version: 66.09
glider: 143
mission: 13
dive: 132
start: 10 25 111 21 59 16
data:
$ID,143
$MISSION,13
$DIVE,132
$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,-80681.641
$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,35
$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
$GPS1,251011,215259,6647.783,-5901.278,40,0.8,40,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-72.6
$GPS2,251011,215813,6647.800,-5901.295,18,1.1,19,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.120,-0.223
$KALMAN_X,-4892575.5,356650.2,-23404.3,-1988585.5,-412741.7
$KALMAN_Y,5529030.5,-407761.0,27115.5,2262002.2,458610.4
$MHEAD_RNG_PITCHd_Wd,305.7,62365,-16.9,-9.167
$D_GRID,956
$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,16,-0.73,-146.0,0.0,0.0,0,44,0.00,0.00,-25.33,0.000,2,0.000,0.000,124,2517,1605,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-2.3,4,190,8.45,1.15,-122.50,0.000,4,0.257,0.073,2164,1804,3082,0,0,0,0,0,0
$GC,441,-0.73,-146.0,45.3,-16.9,64,448,0.00,1.23,0.00,0.000,6,0.000,0.060,2161,2508,3083,0,0,0,0,0,0
$GC,778,-0.73,-146.0,94.7,-14.4,115,785,0.00,1.15,0.00,0.000,4,0.000,0.072,2156,3220,3084,0,0,0,0,0,0
$GC,826,-0.73,-146.0,101.5,-14.5,122,833,0.00,1.12,0.00,0.000,6,0.000,0.038,2156,2506,3084,0,0,0,0,0,0
$GC,1164,-0.73,-146.0,146.5,-12.6,173,1173,0.00,1.10,0.00,0.000,4,0.000,0.050,2156,1811,3084,0,0,0,0,0,0
$GC,1201,-0.73,-146.0,151.1,-12.8,178,1207,0.00,1.20,0.00,0.000,6,0.000,0.061,2151,2505,3084,0,0,0,0,0,0
$GC,1537,-0.73,-146.0,194.3,-12.8,229,1546,0.00,1.15,0.00,0.000,4,0.000,0.073,2146,3220,3084,0,0,0,0,0,0
$GC,1600,-0.73,-146.0,202.5,-13.3,238,1607,0.00,1.12,0.00,0.000,6,0.000,0.039,2145,2506,3084,0,0,0,0,0,0
$GC,1937,-0.73,-146.0,244.6,-12.0,289,1945,0.00,1.20,0.00,0.000,4,0.000,0.070,2141,3219,3083,0,0,0,0,0,0
$GC,1974,-0.73,-146.0,249.0,-12.3,294,1980,0.00,1.12,0.00,0.000,6,0.000,0.038,2141,2503,3083,0,0,0,0,0,0
$GC,2304,-0.73,-146.0,288.8,-12.2,321,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3083,0,0,0,0,0,0
$GC,2620,-0.73,-146.0,326.6,-11.9,346,2624,0.00,1.20,0.00,0.000,4,0.000,0.070,2136,3217,3083,0,0,0,0,0,0
$GC,2638,-0.73,-146.0,328.4,-12.0,347,2646,0.12,1.12,0.00,0.000,6,0.174,0.037,2165,2506,3083,0,0,0,0,0,0
$GC,2961,-0.73,-146.0,362.9,-10.5,373,2965,0.00,1.20,0.00,0.000,4,0.000,0.071,2162,3222,3083,0,0,0,0,0,0
$GC,2992,-0.73,-146.0,365.6,-10.2,375,3000,0.00,1.12,0.00,0.000,6,0.000,0.035,2162,2510,3082,0,0,0,0,0,0
$GC,3319,-0.73,-146.0,400.8,-11.0,401,3323,0.00,1.17,0.00,0.000,4,0.000,0.070,2158,3214,3083,0,0,0,0,0,0
$GC,3399,-0.73,-146.0,409.9,-10.9,407,3402,0.00,1.10,0.00,0.000,6,0.000,0.036,2157,2504,3083,0,0,0,0,0,0
$GC,3729,-0.73,-146.0,446.3,-10.9,433,3732,0.00,1.20,0.00,0.000,4,0.000,0.070,2153,3222,3083,0,0,0,0,0,0
$GC,3769,-0.73,-146.0,451.0,-11.2,436,3773,0.00,1.10,0.00,0.000,6,0.000,0.036,2153,2514,3083,0,0,0,0,0,0
$GC,4101,-0.73,-146.0,487.2,-10.7,462,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2513,3083,0,0,0,0,0,0
$GC,4409,-0.73,-146.0,519.8,-10.5,478,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2514,3084,0,0,0,0,0,0
$GC,4715,-0.73,-146.0,551.2,-10.2,488,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2514,3084,0,0,0,0,0,0
$GC,5021,-0.73,-146.0,582.1,-10.1,498,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2514,3084,0,0,0,0,0,0
$GC,5328,-0.73,-146.0,613.8,-10.1,508,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2513,3084,0,0,0,0,0,0
