version: 66.09
glider: 143
mission: 13
dive: 147
start: 10 29 111 1 56 9
data:
$ID,143
$MISSION,13
$DIVE,147
$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,2
$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,-80700.82
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,291011,015035,6651.318,-5921.596,33,0.8,33,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-71.4
$GPS2,291011,015536,6651.297,-5921.815,16,0.9,17,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.228,-0.110
$KALMAN_X,-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
$KALMAN_Y,5142783.5,-2598.4,-4936.8,2293075.0,39671.3
$MHEAD_RNG_PITCHd_Wd,300.3,48862,-16.9,-9.167
$D_GRID,982
$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,-25.85,0.000,2,0.000,0.000,121,2477,1612,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-2.1,4,160,8.50,1.25,-95.85,0.000,4,0.256,0.095,2158,3208,3081,0,0,0,0,0,0
$GC,413,-0.73,-146.0,54.6,-19.6,59,420,0.00,1.08,0.00,0.000,6,0.000,0.035,2157,2521,3083,0,0,0,0,0,0
$GC,752,-0.73,-146.0,106.7,-15.5,110,759,0.00,1.15,0.00,0.000,4,0.000,0.065,2153,3206,3084,0,0,0,0,0,0
$GC,799,-0.73,-146.0,114.1,-15.1,117,808,0.00,1.10,0.00,0.000,6,0.000,0.034,2153,2502,3084,0,0,0,0,0,0
$GC,1138,-0.73,-146.0,163.3,-14.4,168,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2502,3084,0,0,0,0,0,0
$GC,1477,-0.73,-146.0,209.2,-13.2,219,1483,0.00,1.17,0.00,0.000,4,0.000,0.066,2149,3206,3084,0,0,0,0,0,0
$GC,1543,-0.73,-146.0,218.3,-13.5,229,1552,0.00,1.08,0.00,0.000,6,0.000,0.034,2149,2512,3084,0,0,0,0,0,0
$GC,1879,-0.73,-146.0,261.6,-12.7,273,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2512,3084,0,0,0,0,0,0
$GC,2197,-0.73,-146.0,300.6,-11.5,298,2201,0.00,1.15,0.00,0.000,4,0.000,0.067,2144,3202,3083,0,0,0,0,0,0
$GC,2268,-0.73,-146.0,309.1,-12.5,303,2276,0.00,1.08,0.00,0.000,6,0.000,0.033,2144,2509,3083,0,0,0,0,0,0
$GC,2594,-0.73,-146.0,350.9,-12.9,329,2597,0.00,1.17,0.00,0.000,4,0.000,0.065,2139,3213,3083,0,0,0,0,0,0
$GC,2633,-0.73,-146.0,356.3,-12.9,332,2637,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2500,3083,0,0,0,0,0,0
$GC,2965,-0.73,-146.0,397.9,-12.0,358,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2500,3083,0,0,0,0,0,0
$GC,3277,-0.73,-146.0,434.1,-11.6,383,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2500,3083,0,0,0,0,0,0
$GC,3593,-0.73,-146.0,470.8,-11.6,408,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2500,3083,0,0,0,0,0,0
$GC,3908,-0.73,-146.0,507.5,-11.6,430,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2500,3084,0,0,0,0,0,0
$GC,4213,-0.73,-146.0,542.9,-11.6,440,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2500,3084,0,0,0,0,0,0
$GC,4522,-0.73,-146.0,578.1,-11.3,450,4525,0.00,1.17,0.00,0.000,4,0.000,0.065,2135,3209,3084,0,0,0,0,0,0
$GC,4546,-0.73,-146.0,578.1,-11.3,450,4555,0.12,1.10,0.00,0.000,6,0.171,0.032,2165,2499,3084,0,0,0,0,0,0
$GC,4862,-0.73,-146.0,611.9,-9.6,461,4865,0.00,1.17,0.00,0.000,4,0.000,0.065,2162,3207,3084,0,0,0,0,0,0
$GC,4899,-0.73,-146.0,615.3,-9.7,462,4904,0.00,1.08,0.00,0.000,6,0.000,0.031,2161,2510,3085,0,0,0,0,0,0
$GC,5233,-0.73,-146.0,647.4,-9.5,473,5237,0.00,1.15,0.00,0.000,4,0.000,0.065,2157,3207,3085,0,0,0,0,0,0
$GC,5251,-0.73,-146.0,647.4,-9.5,473,5255,0.00,1.08,0.00,0.000,6,0.000,0.031,2157,2509,3084,0,0,0,0,0,0
