version: 66.09
glider: 143
mission: 13
dive: 148
start: 10 29 111 6 54 8
data:
$ID,143
$MISSION,13
$DIVE,148
$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,-80702.086
$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,26
$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
$GPS1,291011,064529,6652.668,-5925.864,37,0.9,37,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-70.6
$GPS2,291011,065337,6652.687,-5925.749,17,0.9,18,-33.9
$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,265.1,46921,-16.9,-9.167
$D_GRID,983
$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,-31.83,0.000,2,0.000,0.000,122,2517,1692,0,0,0,0,0,0
$GC,53,-0.73,-146.0,3.1,-1.6,5,162,8.57,1.15,-91.32,0.000,4,0.260,0.099,2154,3214,3082,0,0,0,0,0,0
$GC,362,-0.73,-146.0,44.8,-15.5,51,371,0.00,1.12,0.00,0.000,6,0.000,0.035,2154,2498,3085,0,0,0,0,0,0
$GC,702,-0.73,-146.0,93.6,-14.2,102,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2498,3085,0,0,0,0,0,0
$GC,1037,-0.73,-146.0,140.9,-15.2,153,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2498,3085,0,0,0,0,0,0
$GC,1376,-0.73,-146.0,188.7,-13.8,204,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2498,3085,0,0,0,0,0,0
$GC,1713,-0.73,-146.0,234.0,-12.8,255,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2498,3084,0,0,0,0,0,0
$GC,2041,-0.73,-146.0,276.4,-12.5,290,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2498,3084,0,0,0,0,0,0
$GC,2357,-0.73,-146.0,315.1,-12.1,315,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2498,3084,0,0,0,0,0,0
$GC,2675,-0.73,-146.0,351.2,-10.7,340,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2498,3084,0,0,0,0,0,0
$GC,2990,-0.73,-146.0,383.2,-10.0,365,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2498,3084,0,0,0,0,0,0
$GC,3305,-0.73,-146.0,415.8,-10.6,390,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2498,3084,0,0,0,0,0,0
$GC,3622,-0.73,-146.0,450.7,-11.3,415,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2498,3084,0,0,0,0,0,0
$GC,3938,-0.73,-146.0,486.7,-11.6,440,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2498,3084,0,0,0,0,0,0
$GC,4246,-0.73,-146.0,520.7,-10.6,456,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2498,3085,0,0,0,0,0,0
$GC,4554,-0.73,-146.0,551.4,-9.7,466,4557,0.00,1.17,0.00,0.000,4,0.000,0.065,2150,3209,3085,0,0,0,0,0,0
$GC,4631,-0.73,-146.0,558.2,-9.8,468,4636,0.00,1.10,0.00,0.000,6,0.000,0.031,2150,2501,3085,0,0,0,0,0,0
$GC,4959,-0.73,-146.0,590.5,-9.4,479,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3085,0,0,0,0,0,0
$GC,5265,-0.73,-146.0,618.5,-9.0,489,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2500,3085,0,0,0,0,0,0
$GC,5571,-0.73,-146.0,646.3,-9.2,499,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3086,0,0,0,0,0,0
$GC,5877,-0.73,-146.0,675.5,-9.6,509,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3086,0,0,0,0,0,0
$GC,6183,-0.73,-146.0,706.5,-10.2,519,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3086,0,0,0,0,0,0
$GC,6489,-0.73,-146.0,736.6,-9.6,529,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3086,0,0,0,0,0,0
$GC,6797,-0.73,-146.0,766.4,-9.6,539,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3087,0,0,0,0,0,0
