version: 66.09
glider: 143
mission: 13
dive: 178
start: 11 2 111 23 51 21
data:
$ID,143
$MISSION,13
$DIVE,178
$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,-80739.922
$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,39
$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
$GPS1,021111,234555,6646.228,-5948.856,39,0.8,39,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-73.6
$GPS2,021111,235048,6646.204,-5948.795,17,1.0,17,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,87.0,134215,-16.9,-9.167
$D_GRID,792
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-26.17,0.000,2,0.000,0.000,118,2506,1616,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-1.9,4,154,8.60,1.15,-93.10,0.000,4,0.258,0.076,2158,1811,3080,0,0,0,0,0,0
$GC,329,-0.73,-146.0,40.1,-17.5,46,336,0.00,1.20,0.00,0.000,6,0.000,0.058,2155,2500,3083,0,0,0,0,0,0
$GC,667,-0.73,-146.0,92.6,-15.5,97,676,0.00,1.15,0.00,0.000,4,0.000,0.069,2149,3213,3083,0,0,0,0,0,0
$GC,696,-0.73,-146.0,96.9,-14.8,101,705,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2507,3083,0,0,0,0,0,0
$GC,1036,-0.73,-146.0,143.2,-13.6,152,1043,0.00,1.08,0.00,0.000,4,0.000,0.046,2149,1823,3083,0,0,0,0,0,0
$GC,1131,-0.73,-146.0,156.0,-13.2,166,1137,0.00,1.20,0.00,0.000,6,0.000,0.057,2145,2517,3083,0,0,0,0,0,0
$GC,1467,-0.73,-146.0,202.9,-13.2,217,1476,0.00,1.12,0.00,0.000,4,0.000,0.070,2140,3219,3083,0,0,0,0,0,0
$GC,1557,-0.73,-146.0,215.0,-13.8,230,1564,0.00,1.10,0.00,0.000,6,0.000,0.036,2140,2516,3083,0,0,0,0,0,0
$GC,1892,-0.73,-146.0,260.2,-13.4,275,1896,0.00,1.10,0.00,0.000,4,0.000,0.047,2140,1814,3083,0,0,0,0,0,0
$GC,1958,-0.73,-146.0,269.2,-13.1,280,1962,0.08,1.20,0.00,0.000,6,0.162,0.058,2157,2513,3083,0,0,0,0,0,0
$GC,2288,-0.73,-146.0,307.9,-11.5,306,2292,0.00,1.15,0.00,0.000,4,0.000,0.044,2158,1814,3083,0,0,0,0,0,0
$GC,2367,-0.73,-146.0,316.9,-11.1,312,2371,0.00,1.20,0.00,0.000,6,0.000,0.057,2155,2516,3083,0,0,0,0,0,0
$GC,2697,-0.73,-146.0,352.7,-10.3,338,2701,0.00,1.12,0.00,0.000,4,0.000,0.070,2149,3222,3082,0,0,0,0,0,0
$GC,2794,-0.73,-146.0,362.4,-10.2,345,2804,0.00,1.12,0.00,0.000,6,0.000,0.034,2150,2503,3082,0,0,0,0,0,0
$GC,3117,-0.73,-146.0,396.5,-10.1,371,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2503,3082,0,0,0,0,0,0
$GC,3434,-0.73,-146.0,429.2,-10.6,396,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2503,3083,0,0,0,0,0,0
$GC,3750,-0.73,-146.0,463.8,-10.6,421,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2503,3083,0,0,0,0,0,0
$GC,4065,-0.73,-146.0,497.5,-10.9,446,4069,0.00,1.05,0.00,0.000,4,0.000,0.045,2150,1822,3083,0,0,0,0,0,0
$GC,4111,-0.73,-146.0,501.1,-10.6,449,4115,0.00,1.17,0.00,0.000,6,0.000,0.055,2145,2512,3083,0,0,0,0,0,0
$GC,4437,-0.73,-146.0,536.0,-10.2,460,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2512,3084,0,0,0,0,0,0
$GC,4745,-0.73,-146.0,567.4,-10.4,470,4749,0.00,1.12,0.00,0.000,4,0.000,0.069,2140,3222,3084,0,0,0,0,0,0
$GC,4790,-0.73,-146.0,571.0,-10.4,471,4794,0.00,1.12,0.00,0.000,6,0.000,0.032,2140,2501,3084,0,0,0,0,0,0
$GC,5118,-0.73,-146.0,607.2,-10.9,482,5122,0.00,1.05,0.00,0.000,4,0.000,0.044,2140,1816,3084,0,0,0,0,0,0
