version: 66.09
glider: 143
mission: 13
dive: 129
start: 10 25 111 7 5 43
data:
$ID,143
$MISSION,13
$DIVE,129
$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,-80677.867
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,251011,065906,6647.771,-5851.719,129,0.9,129,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-68.8
$GPS2,251011,070437,6647.737,-5851.649,21,1.0,22,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.164,-0.193
$KALMAN_X,-6587718.5,697245.4,1119065.5,-1790492.8,-5157590.0
$KALMAN_Y,7478213.5,-794285.6,-1275792.6,2038456.9,5870457.0
$MHEAD_RNG_PITCHd_Wd,335.1,69369,-16.9,-9.167
$D_GRID,914
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.75,0.000,2,0.000,0.000,116,2512,1816,0,0,0,0,0,0
$GC,62,-0.73,-146.0,3.2,-1.1,6,144,8.55,1.12,-63.72,0.000,4,0.259,0.072,2162,1811,3081,0,0,0,0,0,0
$GC,262,-0.73,-146.0,30.0,-18.1,35,269,0.00,1.20,0.00,0.000,6,0.000,0.059,2159,2503,3083,0,0,0,0,0,0
$GC,601,-0.73,-146.0,82.0,-13.9,86,607,0.00,1.15,0.00,0.000,4,0.000,0.071,2154,3216,3084,0,0,0,0,0,0
$GC,654,-0.73,-146.0,89.6,-13.9,94,661,0.00,1.12,0.00,0.000,6,0.000,0.037,2154,2501,3083,0,0,0,0,0,0
$GC,993,-0.73,-146.0,135.8,-13.6,145,999,0.00,1.08,0.00,0.000,4,0.000,0.049,2154,1818,3083,0,0,0,0,0,0
$GC,1052,-0.73,-146.0,144.4,-13.8,154,1059,0.00,1.20,0.00,0.000,6,0.000,0.059,2149,2516,3084,0,0,0,0,0,0
$GC,1391,-0.73,-146.0,189.9,-12.9,205,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2516,3084,0,0,0,0,0,0
$GC,1728,-0.73,-146.0,231.9,-12.1,256,1738,0.00,1.12,0.00,0.000,4,0.000,0.073,2145,3218,3083,0,0,0,0,0,0
$GC,1771,-0.73,-146.0,237.6,-13.0,262,1778,0.00,1.10,0.00,0.000,6,0.000,0.039,2144,2515,3083,0,0,0,0,0,0
$GC,2098,-0.73,-146.0,279.1,-12.9,295,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2515,3083,0,0,0,0,0,0
$GC,2414,-0.73,-146.0,318.2,-12.6,320,2417,0.00,1.10,0.00,0.000,4,0.000,0.049,2144,1815,3082,0,0,0,0,0,0
$GC,2439,-0.73,-146.0,321.5,-12.6,322,2443,0.00,1.20,0.00,0.000,6,0.000,0.060,2139,2514,3082,0,0,0,0,0,0
$GC,2770,-0.73,-146.0,363.9,-12.8,348,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2515,3083,0,0,0,0,0,0
$GC,3085,-0.73,-146.0,401.8,-11.5,373,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2515,3083,0,0,0,0,0,0
$GC,3399,-0.73,-146.0,438.4,-11.5,398,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2514,3083,0,0,0,0,0,0
$GC,3716,-0.73,-146.0,474.0,-11.2,423,3720,0.00,1.12,0.00,0.000,4,0.000,0.071,2134,3221,3083,0,0,0,0,0,0
$GC,3729,-0.73,-146.0,475.7,-11.0,424,3733,0.08,1.12,0.00,0.000,6,0.162,0.037,2157,2496,3083,0,0,0,0,0,0
$GC,4073,-0.73,-146.0,510.6,-10.3,447,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2496,3083,0,0,0,0,0,0
$GC,4381,-0.73,-146.0,542.3,-10.4,457,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2497,3084,0,0,0,0,0,0
$GC,4686,-0.73,-146.0,574.2,-10.4,467,4690,0.00,1.05,0.00,0.000,4,0.000,0.047,2157,1818,3084,0,0,0,0,0,0
$GC,4711,-0.73,-146.0,574.2,-10.4,467,4719,0.00,1.20,0.00,0.000,6,0.000,0.057,2154,2516,3084,0,0,0,0,0,0
$GC,5025,-0.73,-146.0,610.2,-10.8,478,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2516,3084,0,0,0,0,0,0
$GC,5331,-0.73,-146.0,641.5,-10.0,488,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2516,3084,0,0,0,0,0,0
$GC,5638,-0.73,-146.0,672.1,-10.0,498,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2516,3084,0,0,0,0,0,0
