version: 66.09
glider: 143
mission: 13
dive: 235
start: 11 13 111 6 11 43
data:
$ID,143
$MISSION,13
$DIVE,235
$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,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80823.219
$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,38
$R_STBD_OVSHOOT,33
$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,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,131111,060535,6658.785,-5800.655,114,0.8,114,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-67.0
$GPS2,131111,061113,6658.808,-5800.602,16,1.5,16,-33.7
$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,257.1,109846,-16.9,-9.167
$D_GRID,952
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,74,0.00,0.00,-55.25,0.000,2,0.000,0.000,117,2528,1979,0,0,0,0,0,0
$GC,77,-0.73,-146.0,3.1,-0.8,8,139,8.35,1.20,-45.35,0.000,4,0.246,0.074,2163,1812,3082,0,0,0,0,0,0
$GC,271,-0.73,-146.0,33.3,-18.2,37,280,0.00,1.17,0.00,0.000,6,0.000,0.056,2161,2494,3084,0,0,0,0,0,0
$GC,611,-0.73,-146.0,86.3,-14.4,88,618,0.00,1.15,0.00,0.000,4,0.000,0.069,2155,3210,3084,0,0,0,0,0,0
$GC,759,-0.73,-146.0,106.5,-15.0,110,765,0.00,1.10,0.00,0.000,6,0.000,0.033,2155,2497,3084,0,0,0,0,0,0
$GC,1096,-0.73,-146.0,149.9,-13.5,161,1105,0.00,1.20,0.00,0.000,4,0.000,0.070,2150,3211,3084,0,0,0,0,0,0
$GC,1186,-0.73,-146.0,162.3,-14.7,174,1193,0.00,1.10,0.00,0.000,6,0.000,0.035,2149,2501,3084,0,0,0,0,0,0
$GC,1523,-0.73,-146.0,207.9,-12.9,225,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2502,3084,0,0,0,0,0,0
$GC,1861,-0.73,-146.0,248.0,-12.1,276,1868,0.00,1.20,0.00,0.000,4,0.000,0.069,2144,3216,3084,0,0,0,0,0,0
$GC,1986,-0.73,-146.0,263.2,-12.9,287,1994,0.00,1.12,0.00,0.000,6,0.000,0.033,2144,2498,3083,0,0,0,0,0,0
$GC,2311,-0.73,-146.0,303.6,-11.8,313,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3083,0,0,0,0,0,0
$GC,2627,-0.73,-146.0,340.1,-11.8,338,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2497,3083,0,0,0,0,0,0
$GC,2940,-0.73,-146.0,377.6,-11.8,363,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3083,0,0,0,0,0,0
$GC,3256,-0.73,-146.0,414.4,-11.4,388,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3084,0,0,0,0,0,0
$GC,3572,-0.73,-146.0,451.0,-11.4,413,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3084,0,0,0,0,0,0
$GC,3890,-0.73,-146.0,485.9,-10.8,438,3894,0.00,1.20,0.00,0.000,4,0.000,0.063,2139,3222,3084,0,0,0,0,0,0
$GC,3961,-0.73,-146.0,493.6,-11.2,443,3969,0.00,1.12,0.00,0.000,6,0.000,0.030,2139,2496,3084,0,0,0,0,0,0
$GC,4295,-0.73,-146.0,531.4,-11.2,457,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2497,3084,0,0,0,0,0,0
$GC,4602,-0.73,-146.0,565.3,-10.9,467,4605,0.00,1.20,0.00,0.000,4,0.000,0.062,2135,3223,3084,0,0,0,0,0,0
$GC,4672,-0.73,-146.0,572.7,-11.1,469,4678,0.12,1.10,0.00,0.000,6,0.168,0.029,2165,2508,3085,0,0,0,0,0,0
$GC,5006,-0.73,-146.0,605.4,-9.6,480,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2508,3085,0,0,0,0,0,0
$GC,5314,-0.73,-146.0,633.9,-9.5,490,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2508,3085,0,0,0,0,0,0
$GC,5619,-0.73,-146.0,663.1,-9.5,500,5622,0.00,1.17,0.00,0.000,4,0.000,0.062,2162,3221,3086,0,0,0,0,0,0
$GC,5696,-0.73,-146.0,669.3,-9.4,502,5701,0.00,1.10,0.00,0.000,6,0.000,0.028,2162,2505,3086,0,0,0,0,0,0
$GC,6025,-0.73,-146.0,700.7,-9.3,513,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2505,3086,0,0,0,0,0,0