$GC,5572,-0.73,-146.0,679.3,-9.6,484,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2509,3085,0,0,0,0,0,0
$GC,5879,-0.73,-146.0,708.4,-9.7,494,5882,0.00,1.15,0.00,0.000,4,0.000,0.063,2153,3207,3085,0,0,0,0,0,0
$GC,5903,-0.73,-146.0,708.4,-9.7,494,5911,0.00,1.08,0.00,0.000,6,0.000,0.030,2152,2506,3085,0,0,0,0,0,0
$GC,6217,-0.73,-146.0,742.7,-10.0,505,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2506,3085,0,0,0,0,0,0
$GC,6523,-0.73,-146.0,772.6,-9.7,515,6527,0.00,1.15,0.00,0.000,4,0.000,0.064,2147,3207,3086,0,0,0,0,0,0
$GC,6557,-0.73,-146.0,776.0,-9.9,516,6561,0.00,1.05,0.00,0.000,6,0.000,0.031,2148,2512,3086,0,0,0,0,0,0
$GC,6897,-0.73,-146.0,811.2,-10.5,527,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2512,3086,0,0,0,0,0,0
$GC,7203,-0.73,-146.0,844.2,-10.9,537,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2512,3086,0,0,0,0,0,0
$GC,7512,-0.73,-146.0,875.4,-9.5,547,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2512,3086,0,0,0,0,0,0
$GC,7815,-0.73,-146.0,905.4,-10.2,557,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2512,3086,0,0,0,0,0,0
$GC,8121,-0.73,-146.0,936.2,-9.5,567,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2512,3086,0,0,0,0,0,0
$GC,8428,-0.73,-146.0,964.7,-9.5,577,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2512,3086,0,0,0,0,0,0
$STATE,8640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8640,begin apogee
$GC,8646,-0.16,0.0,984.7,-9.5,584,8777,0.60,0.00,124.80,1.525,6,0.136,0.000,2341,2195,2485,0,0,0,0,0,0
$STATE,8778,end apogee,CONTROL_FINISHED_OK
$STATE,8778,begin climb
$GC,8780,0.73,146.0,988.7,0.0,588,8924,0.85,1.25,135.20,1.467,4,0.066,0.050,2636,1503,1888,0,0,0,0,0,0
$GC,9174,0.73,146.0,953.2,12.8,600,9178,0.00,1.23,0.00,0.000,6,0.000,0.045,2636,2202,1879,0,0,0,0,0,0
$GC,9496,0.73,146.0,910.5,12.6,611,9499,0.00,1.17,0.00,0.000,4,0.000,0.056,2636,2905,1878,0,0,0,0,0,0
$GC,9613,0.73,146.0,897.3,13.0,614,9618,0.00,1.17,0.00,0.000,6,0.000,0.038,2641,2212,1877,0,0,0,0,0,0
$GC,9934,0.73,146.0,854.4,12.7,625,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2212,1877,0,0,0,0,0,0
$GC,10239,0.73,146.0,814.0,13.2,635,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2212,1875,0,0,0,0,0,0
$GC,10546,0.73,146.0,774.6,13.1,645,10549,0.00,1.17,0.00,0.000,4,0.000,0.054,2641,2901,1875,0,0,0,0,0,0
$GC,10612,0.73,146.0,765.4,13.6,647,10615,0.00,1.15,0.00,0.000,6,0.000,0.037,2646,2195,1875,0,0,0,0,0,0
$GC,10952,0.73,146.0,719.0,13.6,658,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2195,1874,0,0,0,0,0,0
$GC,11257,0.73,146.0,677.4,13.6,668,11261,0.00,1.20,0.00,0.000,4,0.000,0.054,2646,2904,1874,0,0,0,0,0,0
$GC,11315,0.73,146.0,672.8,13.7,669,11325,0.00,1.17,0.00,0.000,6,0.000,0.038,2650,2191,1874,0,0,0,0,0,0
$GC,11629,0.73,146.0,625.9,13.5,680,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1874,0,0,0,0,0,0
$GC,11937,0.73,146.0,585.6,13.0,690,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2191,1873,0,0,0,0,0,0
$GC,12242,0.73,146.0,544.9,13.2,700,12245,0.00,1.20,0.00,0.000,4,0.000,0.054,2650,2905,1873,0,0,0,0,0,0
$GC,12319,0.73,146.0,535.9,13.4,702,12324,0.00,1.17,0.00,0.000,6,0.000,0.038,2655,2188,1873,0,0,0,0,0,0
$GC,12636,0.73,146.0,493.5,12.4,715,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2188,1873,0,0,0,0,0,0
$GC,12952,0.73,146.0,454.0,12.5,740,12956,0.00,1.20,0.00,0.000,4,0.000,0.054,2655,2904,1873,0,0,0,0,0,0
