version: 66.09
glider: 143
mission: 13
dive: 143
start: 10 28 111 5 39 41
data:
$ID,143
$MISSION,13
$DIVE,143
$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,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,-80695.789
$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,37
$R_STBD_OVSHOOT,20
$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
$GPS1,281011,053324,6650.741,-5910.307,39,0.8,39,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-72.0
$GPS2,281011,053837,6650.735,-5910.331,19,0.8,20,-33.8
$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,291.1,56745,-16.9,-9.167
$D_GRID,1012
$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,-29.17,0.000,2,0.000,0.000,120,2517,1657,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.0,-1.1,4,181,8.50,1.17,-113.62,0.000,4,0.257,0.099,2158,3218,3082,0,0,0,0,0,0
$GC,306,-0.73,-146.0,27.4,-17.9,43,315,0.00,1.12,0.00,0.000,6,0.000,0.039,2158,2512,3083,0,0,0,0,0,0
$GC,646,-0.73,-146.0,81.1,-13.9,94,653,0.00,1.10,0.00,0.000,4,0.000,0.047,2158,1815,3083,0,0,0,0,0,0
$GC,699,-0.73,-146.0,88.4,-13.1,102,706,0.00,1.20,0.00,0.000,6,0.000,0.057,2154,2511,3083,0,0,0,0,0,0
$GC,1036,-0.73,-146.0,133.2,-13.5,153,1043,0.00,1.12,0.00,0.000,4,0.000,0.070,2148,3214,3083,0,0,0,0,0,0
$GC,1069,-0.73,-146.0,137.7,-13.3,158,1076,0.00,1.12,0.00,0.000,6,0.000,0.037,2149,2499,3083,0,0,0,0,0,0
$GC,1406,-0.73,-146.0,182.9,-14.4,209,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2499,3083,0,0,0,0,0,0
$GC,1745,-0.73,-146.0,226.9,-12.6,260,1752,0.00,1.08,0.00,0.000,4,0.000,0.048,2149,1815,3083,0,0,0,0,0,0
$GC,1811,-0.73,-146.0,235.0,-11.5,270,1818,0.00,1.20,0.00,0.000,6,0.000,0.058,2144,2514,3083,0,0,0,0,0,0
$GC,2140,-0.73,-146.0,275.2,-12.8,305,2141,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,2455,-0.73,-146.0,312.6,-11.7,330,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,2772,-0.73,-146.0,351.0,-12.2,355,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,3089,-0.73,-146.0,388.1,-11.5,380,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,3403,-0.73,-146.0,423.6,-11.1,405,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,3719,-0.73,-146.0,457.9,-10.8,430,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,4033,-0.73,-146.0,492.7,-10.9,455,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,4353,-0.73,-146.0,527.8,-10.9,469,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3083,0,0,0,0,0,0
$GC,4660,-0.73,-146.0,561.2,-11.1,479,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3084,0,0,0,0,0,0
$GC,4966,-0.73,-146.0,594.5,-10.7,489,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3084,0,0,0,0,0,0
$GC,5273,-0.73,-146.0,627.0,-10.7,499,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2514,3084,0,0,0,0,0,0
$GC,5579,-0.73,-146.0,658.6,-10.2,509,5582,0.00,1.12,0.00,0.000,4,0.000,0.070,2139,3222,3084,0,0,0,0,0,0
$GC,5630,-0.73,-146.0,662.1,-10.1,510,5635,0.00,1.12,0.00,0.000,6,0.000,0.034,2139,2504,3085,0,0,0,0,0,0
$GC,5951,-0.73,-146.0,696.7,-10.3,521,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2503,3085,0,0,0,0,0,0
$GC,6256,-0.73,-146.0,728.4,-10.5,531,6260,0.00,1.17,0.00,0.000,4,0.000,0.067,2134,3213,3085,0,0,0,0,0,0
$GC,6281,-0.73,-146.0,728.4,-10.5,531,6292,0.12,1.10,0.00,0.000,6,0.168,0.034,2164,2505,3085,0,0,0,0,0,0
