version: 66.09
glider: 143
mission: 13
dive: 202
start: 11 7 111 20 2 29
data:
$ID,143
$MISSION,13
$DIVE,202
$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,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,-80770.336
$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,41
$R_STBD_OVSHOOT,21
$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
$GPS1,071111,195654,6656.249,-5739.458,44,0.9,44,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-70.0
$GPS2,071111,200157,6656.225,-5739.418,18,1.2,18,-33.6
$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,92.4,39195,-16.9,-9.167
$D_GRID,818
$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,15,-0.73,-146.0,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,2,0.000,0.000,121,2512,1835,0,0,0,0,0,0
$GC,62,-0.73,-146.0,3.1,-1.4,6,144,8.55,1.20,-66.38,0.000,4,0.256,0.072,2158,1813,3083,0,0,0,0,0,0
$GC,270,-0.73,-146.0,29.5,-18.5,37,279,0.00,1.20,0.00,0.000,6,0.000,0.056,2155,2508,3085,0,0,0,0,0,0
$GC,610,-0.73,-146.0,84.0,-14.1,88,617,0.00,1.12,0.00,0.000,4,0.000,0.069,2150,3211,3085,0,0,0,0,0,0
$GC,716,-0.73,-146.0,99.3,-14.6,104,723,0.00,1.10,0.00,0.000,6,0.000,0.034,2150,2505,3085,0,0,0,0,0,0
$GC,1054,-0.73,-146.0,147.5,-14.6,155,1061,0.00,1.20,0.00,0.000,4,0.000,0.066,2146,3220,3085,0,0,0,0,0,0
$GC,1134,-0.73,-146.0,158.6,-13.6,167,1140,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2514,3085,0,0,0,0,0,0
$GC,1472,-0.73,-146.0,204.4,-13.2,218,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2515,3085,0,0,0,0,0,0
$GC,1809,-0.73,-146.0,247.1,-12.4,269,1818,0.00,1.10,0.00,0.000,4,0.000,0.045,2145,1812,3086,0,0,0,0,0,0
$GC,1890,-0.73,-146.0,257.3,-12.3,277,1894,0.00,1.20,0.00,0.000,6,0.000,0.057,2141,2513,3085,0,0,0,0,0,0
$GC,2221,-0.73,-146.0,298.7,-12.7,303,2224,0.00,1.12,0.00,0.000,4,0.000,0.070,2136,3219,3084,0,0,0,0,0,0
$GC,2291,-0.73,-146.0,307.2,-12.8,308,2300,0.12,1.12,0.00,0.000,6,0.170,0.033,2165,2501,3084,0,0,0,0,0,0
$GC,2616,-0.73,-146.0,342.1,-10.1,334,2620,0.00,1.08,0.00,0.000,4,0.000,0.045,2165,1811,3084,0,0,0,0,0,0
$GC,2648,-0.73,-146.0,345.0,-10.2,336,2655,0.00,1.17,0.00,0.000,6,0.000,0.055,2162,2506,3084,0,0,0,0,0,0
$GC,2972,-0.73,-146.0,379.3,-10.6,362,2976,0.00,1.12,0.00,0.000,4,0.000,0.070,2157,3214,3084,0,0,0,0,0,0
$GC,3026,-0.73,-146.0,384.9,-10.3,366,3030,0.00,1.08,0.00,0.000,6,0.000,0.033,2157,2511,3084,0,0,0,0,0,0
$GC,3355,-0.73,-146.0,420.3,-10.4,392,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2510,3084,0,0,0,0,0,0
$GC,3672,-0.73,-146.0,452.4,-9.7,417,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2511,3084,0,0,0,0,0,0
$GC,3987,-0.73,-146.0,483.2,-9.6,442,3991,0.00,1.17,0.00,0.000,4,0.000,0.064,2153,3220,3085,0,0,0,0,0,0
$GC,4071,-0.73,-146.0,491.2,-9.8,448,4079,0.00,1.12,0.00,0.000,6,0.000,0.031,2153,2498,3084,0,0,0,0,0,0
$GC,4412,-0.73,-146.0,525.2,-9.8,464,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2498,3085,0,0,0,0,0,0
$GC,4720,-0.73,-146.0,555.5,-10.5,474,4724,0.00,1.17,0.00,0.000,4,0.000,0.064,2148,3210,3086,0,0,0,0,0,0
$GC,4771,-0.73,-146.0,559.0,-10.5,475,4776,0.00,1.10,0.00,0.000,6,0.000,0.031,2148,2498,3086,0,0,0,0,0,0
$GC,5094,-0.73,-146.0,595.3,-10.5,486,5098,0.00,1.05,0.00,0.000,4,0.000,0.043,2148,1815,3086,0,0,0,0,0,0