$GC,13049,0.73,146.0,442.0,12.9,747,13057,0.00,1.15,0.00,0.000,6,0.000,0.037,2660,2198,1873,0,0,0,0,0,0
$GC,13374,0.73,146.0,399.6,13.1,773,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,1873,0,0,0,0,0,0
$GC,13689,0.73,146.0,359.2,12.3,798,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,1873,0,0,0,0,0,0
$GC,14005,0.73,146.0,322.3,11.2,823,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,1873,0,0,0,0,0,0
$GC,14319,0.73,146.0,287.1,11.2,848,14323,0.00,1.17,0.00,0.000,4,0.000,0.054,2660,2898,1873,0,0,0,0,0,0
$GC,14470,0.73,146.0,270.3,11.7,859,14478,0.12,1.15,0.00,0.000,6,0.175,0.037,2635,2192,1873,0,0,0,0,0,0
$GC,14799,0.73,146.0,237.2,9.9,894,14805,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2192,1873,0,0,0,0,0,0
$GC,15137,0.73,146.0,200.6,11.0,945,15146,0.00,1.05,0.00,0.000,4,0.000,0.050,2639,1497,1873,0,0,0,0,0,0
$GC,15219,0.73,146.0,192.1,10.4,957,15228,0.00,1.12,0.00,0.000,6,0.000,0.047,2638,2199,1873,0,0,0,0,0,0
$GC,15560,0.75,164.4,161.0,8.4,1008,15582,0.00,1.15,14.18,0.971,4,0.000,0.056,2638,2909,1814,0,0,0,0,0,0
$GC,15649,0.75,164.4,153.0,9.5,1021,15658,0.00,1.15,0.00,0.000,6,0.000,0.037,2644,2197,1814,0,0,0,0,0,0
$GC,15988,0.75,164.4,122.0,9.3,1072,15994,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2197,1813,0,0,0,0,0,0
$GC,16324,0.79,200.0,91.5,7.7,1123,16364,0.00,1.23,31.35,0.977,4,0.000,0.054,2643,2897,1668,0,0,0,0,0,0
$GC,16583,0.79,200.0,66.4,9.7,1162,16590,0.00,1.15,0.00,0.000,6,0.000,0.038,2648,2196,1665,0,0,0,0,0,0
$GC,16921,0.89,283.2,37.2,5.7,1213,16997,0.12,1.17,69.85,0.937,4,0.093,0.052,2702,1495,1330,0,0,0,0,0,0
$GC,17082,0.89,283.2,20.1,12.4,1237,17091,0.00,1.17,0.00,0.000,6,0.000,0.047,2702,2193,1324,0,0,0,0,0,0
$STATE,17223,end climb,SURFACE_DEPTH_REACHED
$STATE,17223,begin surface coast
$FINISH,1.8,1.005316
$STATE,17236,end surface coast,CONTROL_FINISHED_OK
$STATE,17236,begin surface
$SM_CCo,17254,6.40,0.086,0,0,1261,300.00
$SM_GC,3.57,7.10,0.55,6.40,0.047,0.060,0.086,123,2514,1261,-7.07,-0.76,300.00,0,0,0,0,0,0
$RAFOS_CLK,1140
$RAFOS,6,1319863759,4.833333,4.821944,73,66,60,0,0,0,611,219,177,0,0,0
$RAFOS,5,1319863269,4.700000,4.685833,99,61,60,0,0,0,764,146,205,0,0,0
$RAFOS,4,1319862800,4.566667,4.555555,107,70,57,0,0,0,486,205,184,0,0,0
$RAFOS,3,1319862303,4.433333,4.417500,82,60,60,0,0,0,755,221,134,0,0,0
$RAFOS,2,1319861825,4.300000,4.284722,65,61,59,0,0,0,197,209,142,0,0,0
$RAFOS,1,1319861366,4.166667,4.157222,75,57,54,0,0,0,512,188,219,0,0,0
$RAFOS,0,1319860876,4.033333,4.021111,58,55,55,0,0,0,198,171,215,0,0,0
$RAFOS_FIX,6651.603516,-5919.642090,291011,040455,5,87,0.18
$IRIDIUM_FIX,6625.71,-5916.25,281011,202023
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,902.2,116.7
$24V_AH,22.4,18.711
$10V_AH,10.3,14.900
$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,17.425,49.300,375.375,6.400,0.000,0.000,0.000,186.200,7.500,0.000,18.476,3495.134,11040.675,551.463,2262.380,228.930,0.000,1836.245,0.000,2047.837,2520.000,26.937,0.000
$DEVICE_MAMPS,255.510,94.860,1524.645,86.445,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.729,677.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150252
$DATA_FILE_SIZE,46688,1260
$CAP_FILE_SIZE,141104,0
$CFSIZE,260165632,237780992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.8
$CURRENT,0.214, 47.7,1
$GPS,291011,064529,6652.668,-5925.864,37,0.9,37,-33.9