version: 66.09
glider: 143
mission: 13
dive: 131
start: 10 25 111 16 55 6
data:
$ID,143
$MISSION,13
$DIVE,131
$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,-2
$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,-80680.383
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,251011,164905,6649.731,-5857.401,34,1.0,34,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-73.6
$GPS2,251011,165400,6649.708,-5857.344,16,1.0,17,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.175,0.183
$KALMAN_X,-3967572.2,-434875.6,-86033.7,-2058368.6,1733750.2
$KALMAN_Y,4481973.0,498904.0,98124.6,2342017.8,-1990368.5
$MHEAD_RNG_PITCHd_Wd,272.3,65713,-16.9,-9.167
$D_GRID,977
$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,-146.0,0.0,0.0,0,47,0.00,0.00,-28.90,0.000,2,0.000,0.000,124,2518,1653,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.0,-2.4,4,156,8.62,1.23,-91.00,0.000,4,0.263,0.076,2159,1811,3082,0,0,0,0,0,0
$GC,409,-0.73,-146.0,49.5,-14.7,58,416,0.00,1.20,0.00,0.000,6,0.000,0.060,2157,2500,3085,0,0,0,0,0,0
$GC,746,-0.73,-146.0,98.8,-14.7,109,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2500,3085,0,0,0,0,0,0
$GC,1084,-0.73,-146.0,147.1,-12.9,160,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2500,3085,0,0,0,0,0,0
$GC,1420,-0.73,-146.0,190.4,-12.8,211,1429,0.00,1.15,0.00,0.000,4,0.000,0.073,2151,3209,3085,0,0,0,0,0,0
$GC,1463,-0.73,-146.0,196.0,-13.2,217,1470,0.00,1.10,0.00,0.000,6,0.000,0.040,2151,2508,3085,0,0,0,0,0,0
$GC,1802,-0.73,-146.0,239.2,-12.7,268,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3085,0,0,0,0,0,0
$GC,2130,-0.73,-146.0,279.8,-12.3,300,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3084,0,0,0,0,0,0
$GC,2444,-0.73,-146.0,318.3,-11.7,325,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3084,0,0,0,0,0,0
$GC,2759,-0.73,-146.0,354.4,-11.3,350,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2508,3084,0,0,0,0,0,0
$GC,3075,-0.73,-146.0,388.4,-10.3,375,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3084,0,0,0,0,0,0
$GC,3391,-0.73,-146.0,422.3,-11.0,400,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3084,0,0,0,0,0,0
$GC,3706,-0.73,-146.0,456.4,-10.6,425,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3084,0,0,0,0,0,0
$GC,4023,-0.73,-146.0,489.8,-10.3,450,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3084,0,0,0,0,0,0
$GC,4336,-0.73,-146.0,522.5,-10.4,465,4340,0.00,1.17,0.00,0.000,4,0.000,0.069,2146,3213,3084,0,0,0,0,0,0
$GC,4381,-0.73,-146.0,526.0,-10.5,466,4386,0.00,1.12,0.00,0.000,6,0.000,0.036,2146,2499,3084,0,0,0,0,0,0
$GC,4708,-0.73,-146.0,562.4,-10.6,477,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3085,0,0,0,0,0,0
$GC,5015,-0.73,-146.0,595.0,-10.6,487,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3085,0,0,0,0,0,0
$GC,5321,-0.73,-146.0,626.0,-10.1,497,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3085,0,0,0,0,0,0
