version: 66.09
glider: 143
mission: 13
dive: 233
start: 11 12 111 20 42 2
data:
$ID,143
$MISSION,13
$DIVE,233
$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,-80820.703
$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,30
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$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
$GPS1,121111,203605,6659.466,-5748.164,37,0.8,37,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-70.2
$GPS2,121111,204130,6659.433,-5748.168,20,1.1,20,-33.6
$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,282.1,118948,-16.9,-9.167
$D_GRID,886
$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,-146.0,0.0,0.0,0,77,0.00,0.00,-58.97,0.000,2,0.000,0.000,117,2523,2034,0,0,0,0,0,0
$GC,80,-0.73,-146.0,3.1,-1.0,9,147,8.60,1.20,-49.28,0.000,4,0.256,0.071,2160,1815,3083,0,0,0,0,0,0
$GC,399,-0.73,-146.0,50.8,-16.3,57,406,0.00,1.17,0.00,0.000,6,0.000,0.054,2157,2499,3084,0,0,0,0,0,0
$GC,738,-0.73,-146.0,101.6,-15.0,108,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2499,3085,0,0,0,0,0,0
$GC,1075,-0.73,-146.0,149.1,-13.4,159,1084,0.00,1.15,0.00,0.000,4,0.000,0.069,2152,3216,3085,0,0,0,0,0,0
$GC,1170,-0.73,-146.0,162.1,-13.7,173,1177,0.00,1.10,0.00,0.000,6,0.000,0.034,2152,2504,3085,0,0,0,0,0,0
$GC,1509,-0.73,-146.0,208.7,-14.0,224,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2504,3085,0,0,0,0,0,0
$GC,1845,-0.73,-146.0,252.1,-12.0,274,1849,0.00,1.17,0.00,0.000,4,0.000,0.063,2147,3211,3084,0,0,0,0,0,0
$GC,1898,-0.73,-146.0,258.7,-12.3,278,1901,0.00,1.08,0.00,0.000,6,0.000,0.034,2147,2515,3084,0,0,0,0,0,0
$GC,2229,-0.73,-146.0,296.3,-11.4,304,2233,0.00,1.10,0.00,0.000,4,0.000,0.044,2147,1809,3084,0,0,0,0,0,0
$GC,2340,-0.73,-146.0,308.3,-10.8,312,2348,0.00,1.23,0.00,0.000,6,0.000,0.055,2143,2518,3084,0,0,0,0,0,0
$GC,2664,-0.73,-146.0,346.8,-12.6,338,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2518,3084,0,0,0,0,0,0
$GC,2979,-0.73,-146.0,386.6,-12.5,363,2982,0.00,1.10,0.00,0.000,4,0.000,0.069,2137,3213,3084,0,0,0,0,0,0
$GC,3036,-0.73,-146.0,393.4,-12.8,367,3047,0.00,1.12,0.00,0.000,6,0.000,0.032,2137,2493,3084,0,0,0,0,0,0
$GC,3361,-0.73,-146.0,434.6,-11.8,393,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2493,3084,0,0,0,0,0,0
$GC,3675,-0.73,-146.0,471.4,-11.7,418,3679,0.00,1.20,0.00,0.000,4,0.000,0.063,2133,3216,3084,0,0,0,0,0,0
$GC,3715,-0.73,-146.0,476.1,-11.8,421,3719,0.10,1.08,0.00,0.000,6,0.146,0.032,2164,2506,3084,0,0,0,0,0,0
$GC,4047,-0.73,-146.0,509.9,-10.2,443,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2506,3084,0,0,0,0,0,0
$GC,4353,-0.73,-146.0,541.0,-10.4,453,4357,0.00,1.05,0.00,0.000,4,0.000,0.044,2164,1825,3085,0,0,0,0,0,0
$GC,4424,-0.73,-146.0,547.8,-10.3,455,4429,0.00,1.20,0.00,0.000,6,0.000,0.052,2161,2524,3085,0,0,0,0,0,0
$GC,4758,-0.73,-146.0,582.1,-10.0,466,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2523,3085,0,0,0,0,0,0
$GC,5066,-0.73,-146.0,611.9,-9.6,476,5069,0.00,1.10,0.00,0.000,4,0.000,0.069,2156,3217,3086,0,0,0,0,0,0
$GC,5117,-0.73,-146.0,615.1,-9.5,477,5122,0.00,1.10,0.00,0.000,6,0.000,0.031,2156,2506,3086,0,0,0,0,0,0
$GC,5439,-0.73,-146.0,647.0,-9.3,488,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2506,3086,0,0,0,0,0,0
