version: 66.09
glider: 143
mission: 13
dive: 218
start: 11 10 111 7 40 2
data:
$ID,143
$MISSION,13
$DIVE,218
$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,-80790.469
$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,23
$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
$GPS1,101111,073435,6701.369,-5655.330,24,1.1,24,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-66.3
$GPS2,101111,073930,6701.336,-5655.226,22,1.0,22,-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,308.0,157501,-16.9,-9.167
$D_GRID,650
$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,-146.0,0.0,0.0,0,56,0.00,0.00,-38.30,0.000,2,0.000,0.000,118,2509,1735,0,0,0,0,0,0
$GC,59,-0.73,-146.0,3.1,-2.5,5,157,8.45,1.17,-83.50,0.000,4,0.252,0.090,2158,3223,3082,0,0,0,0,0,0
$GC,171,-0.73,-146.0,8.1,-12.7,22,178,0.00,1.10,0.00,0.000,6,0.000,0.030,2158,2499,3083,0,0,0,0,0,0
$GC,510,-0.73,-146.0,61.1,-15.1,73,517,0.00,1.17,0.00,0.000,4,0.000,0.061,2153,3212,3084,0,0,0,0,0,0
$GC,604,-0.73,-146.0,74.7,-13.9,87,611,0.00,1.05,0.00,0.000,6,0.000,0.027,2153,2512,3084,0,0,0,0,0,0
$GC,942,-0.73,-146.0,121.0,-13.1,138,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2512,3084,0,0,0,0,0,0
$GC,1279,-0.73,-146.0,162.5,-11.2,189,1286,0.00,1.08,0.00,0.000,4,0.000,0.042,2153,1814,3083,0,0,0,0,0,0
$GC,1320,-0.73,-146.0,167.1,-11.0,195,1326,0.00,1.17,0.00,0.000,6,0.000,0.051,2149,2514,3083,0,0,0,0,0,0
$GC,1658,-0.73,-146.0,206.3,-11.8,246,1665,0.00,1.10,0.00,0.000,4,0.000,0.063,2143,3217,3083,0,0,0,0,0,0
$GC,1719,-0.73,-146.0,213.6,-12.2,255,1726,0.00,1.05,0.00,0.000,6,0.000,0.027,2143,2516,3082,0,0,0,0,0,0
$GC,2058,-0.73,-146.0,251.6,-11.1,305,2061,0.00,1.15,0.00,0.000,4,0.000,0.061,2139,3219,3083,0,0,0,0,0,0
$GC,2076,-0.73,-146.0,253.3,-10.9,306,2084,0.00,1.10,0.00,0.000,6,0.000,0.028,2138,2493,3083,0,0,0,0,0,0
$GC,2399,-0.73,-146.0,292.1,-11.8,332,2402,0.00,1.17,0.00,0.000,4,0.000,0.060,2134,3214,3083,0,0,0,0,0,0
$GC,2457,-0.73,-146.0,298.4,-12.2,336,2467,0.12,1.08,0.00,0.000,6,0.167,0.026,2164,2498,3083,0,0,0,0,0,0
$GC,2780,-0.73,-146.0,330.4,-9.1,362,2784,0.00,1.17,0.00,0.000,4,0.000,0.060,2161,3217,3083,0,0,0,0,0,0
$GC,2798,-0.73,-146.0,331.7,-9.2,363,2806,0.00,1.08,0.00,0.000,6,0.000,0.027,2161,2506,3082,0,0,0,0,0,0
$GC,3123,-0.73,-146.0,363.6,-9.7,389,3126,0.00,1.15,0.00,0.000,4,0.000,0.060,2156,3213,3083,0,0,0,0,0,0
$GC,3162,-0.73,-146.0,367.7,-10.1,392,3166,0.00,1.05,0.00,0.000,6,0.000,0.028,2156,2511,3083,0,0,0,0,0,0
$GC,3492,-0.73,-146.0,399.2,-9.4,418,3496,0.00,1.15,0.00,0.000,4,0.000,0.059,2151,3217,3083,0,0,0,0,0,0
$GC,3533,-0.73,-146.0,403.2,-9.6,421,3537,0.00,1.05,0.00,0.000,6,0.000,0.027,2152,2504,3083,0,0,0,0,0,0