$GC,6595,-0.73,-146.0,761.3,-9.6,542,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2505,3085,0,0,0,0,0,0
$GC,6903,-0.73,-146.0,789.8,-9.3,552,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2505,3085,0,0,0,0,0,0
$GC,7207,-0.73,-146.0,818.1,-9.3,562,7211,0.00,1.17,0.00,0.000,4,0.000,0.068,2161,3213,3085,0,0,0,0,0,0
$GC,7276,-0.73,-146.0,824.1,-9.1,564,7280,0.00,1.08,0.00,0.000,6,0.000,0.033,2161,2509,3085,0,0,0,0,0,0
$GC,7615,-0.73,-146.0,854.8,-8.7,575,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2509,3085,0,0,0,0,0,0
$GC,7921,-0.73,-146.0,881.3,-8.5,585,7925,0.00,1.17,0.00,0.000,4,0.000,0.067,2157,3216,3085,0,0,0,0,0,0
$GC,7988,-0.73,-146.0,887.0,-8.6,587,7992,0.00,1.08,0.00,0.000,6,0.000,0.032,2156,2509,3085,0,0,0,0,0,0
$GC,8328,-0.73,-146.0,916.7,-8.8,598,8332,0.00,1.17,0.00,0.000,4,0.000,0.067,2152,3219,3085,0,0,0,0,0,0
$GC,8366,-0.73,-146.0,919.8,-8.9,599,8371,0.00,1.10,0.00,0.000,6,0.000,0.031,2152,2504,3085,0,0,0,0,0,0
$GC,8700,-0.73,-146.0,949.9,-8.9,610,8704,0.00,1.17,0.00,0.000,4,0.000,0.067,2147,3214,3085,0,0,0,0,0,0
$GC,8738,-0.73,-146.0,953.0,-8.9,611,8741,0.00,1.08,0.00,0.000,6,0.000,0.032,2147,2506,3085,0,0,0,0,0,0
$GC,9077,-0.73,-146.0,985.5,-9.6,622,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2506,3085,0,0,0,0,0,0
$STATE,9137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9137,begin apogee
$GC,9143,-0.16,0.0,991.3,-9.3,624,9275,0.60,0.00,124.80,1.532,6,0.132,0.000,2343,2192,2485,0,0,0,0,0,0
$STATE,9276,end apogee,CONTROL_FINISHED_OK
$STATE,9276,begin climb
$GC,9279,0.73,146.0,995.1,0.0,628,9424,0.85,1.25,134.70,1.473,4,0.063,0.051,2639,1501,1888,0,0,0,0,0,0
$GC,9623,0.73,146.0,961.7,13.5,639,9626,0.00,1.23,0.00,0.000,6,0.000,0.048,2640,2204,1881,0,0,0,0,0,0
$GC,9962,0.73,146.0,914.6,13.8,650,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2204,1878,0,0,0,0,0,0
$GC,10270,0.73,146.0,872.2,13.6,660,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2204,1877,0,0,0,0,0,0
$GC,10575,0.73,146.0,830.4,13.6,670,10578,0.00,1.15,0.00,0.000,4,0.000,0.057,2639,2908,1877,0,0,0,0,0,0
$GC,10678,0.73,146.0,816.7,13.8,673,10683,0.00,1.17,0.00,0.000,6,0.000,0.039,2644,2204,1876,0,0,0,0,0,0
$GC,11013,0.73,146.0,769.9,13.7,684,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1875,0,0,0,0,0,0
$GC,11318,0.73,146.0,729.6,13.1,694,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1875,0,0,0,0,0,0
$GC,11625,0.73,146.0,689.5,13.1,704,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1875,0,0,0,0,0,0
$GC,11931,0.73,146.0,649.7,13.1,714,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2203,1874,0,0,0,0,0,0
$GC,12238,0.73,146.0,609.5,13.3,724,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1874,0,0,0,0,0,0
$GC,12543,0.73,146.0,570.1,12.6,734,12544,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1874,0,0,0,0,0,0
$GC,12850,0.73,146.0,532.3,12.2,744,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1874,0,0,0,0,0,0
$GC,13164,0.73,146.0,492.2,12.9,756,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1874,0,0,0,0,0,0
$GC,13478,0.73,146.0,453.1,12.0,781,13479,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2204,1874,0,0,0,0,0,0
$GC,13794,0.73,146.0,417.1,11.2,806,13797,0.00,1.17,0.00,0.000,4,0.000,0.056,2645,2904,1874,0,0,0,0,0,0
