version: 66.09
glider: 143
mission: 13
dive: 207
start: 11 8 111 17 29 57
data:
$ID,143
$MISSION,13
$DIVE,207
$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,-80776.656
$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,36
$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
$GPS1,081111,172405,6659.296,-5722.058,36,0.8,36,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-68.7
$GPS2,081111,172925,6659.268,-5722.081,22,0.9,22,-33.5
$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,138.6,25564,-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,-146.0,0.0,0.0,0,68,0.00,0.00,-50.30,0.000,2,0.000,0.000,118,2521,1967,0,0,0,0,0,0
$GC,71,-0.73,-146.0,3.0,-1.2,7,147,9.23,1.12,-58.53,0.000,4,0.282,0.099,2156,3205,3082,0,0,0,0,0,0
$GC,399,-0.73,-146.0,52.6,-16.4,56,405,0.00,1.10,0.00,0.000,6,0.000,0.033,2156,2496,3084,0,0,0,0,0,0
$GC,739,-0.73,-146.0,102.1,-14.3,107,745,0.00,1.20,0.00,0.000,4,0.000,0.063,2152,3214,3085,0,0,0,0,0,0
$GC,819,-0.73,-146.0,114.1,-14.6,119,826,0.00,1.10,0.00,0.000,6,0.000,0.033,2152,2499,3085,0,0,0,0,0,0
$GC,1157,-0.73,-146.0,158.2,-13.0,170,1165,0.00,1.05,0.00,0.000,4,0.000,0.044,2152,1822,3084,0,0,0,0,0,0
$GC,1246,-0.73,-146.0,169.4,-12.3,183,1253,0.00,1.17,0.00,0.000,6,0.000,0.054,2148,2512,3084,0,0,0,0,0,0
$GC,1584,-0.73,-146.0,213.8,-12.8,234,1593,0.00,1.12,0.00,0.000,4,0.000,0.067,2142,3219,3084,0,0,0,0,0,0
$GC,1727,-0.73,-146.0,232.5,-13.0,255,1734,0.00,1.10,0.00,0.000,6,0.000,0.033,2142,2505,3084,0,0,0,0,0,0
$GC,2058,-0.73,-146.0,274.9,-12.8,291,2061,0.00,1.08,0.00,0.000,4,0.000,0.043,2142,1810,3084,0,0,0,0,0,0
$GC,2177,-0.73,-146.0,290.4,-12.5,300,2180,0.00,1.17,0.00,0.000,6,0.000,0.053,2137,2505,3084,0,0,0,0,0,0
$GC,2507,-0.73,-146.0,332.1,-12.3,326,2511,0.00,1.12,0.00,0.000,4,0.000,0.067,2132,3216,3084,0,0,0,0,0,0
$GC,2613,-0.73,-146.0,345.4,-12.5,334,2617,0.10,1.08,0.00,0.000,6,0.152,0.031,2162,2502,3084,0,0,0,0,0,0
$GC,2942,-0.73,-146.0,379.7,-10.4,360,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3084,0,0,0,0,0,0
$GC,3258,-0.73,-146.0,412.4,-10.3,385,3261,0.00,1.17,0.00,0.000,4,0.000,0.062,2160,3215,3084,0,0,0,0,0,0
$GC,3328,-0.73,-146.0,419.4,-10.8,390,3338,0.00,1.10,0.00,0.000,6,0.000,0.028,2160,2498,3084,0,0,0,0,0,0
$GC,3653,-0.73,-146.0,454.5,-10.5,416,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2498,3084,0,0,0,0,0,0
$GC,3969,-0.73,-146.0,486.6,-10.0,441,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2498,3084,0,0,0,0,0,0
$GC,4290,-0.73,-146.0,518.8,-10.1,458,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2498,3084,0,0,0,0,0,0
$GC,4596,-0.73,-146.0,549.8,-10.3,468,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2498,3084,0,0,0,0,0,0
$GC,4902,-0.73,-146.0,580.1,-9.8,478,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2498,3085,0,0,0,0,0,0
$GC,5208,-0.73,-146.0,610.5,-9.9,488,5212,0.00,1.17,0.00,0.000,4,0.000,0.062,2155,3213,3085,0,0,0,0,0,0
$GC,5260,-0.73,-146.0,613.9,-9.9,489,5264,0.00,1.08,0.00,0.000,6,0.000,0.028,2155,2517,3085,0,0,0,0,0,0
$GC,5580,-0.73,-146.0,647.4,-10.0,500,5584,0.00,1.08,0.00,0.000,4,0.000,0.042,2155,1816,3085,0,0,0,0,0,0