$GC,6329,-0.73,-146.0,728.9,-9.2,523,6333,0.00,1.17,0.00,0.000,4,0.000,0.062,2157,3218,3086,0,0,0,0,0,0
$GC,6407,-0.73,-146.0,735.1,-9.3,525,6411,0.00,1.10,0.00,0.000,6,0.000,0.028,2157,2501,3086,0,0,0,0,0,0
$GC,6735,-0.73,-146.0,765.7,-8.9,536,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2500,3086,0,0,0,0,0,0
$GC,7042,-0.73,-146.0,793.0,-8.9,546,7047,0.00,1.05,0.00,0.000,4,0.000,0.042,2157,1814,3086,0,0,0,0,0,0
$GC,7108,-0.73,-146.0,799.1,-8.9,548,7112,0.00,1.17,0.00,0.000,6,0.000,0.050,2153,2514,3086,0,0,0,0,0,0
$GC,7448,-0.73,-146.0,831.0,-9.6,559,7451,0.00,1.10,0.00,0.000,4,0.000,0.065,2147,3217,3086,0,0,0,0,0,0
$GC,7532,-0.73,-146.0,837.6,-9.8,561,7536,0.00,1.10,0.00,0.000,6,0.000,0.028,2148,2497,3086,0,0,0,0,0,0
$GC,7853,-0.73,-146.0,869.8,-9.4,572,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2497,3086,0,0,0,0,0,0
$GC,8160,-0.73,-146.0,899.0,-9.4,582,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2497,3086,0,0,0,0,0,0
$GC,8464,-0.73,-146.0,927.6,-9.5,592,8468,0.00,1.17,0.00,0.000,4,0.000,0.061,2143,3213,3087,0,0,0,0,0,0
$GC,8549,-0.73,-146.0,934.1,-9.7,594,8554,0.00,1.08,0.00,0.000,6,0.000,0.028,2143,2517,3086,0,0,0,0,0,0
$STATE,8714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8714,begin apogee
$GC,8720,-0.16,0.0,952.3,-9.8,600,8851,0.62,0.00,124.60,1.502,6,0.130,0.000,2342,2182,2485,0,0,0,0,0,0
$STATE,8851,end apogee,CONTROL_FINISHED_OK
$STATE,8851,begin climb
$GC,8854,0.73,146.0,956.4,0.0,604,8997,0.85,1.20,135.68,1.442,4,0.064,0.049,2638,1507,1889,0,0,0,0,0,0
$GC,9181,0.73,146.0,929.1,12.8,614,9186,0.00,1.23,0.00,0.000,6,0.000,0.043,2638,2208,1881,0,0,0,0,0,0
$GC,9502,0.73,146.0,885.4,12.8,625,9506,0.00,1.15,0.00,0.000,4,0.000,0.054,2638,2904,1879,0,0,0,0,0,0
$GC,9608,0.73,146.0,872.5,13.1,628,9611,0.00,1.15,0.00,0.000,6,0.000,0.035,2643,2206,1878,0,0,0,0,0,0
$GC,9940,0.73,146.0,828.8,12.8,639,9944,0.00,1.17,0.00,0.000,4,0.000,0.049,2643,2896,1877,0,0,0,0,0,0
$GC,10006,0.73,146.0,820.0,13.2,641,10010,0.00,1.12,0.00,0.000,6,0.000,0.035,2648,2202,1877,0,0,0,0,0,0
$GC,10346,0.73,146.0,775.9,12.9,652,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1876,0,0,0,0,0,0
$GC,10653,0.73,146.0,736.7,13.0,662,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1876,0,0,0,0,0,0
$GC,10958,0.73,146.0,697.2,13.0,672,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1875,0,0,0,0,0,0
$GC,11266,0.73,146.0,656.1,13.5,682,11270,0.00,1.17,0.00,0.000,4,0.000,0.052,2648,2898,1875,0,0,0,0,0,0
$GC,11323,0.73,146.0,651.3,13.5,683,11331,0.00,1.15,0.00,0.000,6,0.000,0.036,2652,2194,1874,0,0,0,0,0,0
$GC,11639,0.73,146.0,605.9,13.3,694,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1875,0,0,0,0,0,0
$GC,11944,0.73,146.0,565.6,12.9,704,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1875,0,0,0,0,0,0
$GC,12251,0.73,146.0,527.3,12.5,714,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1874,0,0,0,0,0,0
$GC,12558,0.73,146.0,488.2,12.9,727,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1874,0,0,0,0,0,0
$GC,12875,0.73,146.0,448.8,12.2,752,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1874,0,0,0,0,0,0
$GC,13190,0.73,146.0,411.9,11.4,777,13192,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1874,0,0,0,0,0,0
$GC,13506,0.73,146.0,378.2,10.8,802,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1874,0,0,0,0,0,0