$GC,5132,-0.73,-146.0,599.1,-10.5,487,5137,0.00,1.20,0.00,0.000,6,0.000,0.054,2143,2516,3086,0,0,0,0,0,0
$GC,5468,-0.73,-146.0,636.2,-11.0,498,5471,0.00,1.10,0.00,0.000,4,0.000,0.068,2138,3213,3086,0,0,0,0,0,0
$GC,5610,-0.73,-146.0,651.1,-11.1,502,5615,0.00,1.10,0.00,0.000,6,0.000,0.030,2138,2496,3086,0,0,0,0,0,0
$GC,5938,-0.73,-146.0,688.4,-11.0,513,5942,0.00,1.17,0.00,0.000,4,0.000,0.064,2134,3209,3086,0,0,0,0,0,0
$GC,6022,-0.73,-146.0,695.7,-11.0,515,6027,0.12,1.08,0.00,0.000,6,0.169,0.030,2163,2508,3086,0,0,0,0,0,0
$GC,6344,-0.73,-146.0,727.5,-9.0,526,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2508,3087,0,0,0,0,0,0
$GC,6649,-0.73,-146.0,755.5,-9.1,536,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2508,3087,0,0,0,0,0,0
$GC,6956,-0.73,-146.0,784.2,-9.5,546,6960,0.00,1.15,0.00,0.000,4,0.000,0.064,2160,3207,3087,0,0,0,0,0,0
$GC,7035,-0.73,-146.0,790.6,-9.4,548,7039,0.00,1.05,0.00,0.000,6,0.000,0.027,2160,2515,3086,0,0,0,0,0,0
$STATE,7330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7330,begin apogee
$GC,7336,-0.16,0.0,819.2,-9.4,558,7464,0.55,0.00,122.25,1.418,6,0.131,0.000,2340,2193,2485,0,0,0,0,0,0
$STATE,7465,end apogee,CONTROL_FINISHED_OK
$STATE,7465,begin climb
$GC,7467,0.73,146.0,823.8,0.0,562,7611,0.85,1.20,132.32,1.359,4,0.068,0.048,2634,1509,1888,0,0,0,0,0,0
$GC,7722,0.73,146.0,806.6,11.1,570,7727,0.00,1.25,0.00,0.000,6,0.000,0.043,2634,2213,1882,0,0,0,0,0,0
$GC,8051,0.73,146.0,765.8,11.9,581,8055,0.00,1.15,0.00,0.000,4,0.000,0.054,2634,2906,1879,0,0,0,0,0,0
$GC,8155,0.73,146.0,753.1,12.5,584,8160,0.00,1.17,0.00,0.000,6,0.000,0.034,2639,2205,1878,0,0,0,0,0,0
$GC,8489,0.73,146.0,710.6,12.8,595,8493,0.00,1.10,0.00,0.000,4,0.000,0.049,2644,1496,1877,0,0,0,0,0,0
$GC,8547,0.73,146.0,706.5,12.6,596,8555,0.00,1.20,0.00,0.000,6,0.000,0.044,2644,2213,1876,0,0,0,0,0,0
$GC,8861,0.73,146.0,664.1,12.6,607,8864,0.00,1.12,0.00,0.000,4,0.000,0.056,2644,2906,1876,0,0,0,0,0,0
$GC,8911,0.73,146.0,660.0,12.5,608,8916,0.00,1.17,0.00,0.000,6,0.000,0.037,2649,2196,1876,0,0,0,0,0,0
$GC,9232,0.73,146.0,617.8,12.4,619,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2196,1875,0,0,0,0,0,0
$GC,9538,0.73,146.0,579.1,12.7,629,9542,0.00,1.08,0.00,0.000,4,0.000,0.050,2654,1494,1874,0,0,0,0,0,0
$GC,9589,0.73,146.0,575.0,12.6,630,9594,0.00,1.17,0.00,0.000,6,0.000,0.046,2654,2204,1874,0,0,0,0,0,0
$GC,9911,0.73,146.0,531.0,13.0,641,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,1874,0,0,0,0,0,0
$GC,10219,0.73,146.0,492.0,12.1,654,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,1874,0,0,0,0,0,0
$GC,10534,0.73,146.0,454.3,11.7,679,10537,0.00,1.12,0.00,0.000,4,0.000,0.057,2654,2904,1874,0,0,0,0,0,0
$GC,10599,0.73,146.0,446.2,12.1,684,10603,0.00,1.15,0.00,0.000,6,0.000,0.037,2659,2190,1874,0,0,0,0,0,0
$GC,10931,0.73,146.0,407.8,11.9,710,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2190,1874,0,0,0,0,0,0
$GC,11244,0.73,146.0,370.6,11.9,735,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2190,1873,0,0,0,0,0,0
$GC,11559,0.73,146.0,334.6,11.3,760,11563,0.00,1.20,0.00,0.000,4,0.000,0.052,2659,2904,1873,0,0,0,0,0,0
$GC,11652,0.73,146.0,323.6,11.6,767,11656,0.08,1.12,0.00,0.000,6,0.156,0.037,2640,2200,1873,0,0,0,0,0,0
