version: 66.09
glider: 143
mission: 13
dive: 139
start: 10 27 111 9 25 5
data:
$ID,143
$MISSION,13
$DIVE,139
$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,1
$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,-80690.656
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,271011,091854,6645.586,-5854.064,40,0.7,40,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-73.3
$GPS2,271011,092401,6645.562,-5854.058,20,0.8,21,-33.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.251,-0.032
$KALMAN_X,-4490781.5,-37087.0,17550.4,-2036386.5,-232.0
$KALMAN_Y,5099365.0,43737.9,-21877.2,2298924.0,16438.2
$MHEAD_RNG_PITCHd_Wd,296.4,67324,-16.9,-9.167
$D_GRID,900
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-26.08,0.000,2,0.000,0.000,119,2511,1612,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-3.1,4,171,8.43,1.17,-106.88,0.000,4,0.257,0.099,2160,3216,3082,0,0,0,0,0,0
$GC,403,-0.73,-146.0,46.5,-15.3,59,410,0.00,1.12,0.00,0.000,6,0.000,0.037,2160,2498,3084,0,0,0,0,0,0
$GC,741,-0.73,-146.0,95.8,-14.5,110,748,0.00,1.20,0.00,0.000,4,0.000,0.067,2155,3214,3084,0,0,0,0,0,0
$GC,821,-0.73,-146.0,107.5,-14.1,122,827,0.00,1.10,0.00,0.000,6,0.000,0.036,2155,2509,3084,0,0,0,0,0,0
$GC,1158,-0.73,-146.0,155.2,-14.5,173,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2509,3084,0,0,0,0,0,0
$GC,1495,-0.73,-146.0,200.0,-13.2,224,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2509,3084,0,0,0,0,0,0
$GC,1832,-0.73,-146.0,242.6,-12.2,275,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2509,3084,0,0,0,0,0,0
$GC,2164,-0.73,-146.0,281.9,-11.5,306,2168,0.00,1.17,0.00,0.000,4,0.000,0.069,2150,3211,3084,0,0,0,0,0,0
$GC,2196,-0.73,-146.0,285.2,-11.5,308,2204,0.00,1.12,0.00,0.000,6,0.000,0.036,2151,2500,3083,0,0,0,0,0,0
$GC,2521,-0.73,-146.0,322.5,-11.0,334,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2499,3084,0,0,0,0,0,0
$GC,2835,-0.73,-146.0,358.6,-11.7,359,2838,0.00,1.17,0.00,0.000,4,0.000,0.067,2146,3207,3084,0,0,0,0,0,0
$GC,2861,-0.73,-146.0,361.6,-11.4,361,2865,0.00,1.08,0.00,0.000,6,0.000,0.035,2146,2511,3083,0,0,0,0,0,0
$GC,3191,-0.73,-146.0,399.1,-11.0,387,3195,0.00,1.17,0.00,0.000,4,0.000,0.067,2141,3217,3083,0,0,0,0,0,0
$GC,3209,-0.73,-146.0,400.6,-11.0,388,3217,0.00,1.12,0.00,0.000,6,0.000,0.034,2141,2499,3083,0,0,0,0,0,0
$GC,3534,-0.73,-146.0,438.2,-11.6,414,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3083,0,0,0,0,0,0
$GC,3848,-0.73,-146.0,474.2,-11.2,439,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3084,0,0,0,0,0,0
$GC,4167,-0.73,-146.0,510.6,-11.3,460,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3084,0,0,0,0,0,0
$GC,4473,-0.73,-146.0,545.6,-11.3,470,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3084,0,0,0,0,0,0
$GC,4779,-0.73,-146.0,580.4,-11.3,480,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3085,0,0,0,0,0,0
$GC,5086,-0.73,-146.0,613.9,-10.9,490,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3085,0,0,0,0,0,0
$GC,5392,-0.73,-146.0,647.1,-10.7,500,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3085,0,0,0,0,0,0
$GC,5698,-0.73,-146.0,679.8,-10.8,510,5701,0.00,1.17,0.00,0.000,4,0.000,0.066,2137,3211,3085,0,0,0,0,0,0
