version: 66.09
glider: 143
mission: 13
dive: 128
start: 10 25 111 2 2 57
data:
$ID,143
$MISSION,13
$DIVE,128
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$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,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,200
$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,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80676.609
$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,36
$R_STBD_OVSHOOT,19
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$GPS1,251011,015524,6651.772,-5851.750,75,0.8,76,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-70.3
$GPS2,251011,020101,6651.761,-5851.777,20,1.3,20,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.162,-0.194
$KALMAN_X,-6850029.0,2146840.5,-169214.2,-1685430.6,-3766821.5
$KALMAN_Y,7787163.0,-2449421.0,192551.4,1918889.6,4287034.0
$MHEAD_RNG_PITCHd_Wd,246.9,70412,-16.9,-9.167
$D_GRID,1001
$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,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,68,0.00,0.00,-49.88,0.000,2,0.000,0.000,122,2514,1943,0,0,0,0,0,0
$GC,71,-0.73,-146.0,3.1,-0.6,7,136,8.70,1.17,-48.67,0.000,4,0.266,0.098,2157,3217,3083,0,0,0,0,0,0
$GC,222,-0.73,-146.0,27.7,-21.0,29,229,0.00,1.12,0.00,0.000,6,0.000,0.040,2157,2511,3085,0,0,0,0,0,0
$GC,560,-0.73,-146.0,80.1,-14.0,80,567,0.00,1.12,0.00,0.000,4,0.000,0.050,2157,1805,3085,0,0,0,0,0,0
$GC,627,-0.73,-146.0,89.8,-14.0,90,634,0.00,1.23,0.00,0.000,6,0.000,0.060,2152,2511,3085,0,0,0,0,0,0
$GC,964,-0.73,-146.0,139.6,-14.5,141,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3085,0,0,0,0,0,0
$GC,1303,-0.73,-146.0,186.0,-13.4,192,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3085,0,0,0,0,0,0
$GC,1638,-0.73,-146.0,230.2,-12.4,243,1647,0.00,1.12,0.00,0.000,4,0.000,0.072,2147,3214,3085,0,0,0,0,0,0
$GC,1702,-0.73,-146.0,238.2,-13.2,252,1709,0.00,1.10,0.00,0.000,6,0.000,0.038,2147,2514,3085,0,0,0,0,0,0
$GC,2035,-0.73,-146.0,281.0,-12.7,285,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2514,3085,0,0,0,0,0,0
$GC,2351,-0.73,-146.0,320.0,-12.4,310,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2513,3085,0,0,0,0,0,0
$GC,2667,-0.73,-146.0,357.6,-11.9,335,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2514,3084,0,0,0,0,0,0
$GC,2983,-0.73,-146.0,394.1,-11.1,360,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2513,3084,0,0,0,0,0,0
$GC,3297,-0.73,-146.0,429.8,-11.1,385,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2513,3085,0,0,0,0,0,0
$GC,3613,-0.73,-146.0,465.2,-11.2,410,3617,0.00,1.10,0.00,0.000,4,0.000,0.050,2147,1811,3084,0,0,0,0,0,0
$GC,3684,-0.73,-146.0,472.7,-11.3,415,3694,0.00,1.23,0.00,0.000,6,0.000,0.059,2142,2517,3084,0,0,0,0,0,0
$GC,4010,-0.73,-146.0,511.1,-11.6,437,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2517,3085,0,0,0,0,0,0
$GC,4317,-0.73,-146.0,546.4,-11.3,447,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2517,3086,0,0,0,0,0,0
$GC,4623,-0.73,-146.0,580.2,-11.0,457,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2517,3085,0,0,0,0,0,0
$GC,4931,-0.73,-146.0,613.2,-10.7,467,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2517,3086,0,0,0,0,0,0
$GC,5236,-0.73,-146.0,644.6,-10.2,477,5239,0.00,1.10,0.00,0.000,4,0.000,0.071,2137,3214,3087,0,0,0,0,0,0
$GC,5306,-0.73,-146.0,651.7,-10.4,479,5311,0.00,1.12,0.00,0.000,6,0.000,0.035,2137,2496,3087,0,0,0,0,0,0