$GC,5634,-0.73,-146.0,644.0,-9.9,518,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2513,3084,0,0,0,0,0,0
$GC,5939,-0.73,-146.0,674.0,-9.9,528,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2513,3085,0,0,0,0,0,0
$GC,6246,-0.73,-146.0,705.0,-10.1,538,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2513,3085,0,0,0,0,0,0
$GC,6551,-0.73,-146.0,736.1,-10.2,548,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2513,3085,0,0,0,0,0,0
$GC,6859,-0.73,-146.0,767.0,-10.1,558,6863,0.00,1.17,0.00,0.000,4,0.000,0.070,2148,3220,3085,0,0,0,0,0,0
$GC,6910,-0.73,-146.0,770.7,-10.2,559,6915,0.00,1.12,0.00,0.000,6,0.000,0.034,2148,2500,3085,0,0,0,0,0,0
$GC,7233,-0.73,-146.0,805.9,-10.4,570,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2499,3085,0,0,0,0,0,0
$GC,7537,-0.73,-146.0,838.2,-10.6,580,7540,0.00,1.17,0.00,0.000,4,0.000,0.067,2143,3213,3086,0,0,0,0,0,0
$GC,7571,-0.73,-146.0,841.7,-10.6,581,7575,0.00,1.08,0.00,0.000,6,0.000,0.033,2144,2506,3085,0,0,0,0,0,0
$GC,7910,-0.73,-146.0,877.0,-10.1,592,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2506,3086,0,0,0,0,0,0
$GC,8218,-0.73,-146.0,907.1,-9.8,602,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2506,3086,0,0,0,0,0,0
$GC,8523,-0.73,-146.0,937.3,-10.0,612,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2506,3086,0,0,0,0,0,0
$STATE,8735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8735,begin apogee
$GC,8741,-0.16,0.0,958.8,-10.1,619,8871,0.62,0.00,124.20,1.506,6,0.138,0.000,2345,2194,2485,0,0,0,0,0,0
$STATE,8872,end apogee,CONTROL_FINISHED_OK
$STATE,8872,begin climb
$GC,8874,0.73,146.0,963.8,0.0,623,9019,0.85,1.17,134.25,1.452,4,0.067,0.050,2640,1504,1888,0,0,0,0,0,0
$GC,9124,0.73,146.0,946.1,11.9,631,9128,0.00,1.25,0.00,0.000,6,0.000,0.048,2639,2207,1882,0,0,0,0,0,0
$GC,9459,0.73,146.0,902.0,13.0,642,9462,0.00,1.17,0.00,0.000,4,0.000,0.058,2640,2901,1878,0,0,0,0,0,0
$GC,9596,0.73,146.0,884.3,13.4,646,9601,0.00,1.20,0.00,0.000,6,0.000,0.040,2645,2203,1877,0,0,0,0,0,0
$GC,9929,0.73,146.0,839.3,13.1,657,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2203,1876,0,0,0,0,0,0
$GC,10236,0.73,146.0,799.4,13.0,667,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1875,0,0,0,0,0,0
$GC,10542,0.73,146.0,760.4,12.5,677,10546,0.00,1.20,0.00,0.000,4,0.000,0.056,2644,2904,1875,0,0,0,0,0,0
$GC,10645,0.73,146.0,747.4,13.1,680,10650,0.00,1.20,0.00,0.000,6,0.000,0.040,2649,2185,1875,0,0,0,0,0,0
$GC,10980,0.73,146.0,704.5,12.5,691,10983,0.00,1.23,0.00,0.000,4,0.000,0.056,2649,2905,1874,0,0,0,0,0,0
$GC,11070,0.73,146.0,695.6,13.0,693,11080,0.00,1.17,0.00,0.000,6,0.000,0.041,2654,2200,1873,0,0,0,0,0,0
$GC,11385,0.73,146.0,651.0,13.0,704,11389,0.00,1.10,0.00,0.000,4,0.000,0.054,2660,1493,1874,0,0,0,0,0,0
$GC,11453,0.73,146.0,642.4,12.9,706,11457,0.00,1.17,0.00,0.000,6,0.000,0.051,2659,2208,1873,0,0,0,0,0,0
$GC,11792,0.73,146.0,597.9,13.0,717,11796,0.00,1.12,0.00,0.000,4,0.000,0.059,2659,2905,1873,0,0,0,0,0,0
$GC,11943,0.73,146.0,580.0,13.6,721,11948,0.12,1.17,0.00,0.000,6,0.179,0.041,2635,2198,1873,0,0,0,0,0,0
$GC,12263,0.73,146.0,538.9,12.1,732,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2198,1872,0,0,0,0,0,0
$GC,12571,0.73,146.0,501.8,12.1,742,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2198,1872,0,0,0,0,0,0
$GC,12892,0.73,146.0,463.3,11.7,766,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2198,1872,0,0,0,0,0,0