$GC,7102,-0.73,-146.0,795.5,-9.2,549,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3087,0,0,0,0,0,0
$GC,7408,-0.73,-146.0,824.3,-9.4,559,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3087,0,0,0,0,0,0
$GC,7717,-0.73,-146.0,852.6,-9.3,569,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3087,0,0,0,0,0,0
$GC,8021,-0.73,-146.0,881.4,-9.5,579,8024,0.00,1.17,0.00,0.000,4,0.000,0.065,2146,3211,3087,0,0,0,0,0,0
$GC,8131,-0.73,-146.0,891.3,-10.0,582,8136,0.00,1.10,0.00,0.000,6,0.000,0.031,2145,2502,3087,0,0,0,0,0,0
$GC,8459,-0.73,-146.0,926.3,-10.3,593,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2502,3087,0,0,0,0,0,0
$GC,8765,-0.73,-146.0,957.4,-10.5,603,8769,0.00,1.17,0.00,0.000,4,0.000,0.066,2140,3213,3087,0,0,0,0,0,0
$GC,8856,-0.73,-146.0,965.2,-11.2,605,8864,0.00,1.10,0.00,0.000,6,0.000,0.031,2141,2501,3087,0,0,0,0,0,0
$STATE,8953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8953,begin apogee
$GC,8960,-0.16,0.0,978.5,-10.7,609,9090,0.62,0.00,124.85,1.520,6,0.129,0.000,2346,2179,2485,0,0,0,0,0,0
$STATE,9091,end apogee,CONTROL_FINISHED_OK
$STATE,9091,begin climb
$GC,9093,0.73,146.0,982.1,0.0,613,9238,0.82,1.20,135.15,1.461,4,0.064,0.049,2635,1513,1889,0,0,0,0,0,0
$GC,9423,0.73,146.0,953.7,13.5,623,9427,0.00,1.20,0.00,0.000,6,0.000,0.046,2635,2202,1881,0,0,0,0,0,0
$GC,9743,0.73,146.0,907.0,14.0,634,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2202,1879,0,0,0,0,0,0
$GC,10051,0.73,146.0,870.3,12.6,644,10054,0.00,1.15,0.00,0.000,4,0.000,0.055,2635,2901,1877,0,0,0,0,0,0
$GC,10187,0.73,146.0,853.1,12.9,648,10192,0.00,1.15,0.00,0.000,6,0.000,0.037,2639,2212,1877,0,0,0,0,0,0
$GC,10522,0.73,146.0,810.6,12.5,659,10526,0.00,1.20,0.00,0.000,4,0.000,0.054,2640,2913,1876,0,0,0,0,0,0
$GC,10612,0.73,146.0,802.2,12.6,661,10620,0.00,1.17,0.00,0.000,6,0.000,0.037,2644,2201,1876,0,0,0,0,0,0
$GC,10928,0.73,146.0,759.2,12.8,672,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,1875,0,0,0,0,0,0
$GC,11233,0.73,146.0,720.9,12.4,682,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2201,1875,0,0,0,0,0,0
$GC,11540,0.73,146.0,684.1,11.9,692,11544,0.00,1.20,0.00,0.000,4,0.000,0.054,2645,2909,1875,0,0,0,0,0,0
$GC,11639,0.73,146.0,672.0,12.0,695,11643,0.00,1.15,0.00,0.000,6,0.000,0.038,2650,2198,1874,0,0,0,0,0,0
$GC,11979,0.73,146.0,632.3,11.7,706,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,1874,0,0,0,0,0,0
$GC,12286,0.73,146.0,595.6,12.1,716,12290,0.00,1.20,0.00,0.000,4,0.000,0.054,2649,2910,1874,0,0,0,0,0,0
$GC,12353,0.73,146.0,587.2,12.4,718,12357,0.00,1.15,0.00,0.000,6,0.000,0.038,2654,2196,1874,0,0,0,0,0,0
$GC,12693,0.73,146.0,545.0,12.3,729,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2196,1874,0,0,0,0,0,0
$GC,12998,0.73,146.0,507.3,12.3,739,13000,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2196,1874,0,0,0,0,0,0
$GC,13314,0.73,146.0,467.9,12.6,761,13318,0.00,1.20,0.00,0.000,4,0.000,0.055,2654,2910,1874,0,0,0,0,0,0
$GC,13424,0.73,146.0,453.9,13.0,769,13432,0.00,1.17,0.00,0.000,6,0.000,0.037,2659,2188,1874,0,0,0,0,0,0
$GC,13750,0.73,146.0,412.1,12.7,795,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2188,1873,0,0,0,0,0,0
$GC,14065,0.73,146.0,372.0,12.9,820,14068,0.00,1.20,0.00,0.000,4,0.000,0.053,2659,2906,1874,0,0,0,0,0,0
