version: 66.09
glider: 143
mission: 13
dive: 142
start: 10 28 111 0 36 3
data:
$ID,143
$MISSION,13
$DIVE,142
$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,-80694.531
$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,37
$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
$GPS1,281011,002929,6651.577,-5905.581,38,0.8,38,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-71.4
$GPS2,281011,003500,6651.562,-5905.709,15,0.9,16,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.191,-0.166
$KALMAN_X,-4544436.5,22543.3,-139.0,-2044376.9,-50388.3
$KALMAN_Y,5166784.5,-29366.4,-2261.2,2294024.8,72324.0
$MHEAD_RNG_PITCHd_Wd,262.7,60384,-16.9,-9.167
$D_GRID,1021
$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,-26.17,0.000,2,0.000,0.000,121,2517,1615,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-1.1,4,172,8.55,1.17,-107.93,0.000,4,0.259,0.101,2156,3213,3082,0,0,0,0,0,0
$GC,424,-0.73,-146.0,52.1,-17.5,62,431,0.00,1.12,0.00,0.000,6,0.000,0.035,2156,2498,3084,0,0,0,0,0,0
$GC,762,-0.73,-146.0,101.4,-14.6,113,769,0.00,1.20,0.00,0.000,4,0.000,0.066,2152,3212,3084,0,0,0,0,0,0
$GC,967,-0.73,-146.0,131.6,-14.0,144,974,0.00,1.10,0.00,0.000,6,0.000,0.035,2152,2506,3085,0,0,0,0,0,0
$GC,1305,-0.73,-146.0,180.5,-14.5,195,1312,0.00,1.17,0.00,0.000,4,0.000,0.067,2147,3210,3085,0,0,0,0,0,0
$GC,1378,-0.73,-146.0,191.3,-15.1,206,1385,0.00,1.10,0.00,0.000,6,0.000,0.036,2147,2502,3084,0,0,0,0,0,0
$GC,1716,-0.73,-146.0,237.6,-13.1,257,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2502,3085,0,0,0,0,0,0
$GC,2045,-0.73,-146.0,278.3,-11.9,290,2049,0.00,1.17,0.00,0.000,4,0.000,0.066,2142,3206,3083,0,0,0,0,0,0
$GC,2143,-0.73,-146.0,289.7,-12.1,297,2151,0.00,1.10,0.00,0.000,6,0.000,0.034,2143,2509,3084,0,0,0,0,0,0
$GC,2469,-0.73,-146.0,330.4,-13.1,323,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2509,3083,0,0,0,0,0,0
$GC,2782,-0.73,-146.0,370.6,-12.4,348,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2509,3083,0,0,0,0,0,0
$GC,3097,-0.73,-146.0,408.3,-11.9,373,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2509,3084,0,0,0,0,0,0
$GC,3413,-0.73,-146.0,445.0,-11.8,398,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2509,3083,0,0,0,0,0,0
$GC,3728,-0.73,-146.0,482.0,-11.7,423,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2509,3084,0,0,0,0,0,0
$GC,4046,-0.73,-146.0,519.2,-11.7,441,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2509,3084,0,0,0,0,0,0
$GC,4352,-0.73,-146.0,556.1,-12.0,451,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2509,3084,0,0,0,0,0,0
$GC,4658,-0.73,-146.0,592.8,-12.0,461,4662,0.00,1.17,0.00,0.000,4,0.000,0.067,2138,3216,3084,0,0,0,0,0,0
$GC,4715,-0.73,-146.0,596.8,-11.9,462,4724,0.00,1.12,0.00,0.000,6,0.000,0.033,2138,2496,3085,0,0,0,0,0,0
$GC,5030,-0.73,-146.0,636.3,-11.5,473,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2496,3085,0,0,0,0,0,0
$GC,5335,-0.73,-146.0,670.8,-11.2,483,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2496,3085,0,0,0,0,0,0
$GC,5642,-0.73,-146.0,704.4,-10.8,493,5645,0.00,1.17,0.00,0.000,4,0.000,0.066,2133,3208,3086,0,0,0,0,0,0
$GC,5708,-0.73,-146.0,711.8,-11.1,495,5713,0.10,1.08,0.00,0.000,6,0.150,0.033,2164,2498,3086,0,0,0,0,0,0
$GC,6048,-0.73,-146.0,743.2,-9.0,506,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2498,3086,0,0,0,0,0,0
$GC,6354,-0.73,-146.0,771.2,-9.1,516,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2498,3086,0,0,0,0,0,0
