version: 66.09
glider: 143
mission: 13
dive: 126
start: 10 24 111 16 30 10
data:
$ID,143
$MISSION,13
$DIVE,126
$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,1
$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,-80674.094
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,241011,162423,6650.125,-5841.410,48,0.9,48,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-70.8
$GPS2,241011,162906,6650.086,-5841.342,16,1.1,17,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.171,0.186
$KALMAN_X,-2516196.0,-1346534.6,-1346534.6,-1346456.2,4469238.0
$KALMAN_Y,2863933.8,1534180.9,1534180.9,1533518.8,-5097091.5
$MHEAD_RNG_PITCHd_Wd,300.1,77389,-16.9,-9.167
$D_GRID,915
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-146.0,0.0,0.0,0,63,0.00,0.00,-44.17,0.000,2,0.000,0.000,115,2514,1846,0,0,0,0,0,0
$GC,66,-0.73,-146.0,3.1,-1.0,7,155,8.48,1.17,-71.40,0.000,4,0.265,0.077,2161,1812,3082,0,0,0,0,0,0
$GC,183,-0.73,-146.0,12.3,-16.8,24,190,0.00,1.20,0.00,0.000,6,0.000,0.060,2158,2512,3084,0,0,0,0,0,0
$GC,522,-0.73,-146.0,68.1,-14.3,75,529,0.00,1.12,0.00,0.000,4,0.000,0.071,2153,3217,3084,0,0,0,0,0,0
$GC,588,-0.73,-146.0,78.1,-15.1,85,595,0.00,1.12,0.00,0.000,6,0.000,0.038,2153,2499,3084,0,0,0,0,0,0
$GC,925,-0.73,-146.0,126.2,-13.5,136,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2499,3084,0,0,0,0,0,0
$GC,1263,-0.73,-146.0,172.3,-12.6,187,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2499,3084,0,0,0,0,0,0
$GC,1600,-0.73,-146.0,216.6,-13.3,238,1609,0.00,1.20,0.00,0.000,4,0.000,0.069,2148,3218,3084,0,0,0,0,0,0
$GC,1637,-0.73,-146.0,221.4,-13.0,243,1644,0.00,1.10,0.00,0.000,6,0.000,0.038,2148,2514,3084,0,0,0,0,0,0
$GC,1976,-0.73,-146.0,266.2,-12.4,285,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2514,3083,0,0,0,0,0,0
$GC,2293,-0.73,-146.0,305.2,-12.1,310,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2513,3083,0,0,0,0,0,0
$GC,2608,-0.73,-146.0,342.7,-11.5,335,2612,0.00,1.10,0.00,0.000,4,0.000,0.049,2148,1812,3083,0,0,0,0,0,0
$GC,2679,-0.73,-146.0,350.6,-11.4,340,2687,0.00,1.23,0.00,0.000,6,0.000,0.058,2143,2520,3083,0,0,0,0,0,0
$GC,3004,-0.73,-146.0,389.6,-11.9,366,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2520,3083,0,0,0,0,0,0
$GC,3320,-0.73,-146.0,426.6,-11.8,391,3323,0.00,1.10,0.00,0.000,4,0.000,0.072,2138,3213,3083,0,0,0,0,0,0
$GC,3364,-0.73,-146.0,431.4,-11.5,394,3374,0.00,1.12,0.00,0.000,6,0.000,0.037,2138,2498,3083,0,0,0,0,0,0
$GC,3688,-0.73,-146.0,470.3,-11.8,420,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2499,3083,0,0,0,0,0,0
$GC,4015,-0.73,-146.0,507.7,-11.5,443,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2499,3083,0,0,0,0,0,0
$GC,4320,-0.73,-146.0,542.3,-11.2,453,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2499,3083,0,0,0,0,0,0
$GC,4627,-0.73,-146.0,576.9,-11.3,463,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2499,3083,0,0,0,0,0,0
$GC,4932,-0.73,-146.0,611.5,-11.3,473,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2498,3083,0,0,0,0,0,0
$GC,5240,-0.73,-146.0,646.2,-11.3,483,5243,0.00,1.20,0.00,0.000,4,0.000,0.067,2133,3221,3083,0,0,0,0,0,0
$GC,5277,-0.73,-146.0,650.1,-11.4,484,5282,0.12,1.12,0.00,0.000,6,0.171,0.034,2163,2499,3083,0,0,0,0,0,0
$GC,5612,-0.73,-146.0,683.0,-9.7,495,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2499,3084,0,0,0,0,0,0