$GC,13944,0.73,146.0,400.2,11.7,817,13952,0.00,1.15,0.00,0.000,6,0.000,0.039,2649,2198,1874,0,0,0,0,0,0
$GC,14269,0.73,146.0,362.3,12.0,843,14270,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,1874,0,0,0,0,0,0
$GC,14584,0.73,146.0,325.0,11.5,868,14588,0.00,1.20,0.00,0.000,4,0.000,0.055,2649,2915,1874,0,0,0,0,0,0
$GC,14787,0.73,146.0,300.4,12.5,883,14797,0.00,1.17,0.00,0.000,6,0.000,0.038,2654,2192,1874,0,0,0,0,0,0
$GC,15111,0.73,146.0,264.3,10.8,909,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2192,1874,0,0,0,0,0,0
$GC,15436,0.73,146.0,231.5,9.7,948,15442,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2192,1874,0,0,0,0,0,0
$GC,15774,0.73,146.0,199.2,9.3,999,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2192,1874,0,0,0,0,0,0
$GC,16113,0.73,146.0,167.8,9.5,1050,16120,0.00,1.20,0.00,0.000,4,0.000,0.055,2654,2908,1874,0,0,0,0,0,0
$GC,16185,0.73,146.0,160.5,10.0,1061,16192,0.00,1.12,0.00,0.000,6,0.000,0.039,2658,2201,1874,0,0,0,0,0,0
$GC,16525,0.79,194.7,130.8,7.1,1112,16571,0.00,0.00,39.30,0.998,6,0.000,0.000,2658,2202,1690,0,0,0,0,0,0
$GC,16902,0.79,194.7,94.6,10.1,1169,16908,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2202,1686,0,0,0,0,0,0
$GC,17241,0.79,196.0,61.9,9.1,1220,17248,0.00,1.20,0.00,0.000,4,0.000,0.055,2659,2913,1684,0,0,0,0,0,0
$GC,17440,0.84,239.2,43.8,7.4,1250,17483,0.00,1.15,37.70,0.956,6,0.000,0.039,2663,2202,1508,0,0,0,0,0,0
$GC,17815,0.84,241.3,11.5,9.1,1306,17821,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2202,1501,0,0,0,0,0,0
$STATE,17918,end climb,SURFACE_DEPTH_REACHED
$STATE,17918,begin surface coast
$FINISH,1.9,1.025536
$STATE,17939,end surface coast,CONTROL_FINISHED_OK
$STATE,17939,begin surface
$SM_CCo,17956,28.25,0.086,0,0,1261,300.00
$SM_GC,2.49,6.90,0.60,28.25,0.047,0.060,0.086,118,2520,1261,-7.07,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,1189
$RAFOS,6,1319791758,8.833333,8.821667,130,72,58,0,0,0,629,198,211,0,0,0
$RAFOS,5,1319791268,8.700000,8.685555,123,63,56,0,0,0,754,207,190,0,0,0
$RAFOS,4,1319790800,8.566667,8.555555,79,65,59,0,0,0,469,162,205,0,0,0
$RAFOS,3,1319790310,8.433333,8.419444,66,62,61,0,0,0,192,158,223,0,0,0
$RAFOS,2,1319789822,8.300000,8.283889,72,59,58,0,0,0,699,183,142,0,0,0
$RAFOS,1,1319789364,8.166667,8.156667,64,59,57,0,0,0,206,543,130,0,0,0
$RAFOS,0,1319788864,8.033334,8.017777,65,55,54,0,0,0,159,222,184,0,0,0
$RAFOS_FIX,6649.381836,-5909.896484,281011,080820,4,101,0.24
$IRIDIUM_FIX,6625.71,-5904.05,281011,000024
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.32
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,953.0,72.5
$24V_AH,22.4,18.176
$10V_AH,10.3,14.523
$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,16.975,37.925,336.500,28.250,0.000,0.000,0.000,199.475,9.000,0.000,20.870,3655.854,11539.485,535.452,2351.666,231.709,33.236,1853.012,0.000,2120.080,2520.000,34.614,0.000
$DEVICE_MAMPS,257.040,98.685,1532.295,85.680,0.000,0.000,0.000,252.427,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.953,717.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150232
$DATA_FILE_SIZE,49976,1325
$CAP_FILE_SIZE,142009,0
$CFSIZE,260165632,238067712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.8
$CURRENT,0.144,122.8,1
$GPS,281011,104106,6649.337,-5915.387,39,0.7,39,-33.8