version: 66.09
glider: 143
mission: 13
dive: 254
start: 11 17 111 6 50 20
data:
$ID,143
$MISSION,13
$DIVE,254
$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,-80846.18
$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,23
$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
$GPS1,171111,064430,6655.194,-5857.954,42,0.8,42,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-72.2
$GPS2,171111,064948,6655.251,-5858.008,15,1.4,15,-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,263.1,67660,-16.9,-9.167
$D_GRID,1064
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-41.10,0.000,2,0.000,0.000,118,2506,1752,0,0,0,0,0,0
$GC,63,-0.73,-146.0,3.0,-1.6,6,156,8.68,1.20,-79.82,0.000,4,0.256,0.071,2157,1812,3081,0,0,0,0,0,0
$GC,250,-0.73,-146.0,24.3,-17.3,34,257,0.00,1.23,0.00,0.000,6,0.000,0.057,2154,2515,3084,0,0,0,0,0,0
$GC,588,-0.73,-146.0,77.2,-13.9,85,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2515,3084,0,0,0,0,0,0
$GC,928,-0.73,-146.0,124.0,-13.5,136,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2515,3084,0,0,0,0,0,0
$GC,1264,-0.73,-146.0,166.8,-11.9,187,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2515,3084,0,0,0,0,0,0
$GC,1602,-0.73,-146.0,206.4,-11.4,238,1609,0.00,1.15,0.00,0.000,4,0.000,0.045,2154,1818,3083,0,0,0,0,0,0
$GC,1662,-0.73,-146.0,213.4,-11.3,247,1669,0.00,1.20,0.00,0.000,6,0.000,0.058,2150,2511,3083,0,0,0,0,0,0
$GC,1998,-0.73,-146.0,252.1,-11.4,297,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3083,0,0,0,0,0,0
$GC,2317,-0.73,-146.0,288.4,-11.7,322,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3083,0,0,0,0,0,0
$GC,2631,-0.73,-146.0,325.5,-11.7,347,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3083,0,0,0,0,0,0
$GC,2946,-0.73,-146.0,361.8,-11.1,372,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3083,0,0,0,0,0,0
$GC,3260,-0.73,-146.0,396.3,-10.8,397,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3083,0,0,0,0,0,0
$GC,3577,-0.73,-146.0,432.6,-11.8,422,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3083,0,0,0,0,0,0
$GC,3891,-0.73,-146.0,468.1,-11.1,447,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3084,0,0,0,0,0,0
$GC,4212,-0.73,-146.0,503.6,-10.6,471,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3084,0,0,0,0,0,0
$GC,4518,-0.73,-146.0,535.3,-10.0,481,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2511,3084,0,0,0,0,0,0
$GC,4824,-0.73,-146.0,565.9,-10.0,491,4828,0.00,1.12,0.00,0.000,4,0.000,0.070,2145,3217,3085,0,0,0,0,0,0
$GC,4895,-0.73,-146.0,572.7,-10.2,493,4900,0.00,1.12,0.00,0.000,6,0.000,0.031,2145,2493,3084,0,0,0,0,0,0
$GC,5230,-0.73,-146.0,608.1,-10.7,504,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2493,3085,0,0,0,0,0,0
$GC,5537,-0.73,-146.0,641.8,-11.1,514,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2494,3086,0,0,0,0,0,0
$GC,5842,-0.73,-146.0,676.1,-11.2,524,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2493,3085,0,0,0,0,0,0
$GC,6149,-0.73,-146.0,709.0,-10.6,534,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2494,3085,0,0,0,0,0,0
$GC,6454,-0.73,-146.0,740.9,-10.3,544,6458,0.00,1.23,0.00,0.000,4,0.000,0.065,2140,3221,3086,0,0,0,0,0,0
$GC,6532,-0.73,-146.0,747.7,-10.3,546,6536,0.00,1.10,0.00,0.000,6,0.000,0.029,2140,2501,3086,0,0,0,0,0,0
