version: 66.09
glider: 143
mission: 13
dive: 130
start: 10 25 111 11 49 54
data:
$ID,143
$MISSION,13
$DIVE,130
$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,-80679.133
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,251011,114335,6651.152,-5854.892,30,0.8,31,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-70.4
$GPS2,251011,114848,6651.187,-5854.995,14,1.2,15,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.185,0.172
$KALMAN_X,-3953451.8,-648313.8,110494.1,-2087830.2,771015.9
$KALMAN_Y,4470742.5,742426.8,-124483.0,2376790.0,-893412.6
$MHEAD_RNG_PITCHd_Wd,247.4,67893,-16.9,-9.167
$D_GRID,987
$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,-146.0,0.0,0.0,0,50,0.00,0.00,-32.22,0.000,2,0.000,0.000,125,2514,1700,0,0,0,0,0,0
$GC,53,-0.73,-146.0,3.1,-1.9,5,154,8.73,1.17,-85.50,0.000,4,0.268,0.099,2157,3214,3082,0,0,0,0,0,0
$GC,407,-0.73,-146.0,52.8,-16.0,58,416,0.00,1.12,0.00,0.000,6,0.000,0.037,2157,2502,3084,0,0,0,0,0,0
$GC,745,-0.73,-146.0,101.9,-14.9,109,751,0.00,1.17,0.00,0.000,4,0.000,0.067,2152,3201,3084,0,0,0,0,0,0
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$GC,1637,-0.73,-146.0,223.8,-13.0,244,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2502,3085,0,0,0,0,0,0
$GC,1968,-0.73,-146.0,264.7,-12.1,286,1972,0.00,1.08,0.00,0.000,4,0.000,0.047,2152,1817,3084,0,0,0,0,0,0
$GC,2052,-0.73,-146.0,274.4,-12.2,292,2060,0.00,1.20,0.00,0.000,6,0.000,0.057,2147,2507,3084,0,0,0,0,0,0
$GC,2375,-0.73,-146.0,314.6,-11.9,318,2379,0.00,1.12,0.00,0.000,4,0.000,0.070,2142,3214,3084,0,0,0,0,0,0
$GC,2459,-0.73,-146.0,324.0,-11.8,324,2467,0.00,1.12,0.00,0.000,6,0.000,0.035,2142,2502,3084,0,0,0,0,0,0
$GC,2782,-0.73,-146.0,363.2,-12.0,350,2786,0.00,1.08,0.00,0.000,4,0.000,0.046,2142,1814,3084,0,0,0,0,0,0
$GC,2853,-0.73,-146.0,370.9,-11.9,355,2861,0.00,1.23,0.00,0.000,6,0.000,0.056,2137,2523,3084,0,0,0,0,0,0
$GC,3176,-0.73,-146.0,411.1,-12.0,381,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2523,3084,0,0,0,0,0,0
$GC,3493,-0.73,-146.0,449.1,-11.9,406,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2523,3084,0,0,0,0,0,0
$GC,3809,-0.73,-146.0,485.6,-11.5,431,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2523,3084,0,0,0,0,0,0
$GC,4130,-0.73,-146.0,522.2,-11.4,448,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2523,3084,0,0,0,0,0,0
$GC,4436,-0.73,-146.0,557.1,-11.4,458,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2523,3085,0,0,0,0,0,0
$GC,4743,-0.73,-146.0,591.4,-11.4,468,4746,0.00,1.10,0.00,0.000,4,0.000,0.072,2132,3214,3085,0,0,0,0,0,0
$GC,4809,-0.73,-146.0,599.2,-11.6,470,4813,0.10,1.10,0.00,0.000,6,0.156,0.037,2163,2497,3085,0,0,0,0,0,0
$GC,5148,-0.73,-146.0,631.9,-9.5,481,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2497,3085,0,0,0,0,0,0
$GC,5456,-0.73,-146.0,659.6,-8.8,491,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2497,3086,0,0,0,0,0,0
$GC,5760,-0.73,-146.0,686.7,-8.8,501,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2498,3086,0,0,0,0,0,0
$GC,6068,-0.73,-146.0,713.5,-8.8,511,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2497,3086,0,0,0,0,0,0
$GC,6373,-0.73,-146.0,741.0,-9.1,521,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2498,3086,0,0,0,0,0,0
$GC,6680,-0.73,-146.0,768.6,-9.0,531,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2497,3086,0,0,0,0,0,0