$GC,5756,-0.73,-146.0,683.6,-10.9,511,5763,0.00,1.10,0.00,0.000,6,0.000,0.032,2137,2502,3086,0,0,0,0,0,0
$GC,6069,-0.73,-146.0,721.1,-11.1,522,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2502,3086,0,0,0,0,0,0
$GC,6376,-0.73,-146.0,754.6,-11.0,532,6378,0.12,0.00,0.00,0.000,6,0.172,0.000,2166,2502,3086,0,0,0,0,0,0
$GC,6683,-0.73,-146.0,782.8,-9.0,542,6686,0.00,1.17,0.00,0.000,4,0.000,0.067,2164,3213,3086,0,0,0,0,0,0
$GC,6707,-0.73,-146.0,782.8,-9.0,542,6715,0.00,1.10,0.00,0.000,6,0.000,0.032,2164,2502,3086,0,0,0,0,0,0
$GC,7021,-0.73,-146.0,813.9,-9.4,553,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2502,3086,0,0,0,0,0,0
$GC,7328,-0.73,-146.0,842.7,-9.4,563,7331,0.00,1.17,0.00,0.000,4,0.000,0.066,2159,3213,3086,0,0,0,0,0,0
$GC,7385,-0.73,-146.0,845.8,-9.4,564,7393,0.00,1.10,0.00,0.000,6,0.000,0.031,2159,2502,3086,0,0,0,0,0,0
$GC,7699,-0.73,-146.0,877.5,-9.4,575,7703,0.00,1.17,0.00,0.000,4,0.000,0.066,2154,3214,3087,0,0,0,0,0,0
$GC,7732,-0.73,-146.0,880.5,-9.3,576,7736,0.00,1.08,0.00,0.000,6,0.000,0.032,2154,2504,3086,0,0,0,0,0,0
$STATE,7950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7950,begin apogee
$GC,7956,-0.16,0.0,901.1,-9.9,583,8085,0.57,0.00,123.47,1.473,6,0.130,0.000,2343,2187,2485,0,0,0,0,0,0
$STATE,8086,end apogee,CONTROL_FINISHED_OK
$STATE,8086,begin climb
$GC,8088,0.73,146.0,907.0,0.0,587,8230,0.82,1.23,132.88,1.414,4,0.067,0.052,2635,1506,1888,0,0,0,0,0,0
$GC,8454,0.73,146.0,879.2,12.0,598,8462,0.00,1.23,0.00,0.000,6,0.000,0.047,2635,2202,1880,0,0,0,0,0,0
$GC,8768,0.73,146.0,840.5,11.3,609,8771,0.00,1.17,0.00,0.000,4,0.000,0.057,2635,2904,1879,0,0,0,0,0,0
$GC,8845,0.73,146.0,832.6,11.6,611,8850,0.00,1.20,0.00,0.000,6,0.000,0.038,2640,2200,1877,0,0,0,0,0,0
$GC,9174,0.73,146.0,793.6,11.4,622,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1877,0,0,0,0,0,0
$GC,9479,0.73,146.0,756.8,12.2,632,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1875,0,0,0,0,0,0
$GC,9785,0.73,146.0,718.4,12.8,642,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1875,0,0,0,0,0,0
$GC,10091,0.73,146.0,679.6,12.8,652,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1875,0,0,0,0,0,0
$GC,10397,0.73,146.0,642.0,12.2,662,10401,0.00,1.20,0.00,0.000,4,0.000,0.055,2640,2905,1875,0,0,0,0,0,0
$GC,10503,0.73,146.0,629.6,12.4,665,10506,0.00,1.15,0.00,0.000,6,0.000,0.040,2645,2200,1875,0,0,0,0,0,0
$GC,10836,0.73,146.0,588.1,12.1,676,10837,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1874,0,0,0,0,0,0
$GC,11142,0.73,146.0,550.2,12.4,686,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,1874,0,0,0,0,0,0
$GC,11448,0.73,146.0,513.4,12.0,696,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2200,1874,0,0,0,0,0,0
$GC,11763,0.73,146.0,477.6,11.4,715,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2199,1874,0,0,0,0,0,0
$GC,12076,0.73,146.0,441.7,11.3,740,12079,0.00,1.20,0.00,0.000,4,0.000,0.055,2645,2910,1874,0,0,0,0,0,0
$GC,12143,0.73,146.0,433.9,11.8,745,12147,0.00,1.15,0.00,0.000,6,0.000,0.039,2650,2195,1874,0,0,0,0,0,0
$GC,12472,0.73,146.0,397.3,11.0,771,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2195,1874,0,0,0,0,0,0