$GC,6859,-0.73,-146.0,782.5,-10.2,557,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3085,0,0,0,0,0,0
$GC,7165,-0.73,-146.0,813.1,-10.0,567,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3086,0,0,0,0,0,0
$GC,7471,-0.73,-146.0,842.8,-9.6,577,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3086,0,0,0,0,0,0
$GC,7777,-0.73,-146.0,872.1,-9.7,587,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3086,0,0,0,0,0,0
$GC,8085,-0.73,-146.0,902.2,-10.0,597,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3087,0,0,0,0,0,0
$GC,8391,-0.73,-146.0,933.4,-10.4,607,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3086,0,0,0,0,0,0
$GC,8696,-0.73,-146.0,964.5,-10.1,617,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3087,0,0,0,0,0,0
$STATE,8971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8971,begin apogee
$GC,8977,-0.16,0.0,991.5,-9.5,626,9110,0.62,0.00,125.60,1.530,6,0.130,0.000,2343,2184,2485,0,0,0,0,0,0
$STATE,9111,end apogee,CONTROL_FINISHED_OK
$STATE,9111,begin climb
$GC,9113,0.73,146.0,995.9,0.0,630,9258,0.85,1.20,137.25,1.469,4,0.061,0.050,2642,1511,1888,0,0,0,0,0,0
$GC,9376,0.73,146.0,977.7,11.6,638,9381,0.00,1.25,0.00,0.000,6,0.000,0.044,2642,2212,1882,0,0,0,0,0,0
$GC,9698,0.73,146.0,935.3,12.7,649,9702,0.00,1.15,0.00,0.000,4,0.000,0.056,2642,2903,1879,0,0,0,0,0,0
$GC,9802,0.73,146.0,922.3,12.9,652,9807,0.00,1.17,0.00,0.000,6,0.000,0.037,2647,2206,1878,0,0,0,0,0,0
$GC,10136,0.73,146.0,879.9,12.2,663,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2206,1877,0,0,0,0,0,0
$GC,10443,0.73,146.0,841.7,12.5,673,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2206,1876,0,0,0,0,0,0
$GC,10748,0.73,146.0,803.0,12.4,683,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2205,1874,0,0,0,0,0,0
$GC,11055,0.73,146.0,765.4,12.4,693,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2206,1874,0,0,0,0,0,0
$GC,11361,0.73,146.0,727.0,12.6,703,11364,0.00,1.17,0.00,0.000,4,0.000,0.051,2647,2902,1874,0,0,0,0,0,0
$GC,11438,0.73,146.0,718.5,12.8,705,11443,0.00,1.15,0.00,0.000,6,0.000,0.037,2651,2199,1874,0,0,0,0,0,0
$GC,11766,0.73,146.0,674.3,13.0,716,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,12073,0.73,146.0,635.0,13.0,726,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,1873,0,0,0,0,0,0
$GC,12379,0.73,146.0,595.3,12.7,736,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,12686,0.73,146.0,557.8,12.0,746,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2200,1873,0,0,0,0,0,0
$GC,12991,0.73,146.0,521.2,11.9,756,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,13301,0.73,146.0,484.4,12.0,772,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,13616,0.73,146.0,447.0,12.1,797,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,13933,0.73,146.0,409.2,11.9,822,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2199,1873,0,0,0,0,0,0
$GC,14248,0.73,146.0,373.0,11.1,847,14252,0.00,1.20,0.00,0.000,4,0.000,0.053,2651,2913,1873,0,0,0,0,0,0
$GC,14354,0.73,146.0,360.6,11.4,855,14358,0.00,1.15,0.00,0.000,6,0.000,0.036,2656,2192,1873,0,0,0,0,0,0
$GC,14685,0.73,146.0,323.6,11.2,881,14686,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2192,1873,0,0,0,0,0,0