$GC,5627,-0.73,-146.0,657.8,-10.4,507,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,5933,-0.73,-146.0,688.0,-9.9,517,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,6239,-0.73,-146.0,717.9,-9.8,527,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,6546,-0.73,-146.0,748.8,-9.9,537,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,6852,-0.73,-146.0,778.9,-9.9,547,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,7158,-0.73,-146.0,808.6,-9.5,557,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,7464,-0.73,-146.0,837.8,-9.6,567,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3086,0,0,0,0,0,0
$GC,7772,-0.73,-146.0,867.3,-9.7,577,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3087,0,0,0,0,0,0
$GC,8077,-0.73,-146.0,897.0,-9.7,587,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3087,0,0,0,0,0,0
$GC,8383,-0.73,-146.0,926.3,-9.7,597,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3087,0,0,0,0,0,0
$GC,8689,-0.73,-146.0,956.4,-9.9,607,8693,0.00,1.17,0.00,0.000,4,0.000,0.067,2141,3211,3087,0,0,0,0,0,0
$GC,8767,-0.73,-146.0,963.2,-10.2,609,8771,0.00,1.10,0.00,0.000,6,0.000,0.033,2142,2503,3086,0,0,0,0,0,0
$STATE,8908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8908,begin apogee
$GC,8914,-0.16,0.0,978.7,-10.1,614,9045,0.60,0.00,124.88,1.521,6,0.135,0.000,2338,2189,2485,0,0,0,0,0,0
$STATE,9045,end apogee,CONTROL_FINISHED_OK
$STATE,9045,begin climb
$GC,9048,0.73,146.0,983.9,0.0,618,9191,0.88,1.23,134.15,1.464,4,0.072,0.054,2638,1513,1889,0,0,0,0,0,0
$GC,9440,0.73,146.0,948.2,13.0,630,9445,0.00,1.25,0.00,0.000,6,0.000,0.050,2638,2215,1880,0,0,0,0,0,0
$GC,9763,0.73,146.0,905.0,12.8,641,9766,0.00,1.15,0.00,0.000,4,0.000,0.059,2638,2898,1878,0,0,0,0,0,0
$GC,9880,0.73,146.0,891.7,13.1,644,9885,0.00,1.17,0.00,0.000,6,0.000,0.041,2643,2211,1878,0,0,0,0,0,0
$GC,10201,0.73,146.0,847.0,13.2,655,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,1877,0,0,0,0,0,0
$GC,10506,0.73,146.0,807.2,12.9,665,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,1876,0,0,0,0,0,0
$GC,10813,0.73,146.0,767.4,13.0,675,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,1875,0,0,0,0,0,0
$GC,11119,0.73,146.0,728.0,12.9,685,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,1875,0,0,0,0,0,0
$GC,11426,0.73,146.0,687.9,13.4,695,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2211,1875,0,0,0,0,0,0
$GC,11731,0.73,146.0,649.2,12.6,705,11735,0.00,1.10,0.00,0.000,4,0.000,0.056,2648,1499,1874,0,0,0,0,0,0
$GC,11855,0.73,146.0,636.7,12.6,708,11863,0.00,1.17,0.00,0.000,6,0.000,0.050,2648,2204,1874,0,0,0,0,0,0
$GC,12169,0.73,146.0,594.1,12.5,719,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2203,1874,0,0,0,0,0,0
$GC,12475,0.73,146.0,555.3,12.7,729,12479,0.00,1.12,0.00,0.000,4,0.000,0.059,2649,2903,1874,0,0,0,0,0,0
$GC,12542,0.73,146.0,546.7,12.8,731,12545,0.00,1.15,0.00,0.000,6,0.000,0.043,2653,2198,1874,0,0,0,0,0,0
$GC,12881,0.73,146.0,503.8,12.7,742,12884,0.00,1.08,0.00,0.000,4,0.000,0.055,2658,1497,1873,0,0,0,0,0,0
$GC,12991,0.73,146.0,490.3,13.0,749,12999,0.00,1.17,0.00,0.000,6,0.000,0.051,2658,2205,1873,0,0,0,0,0,0
$GC,13316,0.73,146.0,448.5,12.6,775,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2205,1873,0,0,0,0,0,0
$GC,13632,0.73,146.0,409.6,12.2,800,13633,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2205,1873,0,0,0,0,0,0