$GC,5917,-0.73,-146.0,712.1,-9.4,505,5920,0.00,1.17,0.00,0.000,4,0.000,0.066,2160,3213,3084,0,0,0,0,0,0
$GC,5954,-0.73,-146.0,715.2,-9.4,506,5959,0.00,1.10,0.00,0.000,6,0.000,0.032,2160,2504,3084,0,0,0,0,0,0
$GC,6288,-0.73,-146.0,747.7,-9.5,517,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2504,3084,0,0,0,0,0,0
$GC,6596,-0.73,-146.0,776.4,-9.2,527,6599,0.00,1.17,0.00,0.000,4,0.000,0.066,2156,3215,3084,0,0,0,0,0,0
$GC,6633,-0.73,-146.0,779.4,-9.2,528,6638,0.00,1.10,0.00,0.000,6,0.000,0.032,2155,2505,3084,0,0,0,0,0,0
$GC,6969,-0.73,-146.0,810.4,-9.2,539,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3084,0,0,0,0,0,0
$GC,7273,-0.73,-146.0,839.5,-9.6,549,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2505,3084,0,0,0,0,0,0
$GC,7581,-0.73,-146.0,869.7,-9.7,559,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2505,3084,0,0,0,0,0,0
$GC,7886,-0.73,-146.0,897.9,-9.2,569,7890,0.00,1.17,0.00,0.000,4,0.000,0.067,2151,3216,3084,0,0,0,0,0,0
$GC,7977,-0.73,-146.0,903.4,-8.8,571,7985,0.00,1.10,0.00,0.000,6,0.000,0.032,2151,2505,3084,0,0,0,0,0,0
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8105,begin apogee
$GC,8111,-0.16,0.0,917.8,-9.3,576,8240,0.57,0.00,123.57,1.464,6,0.133,0.000,2339,2190,2485,0,0,0,0,0,0
$STATE,8241,end apogee,CONTROL_FINISHED_OK
$STATE,8241,begin climb
$GC,8244,0.73,146.0,922.0,0.0,580,8388,0.85,1.40,133.00,1.424,4,0.069,0.055,2629,2903,1889,0,0,0,0,0,0
$GC,8539,0.73,146.0,898.7,13.1,589,8544,0.00,1.23,0.00,0.000,6,0.000,0.037,2634,2212,1882,0,0,0,0,0,0
$GC,8859,0.73,146.0,854.7,12.9,600,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2212,1878,0,0,0,0,0,0
$GC,9166,0.73,146.0,815.9,12.3,610,9170,0.00,1.23,0.00,0.000,4,0.000,0.056,2634,2913,1876,0,0,0,0,0,0
$GC,9243,0.73,146.0,807.4,12.7,612,9249,0.00,1.23,0.00,0.000,6,0.000,0.039,2639,2187,1876,0,0,0,0,0,0
$GC,9572,0.73,146.0,763.6,13.0,623,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2188,1876,0,0,0,0,0,0
$GC,9877,0.73,146.0,723.8,12.7,633,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2188,1875,0,0,0,0,0,0
$GC,10184,0.73,146.0,684.4,12.9,643,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2188,1874,0,0,0,0,0,0
$GC,10489,0.73,146.0,644.9,12.8,653,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2188,1874,0,0,0,0,0,0
$GC,10797,0.73,146.0,606.5,12.4,663,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2188,1874,0,0,0,0,0,0
$GC,11102,0.73,146.0,569.9,11.8,673,11105,0.00,1.23,0.00,0.000,4,0.000,0.056,2639,2909,1874,0,0,0,0,0,0
$GC,11172,0.73,146.0,562.1,11.7,675,11177,0.00,1.17,0.00,0.000,6,0.000,0.040,2644,2196,1873,0,0,0,0,0,0
$GC,11507,0.73,146.0,521.8,12.3,686,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2196,1873,0,0,0,0,0,0
$GC,11816,0.73,146.0,484.1,12.3,702,11820,0.00,1.08,0.00,0.000,4,0.000,0.052,2649,1494,1874,0,0,0,0,0,0
$GC,11908,0.73,146.0,472.8,12.3,709,11912,0.00,1.15,0.00,0.000,6,0.000,0.050,2649,2203,1873,0,0,0,0,0,0
$GC,12240,0.73,146.0,432.8,12.0,735,12244,0.00,1.12,0.00,0.000,4,0.000,0.057,2649,2905,1873,0,0,0,0,0,0
$GC,12308,0.73,146.0,424.3,12.4,740,12311,0.00,1.15,0.00,0.000,6,0.000,0.040,2654,2194,1873,0,0,0,0,0,0
$GC,12638,0.73,146.0,382.8,12.6,766,12642,0.00,1.08,0.00,0.000,4,0.000,0.054,2658,1493,1873,0,0,0,0,0,0
$GC,12783,0.73,146.0,364.8,12.0,777,12787,0.00,1.15,0.00,0.000,6,0.000,0.050,2659,2202,1873,0,0,0,0,0,0
