version: 66.09
glider: 143
mission: 13
dive: 305
start: 11 25 111 20 46 9
data:
$ID,143
$MISSION,13
$DIVE,305
$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,-86553.789
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,251111,163117,6643.849,-5934.273,0,6128.7,0,-33.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-19.8
$GPS2,251111,163117,6643.849,-5934.273,181,99.0,181,-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,152.3,125202,-16.9,-9.167
$D_GRID,862
$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,15,-0.73,-146.0,0.0,0.0,0,85,0.00,0.00,-67.55,0.000,2,0.000,0.000,115,2512,1476,0,0,0,0,0,0
$GC,88,-0.73,-146.0,3.2,-2.5,10,233,8.82,1.17,-123.90,0.000,4,0.259,0.073,2157,1823,3082,0,0,0,0,0,0
$GC,240,-0.73,-146.0,2.6,-0.3,33,249,0.00,1.17,0.00,0.000,6,0.000,0.055,2155,2501,3082,0,0,0,0,0,0
$GC,579,-0.73,-146.0,15.8,-18.0,84,586,0.00,1.12,0.00,0.000,4,0.000,0.041,2155,1817,3083,0,0,0,0,0,0
$GC,806,-0.73,-146.0,57.6,-18.6,118,813,0.00,1.20,0.00,0.000,6,0.000,0.055,2151,2513,3083,0,0,0,0,0,0
$GC,1143,-0.73,-146.0,114.9,-15.4,169,1152,0.00,1.12,0.00,0.000,4,0.000,0.068,2145,3214,3083,0,0,0,0,0,0
$GC,1377,-0.73,-146.0,150.7,-15.1,204,1384,0.00,1.10,0.00,0.000,6,0.000,0.033,2145,2502,3083,0,0,0,0,0,0
$GC,1717,-0.73,-146.0,199.7,-14.0,255,1723,0.00,1.20,0.00,0.000,4,0.000,0.063,2141,3219,3083,0,0,0,0,0,0
$GC,1770,-0.73,-146.0,207.7,-14.7,263,1777,0.00,1.10,0.00,0.000,6,0.000,0.032,2141,2511,3084,0,0,0,0,0,0
$GC,2105,-0.73,-146.0,255.6,-14.4,311,2109,0.00,1.17,0.00,0.000,4,0.000,0.063,2136,3213,3083,0,0,0,0,0,0
$GC,2189,-0.73,-146.0,266.8,-14.0,317,2200,0.12,1.12,0.00,0.000,6,0.171,0.031,2165,2494,3083,0,0,0,0,0,0
$GC,2512,-0.73,-146.0,305.1,-11.5,343,2516,0.00,1.20,0.00,0.000,4,0.000,0.063,2162,3211,3083,0,0,0,0,0,0
$GC,2583,-0.73,-146.0,313.1,-12.0,348,2591,0.00,1.10,0.00,0.000,6,0.000,0.031,2162,2504,3083,0,0,0,0,0,0
$GC,2912,-0.73,-146.0,350.9,-11.0,374,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2504,3083,0,0,0,0,0,0
$GC,3235,-0.73,-146.0,386.0,-10.1,400,3239,0.00,1.17,0.00,0.000,4,0.000,0.063,2158,3210,3083,0,0,0,0,0,0
$GC,3346,-0.73,-146.0,396.6,-9.8,408,3354,0.00,1.10,0.00,0.000,6,0.000,0.030,2158,2501,3083,0,0,0,0,0,0
$GC,3672,-0.73,-146.0,430.7,-10.4,434,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2501,3083,0,0,0,0,0,0
$GC,3985,-0.73,-146.0,462.4,-10.0,459,3989,0.00,1.17,0.00,0.000,4,0.000,0.061,2153,3210,3084,0,0,0,0,0,0
$GC,4104,-0.73,-146.0,474.3,-9.8,468,4108,0.00,1.08,0.00,0.000,6,0.000,0.029,2153,2500,3084,0,0,0,0,0,0
$GC,4433,-0.73,-146.0,507.6,-10.3,491,4436,0.00,1.17,0.00,0.000,4,0.000,0.060,2149,3210,3084,0,0,0,0,0,0
$GC,4510,-0.73,-146.0,514.7,-10.5,493,4515,0.00,1.08,0.00,0.000,6,0.000,0.028,2149,2510,3084,0,0,0,0,0,0
$GC,4838,-0.73,-146.0,551.0,-10.8,504,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2509,3085,0,0,0,0,0,0
$GC,5145,-0.73,-146.0,583.1,-10.4,514,5149,0.00,1.17,0.00,0.000,4,0.000,0.060,2144,3217,3086,0,0,0,0,0,0
$GC,5263,-0.73,-146.0,593.5,-10.3,517,5267,0.00,1.10,0.00,0.000,6,0.000,0.027,2145,2498,3085,0,0,0,0,0,0
$GC,5583,-0.73,-146.0,630.0,-10.9,528,5586,0.00,1.20,0.00,0.000,4,0.000,0.060,2140,3220,3086,0,0,0,0,0,0