$GC,12789,0.73,146.0,361.8,11.3,796,12793,0.00,1.20,0.00,0.000,4,0.000,0.054,2650,2909,1874,0,0,0,0,0,0
$GC,12833,0.73,146.0,357.0,11.6,799,12841,0.00,1.17,0.00,0.000,6,0.000,0.039,2654,2190,1874,0,0,0,0,0,0
$GC,13158,0.73,146.0,318.0,11.9,825,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2190,1874,0,0,0,0,0,0
$GC,13472,0.73,146.0,282.5,10.5,850,13476,0.00,1.20,0.00,0.000,4,0.000,0.054,2655,2906,1874,0,0,0,0,0,0
$GC,13596,0.73,146.0,269.0,11.3,859,13604,0.00,1.15,0.00,0.000,6,0.000,0.037,2659,2198,1873,0,0,0,0,0,0
$GC,13927,0.73,146.0,233.1,10.5,897,13933,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2198,1874,0,0,0,0,0,0
$GC,14263,0.73,146.0,198.7,10.1,948,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2198,1874,0,0,0,0,0,0
$GC,14600,0.73,146.0,164.7,10.4,999,14607,0.00,1.20,0.00,0.000,4,0.000,0.055,2659,2913,1874,0,0,0,0,0,0
$GC,14852,0.73,146.0,139.0,9.8,1037,14860,0.08,1.15,0.00,0.000,6,0.158,0.039,2640,2194,1874,0,0,0,0,0,0
$GC,15191,0.76,176.4,110.9,7.9,1088,15222,0.00,1.10,24.00,0.978,4,0.000,0.052,2643,1492,1765,0,0,0,0,0,0
$GC,15319,0.79,197.6,100.6,8.3,1107,15344,0.00,1.17,19.30,0.965,6,0.000,0.047,2644,2210,1678,0,0,0,0,0,0
$GC,15675,0.79,197.6,65.6,9.9,1161,15681,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2210,1675,0,0,0,0,0,0
$GC,16012,0.88,271.8,37.7,6.0,1212,16080,0.12,1.20,62.55,0.944,4,0.093,0.057,2694,2901,1376,0,0,0,0,0,0
$GC,16167,0.88,271.8,21.6,12.0,1236,16174,0.00,1.17,0.00,0.000,6,0.000,0.038,2699,2204,1371,0,0,0,0,0,0
$STATE,16332,end climb,SURFACE_DEPTH_REACHED
$STATE,16333,begin surface coast
$FINISH,1.8,1.005583
$STATE,16345,end surface coast,CONTROL_FINISHED_OK
$STATE,16345,begin surface
$SM_CCo,16361,12.15,0.086,0,0,1261,300.00
$SM_GC,3.74,7.00,0.60,12.15,0.042,0.056,0.086,123,2518,1261,-7.06,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,1078
$RAFOS,6,1319719747,12.833333,12.818611,131,66,60,0,0,0,667,151,167,0,0,0
$RAFOS,5,1319719262,12.700000,12.683888,91,65,57,0,0,0,743,205,187,0,0,0
$RAFOS,4,1319718798,12.566667,12.555000,114,59,59,0,0,0,452,207,138,0,0,0
$RAFOS,3,1319718308,12.433333,12.418889,99,72,63,0,0,0,701,219,188,0,0,0
$RAFOS,2,1319717839,12.300000,12.288611,82,59,56,0,0,0,631,212,183,0,0,0
$RAFOS,1,1319717349,12.166667,12.152500,131,56,56,0,0,0,664,185,194,0,0,0
$RAFOS,0,1319716890,12.033333,12.025000,60,59,59,0,0,0,198,217,226,0,0,0
$RAFOS_FIX,6647.659180,-5859.044922,271011,121256,5,107,0.47
$IRIDIUM_FIX,6620.33,-5904.98,271011,040451
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.67
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,901.1,69.7
$24V_AH,22.5,17.635
$10V_AH,10.3,14.137
$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,17.150,42.850,362.200,12.150,0.000,0.000,0.000,190.075,8.250,0.000,21.829,3040.009,10666.020,529.483,2234.157,228.207,33.243,1793.834,0.000,2015.110,2520.000,32.809,0.000
$DEVICE_MAMPS,257.040,99.450,1472.625,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.519,687.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46700,1263
$CAP_FILE_SIZE,136007,0
$CFSIZE,260165632,238379008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.1
$GPS,271011,135935,6649.112,-5900.008,33,0.7,34,-33.7