$GC,6660,-0.73,-146.0,798.0,-8.6,526,6664,0.00,1.17,0.00,0.000,4,0.000,0.065,2162,3212,3086,0,0,0,0,0,0
$GC,6718,-0.73,-146.0,801.0,-8.8,527,6726,0.00,1.10,0.00,0.000,6,0.000,0.031,2162,2499,3087,0,0,0,0,0,0
$GC,7032,-0.73,-146.0,831.9,-9.3,538,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2499,3086,0,0,0,0,0,0
$GC,7338,-0.73,-146.0,859.9,-8.9,548,7342,0.00,1.17,0.00,0.000,4,0.000,0.064,2157,3212,3086,0,0,0,0,0,0
$GC,7405,-0.73,-146.0,866.0,-9.0,550,7408,0.00,1.08,0.00,0.000,6,0.000,0.031,2157,2501,3086,0,0,0,0,0,0
$GC,7744,-0.73,-146.0,896.9,-9.0,561,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2501,3086,0,0,0,0,0,0
$GC,8050,-0.73,-146.0,924.1,-9.1,571,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2501,3087,0,0,0,0,0,0
$GC,8359,-0.73,-146.0,952.1,-9.2,581,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2501,3086,0,0,0,0,0,0
$GC,8663,-0.73,-146.0,979.8,-8.9,591,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2501,3086,0,0,0,0,0,0
$STATE,8783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8783,begin apogee
$GC,8788,-0.16,0.0,990.6,-8.9,595,8921,0.57,0.00,124.93,1.531,6,0.130,0.000,2346,2199,2485,0,0,0,0,0,0
$STATE,8922,end apogee,CONTROL_FINISHED_OK
$STATE,8922,begin climb
$GC,8924,0.73,146.0,995.3,0.0,599,9067,0.82,1.25,135.18,1.472,4,0.065,0.050,2634,1507,1888,0,0,0,0,0,0
$GC,9252,0.73,146.0,968.6,12.5,609,9256,0.00,1.23,0.00,0.000,6,0.000,0.047,2634,2205,1881,0,0,0,0,0,0
$GC,9572,0.73,146.0,924.4,12.8,620,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2205,1879,0,0,0,0,0,0
$GC,9878,0.73,146.0,885.8,12.6,630,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2205,1877,0,0,0,0,0,0
$GC,10185,0.73,146.0,846.9,12.9,640,10188,0.00,1.15,0.00,0.000,4,0.000,0.057,2634,2908,1876,0,0,0,0,0,0
$GC,10288,0.73,146.0,833.9,12.9,643,10293,0.00,1.17,0.00,0.000,6,0.000,0.037,2639,2203,1875,0,0,0,0,0,0
$GC,10622,0.73,146.0,790.9,12.7,654,10623,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,1875,0,0,0,0,0,0
$GC,10929,0.73,146.0,751.4,13.0,664,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2204,1875,0,0,0,0,0,0
$GC,11235,0.73,146.0,712.1,13.1,674,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,1875,0,0,0,0,0,0
$GC,11541,0.73,146.0,672.5,12.9,684,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,1874,0,0,0,0,0,0
$GC,11847,0.73,146.0,633.5,12.7,694,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,1874,0,0,0,0,0,0
$GC,12155,0.73,146.0,595.7,12.2,704,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2203,1874,0,0,0,0,0,0
$GC,12459,0.73,146.0,557.1,12.6,714,12463,0.00,1.08,0.00,0.000,4,0.000,0.050,2644,1499,1874,0,0,0,0,0,0
$GC,12525,0.73,146.0,548.9,12.6,716,12529,0.00,1.15,0.00,0.000,6,0.000,0.048,2644,2206,1874,0,0,0,0,0,0
$GC,12865,0.73,146.0,505.0,13.2,727,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1874,0,0,0,0,0,0
$GC,13179,0.73,146.0,464.3,12.6,749,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1874,0,0,0,0,0,0
$GC,13494,0.73,146.0,423.9,12.8,774,13495,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1874,0,0,0,0,0,0
$GC,13811,0.73,146.0,384.6,12.4,799,13814,0.00,1.15,0.00,0.000,4,0.000,0.050,2649,1492,1874,0,0,0,0,0,0
$GC,13895,0.73,146.0,374.8,12.1,805,13903,0.00,1.17,0.00,0.000,6,0.000,0.048,2649,2208,1874,0,0,0,0,0,0
$GC,14218,0.73,146.0,334.4,12.3,831,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2208,1873,0,0,0,0,0,0