$GC,13206,0.73,146.0,426.8,11.3,791,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2198,1872,0,0,0,0,0,0
$GC,13522,0.73,146.0,391.8,11.3,816,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2198,1872,0,0,0,0,0,0
$GC,13837,0.73,146.0,356.2,10.8,841,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2198,1872,0,0,0,0,0,0
$GC,14155,0.73,146.0,322.8,10.2,866,14158,0.00,1.20,0.00,0.000,4,0.000,0.057,2635,2905,1873,0,0,0,0,0,0
$GC,14328,0.73,146.0,305.0,10.0,879,14331,0.00,1.15,0.00,0.000,6,0.000,0.041,2638,2194,1872,0,0,0,0,0,0
$GC,14658,0.73,146.0,271.9,10.4,905,14662,0.00,1.08,0.00,0.000,4,0.000,0.053,2644,1492,1873,0,0,0,0,0,0
$GC,14915,0.73,146.0,245.4,9.7,928,14922,0.00,1.15,0.00,0.000,6,0.000,0.049,2644,2203,1872,0,0,0,0,0,0
$GC,15252,0.73,146.0,211.8,9.5,979,15259,0.00,1.12,0.00,0.000,4,0.000,0.060,2644,2904,1872,0,0,0,0,0,0
$GC,15503,0.73,146.0,187.3,9.9,1017,15512,0.00,1.15,0.00,0.000,6,0.000,0.041,2648,2190,1872,0,0,0,0,0,0
$GC,15843,0.73,151.3,156.6,8.9,1068,15849,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2190,1872,0,0,0,0,0,0
$GC,16179,0.76,172.4,128.7,8.3,1119,16207,0.00,1.23,20.50,0.976,4,0.000,0.055,2648,2906,1782,0,0,0,0,0,0
$GC,16458,0.77,178.6,103.3,8.9,1161,16469,0.00,1.15,6.80,0.871,6,0.000,0.041,2653,2202,1756,0,0,0,0,0,0
$GC,16801,0.77,178.6,71.7,9.2,1212,16807,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2202,1754,0,0,0,0,0,0
$GC,17137,0.83,228.1,45.3,7.1,1263,17185,0.00,0.00,42.38,0.959,6,0.000,0.000,2653,2202,1554,0,0,0,0,0,0
$GC,17514,0.86,258.2,15.2,7.9,1320,17536,0.00,1.17,15.30,0.115,4,0.000,0.054,2652,2906,1431,0,0,0,0,0,0
$GC,17650,0.86,258.2,2.3,10.4,1340,17657,0.00,1.17,0.00,0.000,6,0.000,0.038,2653,2191,1426,0,0,0,0,0,0
$STATE,17664,end climb,SURFACE_DEPTH_REACHED
$STATE,17665,begin surface coast
$FINISH,1.9,1.002370
$STATE,17691,end surface coast,CONTROL_FINISHED_OK
$STATE,17691,begin surface
$SM_CCo,17708,19.10,0.086,0,0,1261,300.00
$SM_GC,3.04,6.82,0.60,19.10,0.042,0.057,0.086,122,2508,1261,-7.07,-0.88,300.00,0,0,0,0,0,0
$RAFOS_CLK,1170
$RAFOS,6,1319590159,0.833333,0.821944,129,67,59,0,0,0,604,196,160,0,0,0
$RAFOS,5,1319589669,0.700000,0.685833,72,70,60,0,0,0,718,189,224,0,0,0
$RAFOS,4,1319589197,0.566667,0.554722,89,55,55,0,0,0,451,215,173,0,0,0
$RAFOS,3,1319588706,0.433333,0.418333,58,57,55,0,0,0,196,178,117,0,0,0
$RAFOS,2,1319588232,0.300000,0.286667,70,61,59,0,0,0,670,661,121,0,0,0
$RAFOS,1,1319587742,0.166667,0.150556,82,65,58,0,0,0,690,221,144,0,0,0
$RAFOS,0,1319587276,0.033333,0.021111,61,59,58,0,0,0,193,218,181,0,0,0
$RAFOS_FIX,6650.377930,-5905.207520,261011,000056,4,88,0.61
$IRIDIUM_FIX,6620.33,-5857.50,251011,161653
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.87
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,952.4,71.7
$24V_AH,22.4,16.720
$10V_AH,10.3,13.474
$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,17.000,52.150,343.425,19.100,0.000,0.000,0.000,201.925,9.000,0.000,19.671,3707.393,11125.477,547.952,2431.634,242.500,33.236,1912.221,0.000,2196.644,2520.000,32.898,0.000
$DEVICE_MAMPS,257.040,73.440,1506.285,86.445,0.000,0.000,0.000,261.415,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.891,736.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150368
$DATA_FILE_SIZE,53290,1346
$CAP_FILE_SIZE,148221,0
$CFSIZE,260165632,238891008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.2
$CURRENT,0.270, 28.5,1
$GPS,261011,025623,6650.210,-5905.990,40,0.8,40,-33.8