$GC,5631,-0.73,-146.0,650.7,-10.0,501,5636,0.00,1.20,0.00,0.000,6,0.000,0.052,2150,2520,3085,0,0,0,0,0,0
$GC,5952,-0.73,-146.0,684.3,-10.0,512,5955,0.00,1.10,0.00,0.000,4,0.000,0.066,2145,3219,3085,0,0,0,0,0,0
$GC,6042,-0.73,-146.0,691.1,-10.1,514,6052,0.00,1.10,0.00,0.000,6,0.000,0.028,2145,2499,3085,0,0,0,0,0,0
$GC,6356,-0.73,-146.0,725.2,-10.1,525,6360,0.00,1.02,0.00,0.000,4,0.000,0.042,2145,1827,3085,0,0,0,0,0,0
$GC,6424,-0.73,-146.0,731.8,-10.0,527,6428,0.00,1.15,0.00,0.000,6,0.000,0.053,2141,2509,3085,0,0,0,0,0,0
$GC,6763,-0.73,-146.0,767.0,-10.4,538,6767,0.00,1.10,0.00,0.000,4,0.000,0.066,2136,3213,3085,0,0,0,0,0,0
$GC,6834,-0.73,-146.0,774.0,-10.5,540,6840,0.12,1.08,0.00,0.000,6,0.169,0.028,2165,2513,3085,0,0,0,0,0,0
$STATE,7045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7045,begin apogee
$GC,7051,-0.16,0.0,793.1,-8.7,547,7179,0.52,0.00,121.38,1.406,6,0.129,0.000,2340,2194,2485,0,0,0,0,0,0
$STATE,7179,end apogee,CONTROL_FINISHED_OK
$STATE,7179,begin climb
$GC,7182,0.73,146.0,797.7,0.0,551,7323,0.85,0.00,132.07,1.346,6,0.067,0.000,2630,2192,1888,0,0,0,0,0,0
$GC,7627,0.73,146.0,756.3,11.9,566,7630,0.00,1.10,0.00,0.000,4,0.000,0.049,2635,1504,1879,0,0,0,0,0,0
$GC,7651,0.73,146.0,756.3,11.9,566,7662,0.00,1.23,0.00,0.000,6,0.000,0.044,2636,2215,1879,0,0,0,0,0,0
$GC,7965,0.73,146.0,715.9,11.9,577,7969,0.00,1.12,0.00,0.000,4,0.000,0.054,2636,2902,1878,0,0,0,0,0,0
$GC,7989,0.73,146.0,715.9,11.9,577,7997,0.00,1.15,0.00,0.000,6,0.000,0.034,2640,2208,1877,0,0,0,0,0,0
$GC,8304,0.73,146.0,675.4,11.9,588,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2208,1876,0,0,0,0,0,0
$GC,8610,0.73,146.0,638.1,12.0,598,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2208,1875,0,0,0,0,0,0
$GC,8916,0.73,146.0,601.5,12.0,608,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2208,1875,0,0,0,0,0,0
$GC,9222,0.73,146.0,565.1,11.9,618,9226,0.00,1.17,0.00,0.000,4,0.000,0.053,2640,2902,1873,0,0,0,0,0,0
$GC,9240,0.73,146.0,565.1,11.9,618,9244,0.00,1.15,0.00,0.000,6,0.000,0.036,2645,2198,1873,0,0,0,0,0,0
$GC,9563,0.73,146.0,523.8,12.3,629,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2198,1873,0,0,0,0,0,0
$GC,9876,0.73,146.0,485.1,12.2,644,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2198,1873,0,0,0,0,0,0
$GC,10194,0.73,146.0,446.7,12.1,669,10198,0.00,1.17,0.00,0.000,4,0.000,0.052,2645,2897,1873,0,0,0,0,0,0
$GC,10221,0.73,146.0,443.1,12.1,671,10225,0.00,1.12,0.00,0.000,6,0.000,0.037,2650,2195,1873,0,0,0,0,0,0
$GC,10550,0.73,146.0,403.8,12.1,697,10554,0.00,1.20,0.00,0.000,4,0.000,0.052,2649,2911,1873,0,0,0,0,0,0
$GC,10568,0.73,146.0,402.3,12.3,698,10578,0.00,1.17,0.00,0.000,6,0.000,0.036,2654,2188,1873,0,0,0,0,0,0
$GC,10894,0.73,146.0,362.2,12.6,724,10897,0.00,1.20,0.00,0.000,4,0.000,0.052,2654,2903,1873,0,0,0,0,0,0
$GC,10911,0.73,146.0,360.1,12.5,725,10919,0.00,1.15,0.00,0.000,6,0.000,0.036,2659,2194,1873,0,0,0,0,0,0
$GC,11237,0.73,146.0,318.7,12.2,751,11241,0.00,1.05,0.00,0.000,4,0.000,0.049,2664,1497,1873,0,0,0,0,0,0
$GC,11264,0.73,146.0,315.2,12.1,753,11268,0.08,1.12,0.00,0.000,6,0.151,0.046,2640,2199,1873,0,0,0,0,0,0