$GC,5640,-0.73,-146.0,687.9,-10.8,490,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3087,0,0,0,0,0,0
$GC,5948,-0.73,-146.0,721.1,-10.8,500,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3086,0,0,0,0,0,0
$GC,6254,-0.73,-146.0,753.2,-10.5,510,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3087,0,0,0,0,0,0
$GC,6560,-0.73,-146.0,784.8,-10.3,520,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2496,3086,0,0,0,0,0,0
$GC,6865,-0.73,-146.0,816.6,-10.2,530,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2496,3087,0,0,0,0,0,0
$GC,7173,-0.73,-146.0,847.9,-10.1,540,7174,0.12,0.00,0.00,0.000,6,0.173,0.000,2167,2496,3087,0,0,0,0,0,0
$GC,7479,-0.73,-146.0,873.7,-8.3,550,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2496,3087,0,0,0,0,0,0
$GC,7786,-0.73,-146.0,898.4,-8.1,560,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2496,3087,0,0,0,0,0,0
$GC,8090,-0.73,-146.0,923.7,-8.2,570,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2496,3087,0,0,0,0,0,0
$GC,8398,-0.73,-146.0,948.5,-7.7,580,8402,0.00,1.17,0.00,0.000,4,0.000,0.067,2163,3210,3087,0,0,0,0,0,0
$GC,8502,-0.73,-146.0,957.0,-8.3,583,8507,0.00,1.08,0.00,0.000,6,0.000,0.033,2165,2509,3087,0,0,0,0,0,0
$GC,8836,-0.73,-146.0,985.1,-8.5,594,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2509,3087,0,0,0,0,0,0
$STATE,8864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8864,begin apogee
$GC,8870,-0.16,0.0,987.9,-8.7,595,9002,0.55,0.00,125.32,1.522,6,0.133,0.000,2344,2195,2485,0,0,0,0,0,0
$STATE,9002,end apogee,CONTROL_FINISHED_OK
$STATE,9002,begin climb
$GC,9005,0.73,146.0,991.5,0.0,599,9148,0.85,1.25,135.35,1.470,4,0.063,0.053,2642,1504,1888,0,0,0,0,0,0
$GC,9398,0.73,146.0,954.2,13.1,611,9406,0.00,1.25,0.00,0.000,6,0.000,0.047,2642,2213,1880,0,0,0,0,0,0
$GC,9712,0.73,146.0,909.1,13.3,622,9716,0.00,1.15,0.00,0.000,4,0.000,0.056,2641,2904,1878,0,0,0,0,0,0
$GC,9946,0.73,146.0,876.5,14.2,629,9950,0.00,1.15,0.00,0.000,6,0.000,0.041,2646,2213,1876,0,0,0,0,0,0
$GC,10287,0.73,146.0,829.6,13.7,640,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2213,1875,0,0,0,0,0,0
$GC,10592,0.73,146.0,787.7,13.6,650,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2212,1875,0,0,0,0,0,0
$GC,10898,0.73,146.0,746.5,13.4,660,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2212,1874,0,0,0,0,0,0
$GC,11204,0.73,146.0,705.6,13.7,670,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2212,1874,0,0,0,0,0,0
$GC,11511,0.73,146.0,663.1,13.8,680,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2212,1873,0,0,0,0,0,0
$GC,11816,0.73,146.0,621.3,13.7,690,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2212,1874,0,0,0,0,0,0
$GC,12123,0.73,146.0,579.4,13.9,700,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2213,1874,0,0,0,0,0,0
$GC,12429,0.73,146.0,537.5,13.6,710,12433,0.00,1.10,0.00,0.000,4,0.000,0.054,2652,1497,1873,0,0,0,0,0,0
$GC,12495,0.73,146.0,528.6,13.5,712,12499,0.00,1.15,0.00,0.000,6,0.000,0.049,2652,2205,1873,0,0,0,0,0,0
$GC,12813,0.73,146.0,485.7,13.3,727,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2205,1873,0,0,0,0,0,0
$GC,13130,0.73,146.0,445.0,12.7,752,13134,0.00,1.12,0.00,0.000,4,0.000,0.060,2651,2905,1873,0,0,0,0,0,0
$GC,13175,0.73,146.0,439.5,13.1,755,13183,0.00,1.17,0.00,0.000,6,0.000,0.041,2656,2190,1873,0,0,0,0,0,0
$GC,13501,0.73,146.0,398.7,12.1,781,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2190,1873,0,0,0,0,0,0