$GC,5641,-0.73,-146.0,633.7,-11.0,529,5651,0.00,1.10,0.00,0.000,6,0.000,0.027,2140,2505,3086,0,0,0,0,0,0
$GC,5954,-0.73,-146.0,671.6,-11.2,540,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2504,3086,0,0,0,0,0,0
$GC,6264,-0.73,-146.0,705.1,-10.9,550,6267,0.00,1.17,0.00,0.000,4,0.000,0.060,2136,3214,3087,0,0,0,0,0,0
$GC,6330,-0.73,-146.0,712.6,-10.9,552,6334,0.08,1.08,0.00,0.000,6,0.150,0.027,2158,2497,3086,0,0,0,0,0,0
$GC,6669,-0.73,-146.0,744.8,-9.5,563,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2497,3087,0,0,0,0,0,0
$GC,6975,-0.73,-146.0,774.2,-9.5,573,6979,0.00,1.20,0.00,0.000,4,0.000,0.062,2156,3218,3087,0,0,0,0,0,0
$GC,7053,-0.73,-146.0,780.1,-9.2,575,7058,0.00,1.10,0.00,0.000,6,0.000,0.025,2156,2503,3087,0,0,0,0,0,0
$GC,7381,-0.73,-146.0,811.7,-9.3,586,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2503,3087,0,0,0,0,0,0
$GC,7686,-0.73,-146.0,841.4,-9.2,596,7690,0.00,1.17,0.00,0.000,4,0.000,0.060,2151,3213,3087,0,0,0,0,0,0
$GC,7754,-0.73,-146.0,847.6,-8.9,598,7758,0.00,1.08,0.00,0.000,6,0.000,0.026,2151,2499,3087,0,0,0,0,0,0
$STATE,7908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7908,begin apogee
$GC,7914,-0.16,0.0,863.0,-10.0,603,8045,0.57,0.00,125.32,1.445,6,0.122,0.000,2340,2195,2485,0,0,0,0,0,0
$STATE,8046,end apogee,CONTROL_FINISHED_OK
$STATE,8046,begin climb
$GC,8048,0.73,146.0,867.4,0.0,607,8193,0.85,1.40,134.85,1.388,4,0.060,0.048,2631,2912,1889,0,0,0,0,0,0
$GC,8199,0.85,244.8,863.9,5.0,612,8298,0.08,1.25,92.60,1.352,6,0.061,0.033,2675,2213,1487,0,0,0,0,0,0
$GC,8626,0.85,244.8,789.6,18.5,626,8630,0.00,1.15,0.00,0.000,4,0.000,0.047,2680,1493,1477,0,0,0,0,0,0
$GC,8777,0.85,244.8,766.1,17.5,630,8782,0.00,1.23,0.00,0.000,6,0.000,0.041,2680,2217,1476,0,0,0,0,0,0
$GC,9097,0.85,244.8,705.8,18.0,641,9101,0.00,1.17,0.00,0.000,4,0.000,0.044,2685,1496,1475,0,0,0,0,0,0
$GC,9163,0.85,244.8,694.1,17.8,643,9167,0.00,1.15,0.00,0.000,6,0.000,0.042,2685,2200,1475,0,0,0,0,0,0
$GC,9504,0.85,244.8,633.2,17.9,654,9508,0.00,1.15,0.00,0.000,4,0.000,0.044,2689,1491,1475,0,0,0,0,0,0
$GC,9537,0.85,244.8,627.0,17.8,655,9541,0.00,1.15,0.00,0.000,6,0.000,0.043,2689,2200,1474,0,0,0,0,0,0
$GC,9878,0.85,244.8,566.1,17.7,666,9881,0.00,1.15,0.00,0.000,4,0.000,0.045,2694,1491,1474,0,0,0,0,0,0
$GC,9896,0.85,244.8,566.1,17.7,666,9901,0.00,1.17,0.00,0.000,6,0.000,0.042,2694,2204,1474,0,0,0,0,0,0
$GC,10216,0.85,244.8,504.3,18.3,677,10220,0.00,1.15,0.00,0.000,4,0.000,0.045,2698,1492,1474,0,0,0,0,0,0
$GC,10260,0.85,244.8,496.9,18.2,679,10268,0.00,1.17,0.00,0.000,6,0.000,0.043,2698,2206,1474,0,0,0,0,0,0
$GC,10586,0.85,244.8,436.0,18.7,705,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2206,1474,0,0,0,0,0,0
$GC,10901,0.85,244.8,378.3,18.0,730,10904,0.00,1.15,0.00,0.000,4,0.000,0.044,2702,1490,1474,0,0,0,0,0,0
$GC,10933,0.85,244.8,373.3,18.4,732,10941,0.08,1.15,0.00,0.000,6,0.164,0.043,2680,2203,1474,0,0,0,0,0,0
$GC,11257,0.85,244.8,318.2,16.4,758,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2203,1474,0,0,0,0,0,0
$GC,11573,0.85,244.8,266.4,16.6,783,11577,0.00,1.15,0.00,0.000,4,0.000,0.044,2684,1487,1474,0,0,0,0,0,0