$GC,5184,-0.73,-146.0,614.6,-10.9,484,5188,0.08,1.17,0.00,0.000,6,0.154,0.054,2158,2511,3085,0,0,0,0,0,0
$GC,5523,-0.73,-146.0,648.1,-9.8,495,5527,0.00,1.10,0.00,0.000,4,0.000,0.067,2156,3213,3085,0,0,0,0,0,0
$GC,5594,-0.73,-146.0,654.9,-10.0,497,5599,0.00,1.10,0.00,0.000,6,0.000,0.031,2155,2499,3085,0,0,0,0,0,0
$GC,5928,-0.73,-146.0,688.5,-9.8,508,5932,0.00,1.05,0.00,0.000,4,0.000,0.044,2156,1815,3085,0,0,0,0,0,0
$GC,6006,-0.73,-146.0,695.1,-9.8,510,6011,0.00,1.20,0.00,0.000,6,0.000,0.054,2151,2515,3085,0,0,0,0,0,0
$GC,6333,-0.73,-146.0,728.1,-9.5,521,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2515,3086,0,0,0,0,0,0
$GC,6639,-0.73,-146.0,758.2,-10.1,531,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2515,3085,0,0,0,0,0,0
$GC,6945,-0.73,-146.0,789.7,-10.6,541,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2515,3086,0,0,0,0,0,0
$STATE,6975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6975,begin apogee
$GC,6981,-0.16,0.0,792.6,-10.3,542,7109,0.57,0.00,121.90,1.401,6,0.132,0.000,2339,2198,2485,0,0,0,0,0,0
$STATE,7109,end apogee,CONTROL_FINISHED_OK
$STATE,7110,begin climb
$GC,7112,0.73,146.0,796.8,0.0,546,7256,0.85,1.25,131.68,1.342,4,0.069,0.050,2634,1501,1888,0,0,0,0,0,0
$GC,7448,0.73,146.0,769.6,13.0,556,7455,0.00,1.23,0.00,0.000,6,0.000,0.045,2634,2209,1881,0,0,0,0,0,0
$GC,7761,0.73,146.0,725.5,12.7,567,7764,0.00,1.15,0.00,0.000,4,0.000,0.056,2634,2900,1879,0,0,0,0,0,0
$GC,7862,0.73,146.0,712.1,13.4,570,7865,0.00,1.15,0.00,0.000,6,0.000,0.037,2639,2210,1878,0,0,0,0,0,0
$GC,8201,0.73,146.0,667.4,13.0,581,8204,0.00,1.12,0.00,0.000,4,0.000,0.050,2644,1493,1877,0,0,0,0,0,0
$GC,8351,0.73,146.0,650.5,12.8,585,8356,0.00,1.20,0.00,0.000,6,0.000,0.047,2644,2207,1877,0,0,0,0,0,0
$GC,8672,0.73,146.0,608.0,12.3,596,8676,0.00,1.12,0.00,0.000,4,0.000,0.057,2644,2901,1877,0,0,0,0,0,0
$GC,8705,0.73,146.0,603.8,12.5,597,8709,0.00,1.15,0.00,0.000,6,0.000,0.039,2649,2198,1877,0,0,0,0,0,0
$GC,9044,0.73,146.0,561.5,12.3,608,9048,0.00,1.08,0.00,0.000,4,0.000,0.051,2654,1497,1875,0,0,0,0,0,0
$GC,9112,0.73,146.0,553.5,12.2,610,9115,0.00,1.15,0.00,0.000,6,0.000,0.049,2654,2199,1875,0,0,0,0,0,0
$GC,9451,0.73,146.0,512.2,12.0,621,9455,0.00,1.15,0.00,0.000,4,0.000,0.060,2654,2910,1875,0,0,0,0,0,0
$GC,9522,0.73,146.0,504.0,12.1,623,9527,0.00,1.17,0.00,0.000,6,0.000,0.038,2659,2196,1875,0,0,0,0,0,0
$GC,9848,0.73,146.0,465.3,11.5,646,9852,0.00,1.08,0.00,0.000,4,0.000,0.052,2664,1497,1875,0,0,0,0,0,0
$GC,9902,0.73,146.0,458.8,11.7,650,9907,0.08,1.15,0.00,0.000,6,0.155,0.050,2642,2200,1875,0,0,0,0,0,0
$GC,10231,0.73,146.0,423.2,11.1,676,10235,0.00,1.12,0.00,0.000,4,0.000,0.058,2640,2901,1875,0,0,0,0,0,0
$GC,10328,0.73,146.0,413.0,11.0,683,10336,0.00,1.15,0.00,0.000,6,0.000,0.039,2644,2199,1875,0,0,0,0,0,0
$GC,10653,0.73,146.0,377.9,10.1,709,10657,0.00,1.20,0.00,0.000,4,0.000,0.055,2644,2908,1875,0,0,0,0,0,0
$GC,10697,0.73,146.0,373.3,10.8,712,10706,0.00,1.17,0.00,0.000,6,0.000,0.038,2648,2190,1875,0,0,0,0,0,0
$GC,11024,0.73,146.0,338.0,10.5,738,11028,0.00,1.05,0.00,0.000,4,0.000,0.053,2654,1498,1874,0,0,0,0,0,0