$GC,3862,-0.73,-146.0,437.2,-10.6,447,3865,0.00,1.15,0.00,0.000,4,0.000,0.059,2147,3214,3083,0,0,0,0,0,0
$GC,3906,-0.73,-146.0,441.5,-10.8,450,3914,0.00,1.08,0.00,0.000,6,0.000,0.027,2147,2496,3083,0,0,0,0,0,0
$GC,4229,-0.73,-146.0,476.1,-10.2,476,4233,0.00,1.17,0.00,0.000,4,0.000,0.059,2142,3219,3084,0,0,0,0,0,0
$GC,4296,-0.73,-146.0,482.9,-10.4,481,4300,0.00,1.05,0.00,0.000,6,0.000,0.028,2142,2512,3084,0,0,0,0,0,0
$GC,4628,-0.73,-146.0,516.7,-10.2,500,4632,0.00,1.15,0.00,0.000,4,0.000,0.060,2138,3219,3085,0,0,0,0,0,0
$GC,4679,-0.73,-146.0,520.1,-10.1,501,4684,0.00,1.08,0.00,0.000,6,0.000,0.026,2138,2502,3085,0,0,0,0,0,0
$GC,4999,-0.73,-146.0,554.8,-10.1,512,5003,0.00,1.15,0.00,0.000,4,0.000,0.059,2133,3211,3084,0,0,0,0,0,0
$GC,5071,-0.73,-146.0,561.9,-10.6,514,5076,0.12,1.05,0.00,0.000,6,0.162,0.026,2164,2511,3085,0,0,0,0,0,0
$GC,5406,-0.73,-146.0,591.0,-8.3,525,5410,0.00,1.15,0.00,0.000,4,0.000,0.060,2161,3218,3085,0,0,0,0,0,0
$GC,5424,-0.73,-146.0,591.0,-8.3,525,5429,0.00,1.08,0.00,0.000,6,0.000,0.026,2161,2498,3085,0,0,0,0,0,0
$GC,5746,-0.73,-146.0,618.1,-7.4,536,5750,0.00,1.17,0.00,0.000,4,0.000,0.059,2156,3222,3085,0,0,0,0,0,0
$GC,5783,-0.73,-146.0,620.5,-7.2,537,5788,0.00,1.08,0.00,0.000,6,0.000,0.026,2156,2508,3085,0,0,0,0,0,0
$STATE,5839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5839,begin apogee
$GC,5845,-0.16,0.0,625.6,-7.6,539,5971,0.55,0.00,117.43,1.247,6,0.127,0.000,2338,2188,2484,0,0,0,0,0,0
$STATE,5972,end apogee,CONTROL_FINISHED_OK
$STATE,5972,begin climb
$GC,5975,0.73,146.0,629.2,0.0,543,6108,0.85,1.12,125.00,1.199,4,0.070,0.044,2637,1513,1889,0,0,0,0,0,0
$GC,6206,0.73,146.0,610.2,12.6,550,6211,0.00,1.23,0.00,0.000,6,0.000,0.040,2637,2220,1884,0,0,0,0,0,0
$GC,6534,0.73,146.0,567.3,12.4,561,6538,0.00,1.10,0.00,0.000,4,0.000,0.052,2637,2897,1880,0,0,0,0,0,0
$GC,6612,0.73,146.0,558.3,12.9,563,6617,0.00,1.12,0.00,0.000,6,0.000,0.033,2642,2211,1880,0,0,0,0,0,0
$GC,6939,0.73,146.0,514.4,13.1,574,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2211,1879,0,0,0,0,0,0
$GC,7252,0.73,146.0,475.0,12.4,593,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2211,1878,0,0,0,0,0,0
$GC,7567,0.73,146.0,436.5,11.7,618,7570,0.00,1.15,0.00,0.000,4,0.000,0.049,2642,2901,1878,0,0,0,0,0,0
$GC,7647,0.73,146.0,426.5,12.6,624,7651,0.00,1.10,0.00,0.000,6,0.000,0.035,2647,2207,1878,0,0,0,0,0,0
$GC,7978,0.73,146.0,383.9,13.0,650,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2207,1878,0,0,0,0,0,0
$GC,8293,0.73,146.0,342.1,13.5,675,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2207,1877,0,0,0,0,0,0
$GC,8607,0.73,146.0,300.5,13.0,700,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2207,1877,0,0,0,0,0,0