$GC,15002,0.73,146.0,289.2,10.7,906,15005,0.00,1.20,0.00,0.000,4,0.000,0.051,2656,2909,1873,0,0,0,0,0,0
$GC,15175,0.73,146.0,269.7,11.1,919,15179,0.00,1.12,0.00,0.000,6,0.000,0.036,2661,2199,1873,0,0,0,0,0,0
$GC,15503,0.73,146.0,233.4,10.2,956,15509,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2199,1873,0,0,0,0,0,0
$GC,15840,0.73,146.0,199.1,10.4,1007,15847,0.00,1.17,0.00,0.000,4,0.000,0.052,2660,2903,1873,0,0,0,0,0,0
$GC,15941,0.73,146.0,188.8,10.5,1022,15948,0.10,1.12,0.00,0.000,6,0.147,0.037,2634,2197,1873,0,0,0,0,0,0
$GC,16278,0.75,162.6,159.0,8.5,1073,16294,0.00,0.00,12.62,0.961,6,0.000,0.000,2634,2197,1822,0,0,0,0,0,0
$GC,16625,0.78,192.6,130.9,7.9,1125,16660,0.00,0.00,27.23,0.987,6,0.000,0.000,2634,2197,1697,0,0,0,0,0,0
$GC,16992,0.78,193.6,96.7,9.1,1180,16998,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2197,1695,0,0,0,0,0,0
$GC,17329,0.80,210.3,66.2,8.5,1231,17351,0.00,1.25,15.52,0.936,4,0.000,0.052,2633,2909,1627,0,0,0,0,0,0
$GC,17582,0.88,271.2,44.0,6.6,1269,17645,0.10,1.15,52.83,0.938,6,0.057,0.036,2688,2202,1378,0,0,0,0,0,0
$FREEZE,8.75,-1.485,-1.751,2,1,0
$FREEZE,8.08,-1.485,-1.750,2,1,0
$FREEZE,7.31,-1.485,-1.750,2,1,0
$FREEZE,6.62,-1.483,-1.749,2,1,0
$FREEZE,5.94,-1.485,-1.749,2,1,0
$FREEZE,5.19,-1.483,-1.748,2,1,0
$FREEZE,4.53,-1.483,-1.747,2,1,0
$FREEZE,3.91,-1.484,-1.747,2,1,0
$GC,17974,0.88,271.2,3.9,10.7,1328,17981,0.00,1.20,0.00,0.000,4,0.000,0.049,2689,2905,1371,0,0,0,0,0,0
$FREEZE,2.16,-1.485,-1.746,2,1,0
$FREEZE,1.69,-1.482,-1.745,2,1,0
$STATE,17992,end climb,SURFACE_DEPTH_REACHED
$STATE,17993,begin surface coast
$FREEZE,1.76,-1.484,-1.063,2,1,0
$FINISH,1.8,1.015680
$STATE,18000,end surface coast,FINISH_DEPTH_REACHED
$STATE,18000,begin surface
$SM_CCo,18016,12.52,0.087,0,0,1262,300.00
$SM_GC,4.10,6.93,0.65,12.52,0.039,0.034,0.087,119,2509,1262,-7.08,1.19,300.00,0,0,0,0,0,0
$RAFOS_CLK,1190
$RAFOS,6,1321519752,8.833333,8.820000,91,72,59,0,0,0,606,210,178,0,0,0
$RAFOS,5,1321519262,8.700000,8.683888,76,59,59,0,0,0,728,210,191,0,0,0
$RAFOS,4,1321518796,8.566667,8.554444,115,58,55,0,0,0,461,145,201,0,0,0
$RAFOS,3,1321518306,8.433333,8.418333,67,59,58,0,0,0,205,223,180,0,0,0
$RAFOS,2,1321517847,8.300000,8.290833,62,57,54,0,0,0,173,135,193,0,0,0
$RAFOS,1,1321517350,8.166667,8.152778,68,56,55,0,0,0,221,209,170,0,0,0
$RAFOS,0,1321516891,8.033334,8.025278,59,59,58,0,0,0,209,222,181,0,0,0
$RAFOS_FIX,6657.577637,-5849.169922,171111,080856,2,84,1.10
$IRIDIUM_FIX,6625.71,-5859.36,171111,010159
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.56
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.6,17.7
$ALTIM_BOTTOM_PING,952.2,131.2
$24V_AH,22.5,32.151
$10V_AH,10.1,24.451
$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,17.275,28.150,371.050,12.525,0.000,0.000,0.000,203.050,8.750,0.000,16.455,3668.600,11649.041,502.099,2311.730,224.077,0.000,1792.346,0.000,2083.701,2520.000,31.679,0.000
$DEVICE_MAMPS,255.510,71.145,1530.000,87.210,0.000,0.000,0.000,258.419,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.565,721.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,49987,1332
$CAP_FILE_SIZE,138898,0
$CFSIZE,260165632,230330368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.8
$CURRENT,1.979, 53.2,1
$GPS,171111,084656,6657.578,-5849.170,0,2083.5,0,-33.8