$GC,5944,-0.73,-146.0,702.4,-9.8,508,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2516,3084,0,0,0,0,0,0
$GC,6251,-0.73,-146.0,732.0,-9.6,518,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2516,3085,0,0,0,0,0,0
$GC,6556,-0.73,-146.0,761.8,-9.9,528,6559,0.00,1.10,0.00,0.000,4,0.000,0.070,2149,3213,3085,0,0,0,0,0,0
$GC,6580,-0.73,-146.0,761.8,-9.9,528,6591,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2506,3085,0,0,0,0,0,0
$GC,6894,-0.73,-146.0,796.2,-10.2,539,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2506,3085,0,0,0,0,0,0
$GC,7201,-0.73,-146.0,827.9,-10.3,549,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2506,3085,0,0,0,0,0,0
$GC,7506,-0.73,-146.0,859.0,-10.1,559,7510,0.00,1.08,0.00,0.000,4,0.000,0.048,2149,1814,3085,0,0,0,0,0,0
$GC,7530,-0.73,-146.0,859.0,-10.1,559,7538,0.00,1.20,0.00,0.000,6,0.000,0.058,2145,2510,3085,0,0,0,0,0,0
$GC,7845,-0.73,-146.0,893.9,-10.1,570,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2510,3085,0,0,0,0,0,0
$STATE,8058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8058,begin apogee
$GC,8064,-0.16,0.0,915.8,-10.2,577,8193,0.60,0.00,123.62,1.476,6,0.136,0.000,2339,2200,2485,0,0,0,0,0,0
$STATE,8194,end apogee,CONTROL_FINISHED_OK
$STATE,8194,begin climb
$GC,8196,0.73,146.0,920.9,0.0,581,8341,0.88,1.20,133.40,1.424,4,0.071,0.052,2640,1507,1888,0,0,0,0,0,0
$GC,8577,0.73,146.0,887.6,11.8,593,8582,0.00,1.25,0.00,0.000,6,0.000,0.049,2639,2211,1879,0,0,0,0,0,0
$GC,8913,0.73,146.0,846.6,12.2,604,8916,0.00,1.17,0.00,0.000,4,0.000,0.058,2640,2913,1877,0,0,0,0,0,0
$GC,9050,0.73,146.0,829.5,12.8,608,9055,0.00,1.20,0.00,0.000,6,0.000,0.040,2645,2208,1876,0,0,0,0,0,0
$GC,9384,0.73,146.0,786.4,12.6,619,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2207,1875,0,0,0,0,0,0
$GC,9691,0.73,146.0,747.8,12.6,629,9695,0.00,1.20,0.00,0.000,4,0.000,0.055,2645,2904,1874,0,0,0,0,0,0
$GC,9791,0.73,146.0,734.9,12.8,632,9794,0.00,1.17,0.00,0.000,6,0.000,0.041,2649,2191,1874,0,0,0,0,0,0
$GC,10130,0.73,146.0,692.6,12.4,643,10134,0.00,1.08,0.00,0.000,4,0.000,0.054,2654,1497,1874,0,0,0,0,0,0
$GC,10201,0.73,146.0,684.5,12.4,645,10206,0.00,1.20,0.00,0.000,6,0.000,0.049,2654,2214,1874,0,0,0,0,0,0
$GC,10535,0.73,146.0,642.0,12.4,656,10539,0.00,1.12,0.00,0.000,4,0.000,0.058,2654,2911,1873,0,0,0,0,0,0
$GC,10679,0.73,146.0,624.6,13.1,660,10684,0.00,1.20,0.00,0.000,6,0.000,0.041,2659,2189,1872,0,0,0,0,0,0
$GC,11006,0.73,146.0,580.7,12.9,671,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2189,1873,0,0,0,0,0,0
$GC,11314,0.73,146.0,540.9,13.1,681,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2189,1872,0,0,0,0,0,0
$GC,11619,0.73,146.0,501.3,12.8,691,11622,0.00,1.08,0.00,0.000,4,0.000,0.055,2664,1494,1872,0,0,0,0,0,0
$GC,11690,0.73,146.0,493.2,12.4,695,11698,0.12,1.17,0.00,0.000,6,0.174,0.050,2636,2202,1872,0,0,0,0,0,0
$GC,12014,0.73,146.0,455.2,11.6,721,12018,0.00,1.12,0.00,0.000,4,0.000,0.059,2635,2903,1872,0,0,0,0,0,0
$GC,12138,0.73,146.0,441.0,11.9,730,12146,0.00,1.17,0.00,0.000,6,0.000,0.040,2639,2188,1872,0,0,0,0,0,0
$GC,12463,0.73,146.0,402.4,11.8,756,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2188,1872,0,0,0,0,0,0
$GC,12779,0.73,146.0,366.0,11.3,781,12782,0.00,1.20,0.00,0.000,4,0.000,0.056,2639,2902,1872,0,0,0,0,0,0
