version: 66.09
glider: 143
mission: 13
dive: 252
start: 11 16 111 20 15 44
data:
$ID,143
$MISSION,13
$DIVE,252
$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,-2
$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,-80843.664
$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,52
$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,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
$GPS1,161111,200954,6656.173,-5855.915,38,0.9,38,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.8
$GPS2,161111,201512,6656.239,-5855.946,18,0.9,18,-33.8
$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,245.0,69671,-16.9,-9.167
$D_GRID,1069
$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
$GC,16,-0.73,-146.0,0.0,0.0,0,59,0.00,0.00,-40.92,0.000,2,0.000,0.000,126,2522,1794,0,0,0,0,0,0
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$GC,2364,-0.73,-146.0,306.1,-12.6,319,2373,0.12,1.12,0.00,0.000,6,0.169,0.032,2165,2505,3082,0,0,0,0,0,0
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$GC,4043,-0.73,-146.0,483.5,-10.6,452,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2505,3084,0,0,0,0,0,0
$GC,4362,-0.73,-146.0,516.1,-10.0,470,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2505,3085,0,0,0,0,0,0
$GC,4667,-0.73,-146.0,544.9,-9.0,480,4670,0.00,1.17,0.00,0.000,4,0.000,0.063,2158,3214,3085,0,0,0,0,0,0
$GC,4847,-0.73,-146.0,559.9,-9.0,485,4851,0.00,1.08,0.00,0.000,6,0.000,0.029,2157,2508,3085,0,0,0,0,0,0
$GC,5173,-0.73,-146.0,590.3,-9.1,496,5176,0.00,1.17,0.00,0.000,4,0.000,0.063,2153,3216,3085,0,0,0,0,0,0
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$GC,5646,-0.73,-146.0,635.6,-9.6,511,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2507,3086,0,0,0,0,0,0
$GC,5952,-0.73,-146.0,665.1,-9.7,521,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2507,3086,0,0,0,0,0,0
$GC,6259,-0.73,-146.0,695.0,-9.8,531,6262,0.00,1.17,0.00,0.000,4,0.000,0.062,2148,3218,3085,0,0,0,0,0,0
$GC,6325,-0.73,-146.0,701.8,-10.1,533,6329,0.00,1.08,0.00,0.000,6,0.000,0.028,2148,2509,3085,0,0,0,0,0,0
$GC,6665,-0.73,-146.0,736.6,-10.3,544,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2508,3085,0,0,0,0,0,0
$GC,6973,-0.73,-146.0,768.6,-10.5,554,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2508,3086,0,0,0,0,0,0
$GC,7277,-0.73,-146.0,800.0,-10.2,564,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2508,3086,0,0,0,0,0,0
$GC,7585,-0.73,-146.0,831.6,-10.2,574,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2508,3086,0,0,0,0,0,0
$GC,7890,-0.73,-146.0,862.2,-10.1,584,7893,0.00,1.17,0.00,0.000,4,0.000,0.063,2144,3216,3086,0,0,0,0,0,0
$GC,7960,-0.73,-146.0,869.1,-10.4,586,7965,0.00,1.10,0.00,0.000,6,0.000,0.027,2144,2498,3086,0,0,0,0,0,0
$GC,8294,-0.73,-146.0,903.6,-10.0,597,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3086,0,0,0,0,0,0
$GC,8601,-0.73,-146.0,933.6,-9.7,607,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2499,3086,0,0,0,0,0,0
$GC,8907,-0.73,-146.0,963.2,-9.8,617,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2499,3086,0,0,0,0,0,0
$STATE,9181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9182,begin apogee
$GC,9187,-0.16,0.0,990.6,-9.8,626,9320,0.60,0.00,125.40,1.526,6,0.131,0.000,2339,2194,2485,0,0,0,0,0,0