$GC,11626,0.85,244.8,257.7,15.8,787,11629,0.00,1.15,0.00,0.000,6,0.000,0.044,2683,2202,1473,0,0,0,0,0,0
$GC,11962,0.85,244.8,208.4,14.2,834,11969,0.00,1.12,0.00,0.000,4,0.000,0.044,2688,1495,1473,0,0,0,0,0,0
$GC,11975,0.85,244.8,206.3,14.1,836,11982,0.00,1.12,0.00,0.000,6,0.000,0.043,2688,2198,1473,0,0,0,0,0,0
$GC,12313,0.85,244.8,162.2,12.4,887,12319,0.00,1.12,0.00,0.000,4,0.000,0.044,2692,1492,1473,0,0,0,0,0,0
$GC,12392,0.85,244.8,152.4,12.0,899,12399,0.00,1.12,0.00,0.000,6,0.000,0.043,2692,2196,1473,0,0,0,0,0,0
$GC,12730,0.85,244.8,112.6,11.4,950,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2196,1474,0,0,0,0,0,0
$GC,13068,0.85,244.8,74.2,10.5,1001,13077,0.00,1.12,0.00,0.000,4,0.000,0.045,2697,1492,1473,0,0,0,0,0,0
$GC,13282,0.85,244.8,52.4,9.7,1033,13291,0.00,1.12,0.00,0.000,6,0.000,0.044,2697,2196,1472,0,0,0,0,0,0
$GC,13623,0.85,244.8,17.6,11.0,1084,13629,0.00,1.12,0.00,0.000,4,0.000,0.045,2701,1491,1472,0,0,0,0,0,0
$FREEZE,8.85,-0.691,-1.708,2,2,0
$FREEZE,8.30,-0.703,-1.708,2,2,0
$FREEZE,7.44,-0.715,-1.708,2,2,0
$FREEZE,6.72,-0.694,-1.706,2,2,0
$FREEZE,5.98,-0.716,-1.707,2,2,0
$FREEZE,5.27,-0.709,-1.706,2,2,0
$FREEZE,4.70,-0.609,-1.700,2,2,0
$FREEZE,4.19,-0.636,-1.701,2,2,0
$FREEZE,3.57,-1.321,-1.741,2,2,0
$FREEZE,2.97,-0.803,-1.710,2,2,0
$FREEZE,2.20,-0.709,-1.704,2,2,0
$FREEZE,1.83,-0.690,-1.702,2,2,0
$STATE,13784,end climb,SURFACE_DEPTH_REACHED
$STATE,13785,begin surface coast
$FREEZE,1.81,-0.703,-1.703,2,2,0
$FREEZE,1.73,-0.708,-1.703,2,2,0
$FREEZE,1.80,-0.690,-1.702,2,2,0
$FINISH,1.8,1.024997
$STATE,13805,end surface coast,CONTROL_FINISHED_OK
$STATE,13805,begin surface
$SM_CCo,13823,119.00,0.086,0,0,441,501.15
$SM_GC,2.73,7.00,1.67,119.00,0.054,0.045,0.086,118,2504,441,-7.06,-1.07,501.15,0,0,0,0,0,0
$RAFOS_CLK,992
$RAFOS,3,1322267104,0.433333,0.417778,127,59,58,0,0,0,651,211,182,0,0,0
$RAFOS,2,1322266623,0.300000,0.284167,107,67,59,0,0,0,619,206,178,0,0,0
$RAFOS,1,1322266141,0.166667,0.150278,90,59,57,0,0,0,640,202,219,0,0,0
$RAFOS,0,1322265663,0.033333,0.017500,131,65,60,0,0,0,747,217,189,0,0,0
$RAFOS,6,1322254146,20.833334,20.818333,84,60,55,0,0,0,771,171,183,0,0,0
$RAFOS,3,1322252705,20.433332,20.418056,75,61,58,0,0,0,651,213,195,0,0,0
$RAFOS_FIX,6640.568359,-5936.909668,251111,202049,5,106,0.46
$IRIDIUM_FIX,6614.97,-5939.52,251111,151546
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.71
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,800.3,90.6
$24V_AH,22.4,38.533
$10V_AH,10.1,28.941
$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,17.600,60.850,352.775,119.000,0.000,0.000,0.000,121.300,4.750,0.000,182.022,3072.334,8281.478,692.669,2223.385,260.156,0.000,1851.820,0.000,1891.728,2160.000,26.853,0.000
$DEVICE_MAMPS,259.335,72.675,1445.085,85.680,0.000,0.000,0.000,240.429,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.753,611.684,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150204
$DATA_FILE_SIZE,43347,1112
$CAP_FILE_SIZE,133054,0
$CFSIZE,260165632,226840576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.3
$CURRENT,4.381, 62.4,1
$GPS,251111,202249,6640.568,-5936.910,0,5105.8,0,-33.8