$GC,5744,-0.73,-146.0,674.0,-8.8,498,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2506,3086,0,0,0,0,0,0
$GC,6053,-0.73,-146.0,702.8,-9.5,508,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3086,0,0,0,0,0,0
$GC,6356,-0.73,-146.0,732.5,-9.7,518,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3086,0,0,0,0,0,0
$GC,6664,-0.73,-146.0,761.9,-9.7,528,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2506,3086,0,0,0,0,0,0
$GC,6969,-0.73,-146.0,790.7,-9.3,538,6973,0.00,1.05,0.00,0.000,4,0.000,0.045,2156,1825,3087,0,0,0,0,0,0
$GC,7013,-0.73,-146.0,793.8,-9.3,539,7018,0.00,1.20,0.00,0.000,6,0.000,0.054,2151,2522,3086,0,0,0,0,0,0
$GC,7340,-0.73,-146.0,825.9,-9.5,550,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2522,3087,0,0,0,0,0,0
$GC,7648,-0.73,-146.0,854.5,-9.3,560,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2522,3087,0,0,0,0,0,0
$GC,7953,-0.73,-146.0,882.6,-9.1,570,7957,0.00,1.10,0.00,0.000,4,0.000,0.067,2147,3219,3087,0,0,0,0,0,0
$GC,8004,-0.73,-146.0,885.8,-9.3,571,8009,0.00,1.10,0.00,0.000,6,0.000,0.029,2147,2501,3087,0,0,0,0,0,0
$STATE,8019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8019,begin apogee
$GC,8025,-0.16,0.0,889.1,-9.5,572,8154,0.60,0.00,123.70,1.464,6,0.129,0.000,2341,2196,2485,0,0,0,0,0,0
$STATE,8155,end apogee,CONTROL_FINISHED_OK
$STATE,8155,begin climb
$GC,8157,0.73,146.0,894.0,0.0,576,8302,0.85,1.17,134.32,1.404,4,0.067,0.047,2635,1504,1887,0,0,0,0,0,0
$GC,8447,0.73,146.0,872.3,12.1,585,8452,0.00,1.25,0.00,0.000,6,0.000,0.044,2635,2212,1881,0,0,0,0,0,0
$GC,8776,0.73,146.0,830.3,12.4,596,8780,0.00,1.15,0.00,0.000,4,0.000,0.054,2635,2905,1878,0,0,0,0,0,0
$GC,8868,0.73,146.0,821.6,12.6,598,8875,0.00,1.15,0.00,0.000,6,0.000,0.037,2640,2210,1877,0,0,0,0,0,0
$GC,9181,0.73,146.0,779.9,12.3,609,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2210,1876,0,0,0,0,0,0
$GC,9487,0.73,146.0,742.0,12.4,619,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2210,1875,0,0,0,0,0,0
$GC,9793,0.73,146.0,704.0,12.4,629,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2210,1875,0,0,0,0,0,0
$GC,10099,0.73,146.0,667.7,11.7,639,10103,0.00,1.17,0.00,0.000,4,0.000,0.053,2640,2902,1874,0,0,0,0,0,0
$GC,10217,0.73,146.0,655.9,11.7,642,10222,0.00,1.17,0.00,0.000,6,0.000,0.037,2644,2188,1873,0,0,0,0,0,0
$GC,10537,0.73,146.0,615.5,12.1,653,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2188,1873,0,0,0,0,0,0
$GC,10843,0.73,146.0,578.8,11.9,663,10847,0.00,1.20,0.00,0.000,4,0.000,0.052,2644,2901,1874,0,0,0,0,0,0
$GC,10928,0.73,146.0,570.6,12.1,665,10933,0.00,1.15,0.00,0.000,6,0.000,0.036,2649,2195,1874,0,0,0,0,0,0
$GC,11250,0.73,146.0,528.2,12.6,676,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,1873,0,0,0,0,0,0
$GC,11556,0.73,146.0,490.3,12.5,689,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,1873,0,0,0,0,0,0
$GC,11872,0.73,146.0,451.5,12.3,714,11873,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,1873,0,0,0,0,0,0
$GC,12187,0.73,146.0,413.6,12.1,739,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,1873,0,0,0,0,0,0
$GC,12506,0.73,146.0,376.0,11.8,764,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2195,1873,0,0,0,0,0,0
$GC,12820,0.73,146.0,339.1,11.7,789,12824,0.00,1.05,0.00,0.000,4,0.000,0.050,2654,1498,1873,0,0,0,0,0,0