$GC,8924,0.73,146.0,260.1,12.3,725,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2207,1877,0,0,0,0,0,0
$GC,9248,0.73,146.0,220.0,12.8,768,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2207,1877,0,0,0,0,0,0
$GC,9588,0.73,146.0,180.1,11.9,819,9595,0.00,1.15,0.00,0.000,4,0.000,0.048,2647,2903,1877,0,0,0,0,0,0
$GC,9735,0.73,146.0,161.9,12.1,841,9741,0.00,1.10,0.00,0.000,6,0.000,0.034,2651,2199,1877,0,0,0,0,0,0
$GC,10073,0.73,146.0,124.5,11.1,892,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1877,0,0,0,0,0,0
$GC,10413,0.73,146.0,91.1,9.7,943,10420,0.00,1.17,0.00,0.000,4,0.000,0.048,2651,2913,1877,0,0,0,0,0,0
$GC,10671,0.77,181.6,68.6,7.7,982,10705,0.00,1.12,28.45,0.900,6,0.000,0.033,2656,2190,1744,0,0,0,0,0,0
$GC,11037,0.83,228.2,42.6,7.2,1037,11083,0.00,1.02,39.15,0.884,4,0.000,0.044,2661,1495,1553,0,0,0,0,0,0
$GC,11189,0.83,228.2,30.0,9.7,1060,11198,0.00,1.15,0.00,0.000,6,0.000,0.041,2661,2206,1550,0,0,0,0,0,0
$STATE,11454,end climb,SURFACE_DEPTH_REACHED
$STATE,11454,begin surface coast
$FINISH,1.8,1.025824
$STATE,11469,end surface coast,CONTROL_FINISHED_OK
$STATE,11469,begin surface
$SM_CCo,11485,33.35,0.076,0,0,1261,300.00
$SM_GC,2.93,6.78,0.50,33.35,0.038,0.055,0.076,117,2509,1261,-7.08,-0.99,300.00,0,0,0,0,0,0
$RAFOS_CLK,696
$RAFOS,6,1320914953,8.833333,8.820278,69,60,59,0,0,0,115,201,148,0,0,0
$RAFOS,5,1320914472,8.700000,8.686666,64,64,62,0,0,0,195,224,208,0,0,0
$RAFOS,4,1320913987,8.566667,8.551945,64,59,57,0,0,0,840,180,208,0,0,0
$RAFOS,3,1320913505,8.433333,8.418056,59,54,53,0,0,0,149,211,164,0,0,0
$RAFOS,2,1320913022,8.300000,8.283889,58,57,54,0,0,0,165,215,143,0,0,0
$RAFOS,1,1320912546,8.166667,8.151667,57,57,56,0,0,0,188,206,158,0,0,0
$RAFOS,0,1320912065,8.033334,8.018056,73,57,55,0,0,0,195,153,211,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6636.54,-5650.71,101111,040414
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.59
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,17.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,551.7,88.6
$24V_AH,23.2,27.519
$10V_AH,10.2,21.131
$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,16.875,47.900,310.025,33.350,0.000,0.000,0.000,181.275,5.750,0.000,23.562,3015.127,6142.163,500.843,1961.477,203.066,0.000,1623.782,0.000,1757.120,2520.000,17.566,0.000
$DEVICE_MAMPS,252.450,89.505,1246.950,75.735,0.000,0.000,0.000,253.176,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.970,611.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150256
$DATA_FILE_SIZE,43237,1102
$CAP_FILE_SIZE,118070,0
$CFSIZE,260165632,232906752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1466.3
$CURRENT,0.194, 62.1,1
$GPS,101111,105353,6702.192,-5657.728,64,0.9,64,-33.5