$GC,11103,0.73,146.0,328.8,11.1,744,11107,0.00,1.15,0.00,0.000,6,0.000,0.050,2654,2205,1875,0,0,0,0,0,0
$GC,11435,0.73,146.0,292.0,10.8,770,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,1875,0,0,0,0,0,0
$GC,11748,0.73,146.0,258.7,10.4,795,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,1875,0,0,0,0,0,0
$GC,12076,0.73,146.0,226.9,9.9,838,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,1875,0,0,0,0,0,0
$GC,12412,0.73,146.0,194.5,10.2,889,12421,0.00,1.15,0.00,0.000,4,0.000,0.050,2658,1493,1875,0,0,0,0,0,0
$GC,12475,0.73,146.0,188.2,10.3,898,12482,0.00,1.15,0.00,0.000,6,0.000,0.051,2659,2200,1875,0,0,0,0,0,0
$GC,12814,0.73,146.0,153.3,10.7,949,12823,0.00,1.12,0.00,0.000,4,0.000,0.052,2663,1500,1875,0,0,0,0,0,0
$GC,13048,0.73,148.9,130.3,9.0,984,13055,0.00,1.15,0.00,0.000,6,0.000,0.050,2663,2206,1874,0,0,0,0,0,0
$GC,13385,0.81,212.6,105.5,6.5,1035,13445,0.00,1.20,54.33,0.986,4,0.000,0.060,2663,2905,1617,0,0,0,0,0,0
$GC,13519,0.81,212.6,93.5,10.1,1055,13525,0.00,1.17,0.00,0.000,6,0.000,0.041,2668,2202,1615,0,0,0,0,0,0
$GC,13857,0.81,213.9,61.0,9.1,1106,13864,0.00,1.10,0.00,0.000,4,0.000,0.053,2673,1493,1611,0,0,0,0,0,0
$GC,13970,0.81,213.9,50.3,9.4,1123,13976,0.00,1.17,0.00,0.000,6,0.000,0.050,2673,2202,1611,0,0,0,0,0,0
$GC,14310,0.88,275.4,22.5,6.6,1174,14349,0.00,0.00,35.15,0.894,6,0.000,0.000,2673,2202,1361,0,0,0,0,0,0
$STATE,14538,end climb,SURFACE_DEPTH_REACHED
$STATE,14538,begin surface coast
$FINISH,1.8,1.012960
$STATE,14559,end surface coast,CONTROL_FINISHED_OK
$STATE,14559,begin surface
$SM_CCo,14577,10.45,0.089,0,0,1261,300.00
$SM_GC,3.94,6.97,0.52,10.45,0.047,0.060,0.089,119,2508,1261,-7.07,-0.88,300.00,0,0,0,0,0,0
$RAFOS_CLK,954
$RAFOS,6,1320281350,0.833333,0.819444,99,61,60,0,0,0,735,182,206,0,0,0
$RAFOS,5,1320280870,0.700000,0.686111,122,55,54,0,0,0,826,179,157,0,0,0
$RAFOS,4,1320280385,0.566667,0.551389,107,65,65,0,0,0,629,213,185,0,0,0
$RAFOS,3,1320279913,0.433333,0.420278,139,59,57,0,0,0,678,198,168,0,0,0
$RAFOS,2,1320279421,0.300000,0.283611,129,63,59,0,0,0,646,190,203,0,0,0
$RAFOS,1,1320278942,0.166667,0.150556,83,58,58,0,0,0,578,174,118,0,0,0
$RAFOS,0,1320278466,0.033333,0.018333,99,66,56,0,0,0,688,152,213,0,0,0
$RAFOS_FIX,6645.565430,-5945.268555,031111,000025,7,111,1.29
$IRIDIUM_FIX,6620.33,-6001.10,021111,191938
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.28
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,701.3,143.3
$24V_AH,22.5,22.494
$10V_AH,10.3,17.497
$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,17.225,60.425,343.050,10.450,0.000,0.000,0.000,179.975,5.750,0.000,18.306,3380.687,8524.385,517.462,2253.093,229.451,0.000,1792.398,0.000,2049.206,2520.000,19.941,0.000
$DEVICE_MAMPS,257.805,75.735,1400.715,88.740,0.000,0.000,0.000,257.670,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.914,665.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150320
$DATA_FILE_SIZE,46678,1212
$CAP_FILE_SIZE,137280,0
$CFSIZE,260165632,235700224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.0
$CURRENT,0.281,186.4,1
$GPS,031111,035606,6645.414,-5944.450,30,0.9,31,-33.8