$STATE,9321,end apogee,CONTROL_FINISHED_OK
$STATE,9321,begin climb
$GC,9323,0.73,146.0,995.3,0.0,630,9469,0.88,1.23,137.35,1.466,4,0.065,0.048,2641,1507,1889,0,0,0,0,0,0
$GC,9705,0.73,146.0,961.4,12.5,642,9710,0.00,1.23,0.00,0.000,6,0.000,0.043,2641,2209,1881,0,0,0,0,0,0
$GC,10041,0.73,146.0,918.3,12.6,653,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2209,1878,0,0,0,0,0,0
$GC,10345,0.73,146.0,880.1,12.5,663,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1877,0,0,0,0,0,0
$GC,10652,0.73,146.0,842.6,12.2,673,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1876,0,0,0,0,0,0
$GC,10958,0.73,146.0,805.1,12.2,683,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2209,1876,0,0,0,0,0,0
$GC,11264,0.73,146.0,768.3,11.8,693,11268,0.00,1.12,0.00,0.000,4,0.000,0.055,2641,2908,1876,0,0,0,0,0,0
$GC,11322,0.73,146.0,764.3,12.0,694,11330,0.00,1.15,0.00,0.000,6,0.000,0.036,2645,2205,1876,0,0,0,0,0,0
$GC,11636,0.73,146.0,721.5,12.7,705,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1874,0,0,0,0,0,0
$GC,11942,0.73,146.0,683.6,12.4,715,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1875,0,0,0,0,0,0
$GC,12248,0.73,146.0,645.2,12.3,725,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1874,0,0,0,0,0,0
$GC,12554,0.73,146.0,608.8,11.7,735,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1874,0,0,0,0,0,0
$GC,12861,0.73,146.0,573.2,11.6,745,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2205,1875,0,0,0,0,0,0
$GC,13167,0.73,146.0,538.7,11.2,755,13170,0.00,1.17,0.00,0.000,4,0.000,0.050,2645,2906,1874,0,0,0,0,0,0
$GC,13244,0.73,146.0,531.2,11.3,757,13249,0.00,1.15,0.00,0.000,6,0.000,0.036,2650,2198,1874,0,0,0,0,0,0
$GC,13562,0.73,146.0,494.4,11.0,770,13563,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,1874,0,0,0,0,0,0
$GC,13876,0.73,146.0,458.9,11.1,795,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,1874,0,0,0,0,0,0
$GC,14193,0.73,146.0,423.4,11.1,820,14197,0.00,1.17,0.00,0.000,4,0.000,0.050,2650,2902,1874,0,0,0,0,0,0
$GC,14274,0.73,146.0,414.1,11.7,826,14277,0.00,1.12,0.00,0.000,6,0.000,0.036,2654,2197,1874,0,0,0,0,0,0
$GC,14603,0.73,146.0,378.6,10.5,852,14607,0.00,1.17,0.00,0.000,4,0.000,0.049,2654,2904,1874,0,0,0,0,0,0
$GC,14700,0.73,146.0,368.5,10.9,859,14708,0.00,1.15,0.00,0.000,6,0.000,0.035,2659,2192,1874,0,0,0,0,0,0
$GC,15023,0.73,146.0,332.4,10.9,885,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2192,1874,0,0,0,0,0,0
$GC,15343,0.73,146.0,297.6,10.8,910,15344,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2192,1874,0,0,0,0,0,0
$GC,15655,0.73,146.0,263.0,10.7,935,15658,0.00,1.20,0.00,0.000,4,0.000,0.050,2659,2910,1874,0,0,0,0,0,0
$GC,15827,0.73,146.0,243.6,11.0,952,15834,0.08,1.12,0.00,0.000,6,0.153,0.035,2640,2201,1874,0,0,0,0,0,0
$GC,16164,0.73,151.3,211.8,8.9,1003,16170,0.00,1.17,0.00,0.000,4,0.000,0.050,2639,2912,1874,0,0,0,0,0,0
$GC,16217,0.73,151.3,206.7,9.5,1011,16224,0.00,1.12,0.00,0.000,6,0.000,0.034,2643,2199,1874,0,0,0,0,0,0
$GC,16555,0.75,169.9,177.0,8.4,1062,16583,0.00,1.15,19.08,0.996,4,0.000,0.047,2643,2908,1791,0,0,0,0,0,0
$GC,16734,0.75,169.9,160.7,9.3,1089,16743,0.00,1.15,0.00,0.000,6,0.000,0.035,2647,2194,1790,0,0,0,0,0,0
$GC,17074,0.77,184.5,130.4,8.6,1140,17096,0.00,1.08,13.85,0.962,4,0.000,0.048,2653,1497,1732,0,0,0,0,0,0
