version: 66.09
glider: 143
mission: 13
dive: 301
start: 11 25 111 4 29 40
data:
$ID,143
$MISSION,13
$DIVE,301
$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,501.14789
$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,-85819.109
$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,40
$R_STBD_OVSHOOT,32
$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
$GPS1,251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.33
$_SM_ANGLEo,0.1
$GPS2,251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8
$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,122.2,141775,-16.9,-9.167
$D_GRID,684
$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,-146.0,0.0,0.0,0,26,0.00,0.00,-7.18,0.000,2,0.000,0.000,2434,1496,2456,0,0,0,0,0,0
$GC,28,-0.73,-146.0,9.6,0.0,1,57,0.73,2.88,-18.12,0.000,4,0.075,0.068,2157,3206,3084,0,0,0,0,0,0
$GC,309,-0.73,-146.0,53.5,-15.9,43,318,0.00,1.10,0.00,0.000,6,0.000,0.031,2157,2497,3086,0,0,0,0,0,0
$GC,650,-0.73,-146.0,107.4,-14.7,94,657,0.00,1.20,0.00,0.000,4,0.000,0.062,2152,3212,3086,0,0,0,0,0,0
$GC,907,-0.73,-146.0,144.7,-14.7,133,914,0.00,1.10,0.00,0.000,6,0.000,0.031,2152,2499,3086,0,0,0,0,0,0
$GC,1245,-0.73,-146.0,189.2,-13.7,184,1252,0.00,1.17,0.00,0.000,4,0.000,0.060,2148,3204,3086,0,0,0,0,0,0
$GC,1406,-0.73,-146.0,210.7,-13.6,208,1413,0.00,1.08,0.00,0.000,6,0.000,0.031,2148,2508,3086,0,0,0,0,0,0
$GC,1742,-0.73,-146.0,253.2,-12.1,257,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2507,3086,0,0,0,0,0,0
$GC,2057,-0.73,-146.0,292.1,-12.5,282,2061,0.00,1.17,0.00,0.000,4,0.000,0.062,2144,3210,3085,0,0,0,0,0,0
$GC,2167,-0.73,-146.0,305.8,-13.1,290,2175,0.00,1.10,0.00,0.000,6,0.000,0.030,2143,2504,3084,0,0,0,0,0,0
$GC,2494,-0.73,-146.0,344.9,-11.2,316,2497,0.00,1.05,0.00,0.000,4,0.000,0.041,2144,1824,3085,0,0,0,0,0,0
$GC,2578,-0.73,-146.0,354.5,-11.3,322,2586,0.00,1.17,0.00,0.000,6,0.000,0.050,2139,2504,3085,0,0,0,0,0,0
$GC,2903,-0.73,-146.0,392.7,-11.7,348,2907,0.00,1.12,0.00,0.000,4,0.000,0.066,2134,3213,3084,0,0,0,0,0,0
$GC,3160,-0.73,-146.0,422.2,-11.6,367,3169,0.12,1.10,0.00,0.000,6,0.167,0.029,2163,2499,3085,0,0,0,0,0,0
$GC,3485,-0.73,-146.0,452.8,-8.6,393,3489,0.00,1.17,0.00,0.000,4,0.000,0.060,2161,3209,3085,0,0,0,0,0,0
$GC,3597,-0.73,-146.0,462.5,-9.1,401,3604,0.00,1.05,0.00,0.000,6,0.000,0.028,2161,2519,3085,0,0,0,0,0,0
$GC,3921,-0.73,-146.0,493.6,-9.8,427,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2519,3085,0,0,0,0,0,0
$GC,4241,-0.73,-146.0,526.6,-10.2,441,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2519,3086,0,0,0,0,0,0
$GC,4547,-0.73,-146.0,557.4,-9.9,451,4550,0.00,1.15,0.00,0.000,4,0.000,0.061,2156,3212,3086,0,0,0,0,0,0
$GC,4631,-0.73,-146.0,563.9,-9.8,453,4636,0.00,1.10,0.00,0.000,6,0.000,0.026,2156,2492,3085,0,0,0,0,0,0
$GC,4951,-0.73,-146.0,597.1,-10.0,464,4955,0.00,1.20,0.00,0.000,4,0.000,0.059,2152,3219,3087,0,0,0,0,0,0
$GC,5035,-0.73,-146.0,603.7,-9.9,466,5040,0.00,1.10,0.00,0.000,6,0.000,0.025,2152,2496,3086,0,0,0,0,0,0
$GC,5358,-0.73,-146.0,636.5,-9.7,477,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2496,3087,0,0,0,0,0,0