$GC,13948,0.73,146.0,372.7,11.7,825,13952,0.00,1.12,0.00,0.000,4,0.000,0.061,2658,2905,1874,0,0,0,0,0,0
$GC,14067,0.73,146.0,358.3,11.8,834,14070,0.00,1.15,0.00,0.000,6,0.000,0.043,2664,2197,1873,0,0,0,0,0,0
$GC,14398,0.73,146.0,320.1,11.2,860,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,1873,0,0,0,0,0,0
$GC,14712,0.73,146.0,284.6,10.9,885,14713,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,1873,0,0,0,0,0,0
$GC,15027,0.73,146.0,250.4,10.8,910,15028,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,1873,0,0,0,0,0,0
$GC,15357,0.73,146.0,217.8,9.3,959,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,1873,0,0,0,0,0,0
$GC,15696,0.73,146.0,186.0,9.5,1010,15702,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,1873,0,0,0,0,0,0
$GC,16033,0.73,146.0,154.2,9.8,1061,16039,0.00,1.20,0.00,0.000,4,0.000,0.057,2663,2908,1873,0,0,0,0,0,0
$GC,16292,0.73,146.0,129.3,9.4,1100,16300,0.10,1.15,0.00,0.000,6,0.158,0.042,2637,2196,1874,0,0,0,0,0,0
$GC,16631,0.84,238.1,107.6,5.3,1151,16712,0.00,0.00,75.05,0.978,6,0.000,0.000,2637,2196,1513,0,0,0,0,0,0
$GC,17042,0.84,238.1,71.3,9.9,1213,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2196,1505,0,0,0,0,0,0
$GC,17379,0.86,253.4,39.1,8.5,1264,17399,0.12,1.17,12.68,0.910,4,0.088,0.055,2686,2901,1451,0,0,0,0,0,0
$GC,17625,0.86,253.4,11.6,11.8,1301,17632,0.00,1.17,0.00,0.000,6,0.000,0.042,2691,2194,1448,0,0,0,0,0,0
$STATE,17709,end climb,SURFACE_DEPTH_REACHED
$STATE,17709,begin surface coast
$FINISH,1.8,1.011270
$STATE,17731,end surface coast,CONTROL_FINISHED_OK
$STATE,17731,begin surface
$SM_CCo,17747,21.77,0.086,0,0,1262,300.00
$SM_GC,2.55,7.05,0.60,21.77,0.054,0.054,0.086,125,2514,1262,-7.06,-0.74,300.00,0,0,0,0,0,0
$RAFOS_CLK,1177
$RAFOS,6,1319575744,20.833334,20.817778,129,63,61,0,0,0,699,212,139,0,0,0
$RAFOS,5,1319575270,20.700001,20.686111,96,65,64,0,0,0,709,152,225,0,0,0
$RAFOS,4,1319574791,20.566668,20.553055,91,57,56,0,0,0,497,187,215,0,0,0
$RAFOS,3,1319574309,20.433332,20.419167,72,67,63,0,0,0,678,219,139,0,0,0
$RAFOS,2,1319573842,20.299999,20.289444,73,65,60,0,0,0,609,196,123,0,0,0
$RAFOS,1,1319573343,20.166666,20.150833,67,60,57,0,0,0,178,217,694,0,0,0
$RAFOS,0,1319572884,20.033333,20.023333,67,58,57,0,0,0,715,213,223,0,0,0
$RAFOS,5,1319560865,16.700001,16.684723,61,57,56,0,0,0,210,162,172,0,0,0
$RAFOS_FIX,6648.708008,-5900.522949,251011,202013,6,88,0.23
$IRIDIUM_FIX,6620.33,-5859.36,251011,111126
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.82
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,852.6,147.7
$24V_AH,22.4,16.592
$10V_AH,10.3,13.378
$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,17.375,28.900,346.750,21.775,0.000,0.000,0.000,184.175,7.500,0.000,17.930,3597.302,11462.247,496.134,2304.555,224.824,33.235,1771.172,0.000,2096.343,2520.000,25.255,0.000
$DEVICE_MAMPS,263.160,76.500,1520.820,86.445,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.086,714.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150284
$DATA_FILE_SIZE,49972,1317
$CAP_FILE_SIZE,135648,0
$CFSIZE,260165632,238977024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1458.3
$CURRENT,0.112,102.9,1
$GPS,251011,215259,6647.783,-5901.278,40,0.8,40,-33.7