$GC,13113,0.73,146.0,326.3,11.2,803,13117,0.00,1.12,0.00,0.000,4,0.000,0.060,2659,2904,1873,0,0,0,0,0,0
$GC,13369,0.73,146.0,297.0,11.6,822,13379,0.00,1.17,0.00,0.000,6,0.000,0.041,2664,2188,1873,0,0,0,0,0,0
$GC,13692,0.73,146.0,259.0,11.4,848,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2187,1873,0,0,0,0,0,0
$GC,14020,0.73,146.0,222.8,10.5,891,14027,0.00,1.05,0.00,0.000,4,0.000,0.053,2669,1496,1873,0,0,0,0,0,0
$GC,14132,0.73,146.0,210.9,10.4,908,14140,0.10,1.15,0.00,0.000,6,0.159,0.049,2639,2209,1873,0,0,0,0,0,0
$GC,14473,0.73,152.0,179.1,8.9,959,14480,0.00,1.10,0.00,0.000,4,0.000,0.059,2638,2906,1873,0,0,0,0,0,0
$GC,14651,0.75,165.1,163.2,8.6,986,14673,0.00,1.15,14.68,0.965,6,0.000,0.041,2642,2191,1812,0,0,0,0,0,0
$GC,15006,0.75,169.9,132.8,9.0,1039,15020,0.00,1.08,5.62,0.833,4,0.000,0.054,2647,1500,1792,0,0,0,0,0,0
$GC,15099,0.78,186.7,124.7,8.5,1053,15121,0.00,1.15,15.82,0.955,6,0.000,0.050,2647,2201,1724,0,0,0,0,0,0
$GC,15453,0.79,196.1,91.2,8.8,1106,15469,0.00,1.12,8.98,0.904,4,0.000,0.057,2647,2915,1686,0,0,0,0,0,0
$GC,15634,0.79,196.1,73.3,9.8,1133,15640,0.00,1.17,0.00,0.000,6,0.000,0.041,2652,2201,1685,0,0,0,0,0,0
$GC,15972,0.84,238.0,42.1,7.4,1184,16012,0.00,0.00,36.42,0.947,6,0.000,0.000,2652,2201,1513,0,0,0,0,0,0
$GC,16343,0.84,238.0,10.0,9.2,1240,16349,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2201,1507,0,0,0,0,0,0
$STATE,16420,end climb,SURFACE_DEPTH_REACHED
$STATE,16420,begin surface coast
$FINISH,1.7,1.004540
$STATE,16435,end surface coast,CONTROL_FINISHED_OK
$STATE,16435,begin surface
$SM_CCo,16451,29.05,0.086,0,0,1262,300.00
$SM_GC,2.30,6.95,0.60,29.05,0.052,0.061,0.086,121,2514,1262,-7.08,-0.68,300.00,0,0,0,0,0,0
$RAFOS_CLK,1089
$RAFOS,6,1319489343,20.833334,20.817499,69,66,65,0,0,0,683,187,220,0,0,0
$RAFOS,5,1319488867,20.700001,20.685278,83,63,59,0,0,0,680,153,196,0,0,0
$RAFOS,4,1319488387,20.566668,20.551945,67,60,53,0,0,0,174,198,161,0,0,0
$RAFOS,3,1319487907,20.433332,20.418612,69,64,64,0,0,0,193,217,716,0,0,0
$RAFOS,2,1319487424,20.299999,20.284445,68,67,59,0,0,0,189,751,158,0,0,0
$RAFOS,1,1319486947,20.166666,20.151945,61,61,60,0,0,0,220,231,170,0,0,0
$RAFOS,0,1319486465,20.033333,20.018055,57,57,55,0,0,0,187,229,141,0,0,0
$RAFOS,6,1319474944,16.833334,16.817778,74,68,60,0,0,0,687,183,159,0,0,0
$RAFOS,5,1319474468,16.700001,16.685556,139,62,59,0,0,0,667,165,204,0,0,0
$RAFOS,4,1319473984,16.566668,16.551111,90,60,57,0,0,0,566,212,171,0,0,0
$RAFOS,2,1319473023,16.299999,16.284166,63,61,58,0,0,0,205,122,165,0,0,0
$RAFOS_FIX,6652.511719,-5844.058105,241011,161612,4,94,13.56
$IRIDIUM_FIX,6625.71,-5844.34,241011,121211
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.63
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,802.1,129.6
$24V_AH,22.5,15.935
$10V_AH,10.3,12.907
$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,17.075,47.175,338.100,29.050,0.000,0.000,0.000,177.775,7.500,0.000,17.390,3453.142,10350.191,521.328,2239.379,228.745,31.281,1779.470,0.000,2035.902,3600.000,26.485,0.000
$DEVICE_MAMPS,264.690,77.265,1464.210,85.680,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.190,687.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150268
$DATA_FILE_SIZE,46728,1254
$CAP_FILE_SIZE,139619,0
$CFSIZE,260165632,239329280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.3
$CURRENT,0.147, 72.2,1
$GPS,241011,210636,6650.382,-5845.721,38,0.9,39,-33.7