$GC,5662,-0.73,-146.0,667.2,-10.2,487,5666,0.00,1.20,0.00,0.000,4,0.000,0.060,2147,3219,3086,0,0,0,0,0,0
$GC,5766,-0.73,-146.0,677.1,-10.1,490,5771,0.00,1.10,0.00,0.000,6,0.000,0.026,2147,2500,3086,0,0,0,0,0,0
$STATE,5854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5854,begin apogee
$GC,5860,-0.16,0.0,686.0,-9.7,493,5988,0.60,0.00,121.57,1.333,6,0.129,0.000,2340,2195,2485,0,0,0,0,0,0
$STATE,5988,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5991,0.73,146.0,690.3,0.0,497,6135,0.85,1.23,131.62,1.276,4,0.066,0.047,2635,1503,1888,0,0,0,0,0,0
$GC,6286,0.73,146.0,671.5,11.1,506,6290,0.00,1.25,0.00,0.000,6,0.000,0.041,2635,2214,1883,0,0,0,0,0,0
$GC,6607,0.73,146.0,632.5,11.6,517,6611,0.00,1.15,0.00,0.000,4,0.000,0.053,2635,2911,1880,0,0,0,0,0,0
$GC,6645,0.73,146.0,628.3,11.8,518,6650,0.00,1.17,0.00,0.000,6,0.000,0.032,2640,2206,1878,0,0,0,0,0,0
$GC,6982,0.73,146.0,588.4,11.7,529,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2206,1878,0,0,0,0,0,0
$GC,7285,0.73,146.0,552.2,11.9,539,7289,0.00,1.17,0.00,0.000,4,0.000,0.048,2640,2901,1877,0,0,0,0,0,0
$GC,7310,0.73,146.0,552.2,11.9,539,7318,0.00,1.15,0.00,0.000,6,0.000,0.033,2645,2199,1877,0,0,0,0,0,0
$GC,7624,0.73,146.0,512.4,11.5,550,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1877,0,0,0,0,0,0
$GC,7937,0.73,146.0,475.5,12.1,569,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1876,0,0,0,0,0,0
$GC,8251,0.73,146.0,438.7,11.5,594,8255,0.00,1.20,0.00,0.000,4,0.000,0.050,2645,2910,1877,0,0,0,0,0,0
$GC,8415,0.73,146.0,419.7,11.7,606,8423,0.00,1.15,0.00,0.000,6,0.000,0.033,2649,2198,1876,0,0,0,0,0,0
$GC,8740,0.73,146.0,382.8,10.7,632,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,1876,0,0,0,0,0,0
$GC,9056,0.73,146.0,349.6,10.4,657,9060,0.00,1.17,0.00,0.000,4,0.000,0.047,2649,2901,1876,0,0,0,0,0,0
$GC,9087,0.73,146.0,346.7,10.3,659,9095,0.00,1.15,0.00,0.000,6,0.000,0.032,2654,2190,1876,0,0,0,0,0,0
$GC,9413,0.73,146.0,312.2,10.7,685,9417,0.00,1.20,0.00,0.000,4,0.000,0.048,2654,2905,1876,0,0,0,0,0,0
$GC,9657,0.73,146.0,286.8,10.0,703,9665,0.00,1.15,0.00,0.000,6,0.000,0.034,2658,2194,1876,0,0,0,0,0,0
$GC,9983,0.73,146.0,255.5,9.2,729,9986,0.00,1.20,0.00,0.000,4,0.000,0.048,2658,2912,1876,0,0,0,0,0,0
$GC,10013,0.73,146.0,252.7,9.4,731,10021,0.00,1.15,0.00,0.000,6,0.000,0.031,2663,2195,1876,0,0,0,0,0,0
$GC,10349,0.73,146.0,219.8,9.5,780,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2195,1876,0,0,0,0,0,0
$GC,10686,0.73,148.7,190.3,9.1,831,10693,0.00,1.17,0.00,0.000,4,0.000,0.048,2663,2907,1876,0,0,0,0,0,0
$GC,10733,0.73,150.6,186.0,9.1,838,10741,0.10,1.12,0.00,0.000,6,0.146,0.034,2636,2199,1876,0,0,0,0,0,0
$GC,11073,0.80,210.0,162.1,6.7,889,11133,0.00,1.10,52.62,1.014,4,0.000,0.044,2639,1495,1627,0,0,0,0,0,0
$GC,11169,0.81,212.8,154.7,9.0,903,11176,0.00,1.17,0.00,0.000,6,0.000,0.041,2639,2206,1624,0,0,0,0,0,0
$GC,11508,0.81,217.6,124.7,9.0,954,11521,0.00,0.00,6.97,0.868,6,0.000,0.000,2639,2206,1596,0,0,0,0,0,0
$GC,11852,0.83,232.8,96.6,8.5,1006,11874,0.00,1.17,14.35,0.950,4,0.000,0.052,2639,2911,1534,0,0,0,0,0,0