$GC,11595,0.73,146.0,277.6,11.4,779,11599,0.00,1.12,0.00,0.000,4,0.000,0.057,2640,2904,1873,0,0,0,0,0,0
$GC,11613,0.73,146.0,275.9,11.3,780,11621,0.00,1.15,0.00,0.000,6,0.000,0.036,2644,2193,1873,0,0,0,0,0,0
$GC,11940,0.73,146.0,239.1,10.5,813,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2193,1873,0,0,0,0,0,0
$GC,12278,0.73,146.0,203.4,10.4,864,12284,0.00,1.05,0.00,0.000,4,0.000,0.049,2649,1496,1873,0,0,0,0,0,0
$GC,12370,0.73,146.0,193.9,10.6,878,12379,0.00,1.12,0.00,0.000,6,0.000,0.045,2649,2199,1873,0,0,0,0,0,0
$GC,12710,0.73,146.0,160.8,10.0,929,12717,0.00,1.12,0.00,0.000,4,0.000,0.047,2653,1493,1873,0,0,0,0,0,0
$GC,12763,0.73,146.0,155.7,9.7,937,12769,0.00,1.12,0.00,0.000,6,0.000,0.046,2653,2197,1873,0,0,0,0,0,0
$GC,13100,0.74,160.8,123.3,8.5,988,13121,0.00,1.15,11.07,0.933,4,0.000,0.047,2658,1491,1829,0,0,0,0,0,0
$GC,13214,0.74,160.8,112.7,9.2,1005,13221,0.00,1.15,0.00,0.000,6,0.000,0.046,2658,2203,1828,0,0,0,0,0,0
$GC,13552,0.76,172.7,82.4,8.7,1056,13574,0.00,1.15,11.55,0.916,4,0.000,0.057,2658,2911,1779,0,0,0,0,0,0
$GC,13607,0.76,177.4,77.6,9.0,1064,13620,0.00,1.15,5.75,0.802,6,0.000,0.037,2662,2199,1760,0,0,0,0,0,0
$GC,13952,0.88,268.9,48.8,5.3,1116,14038,0.00,1.25,77.38,0.925,4,0.000,0.050,2662,2895,1387,0,0,0,0,0,0
$GC,14085,0.88,268.9,37.7,11.3,1136,14091,0.00,1.17,0.00,0.000,6,0.000,0.036,2667,2195,1384,0,0,0,0,0,0
$STATE,14421,end climb,SURFACE_DEPTH_REACHED
$STATE,14421,begin surface coast
$FINISH,1.7,1.014088
$STATE,14440,end surface coast,CONTROL_FINISHED_OK
$STATE,14441,begin surface
$SM_CCo,14457,13.18,0.083,0,0,1262,300.00
$SM_GC,3.23,6.93,0.57,13.18,0.046,0.045,0.083,122,2508,1262,-7.08,-1.02,300.00,0,0,0,0,0,0
$RAFOS_CLK,937
$RAFOS,6,1320785342,20.833334,20.817223,61,59,58,0,0,0,216,166,795,0,0,0
$RAFOS,5,1320784874,20.700001,20.687222,88,75,63,0,0,0,516,216,177,0,0,0
$RAFOS,4,1320784390,20.566668,20.552778,81,64,63,0,0,0,773,215,198,0,0,0
$RAFOS,3,1320783907,20.433332,20.418612,59,55,53,0,0,0,900,185,205,0,0,0
$RAFOS,2,1320783422,20.299999,20.283890,67,60,59,0,0,0,994,174,217,0,0,0
$RAFOS,1,1320782955,20.166666,20.154167,61,57,56,0,0,0,170,157,208,0,0,0
$RAFOS,0,1320782464,20.033333,20.017778,64,56,54,0,0,0,216,132,170,0,0,0
$RAFOS_FIX,6658.612793,-5727.067871,081111,202021,3,79,0.35
$IRIDIUM_FIX,6631.12,-5724.14,081111,131339
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.70
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,700.5,116.3
$24V_AH,22.6,26.323
$10V_AH,10.3,20.274
$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,17.825,57.675,359.200,13.175,0.000,0.000,0.000,202.200,7.250,0.000,22.876,3238.819,8667.988,557.114,2115.943,226.215,0.000,1782.004,0.000,1890.064,2520.000,19.869,0.000
$DEVICE_MAMPS,282.285,99.450,1406.070,83.385,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.473,657.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150324
$DATA_FILE_SIZE,46606,1190
$CAP_FILE_SIZE,133506,0
$CFSIZE,260165632,233574400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1458.0
$CURRENT,0.044,317.4,1
$GPS,081111,213235,6658.791,-5716.768,28,0.9,28,-33.5