$GC,6985,-0.73,-146.0,796.2,-9.1,541,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2497,3086,0,0,0,0,0,0
$GC,7293,-0.73,-146.0,824.0,-9.2,551,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2497,3086,0,0,0,0,0,0
$GC,7602,-0.73,-146.0,852.1,-9.1,561,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2498,3087,0,0,0,0,0,0
$GC,7905,-0.73,-146.0,880.2,-9.2,571,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2498,3087,0,0,0,0,0,0
$GC,8211,-0.73,-146.0,907.4,-8.7,581,8214,0.00,1.17,0.00,0.000,4,0.000,0.067,2160,3209,3086,0,0,0,0,0,0
$GC,8278,-0.73,-146.0,913.5,-8.9,583,8282,0.00,1.08,0.00,0.000,6,0.000,0.034,2160,2505,3087,0,0,0,0,0,0
$GC,8618,-0.73,-146.0,944.2,-9.0,594,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2505,3087,0,0,0,0,0,0
$GC,8924,-0.73,-146.0,972.7,-9.7,604,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2505,3087,0,0,0,0,0,0
$STATE,9075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9075,begin apogee
$GC,9080,-0.16,0.0,987.7,-9.8,609,9211,0.55,0.00,125.00,1.527,6,0.132,0.000,2340,2191,2485,0,0,0,0,0,0
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9212,begin climb
$GC,9214,0.73,146.0,992.5,0.0,613,9357,0.85,1.25,134.65,1.470,4,0.069,0.052,2633,1501,1889,0,0,0,0,0,0
$GC,9448,0.73,146.0,976.9,11.4,620,9456,0.00,1.27,0.00,0.000,6,0.000,0.046,2633,2208,1883,0,0,0,0,0,0
$GC,9763,0.73,146.0,934.3,12.7,631,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2208,1879,0,0,0,0,0,0
$GC,10068,0.73,146.0,896.1,12.4,641,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2208,1877,0,0,0,0,0,0
$GC,10376,0.73,146.0,858.2,12.7,651,10380,0.00,1.15,0.00,0.000,4,0.000,0.059,2633,2903,1876,0,0,0,0,0,0
$GC,10460,0.73,146.0,849.1,13.2,653,10465,0.00,1.17,0.00,0.000,6,0.000,0.041,2638,2207,1876,0,0,0,0,0,0
$GC,10780,0.73,146.0,804.5,12.9,664,10784,0.00,1.12,0.00,0.000,4,0.000,0.054,2644,1492,1875,0,0,0,0,0,0
$GC,10858,0.73,146.0,796.0,12.9,666,10863,0.00,1.20,0.00,0.000,6,0.000,0.049,2643,2206,1875,0,0,0,0,0,0
$GC,11185,0.73,146.0,751.7,13.1,677,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1874,0,0,0,0,0,0
$GC,11493,0.73,146.0,710.8,13.3,687,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1874,0,0,0,0,0,0
$GC,11798,0.73,146.0,670.7,13.1,697,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1874,0,0,0,0,0,0
$GC,12105,0.73,146.0,630.8,13.1,707,12109,0.00,1.15,0.00,0.000,4,0.000,0.053,2648,1499,1874,0,0,0,0,0,0
$GC,12182,0.73,146.0,622.3,12.8,709,12187,0.00,1.17,0.00,0.000,6,0.000,0.050,2648,2204,1874,0,0,0,0,0,0
$GC,12510,0.73,146.0,577.8,13.2,720,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2205,1874,0,0,0,0,0,0
$GC,12816,0.73,146.0,537.0,13.1,730,12820,0.00,1.15,0.00,0.000,4,0.000,0.052,2653,1496,1874,0,0,0,0,0,0
$GC,12887,0.73,146.0,528.4,12.9,732,12892,0.00,1.17,0.00,0.000,6,0.000,0.051,2653,2203,1874,0,0,0,0,0,0
$GC,13205,0.73,146.0,487.7,12.3,746,13206,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2203,1873,0,0,0,0,0,0
$GC,13521,0.73,146.0,448.2,12.6,771,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2203,1873,0,0,0,0,0,0
$GC,13836,0.73,146.0,407.9,12.9,796,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2203,1873,0,0,0,0,0,0
$GC,14151,0.73,146.0,368.2,12.1,821,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2203,1873,0,0,0,0,0,0
$GC,14469,0.73,146.0,330.3,12.0,846,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2204,1873,0,0,0,0,0,0