$GC,13814,0.73,146.0,361.1,11.8,806,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2190,1873,0,0,0,0,0,0
$GC,14130,0.73,146.0,324.2,11.5,831,14134,0.00,1.20,0.00,0.000,4,0.000,0.057,2657,2901,1873,0,0,0,0,0,0
$GC,14227,0.73,146.0,312.9,12.3,838,14235,0.00,1.15,0.00,0.000,6,0.000,0.041,2661,2199,1873,0,0,0,0,0,0
$GC,14552,0.73,146.0,273.3,11.5,864,14555,0.00,1.17,0.00,0.000,4,0.000,0.057,2661,2898,1873,0,0,0,0,0,0
$GC,14636,0.73,146.0,263.6,11.8,870,14644,0.12,1.15,0.00,0.000,6,0.180,0.041,2636,2195,1873,0,0,0,0,0,0
$GC,14969,0.73,146.0,231.4,9.2,911,14976,0.00,1.20,0.00,0.000,4,0.000,0.057,2636,2908,1873,0,0,0,0,0,0
$GC,15041,0.73,146.0,224.2,9.8,922,15048,0.00,1.15,0.00,0.000,6,0.000,0.041,2640,2192,1873,0,0,0,0,0,0
$GC,15380,0.73,146.0,192.2,9.3,973,15387,0.00,1.20,0.00,0.000,4,0.000,0.057,2640,2905,1873,0,0,0,0,0,0
$GC,15514,0.73,146.0,179.0,9.9,993,15521,0.00,1.12,0.00,0.000,6,0.000,0.041,2645,2203,1873,0,0,0,0,0,0
$GC,15852,0.73,147.4,147.4,9.1,1044,15861,0.00,1.17,0.00,0.000,4,0.000,0.057,2645,2902,1873,0,0,0,0,0,0
$GC,15907,0.73,147.4,141.8,10.2,1052,15916,0.00,1.12,0.00,0.000,6,0.000,0.041,2649,2198,1873,0,0,0,0,0,0
$GC,16246,0.76,174.2,112.2,8.0,1103,16275,0.00,1.25,22.15,0.965,4,0.000,0.056,2649,2914,1774,0,0,0,0,0,0
$GC,16389,0.76,174.2,99.3,9.6,1124,16398,0.00,1.17,0.00,0.000,6,0.000,0.041,2654,2194,1772,0,0,0,0,0,0
$GC,16728,0.78,191.5,69.3,8.4,1175,16749,0.00,0.00,15.35,0.941,6,0.000,0.000,2654,2194,1705,0,0,0,0,0,0
$GC,17081,0.83,227.5,40.1,7.7,1228,17118,0.00,1.27,31.30,0.946,4,0.000,0.057,2654,2904,1556,0,0,0,0,0,0
$GC,17236,0.83,227.5,27.2,9.6,1251,17243,0.00,1.17,0.00,0.000,6,0.000,0.041,2659,2199,1553,0,0,0,0,0,0
$STATE,17498,end climb,SURFACE_DEPTH_REACHED
$STATE,17498,begin surface coast
$FINISH,1.8,1.024618
$STATE,17532,end surface coast,CONTROL_FINISHED_OK
$STATE,17532,begin surface
$SM_CCo,17549,34.33,0.086,0,0,1262,300.00
$SM_GC,2.26,6.88,0.57,34.33,0.044,0.051,0.086,118,2508,1262,-7.08,-0.99,300.00,0,0,0,0,0,0
$RAFOS_CLK,1164
$RAFOS,6,1319518146,4.833333,4.818333,63,62,59,0,0,0,189,680,199,0,0,0
$RAFOS,5,1319517672,4.700000,4.686666,68,65,61,0,0,0,203,661,170,0,0,0
$RAFOS,4,1319517186,4.566667,4.551667,61,59,57,0,0,0,208,117,166,0,0,0
$RAFOS,3,1319516704,4.433333,4.417778,91,59,59,0,0,0,709,211,194,0,0,0
$RAFOS,2,1319516234,4.300000,4.287222,63,62,54,0,0,0,213,198,231,0,0,0
$RAFOS,1,1319515744,4.166667,4.151111,64,59,57,0,0,0,713,145,171,0,0,0
$RAFOS,0,1319515285,4.033333,4.023611,55,53,53,0,0,0,134,181,211,0,0,0
$RAFOS_FIX,6644.446289,-5855.953613,251011,040412,2,78,1.68
$IRIDIUM_FIX,6620.33,-5847.18,241011,212129
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.83
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,900.9,99.7
$24V_AH,22.4,16.197
$10V_AH,10.3,13.095
$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,17.225,40.600,329.475,34.325,0.000,0.000,0.000,223.100,7.750,0.000,20.982,3613.427,11250.739,537.363,2314.794,267.831,33.222,1828.404,0.000,2063.337,2520.000,26.889,0.000
$DEVICE_MAMPS,266.220,97.920,1521.585,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.732,707.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151344
$DATA_FILE_SIZE,50006,1296
$CAP_FILE_SIZE,139576,0
$CFSIZE,260165632,239185920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1458.0
$CURRENT,0.209,131.1,1
$GPS,251011,065906,6647.771,-5851.719,129,0.9,129,-33.7