$GC,11980,0.73,146.0,289.7,10.2,793,11984,0.00,1.08,0.00,0.000,4,0.000,0.050,2644,1491,1873,0,0,0,0,0,0
$GC,12064,0.73,146.0,281.4,10.3,799,12072,0.00,1.17,0.00,0.000,6,0.000,0.046,2643,2209,1873,0,0,0,0,0,0
$GC,12391,0.73,146.0,248.3,10.1,826,12397,0.00,1.10,0.00,0.000,4,0.000,0.056,2644,2901,1873,0,0,0,0,0,0
$GC,12457,0.73,146.0,241.0,10.5,836,12464,0.00,1.12,0.00,0.000,6,0.000,0.037,2648,2195,1873,0,0,0,0,0,0
$GC,12795,0.73,146.0,207.6,10.0,887,12801,0.00,1.05,0.00,0.000,4,0.000,0.049,2654,1497,1873,0,0,0,0,0,0
$GC,12875,0.73,146.0,199.6,9.9,899,12881,0.00,1.12,0.00,0.000,6,0.000,0.046,2654,2199,1873,0,0,0,0,0,0
$GC,13214,0.73,146.0,167.2,10.4,950,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2199,1873,0,0,0,0,0,0
$GC,13552,0.74,160.4,136.5,8.6,1001,13568,0.00,1.17,10.60,0.949,4,0.000,0.057,2654,2912,1831,0,0,0,0,0,0
$GC,13642,0.75,165.3,128.6,9.0,1014,13656,0.00,1.15,6.22,0.864,6,0.000,0.037,2658,2196,1811,0,0,0,0,0,0
$GC,13989,0.77,178.9,98.6,8.6,1066,14008,0.00,1.05,13.20,0.955,4,0.000,0.047,2664,1497,1754,0,0,0,0,0,0
$GC,14109,0.79,202.6,89.0,8.2,1084,14137,0.00,1.15,21.62,0.967,6,0.000,0.046,2663,2200,1657,0,0,0,0,0,0
$GC,14469,0.80,206.6,56.7,9.0,1138,14476,0.00,0.00,4.05,0.708,6,0.000,0.000,2664,2200,1642,0,0,0,0,0,0
$GC,14808,0.91,296.1,30.8,5.4,1189,14876,0.00,1.23,63.80,0.926,4,0.000,0.049,2668,1497,1277,0,0,0,0,0,0
$GC,14989,0.93,311.4,11.8,8.5,1216,15005,0.00,1.17,7.03,0.105,6,0.000,0.049,2668,2193,1214,0,0,0,0,0,0
$STATE,15069,end climb,SURFACE_DEPTH_REACHED
$STATE,15069,begin surface coast
$FINISH,1.9,1.025847
$STATE,15086,end surface coast,CONTROL_FINISHED_OK
$STATE,15086,begin surface
$SM_CCo,15163,0.00,0.000,0,0,1206,313.49
$SM_GC,2.78,6.88,0.55,0.00,0.036,0.052,0.000,118,2518,1206,-7.08,-0.65,313.49,0,0,0,0,0,0
$RAFOS_CLK,986
$RAFOS,0,1320710462,0.033333,0.017222,61,60,58,0,0,0,228,204,216,0,0,0
$RAFOS,6,1320698953,20.833334,20.820278,105,63,59,0,0,0,690,219,171,0,0,0
$RAFOS,5,1320698471,20.700001,20.686388,75,61,54,0,0,0,479,197,122,0,0,0
$RAFOS,4,1320697984,20.566668,20.551111,67,66,61,0,0,0,748,141,118,0,0,0
$RAFOS,3,1320697505,20.433332,20.418056,68,59,58,0,0,0,199,144,217,0,0,0
$RAFOS,2,1320697022,20.299999,20.283890,61,60,60,0,0,0,198,152,212,0,0,0
$RAFOS,1,1320696545,20.166666,20.151388,67,64,58,0,0,0,183,924,215,0,0,0
$RAFOS_FIX,6657.047852,-5745.992188,071111,202044,2,86,2.00
$IRIDIUM_FIX,6631.12,-5748.60,071111,151551
$TT8_MAMPS,0.027713,0.027713
$HUMID,58.46
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,752.7,111.0
$24V_AH,22.6,25.688
$10V_AH,10.2,19.816
$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,17.150,60.225,381.100,0.000,0.000,0.000,0.000,189.075,8.000,0.000,19.294,3364.237,9097.249,529.606,2257.953,226.652,0.000,1813.908,0.000,2040.332,2880.000,24.644,0.000
$DEVICE_MAMPS,256.275,71.910,1417.545,0.000,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.565,670.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150228
$DATA_FILE_SIZE,46716,1230
$CAP_FILE_SIZE,139914,0
$CFSIZE,260165632,233914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.5
$CURRENT,0.112,283.0,1
$GPS,081111,001723,6657.657,-5735.923,62,0.9,78,-33.6