version: 66.09
glider: 143
mission: 13
dive: 127
start: 10 24 111 21 13 19
data:
$ID,143
$MISSION,13
$DIVE,127
$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,-80675.352
$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,24
$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
$GPS1,241011,210636,6650.382,-5845.721,38,0.9,39,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.2
$GPS2,241011,211214,6650.384,-5845.763,23,1.5,23,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.162,-0.195
$KALMAN_X,-6050272.0,735383.8,542655.5,-1732079.0,-3671825.8
$KALMAN_Y,6886198.0,-840106.6,-620169.5,1972390.5,4184986.0
$MHEAD_RNG_PITCHd_Wd,289.5,74277,-16.9,-9.167
$D_GRID,941
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-41.12,0.000,2,0.000,0.000,121,2518,1812,0,0,0,0,0,0
$GC,62,-0.73,-146.0,3.0,-1.4,6,144,8.35,0.00,-68.28,0.000,6,0.252,0.000,2160,2518,3083,0,0,0,0,0,0
$GC,474,-0.73,-146.0,64.7,-15.5,68,481,0.00,1.12,0.00,0.000,4,0.000,0.072,2157,3211,3084,0,0,0,0,0,0
$GC,547,-0.73,-146.0,76.2,-15.6,79,554,0.00,1.12,0.00,0.000,6,0.000,0.038,2157,2499,3084,0,0,0,0,0,0
$GC,886,-0.73,-146.0,127.3,-14.7,130,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2499,3085,0,0,0,0,0,0
$GC,1222,-0.73,-146.0,174.6,-12.9,181,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2499,3085,0,0,0,0,0,0
$GC,1561,-0.73,-146.0,218.7,-12.6,232,1568,0.00,1.20,0.00,0.000,4,0.000,0.069,2152,3214,3085,0,0,0,0,0,0
$GC,1629,-0.73,-146.0,227.3,-13.2,242,1635,0.00,1.10,0.00,0.000,6,0.000,0.037,2152,2512,3084,0,0,0,0,0,0
$GC,1967,-0.73,-146.0,269.0,-12.0,282,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3084,0,0,0,0,0,0
$GC,2281,-0.73,-146.0,307.5,-12.3,307,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3084,0,0,0,0,0,0
$GC,2597,-0.73,-146.0,346.2,-11.8,332,2601,0.00,1.17,0.00,0.000,4,0.000,0.068,2147,3216,3084,0,0,0,0,0,0
$GC,2641,-0.73,-146.0,350.7,-11.7,335,2649,0.00,1.12,0.00,0.000,6,0.000,0.036,2147,2504,3084,0,0,0,0,0,0
$GC,2966,-0.73,-146.0,388.4,-11.4,361,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2504,3084,0,0,0,0,0,0
$GC,3281,-0.73,-146.0,423.8,-11.2,386,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2504,3084,0,0,0,0,0,0
$GC,3597,-0.73,-146.0,459.1,-11.1,411,3601,0.00,1.08,0.00,0.000,4,0.000,0.048,2147,1814,3083,0,0,0,0,0,0
$GC,3655,-0.73,-146.0,465.3,-11.2,415,3663,0.00,1.20,0.00,0.000,6,0.000,0.058,2143,2508,3084,0,0,0,0,0,0
$GC,3996,-0.73,-146.0,504.9,-11.5,441,3999,0.00,1.12,0.00,0.000,4,0.000,0.070,2137,3217,3084,0,0,0,0,0,0
$GC,4067,-0.73,-146.0,512.7,-11.8,443,4072,0.00,1.12,0.00,0.000,6,0.000,0.034,2137,2499,3084,0,0,0,0,0,0
$GC,4403,-0.73,-146.0,552.6,-11.8,454,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3085,0,0,0,0,0,0
$GC,4707,-0.73,-146.0,588.5,-11.6,464,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3085,0,0,0,0,0,0
$GC,5015,-0.73,-146.0,622.7,-11.1,474,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2500,3086,0,0,0,0,0,0
$GC,5319,-0.73,-146.0,656.3,-11.0,484,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2499,3085,0,0,0,0,0,0
$GC,5627,-0.73,-146.0,688.2,-10.1,494,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2499,3086,0,0,0,0,0,0