$GC,17123,0.80,207.2,126.2,8.2,1147,17151,0.00,1.15,20.58,0.968,6,0.000,0.042,2652,2202,1640,0,0,0,0,0,0
$GC,17483,0.80,207.4,91.9,9.2,1201,17491,0.00,1.12,0.00,0.000,4,0.000,0.053,2652,2906,1638,0,0,0,0,0,0
$GC,17618,0.80,207.4,79.3,9.3,1221,17627,0.00,1.15,0.00,0.000,6,0.000,0.035,2657,2197,1638,0,0,0,0,0,0
$GC,17958,0.87,260.7,51.8,6.9,1272,18013,0.00,1.27,45.80,0.949,4,0.000,0.049,2658,2911,1421,0,0,0,0,0,0
$GC,18224,0.87,260.7,27.7,10.9,1312,18231,0.00,1.17,0.00,0.000,6,0.000,0.034,2662,2193,1416,0,0,0,0,0,0
$FREEZE,8.90,-1.387,-1.754,0,1,0
$FREEZE,8.15,-1.388,-1.753,0,1,0
$FREEZE,7.36,-1.388,-1.752,0,1,0
$FREEZE,6.84,-1.388,-1.752,0,1,0
$FREEZE,6.05,-1.387,-1.751,0,1,0
$FREEZE,5.50,-1.387,-1.751,0,1,0
$FREEZE,4.99,-1.385,-1.751,0,1,0
$FREEZE,4.51,-1.386,-1.750,0,1,0
$FREEZE,3.90,-1.386,-1.750,0,1,0
$FREEZE,3.32,-1.385,-1.749,0,1,0
$FREEZE,2.93,-1.386,-1.749,0,1,0
$FREEZE,2.50,-1.386,-1.749,0,1,0
$FREEZE,1.84,-1.385,-1.748,0,1,0
$STATE,18485,end climb,SURFACE_DEPTH_REACHED
$STATE,18485,begin surface coast
$FREEZE,1.68,-1.343,-0.878,0,1,0
$FREEZE,1.71,-1.371,-0.640,0,1,0
$FREEZE,1.66,-1.348,-0.863,0,1,0
$FREEZE,1.80,-1.379,-1.749,0,1,0
$FINISH,1.8,1.025677
$STATE,18513,end surface coast,CONTROL_FINISHED_OK
$STATE,18513,begin surface
$SM_CCo,18530,17.75,0.085,0,0,1262,300.00
$SM_GC,3.33,6.90,0.60,17.75,0.046,0.051,0.085,117,2515,1262,-7.08,-0.74,300.00,0,0,0,0,0,0
$RAFOS_CLK,1223
$RAFOS,6,1321490944,0.833333,0.817778,82,60,60,0,0,0,661,216,168,0,0,0
$RAFOS,5,1321490462,0.700000,0.683889,65,59,59,0,0,0,147,198,706,0,0,0
$RAFOS,4,1321489981,0.566667,0.550278,107,60,57,0,0,0,537,171,182,0,0,0
$RAFOS,3,1321489502,0.433333,0.417222,80,62,59,0,0,0,744,167,218,0,0,0
$RAFOS,2,1321489031,0.300000,0.286389,59,59,56,0,0,0,197,688,209,0,0,0
$RAFOS,1,1321488544,0.166667,0.151111,65,64,61,0,0,0,699,191,178,0,0,0
$RAFOS,0,1321488065,0.033333,0.018056,58,55,53,0,0,0,215,182,231,0,0,0
$RAFOS,6,1321476542,20.833334,20.817223,83,66,59,0,0,0,659,185,148,0,0,0
$RAFOS,5,1321476067,20.700001,20.685278,75,58,53,0,0,0,208,695,219,0,0,0
$RAFOS,4,1321475585,20.566668,20.551390,88,67,64,0,0,0,540,162,209,0,0,0
$RAFOS,3,1321475102,20.433332,20.417223,56,53,52,0,0,0,191,118,158,0,0,0
$RAFOS,2,1321474624,20.299999,20.284445,74,63,59,0,0,0,758,219,176,0,0,0
$RAFOS_FIX,6655.129883,-5858.650391,161111,202012,3,82,2.37
$IRIDIUM_FIX,6625.71,-5850.88,161111,141448
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.10
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.7,17.5
$ALTIM_BOTTOM_PING,951.2,116.0
$24V_AH,22.5,31.863
$10V_AH,10.1,24.260
$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,17.125,49.375,362.050,17.750,0.000,0.000,0.000,202.000,8.750,0.000,19.312,3782.691,11894.026,534.353,2453.987,250.490,0.000,1906.335,0.000,2220.034,4320.000,31.654,0.000
$DEVICE_MAMPS,253.215,70.380,1526.175,84.915,0.000,0.000,0.000,260.666,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.597,727.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150400
$DATA_FILE_SIZE,50040,1356
$CAP_FILE_SIZE,153142,0
$CFSIZE,260165632,230465536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.9
$CURRENT,0.204,119.2,1
$GPS,171111,012706,6652.437,-5855.560,36,1.0,37,-33.8