$GC,14534,0.73,146.0,297.3,11.4,856,14538,0.00,1.10,0.00,0.000,4,0.000,0.057,2649,2901,1874,0,0,0,0,0,0
$GC,14618,0.73,146.0,288.0,11.7,862,14626,0.00,1.15,0.00,0.000,6,0.000,0.037,2654,2194,1874,0,0,0,0,0,0
$GC,14943,0.73,146.0,253.0,10.1,888,14944,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,1874,0,0,0,0,0,0
$GC,15271,0.73,146.0,219.9,10.4,935,15278,0.00,1.05,0.00,0.000,4,0.000,0.052,2659,1498,1874,0,0,0,0,0,0
$GC,15391,0.73,146.0,207.7,10.5,953,15397,0.00,1.12,0.00,0.000,6,0.000,0.049,2659,2198,1874,0,0,0,0,0,0
$GC,15729,0.73,146.0,172.0,10.0,1004,15736,0.00,1.12,0.00,0.000,4,0.000,0.052,2663,1497,1874,0,0,0,0,0,0
$GC,15909,0.73,146.0,153.6,10.2,1031,15917,0.08,1.15,0.00,0.000,6,0.151,0.051,2640,2206,1874,0,0,0,0,0,0
$GC,16248,0.77,183.4,124.7,7.6,1082,16286,0.00,1.15,29.98,0.988,4,0.000,0.060,2639,2901,1736,0,0,0,0,0,0
$GC,16412,0.77,183.4,110.2,9.4,1107,16419,0.00,1.15,0.00,0.000,6,0.000,0.041,2643,2202,1734,0,0,0,0,0,0
$GC,16751,0.78,187.6,79.5,9.0,1158,16758,0.00,0.00,4.47,0.754,6,0.000,0.000,2642,2202,1720,0,0,0,0,0,0
$GC,17090,0.81,218.1,50.0,7.9,1209,17121,0.00,0.00,27.00,0.955,6,0.000,0.000,2643,2202,1593,0,0,0,0,0,0
$GC,17452,0.87,265.0,21.7,7.2,1264,17485,0.12,1.17,26.77,0.887,4,0.091,0.054,2697,1491,1402,0,0,0,0,0,0
$GC,17591,0.87,265.0,6.9,13.2,1285,17598,0.00,1.17,0.00,0.000,6,0.000,0.048,2697,2196,1397,0,0,0,0,0,0
$STATE,17636,end climb,SURFACE_DEPTH_REACHED
$STATE,17636,begin surface coast
$FINISH,1.9,1.003176
$STATE,17657,end surface coast,CONTROL_FINISHED_OK
$STATE,17657,begin surface
$SM_CCo,17674,15.52,0.086,0,0,1262,300.00
$SM_GC,3.50,7.03,0.55,15.52,0.046,0.059,0.086,122,2513,1262,-7.06,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,1172
$RAFOS,6,1319777346,4.833333,4.818333,123,55,54,0,0,0,679,174,208,0,0,0
$RAFOS,5,1319776863,4.700000,4.684166,91,61,60,0,0,0,766,201,215,0,0,0
$RAFOS,4,1319776392,4.566667,4.553333,155,64,61,0,0,0,489,217,197,0,0,0
$RAFOS,3,1319775907,4.433333,4.418611,90,65,62,0,0,0,707,226,169,0,0,0
$RAFOS,2,1319775427,4.300000,4.285278,72,57,54,0,0,0,679,208,121,0,0,0
$RAFOS,1,1319774964,4.166667,4.156667,91,65,61,0,0,0,553,194,204,0,0,0
$RAFOS,0,1319774467,4.033333,4.018611,65,61,55,0,0,0,213,140,174,0,0,0
$RAFOS,6,1319762943,0.833333,0.817500,112,55,53,0,0,0,688,200,223,0,0,0
$RAFOS,5,1319762465,0.700000,0.684722,99,68,60,0,0,0,753,178,203,0,0,0
$RAFOS,3,1319761501,0.433333,0.416944,59,56,55,0,0,0,120,188,201,0,0,0
$RAFOS_FIX,6649.948242,-5908.014648,281011,040438,6,104,0.24
$IRIDIUM_FIX,6620.33,-5906.86,271011,191935
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.56
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.30
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,952.1,99.2
$24V_AH,22.4,18.043
$10V_AH,10.2,14.429
$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,17.275,39.925,348.325,15.525,0.000,0.000,0.000,216.125,8.500,0.000,17.220,3201.899,11837.508,507.338,2303.463,233.483,33.244,1817.812,0.000,2063.867,3240.000,31.660,0.000
$DEVICE_MAMPS,259.335,100.980,1530.765,86.445,0.000,0.000,0.000,260.666,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.993,701.520,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150356
$DATA_FILE_SIZE,50043,1295
$CAP_FILE_SIZE,141568,0
$CFSIZE,260165632,238137344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.0
$GPS,281011,053324,6650.741,-5910.307,39,0.8,39,-33.8