$GC,12862,0.73,146.0,357.0,11.5,787,12870,0.00,1.15,0.00,0.000,6,0.000,0.040,2643,2199,1872,0,0,0,0,0,0
$GC,13188,0.73,146.0,321.5,10.5,813,13192,0.00,1.20,0.00,0.000,4,0.000,0.056,2644,2911,1872,0,0,0,0,0,0
$GC,13307,0.73,146.0,308.1,11.1,822,13311,0.00,1.15,0.00,0.000,6,0.000,0.040,2648,2195,1872,0,0,0,0,0,0
$GC,13639,0.73,146.0,272.6,10.5,848,13643,0.00,1.08,0.00,0.000,4,0.000,0.052,2654,1492,1872,0,0,0,0,0,0
$GC,13718,0.73,146.0,263.9,10.6,854,13722,0.00,1.15,0.00,0.000,6,0.000,0.049,2653,2205,1872,0,0,0,0,0,0
$GC,14049,0.73,146.0,229.9,10.2,894,14056,0.00,1.12,0.00,0.000,4,0.000,0.057,2654,2911,1872,0,0,0,0,0,0
$GC,14168,0.73,146.0,217.5,10.2,912,14177,0.00,1.15,0.00,0.000,6,0.000,0.040,2658,2195,1872,0,0,0,0,0,0
$GC,14508,0.73,146.0,183.7,9.8,963,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2195,1873,0,0,0,0,0,0
$GC,14845,0.75,169.3,152.6,8.2,1014,14868,0.00,1.25,18.20,0.976,4,0.000,0.055,2658,2914,1794,0,0,0,0,0,0
$GC,14961,0.75,169.3,141.3,9.7,1031,14968,0.00,1.17,0.00,0.000,6,0.000,0.040,2663,2191,1792,0,0,0,0,0,0
$GC,15298,0.76,177.9,109.9,8.8,1082,15311,0.00,0.00,8.50,0.908,6,0.000,0.000,2663,2192,1759,0,0,0,0,0,0
$GC,15641,0.78,193.6,81.0,8.5,1134,15663,0.00,1.25,14.73,0.949,4,0.000,0.057,2663,2900,1694,0,0,0,0,0,0
$GC,15745,0.79,197.6,71.7,9.0,1149,15758,0.00,1.15,4.62,0.758,6,0.000,0.041,2668,2201,1679,0,0,0,0,0,0
$GC,16089,0.85,250.1,43.7,7.0,1201,16143,0.00,1.20,45.33,0.950,4,0.000,0.053,2668,2904,1465,0,0,0,0,0,0
$GC,16256,0.85,250.1,28.1,10.6,1226,16263,0.00,1.17,0.00,0.000,6,0.000,0.041,2672,2203,1461,0,0,0,0,0,0
$STATE,16520,end climb,SURFACE_DEPTH_REACHED
$STATE,16520,begin surface coast
$FINISH,1.8,1.024558
$STATE,16541,end surface coast,CONTROL_FINISHED_OK
$STATE,16541,begin surface
$SM_CCo,16557,23.05,0.086,0,0,1261,300.00
$SM_GC,2.47,6.95,0.57,23.05,0.047,0.053,0.086,126,2511,1261,-7.06,-0.93,300.00,0,0,0,0,0,0
$RAFOS_CLK,1089
$RAFOS,6,1319532560,8.833333,8.822222,83,60,60,0,0,0,598,199,132,0,0,0
$RAFOS,5,1319532070,8.700000,8.686111,67,67,60,0,0,0,218,685,161,0,0,0
$RAFOS,4,1319531610,8.566667,8.558333,80,60,58,0,0,0,400,191,180,0,0,0
$RAFOS,3,1319531120,8.433333,8.422222,65,59,58,0,0,0,208,639,116,0,0,0
$RAFOS,2,1319530629,8.300000,8.285833,87,65,55,0,0,0,707,200,119,0,0,0
$RAFOS,1,1319530146,8.166667,8.151667,65,64,63,0,0,0,702,212,195,0,0,0
$RAFOS,0,1319529664,8.033334,8.017777,67,63,59,0,0,0,210,193,219,0,0,0
$RAFOS_FIX,6651.585449,-5859.799805,251011,080820,4,79,1.83
$IRIDIUM_FIX,6625.71,-5849.02,251011,010108
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.52
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,853.0,128.2
$24V_AH,22.5,16.327
$10V_AH,10.3,13.191
$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,17.175,54.225,348.400,23.050,0.000,0.000,0.000,214.100,8.250,0.000,23.399,3533.276,10297.266,535.143,2332.115,231.877,33.222,1857.655,0.000,2088.062,2520.000,26.956,0.000
$DEVICE_MAMPS,258.570,73.440,1475.685,85.680,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.599,692.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,50034,1269
$CAP_FILE_SIZE,142763,0
$CFSIZE,260165632,239116288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.7
$CURRENT,0.248, 30.9,1
$GPS,251011,114335,6651.152,-5854.892,30,0.8,31,-33.7