$GC,12925,0.73,146.0,326.5,11.6,797,12929,0.00,1.12,0.00,0.000,6,0.000,0.046,2654,2199,1873,0,0,0,0,0,0
$GC,13255,0.73,146.0,287.8,11.4,823,13259,0.00,1.12,0.00,0.000,4,0.000,0.056,2654,2905,1873,0,0,0,0,0,0
$GC,13511,0.73,146.0,260.0,10.6,842,13519,0.00,1.15,0.00,0.000,6,0.000,0.036,2658,2195,1873,0,0,0,0,0,0
$GC,13846,0.73,146.0,227.2,9.7,886,13853,0.00,1.05,0.00,0.000,4,0.000,0.050,2664,1497,1873,0,0,0,0,0,0
$GC,14032,0.73,151.7,209.9,8.9,914,14039,0.00,1.12,0.00,0.000,6,0.000,0.045,2664,2200,1873,0,0,0,0,0,0
$GC,14369,0.74,161.0,180.5,8.8,965,14382,0.00,0.00,11.43,0.971,6,0.000,0.000,2664,2200,1828,0,0,0,0,0,0
$GC,14714,0.74,161.0,145.3,10.6,1017,14721,0.00,1.12,0.00,0.000,4,0.000,0.047,2668,1495,1826,0,0,0,0,0,0
$GC,14780,0.74,161.0,138.3,11.0,1027,14789,0.00,1.15,0.00,0.000,6,0.000,0.047,2668,2203,1827,0,0,0,0,0,0
$GC,15120,0.75,163.7,106.1,9.1,1078,15127,0.00,0.00,3.53,0.656,6,0.000,0.000,2668,2203,1817,0,0,0,0,0,0
$GC,15458,0.76,177.2,77.7,8.6,1129,15479,0.00,0.00,13.50,0.946,6,0.000,0.000,2668,2203,1761,0,0,0,0,0,0
$GC,15811,0.81,215.8,52.5,7.5,1182,15854,0.00,1.15,33.42,0.959,4,0.000,0.046,2673,1495,1604,0,0,0,0,0,0
$GC,15929,0.85,250.6,44.4,7.7,1199,15966,0.00,1.17,30.65,0.929,6,0.000,0.047,2673,2200,1462,0,0,0,0,0,0
$GC,16298,0.92,301.0,4.5,7.0,1254,16326,0.00,1.20,24.27,0.083,4,0.000,0.052,2677,1495,1254,0,0,0,0,0,0
$STATE,16331,end climb,SURFACE_DEPTH_REACHED
$STATE,16331,begin surface coast
$FINISH,1.7,1.025386
$STATE,16351,end surface coast,CONTROL_FINISHED_OK
$STATE,16351,begin surface
$SM_CCo,16430,0.00,0.000,0,0,1247,303.44
$SM_GC,2.47,6.93,1.75,0.00,0.042,0.056,0.000,121,2504,1247,-7.07,-0.82,303.44,0,0,0,0,0,0
$RAFOS_CLK,1077
$RAFOS,6,1321145342,0.833333,0.817222,66,63,62,0,0,0,213,690,147,0,0,0
$RAFOS,5,1321144862,0.700000,0.683889,66,65,63,0,0,0,543,215,157,0,0,0
$RAFOS,4,1321144386,0.566667,0.551667,64,62,56,0,0,0,151,216,196,0,0,0
$RAFOS,3,1321143907,0.433333,0.418611,68,66,57,0,0,0,136,186,118,0,0,0
$RAFOS,2,1321143424,0.300000,0.284444,62,61,59,0,0,0,195,182,171,0,0,0
$RAFOS,1,1321142947,0.166667,0.151944,76,64,58,0,0,0,218,198,170,0,0,0
$RAFOS,0,1321142467,0.033333,0.018611,63,56,54,0,0,0,213,153,190,0,0,0
$RAFOS,6,1321130946,20.833334,20.818333,61,58,58,0,0,0,158,116,212,0,0,0
$RAFOS,4,1321129983,20.566668,20.550833,65,62,58,0,0,0,205,217,192,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5741.01,121111,161615
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.00
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.5,17.3
$ALTIM_BOTTOM_PING,851.7,66.8
$24V_AH,22.5,29.294
$10V_AH,10.2,22.437
$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,17.075,46.650,374.825,0.000,0.000,0.000,0.000,207.775,7.500,0.000,22.745,3454.771,10260.854,507.326,2299.361,235.169,0.000,1808.879,0.000,2064.943,2880.000,26.664,0.000
$DEVICE_MAMPS,256.275,71.145,1464.210,0.000,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.668,689.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,46619,1262
$CAP_FILE_SIZE,139342,0
$CFSIZE,260165632,231874560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.5
$CURRENT,0.128, 27.0,1
$GPS,131111,011735,6659.374,-5753.815,56,0.9,56,-33.7