$GC,13820,0.73,146.0,343.4,11.3,827,13821,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2194,1874,0,0,0,0,0,0
$GC,14136,0.73,146.0,308.8,11.0,852,14140,0.00,1.05,0.00,0.000,4,0.000,0.050,2657,1497,1875,0,0,0,0,0,0
$GC,14392,0.73,146.0,282.2,10.2,871,14400,0.00,1.15,0.00,0.000,6,0.000,0.044,2657,2203,1874,0,0,0,0,0,0
$GC,14717,0.73,146.0,251.1,9.6,897,14718,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2203,1874,0,0,0,0,0,0
$GC,15048,0.73,146.0,218.7,10.3,946,15054,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2203,1874,0,0,0,0,0,0
$GC,15385,0.73,146.0,185.0,9.3,997,15393,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2203,1874,0,0,0,0,0,0
$GC,15724,0.74,162.1,154.7,8.5,1048,15740,0.00,0.00,12.35,0.968,6,0.000,0.000,2657,2203,1824,0,0,0,0,0,0
$GC,16071,0.76,171.2,123.7,8.8,1100,16087,0.00,1.17,9.35,0.926,4,0.000,0.058,2657,2911,1786,0,0,0,0,0,0
$GC,16247,0.76,171.2,106.7,9.7,1126,16253,0.00,1.15,0.00,0.000,6,0.000,0.038,2662,2200,1786,0,0,0,0,0,0
$GC,16585,0.80,204.0,77.9,7.8,1177,16622,0.00,1.12,29.12,0.968,4,0.000,0.050,2667,1497,1652,0,0,0,0,0,0
$GC,16873,0.80,204.0,53.1,9.2,1220,16880,0.00,1.15,0.00,0.000,6,0.000,0.047,2667,2196,1648,0,0,0,0,0,0
$GC,17210,0.80,204.0,21.6,10.9,1271,17217,0.00,1.12,0.00,0.000,4,0.000,0.046,2672,1494,1646,0,0,0,0,0,0
$FREEZE,8.54,-0.570,-1.767,0,1,0
$FREEZE,7.36,-0.569,-1.766,0,1,0
$FREEZE,6.26,-0.574,-1.765,0,1,0
$FREEZE,5.25,-0.573,-1.764,0,1,0
$FREEZE,4.38,-0.573,-1.764,0,1,0
$FREEZE,3.37,-0.572,-1.763,0,1,0
$FREEZE,2.10,-0.574,-1.762,0,1,0
$FREEZE,1.57,-0.541,-1.758,0,1,0
$STATE,17349,end climb,SURFACE_DEPTH_REACHED
$STATE,17349,begin surface coast
$FREEZE,1.60,-0.591,-0.970,0,1,0
$FREEZE,1.67,-0.574,-1.750,0,1,0
$FINISH,1.7,1.025676
$STATE,17365,end surface coast,CONTROL_FINISHED_OK
$STATE,17365,begin surface
$SM_CCo,17383,45.80,0.085,0,0,1261,300.00
$SM_GC,2.36,7.05,1.75,45.80,0.059,0.065,0.085,114,2504,1261,-7.08,-0.85,300.00,0,0,0,0,0,0
$RAFOS_CLK,1145
$RAFOS,6,1321174142,8.833333,8.817223,60,56,54,0,0,0,129,202,214,0,0,0
$RAFOS,5,1321173665,8.700000,8.684722,59,59,59,0,0,0,211,220,558,0,0,0
$RAFOS,4,1321173184,8.566667,8.551111,65,62,56,0,0,0,199,208,242,0,0,0
$RAFOS,3,1321172706,8.433333,8.418333,59,59,58,0,0,0,188,201,168,0,0,0
$RAFOS,2,1321172227,8.300000,8.285277,72,64,56,0,0,0,191,178,117,0,0,0
$RAFOS,1,1321171748,8.166667,8.152223,61,59,56,0,0,0,147,215,122,0,0,0
$RAFOS,0,1321171282,8.033334,8.022778,59,58,58,0,0,0,227,213,185,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5748.60,131111,010128
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.2,17.5
$ALTIM_BOTTOM_PING,852.6,117.2
$24V_AH,22.5,29.541
$10V_AH,10.2,22.626
$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,17.000,44.625,311.100,45.800,0.000,0.000,0.000,223.975,8.250,0.000,17.666,3608.098,11036.213,503.717,2386.986,232.971,0.000,1843.910,0.000,2135.161,2520.000,26.801,0.000
$DEVICE_MAMPS,245.565,74.205,1501.695,84.915,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.945,699.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150336
$DATA_FILE_SIZE,50030,1294
$CAP_FILE_SIZE,143349,0
$CFSIZE,260165632,231731200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.8
$CURRENT,0.130, 97.2,1
$GPS,131111,110335,6656.514,-5803.218,34,0.9,34,-33.7