$GC,12012,0.83,232.8,81.6,9.4,1030,12018,0.00,1.15,0.00,0.000,6,0.000,0.033,2644,2199,1532,0,0,0,0,0,0
$GC,12351,0.87,265.5,54.8,7.8,1081,12386,0.12,1.25,28.17,0.956,4,0.087,0.048,2697,2906,1401,0,0,0,0,0,0
$GC,12434,0.87,265.5,47.2,11.3,1093,12440,0.00,1.17,0.00,0.000,6,0.000,0.034,2701,2194,1400,0,0,0,0,0,0
$GC,12771,0.87,265.5,13.0,11.0,1144,12780,0.00,1.20,0.00,0.000,4,0.000,0.047,2701,2906,1396,0,0,0,0,0,0
$GC,12794,0.87,265.5,10.4,12.0,1147,12801,0.00,1.15,0.00,0.000,6,0.000,0.031,2706,2192,1395,0,0,0,0,0,0
$FREEZE,8.92,-0.818,-1.704,2,4,0
$FREEZE,8.27,-0.822,-1.704,2,4,0
$FREEZE,7.61,-0.809,-1.703,2,4,0
$FREEZE,6.86,-0.833,-1.704,2,4,0
$FREEZE,6.27,-0.772,-1.699,2,4,0
$FREEZE,5.63,-0.799,-1.701,2,4,0
$FREEZE,5.03,-0.799,-1.700,2,4,0
$FREEZE,4.40,-0.776,-1.698,2,4,0
$FREEZE,3.58,-0.845,-1.702,2,4,0
$FREEZE,2.90,-0.944,-1.707,2,4,0
$FREEZE,2.40,-0.822,-1.699,2,4,0
$FREEZE,2.12,-0.920,-1.705,2,4,0
$FREEZE,2.17,-1.030,-1.711,2,4,0
$FREEZE,2.03,-0.897,-1.703,2,4,0
$FREEZE,2.13,-0.929,-1.705,2,4,0
$FREEZE,2.03,-1.245,-1.724,2,4,0
$FREEZE,2.10,-1.234,-1.723,2,4,0
$FREEZE,2.10,-1.182,-1.720,2,4,0
$FREEZE,2.06,-0.796,-1.697,2,4,0
$FREEZE,2.11,-0.809,-1.698,2,4,0
$FREEZE,2.02,-1.012,-1.710,2,4,0
$FREEZE,2.10,-1.173,-1.720,2,4,0
$FREEZE,2.09,-0.980,-1.708,2,4,0
$FREEZE,2.07,-0.851,-1.701,2,4,0
$FREEZE,2.12,-1.131,-1.717,2,4,0
$FREEZE,2.02,-1.225,-1.723,2,4,0
$FREEZE,2.05,-0.778,-1.696,2,4,0
$FREEZE,2.12,-0.942,-1.706,2,4,0
$FREEZE,2.09,-0.795,-1.697,2,4,0
$FREEZE,2.04,-1.086,-1.714,2,4,0
$FREEZE,2.09,-1.364,-1.731,2,4,0
$FREEZE,2.05,-0.776,-1.696,2,4,0
$FREEZE,2.10,-1.386,-1.732,2,4,0
$FREEZE,2.11,-0.804,-1.698,2,4,0
$FREEZE,2.13,-1.373,-1.731,2,4,0
$STATE,13028,end climb,NO_VERTICAL_VELOCITY
$STATE,13028,begin subsurface finish
$FINISH1,2.1,1.025429,101
$GC,13034,0.12,101.0,2.1,-0.2,1183,13042,0.82,0.00,-4.80,0.000,2,0.119,0.000,2441,2192,1457,0,0,0,0,0,0
$FINISH2,2.2
$STATE,13043,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13043,begin surface
$RAFOS_CLK,901
$RAFOS,6,1322196543,4.833333,4.817500,128,61,60,0,0,0,808,193,124,0,0,0
$RAFOS,5,1322196061,4.700000,4.683611,83,58,56,0,0,0,876,224,152,0,0,0
$RAFOS,4,1322195581,4.566667,4.550278,99,66,59,0,0,0,671,222,180,0,0,0
$RAFOS,3,1322195102,4.433333,4.417222,105,59,57,0,0,0,692,214,191,0,0,0
$RAFOS_FIX,6640.368164,-5945.990234,251111,040458,7,114,6.98
$IRIDIUM_FIX,6614.97,-6004.54,241111,171709
$TT8_MAMPS,0.028462,0.028462
$HUMID,58.26
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,22.5,38.008
$10V_AH,10.1,28.548
$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,3.350,52.950,355.325,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,3305.620,7203.475,446.938,1980.052,183.720,0.000,1470.577,0.000,1961.557,1440.000,19.745,0.000
$DEVICE_MAMPS,166.770,68.085,1333.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.690,666.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150200
$DATA_FILE_SIZE,46720,1184
$CAP_FILE_SIZE,124384,0
$CFSIZE,260165632,227127296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.4
$CURRENT,3.201, 95.5,1
$GPS,251111,041101,6639.421,-5954.780,0,3127.7,0,-33.8