$GC,5932,-0.73,-146.0,720.8,-10.6,504,5936,0.00,1.17,0.00,0.000,4,0.000,0.066,2132,3210,3086,0,0,0,0,0,0
$GC,5965,-0.73,-146.0,724.3,-10.6,505,5969,0.10,1.08,0.00,0.000,6,0.157,0.034,2163,2505,3085,0,0,0,0,0,0
$GC,6306,-0.73,-146.0,755.7,-9.4,516,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3086,0,0,0,0,0,0
$GC,6612,-0.73,-146.0,784.2,-9.4,526,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3086,0,0,0,0,0,0
$GC,6916,-0.73,-146.0,812.9,-9.3,536,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3086,0,0,0,0,0,0
$GC,7224,-0.73,-146.0,841.5,-9.2,546,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3086,0,0,0,0,0,0
$GC,7530,-0.73,-146.0,869.4,-8.9,556,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3086,0,0,0,0,0,0
$GC,7837,-0.73,-146.0,896.4,-8.8,566,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3086,0,0,0,0,0,0
$GC,8141,-0.73,-146.0,924.4,-9.3,576,8145,0.00,1.17,0.00,0.000,4,0.000,0.067,2160,3214,3087,0,0,0,0,0,0
$GC,8179,-0.73,-146.0,927.4,-9.3,577,8184,0.00,1.10,0.00,0.000,6,0.000,0.032,2160,2503,3087,0,0,0,0,0,0
$STATE,8328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8329,begin apogee
$GC,8334,-0.16,0.0,941.4,-9.1,582,8466,0.55,0.00,124.50,1.492,6,0.130,0.000,2342,2188,2484,0,0,0,0,0,0
$STATE,8467,end apogee,CONTROL_FINISHED_OK
$STATE,8467,begin climb
$GC,8470,0.73,146.0,946.1,0.0,586,8614,0.85,1.20,132.93,1.442,4,0.067,0.052,2637,1509,1890,0,0,0,0,0,0
$GC,8772,0.73,146.0,923.8,12.4,595,8780,0.00,1.25,0.00,0.000,6,0.000,0.048,2637,2208,1884,0,0,0,0,0,0
$GC,9087,0.73,146.0,878.9,13.4,606,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,1880,0,0,0,0,0,0
$GC,9392,0.73,146.0,838.7,13.0,616,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,1878,0,0,0,0,0,0
$GC,9700,0.73,146.0,800.3,12.3,626,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,1877,0,0,0,0,0,0
$GC,10004,0.73,146.0,761.9,12.8,636,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,1877,0,0,0,0,0,0
$GC,10312,0.73,146.0,723.3,12.7,646,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,1877,0,0,0,0,0,0
$GC,10618,0.73,146.0,685.7,12.1,656,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,1877,0,0,0,0,0,0
$GC,10926,0.73,146.0,648.3,12.3,666,10927,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,1877,0,0,0,0,0,0
$GC,11229,0.73,146.0,611.1,12.0,676,11233,0.00,1.12,0.00,0.000,4,0.000,0.057,2637,2905,1875,0,0,0,0,0,0
$GC,11333,0.73,146.0,598.4,12.6,679,11338,0.00,1.15,0.00,0.000,6,0.000,0.040,2641,2207,1876,0,0,0,0,0,0
$GC,11669,0.73,146.0,555.6,12.5,690,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2207,1875,0,0,0,0,0,0
$GC,11973,0.73,146.0,516.7,12.6,700,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2207,1875,0,0,0,0,0,0
$GC,12292,0.73,146.0,476.3,12.8,718,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2207,1875,0,0,0,0,0,0
$GC,12607,0.73,146.0,436.8,12.3,743,12611,0.00,1.17,0.00,0.000,4,0.000,0.055,2642,2907,1875,0,0,0,0,0,0
$GC,12678,0.73,146.0,428.4,12.7,748,12686,0.00,1.17,0.00,0.000,6,0.000,0.040,2646,2189,1875,0,0,0,0,0,0