$GC,14196,0.73,146.0,354.7,12.8,830,14201,0.08,1.12,0.00,0.000,6,0.159,0.037,2640,2201,1874,0,0,0,0,0,0
$GC,14526,0.73,146.0,316.1,11.1,856,14527,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2201,1874,0,0,0,0,0,0
$GC,14841,0.73,146.0,282.1,10.4,881,14845,0.00,1.17,0.00,0.000,4,0.000,0.055,2639,2902,1874,0,0,0,0,0,0
$GC,15005,0.73,146.0,265.3,10.6,893,15012,0.00,1.12,0.00,0.000,6,0.000,0.038,2643,2199,1874,0,0,0,0,0,0
$GC,15336,0.73,150.3,233.8,9.0,932,15342,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2200,1874,0,0,0,0,0,0
$GC,15673,0.73,150.3,203.1,9.4,983,15682,0.00,1.17,0.00,0.000,4,0.000,0.054,2643,2906,1874,0,0,0,0,0,0
$GC,15933,0.73,150.3,177.8,9.8,1022,15940,0.00,1.12,0.00,0.000,6,0.000,0.037,2647,2199,1874,0,0,0,0,0,0
$GC,16272,0.75,162.5,147.9,8.7,1073,16293,0.00,1.17,12.73,0.963,4,0.000,0.052,2647,2911,1821,0,0,0,0,0,0
$GC,16366,0.76,172.9,139.7,8.7,1087,16383,0.00,1.15,10.32,0.944,6,0.000,0.037,2652,2197,1780,0,0,0,0,0,0
$GC,16713,0.78,189.5,108.8,8.5,1139,16734,0.00,0.00,15.75,0.964,6,0.000,0.000,2652,2197,1711,0,0,0,0,0,0
$GC,17067,0.78,189.5,75.2,9.8,1192,17074,0.00,1.20,0.00,0.000,4,0.000,0.054,2652,2906,1708,0,0,0,0,0,0
$GC,17325,0.78,189.5,49.7,10.0,1231,17334,0.00,1.15,0.00,0.000,6,0.000,0.037,2657,2198,1707,0,0,0,0,0,0
$GC,17664,0.93,312.5,29.0,4.0,1282,17752,0.12,1.10,79.15,0.922,4,0.095,0.050,2710,1496,1209,0,0,0,0,0,0
$GC,17807,0.93,312.5,16.1,10.9,1303,17816,0.00,1.20,0.00,0.000,6,0.000,0.047,2709,2202,1204,0,0,0,0,0,0
$STATE,17921,end climb,SURFACE_DEPTH_REACHED
$STATE,17921,begin surface coast
$FINISH,1.8,1.025514
$STATE,17936,end surface coast,CONTROL_FINISHED_OK
$STATE,17936,begin surface
$SM_CCo,18013,0.00,0.000,0,0,1197,315.70
$SM_GC,2.89,7.12,0.52,0.00,0.045,0.056,0.000,118,2514,1197,-7.08,-0.85,315.70,0,0,0,0,0,0
$RAFOS_CLK,1185
$RAFOS,6,1319878164,8.833333,8.823334,115,63,60,0,0,0,609,211,184,0,0,0
$RAFOS,5,1319877674,8.700000,8.687222,75,66,58,0,0,0,756,181,222,0,0,0
$RAFOS,4,1319877184,8.566667,8.551111,99,66,56,0,0,0,583,191,201,0,0,0
$RAFOS,3,1319876724,8.433333,8.423333,71,59,59,0,0,0,216,169,626,0,0,0
$RAFOS,2,1319876235,8.300000,8.287500,67,60,57,0,0,0,619,124,190,0,0,0
$RAFOS,1,1319875766,8.166667,8.157222,97,64,60,0,0,0,497,164,223,0,0,0
$RAFOS,0,1319875269,8.033334,8.019167,71,64,64,0,0,0,722,219,192,0,0,0
$RAFOS_FIX,6650.264160,-5925.883301,291011,080822,6,87,0.80
$IRIDIUM_FIX,6625.71,-5916.25,291011,060618
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.24
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,852.6,138.7
$24V_AH,22.4,18.852
$10V_AH,10.2,15.002
$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,17.350,38.150,377.950,0.000,0.000,0.000,0.000,313.775,9.750,0.000,19.412,3653.271,11610.819,526.359,2491.419,240.325,0.000,1972.889,0.000,2161.769,2520.000,25.230,0.000
$DEVICE_MAMPS,260.100,98.685,1520.055,0.000,0.000,0.000,0.000,250.929,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.782,714.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150344
$DATA_FILE_SIZE,50016,1322
$CAP_FILE_SIZE,143464,0
$CFSIZE,260165632,237703168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.7
$CURRENT,0.105,114.1,1
$GPS,291011,115605,6650.250,-5929.553,37,0.9,37,-33.9