27.214
$10V_AH,10.3,20.909
$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,16.900,32.450,300.325,39.675,0.000,0.000,0.000,199.225,5.500,0.000,18.046,2559.975,4283.368,482.689,1650.479,167.058,0.000,1441.234,0.000,1444.115,2520.000,10.959,0.000
$DEVICE_MAMPS,255.510,68.850,1177.335,77.265,0.000,0.000,0.000,253.176,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.394,536.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,36683,950
$CAP_FILE_SIZE,92369,0
$CFSIZE,260165632,233099264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.9
$CURRENT,0.140,307.4,1
$GPS,101111,014439,6703.416,-5649.488,27,1.9,28,-33.5