$GC,14784,0.73,146.0,292.5,11.5,871,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2203,1873,0,0,0,0,0,0
$GC,15098,0.73,146.0,257.6,10.9,896,15099,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2203,1873,0,0,0,0,0,0
$GC,15425,0.73,146.0,224.2,9.5,940,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2203,1873,0,0,0,0,0,0
$GC,15763,0.73,146.0,190.6,10.2,991,15770,0.00,1.12,0.00,0.000,4,0.000,0.060,2653,2903,1873,0,0,0,0,0,0
$GC,15941,0.73,146.0,171.9,10.1,1018,15950,0.00,1.15,0.00,0.000,6,0.000,0.043,2657,2193,1873,0,0,0,0,0,0
$GC,16282,0.75,162.6,140.1,8.5,1069,16297,0.00,0.00,12.48,0.953,6,0.000,0.000,2657,2193,1822,0,0,0,0,0,0
$GC,16628,0.78,189.7,109.0,8.0,1121,16656,0.00,1.12,24.33,0.974,4,0.000,0.055,2662,1497,1711,0,0,0,0,0,0
$GC,16710,0.78,189.7,101.2,9.9,1133,16717,0.00,1.17,0.00,0.000,6,0.000,0.050,2662,2202,1709,0,0,0,0,0,0
$GC,17050,0.78,189.7,66.0,10.2,1184,17056,0.00,1.12,0.00,0.000,4,0.000,0.060,2662,2900,1707,0,0,0,0,0,0
$GC,17162,0.78,189.7,54.5,9.7,1201,17169,0.00,1.15,0.00,0.000,6,0.000,0.042,2667,2201,1707,0,0,0,0,0,0
$GC,17500,0.86,254.0,27.0,6.5,1252,17548,0.00,1.27,40.33,0.923,4,0.000,0.057,2667,2908,1447,0,0,0,0,0,0
$GC,17667,0.86,254.0,11.3,10.7,1277,17674,0.00,1.20,0.00,0.000,6,0.000,0.042,2672,2194,1442,0,0,0,0,0,0
$STATE,17764,end climb,SURFACE_DEPTH_REACHED
$STATE,17764,begin surface coast
$FINISH,1.9,1.012162
$STATE,17787,end surface coast,CONTROL_FINISHED_OK
$STATE,17787,begin surface
$SM_CCo,17804,20.83,0.086,0,0,1261,300.00
$SM_GC,2.71,6.93,0.60,20.83,0.044,0.052,0.086,125,2515,1261,-7.06,-0.76,300.00,0,0,0,0,0,0
$RAFOS_CLK,1184
$RAFOS,4,1319560388,16.566668,16.552221,139,63,59,0,0,0,515,208,121,0,0,0
$RAFOS,3,1319559901,16.433332,16.416945,64,61,57,0,0,0,188,205,118,0,0,0
$RAFOS,2,1319559421,16.299999,16.283611,64,63,56,0,0,0,741,197,220,0,0,0
$RAFOS,1,1319558942,16.166666,16.150555,63,59,59,0,0,0,207,700,710,0,0,0
$RAFOS,0,1319558464,16.033333,16.017778,72,72,60,0,0,0,211,816,146,0,0,0
$RAFOS,6,1319546947,12.833333,12.818611,64,59,58,0,0,0,229,179,208,0,0,0
$RAFOS,5,1319546467,12.700000,12.685278,99,67,61,0,0,0,711,206,222,0,0,0
$RAFOS,4,1319545985,12.566667,12.551389,115,67,64,0,0,0,529,210,234,0,0,0
$RAFOS,3,1319545502,12.433333,12.417222,67,58,57,0,0,0,750,198,152,0,0,0
$RAFOS,2,1319545022,12.300000,12.283889,65,61,61,0,0,0,205,179,161,0,0,0
$RAFOS,1,1319544542,12.166667,12.150556,75,59,59,0,0,0,714,133,704,0,0,0
$RAFOS,0,1319544064,12.033333,12.017777,74,60,58,0,0,0,824,220,195,0,0,0
$RAFOS_FIX,6650.062500,-5857.843262,251011,121206,5,86,1.39
$IRIDIUM_FIX,6620.33,-5852.83,251011,070754
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.75
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,902.1,130.2
$24V_AH,22.4,16.458
$10V_AH,10.3,13.285
$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,17.150,38.075,336.775,20.825,0.000,0.000,0.000,203.000,8.000,0.000,16.344,3594.250,11587.568,500.119,2276.474,226.402,33.231,1780.028,0.000,2048.633,4680.000,30.034,0.000
$DEVICE_MAMPS,267.750,98.685,1526.940,86.445,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.154,699.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150380
$DATA_FILE_SIZE,49910,1295
$CAP_FILE_SIZE,140179,0
$CFSIZE,260165632,239042560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1458.5
$CURRENT,0.148, 40.6,1
$GPS,251011,164905,6649.731,-5857.401,34,1.0,34,-33.7