$GC,13003,0.73,146.0,387.4,12.5,774,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2189,1875,0,0,0,0,0,0
$GC,13317,0.73,146.0,348.9,12.0,799,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2188,1875,0,0,0,0,0,0
$GC,13634,0.73,146.0,312.4,11.2,824,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2189,1875,0,0,0,0,0,0
$GC,13950,0.73,146.0,276.8,11.0,849,13954,0.00,1.05,0.00,0.000,4,0.000,0.054,2651,1499,1876,0,0,0,0,0,0
$GC,14021,0.73,146.0,269.5,10.8,854,14029,0.00,1.17,0.00,0.000,6,0.000,0.050,2652,2212,1875,0,0,0,0,0,0
$GC,14351,0.73,146.0,232.9,10.3,892,14357,0.00,1.10,0.00,0.000,4,0.000,0.057,2652,2905,1875,0,0,0,0,0,0
$GC,14483,0.73,146.0,218.6,10.6,912,14490,0.00,1.12,0.00,0.000,6,0.000,0.040,2657,2203,1875,0,0,0,0,0,0
$GC,14820,0.73,146.0,185.5,10.0,963,14826,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2203,1875,0,0,0,0,0,0
$GC,15157,0.73,146.0,152.7,9.4,1014,15164,0.00,1.08,0.00,0.000,4,0.000,0.053,2662,1496,1875,0,0,0,0,0,0
$GC,15325,0.73,146.0,136.3,9.5,1039,15332,0.00,1.12,0.00,0.000,6,0.000,0.049,2662,2199,1875,0,0,0,0,0,0
$GC,15665,0.79,197.1,109.3,7.0,1090,15711,0.00,1.20,41.28,0.968,4,0.000,0.057,2661,2912,1681,0,0,0,0,0,0
$GC,15842,0.79,197.1,91.7,10.8,1117,15851,0.00,1.17,0.00,0.000,6,0.000,0.039,2666,2198,1677,0,0,0,0,0,0
$GC,16181,0.79,197.1,55.4,9.9,1168,16188,0.00,1.08,0.00,0.000,4,0.000,0.054,2671,1497,1675,0,0,0,0,0,0
$GC,16387,0.86,258.9,36.7,6.6,1199,16447,0.00,1.15,51.28,0.942,6,0.000,0.050,2671,2198,1429,0,0,0,0,0,0
$STATE,16742,end climb,SURFACE_DEPTH_REACHED
$STATE,16743,begin surface coast
$FINISH,1.7,1.015070
$STATE,16756,end surface coast,CONTROL_FINISHED_OK
$STATE,16756,begin surface
$SM_CCo,16773,18.52,0.086,0,0,1262,300.00
$SM_GC,3.60,6.95,0.55,18.52,0.045,0.067,0.086,123,2509,1262,-7.07,-0.68,300.00,0,0,0,0,0,0
$RAFOS_CLK,1106
$RAFOS,6,1319503748,0.833333,0.818889,64,61,60,0,0,0,653,219,170,0,0,0
$RAFOS,5,1319503264,0.700000,0.684444,58,55,54,0,0,0,204,214,152,0,0,0
$RAFOS,4,1319502800,0.566667,0.555556,83,61,59,0,0,0,453,134,206,0,0,0
$RAFOS,3,1319502310,0.433333,0.419444,63,61,52,0,0,0,182,219,201,0,0,0
$RAFOS,2,1319501842,0.300000,0.289444,60,60,60,0,0,0,112,145,199,0,0,0
$RAFOS,1,1319501352,0.166667,0.153333,66,59,54,0,0,0,675,174,201,0,0,0
$RAFOS,0,1319500862,0.033333,0.017222,64,63,61,0,0,0,213,156,138,0,0,0
$RAFOS_FIX,6653.024902,-5856.375000,251011,000042,3,71,0.76
$IRIDIUM_FIX,6620.33,-5835.00,241011,161607
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.75
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,901.7,98.2
$24V_AH,22.5,16.067
$10V_AH,10.3,12.999
$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,16.800,35.250,349.975,18.525,0.000,0.000,0.000,221.750,9.250,0.000,23.965,3435.754,10757.526,506.570,2221.961,222.957,32.210,1766.341,0.000,1965.644,2520.000,34.329,0.000
$DEVICE_MAMPS,252.450,71.910,1491.750,86.445,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.038,684.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,46665,1255
$CAP_FILE_SIZE,132192,0
$CFSIZE,260165632,239267840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.7
$CURRENT,0.227, 18.1,1
$GPS,251011,015524,6651.772,-5851.750,75,0.8,76,-33.7