version: 66.09
glider: 143
mission: 13
dive: 151
start: 10 29 111 21 47 2
data:
$ID,143
$MISSION,13
$DIVE,151
$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,-80705.875
$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,22
$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
$GPS1,291011,214129,6650.362,-5933.637,37,0.9,38,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-70.8
$GPS2,291011,214630,6650.272,-5933.470,19,1.1,20,-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,332.1,40146,-16.9,-9.167
$D_GRID,923
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,38,0.00,0.00,-19.42,0.000,2,0.000,0.000,119,2518,1523,0,0,0,0,0,0
$GC,41,-0.73,-146.0,3.1,-2.5,3,169,8.45,1.10,-110.47,0.000,4,0.251,0.096,2159,3218,3081,0,0,0,0,0,0
$GC,184,-0.73,-146.0,10.2,-17.2,24,190,0.00,1.12,0.00,0.000,6,0.000,0.038,2159,2511,3082,0,0,0,0,0,0
$GC,522,-0.73,-146.0,67.7,-15.4,75,531,0.00,1.17,0.00,0.000,4,0.000,0.067,2154,3210,3084,0,0,0,0,0,0
$GC,538,-0.73,-146.0,70.1,-14.9,77,545,0.00,1.10,0.00,0.000,6,0.000,0.036,2154,2508,3083,0,0,0,0,0,0
$GC,877,-0.73,-146.0,120.9,-14.5,128,884,0.00,1.10,0.00,0.000,4,0.000,0.047,2154,1813,3083,0,0,0,0,0,0
$GC,990,-0.73,-146.0,137.2,-13.8,145,997,0.00,1.20,0.00,0.000,6,0.000,0.059,2149,2508,3083,0,0,0,0,0,0
$GC,1330,-0.73,-146.0,185.5,-13.7,196,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2508,3084,0,0,0,0,0,0
$GC,1667,-0.73,-146.0,231.4,-13.2,247,1676,0.00,1.15,0.00,0.000,4,0.000,0.045,2149,1811,3083,0,0,0,0,0,0
$GC,1696,-0.73,-146.0,235.1,-13.1,251,1706,0.00,1.20,0.00,0.000,6,0.000,0.057,2145,2512,3083,0,0,0,0,0,0
$GC,2026,-0.73,-146.0,278.3,-13.1,285,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2512,3083,0,0,0,0,0,0
$GC,2342,-0.73,-146.0,318.7,-12.2,310,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2512,3083,0,0,0,0,0,0
$GC,2658,-0.73,-146.0,356.3,-11.6,335,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2512,3083,0,0,0,0,0,0
$GC,2975,-0.73,-146.0,392.8,-11.6,360,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2512,3083,0,0,0,0,0,0
$GC,3290,-0.73,-146.0,427.8,-10.9,385,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2512,3083,0,0,0,0,0,0
$GC,3606,-0.73,-146.0,461.1,-10.4,410,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2513,3083,0,0,0,0,0,0
$GC,3921,-0.73,-146.0,493.3,-10.1,435,3925,0.00,1.12,0.00,0.000,4,0.000,0.070,2139,3222,3083,0,0,0,0,0,0
$GC,3935,-0.73,-146.0,494.8,-10.2,436,3939,0.00,1.10,0.00,0.000,6,0.000,0.035,2139,2509,3083,0,0,0,0,0,0
$GC,4262,-0.73,-146.0,529.2,-10.5,449,4266,0.00,1.17,0.00,0.000,4,0.000,0.065,2135,3219,3083,0,0,0,0,0,0
$GC,4273,-0.73,-146.0,529.2,-10.5,449,4279,0.12,1.12,0.00,0.000,6,0.172,0.033,2164,2497,3083,0,0,0,0,0,0
$GC,4602,-0.73,-146.0,560.9,-9.5,460,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2497,3084,0,0,0,0,0,0
$GC,4907,-0.73,-146.0,590.3,-9.7,470,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2497,3084,0,0,0,0,0,0
$GC,5214,-0.73,-146.0,619.6,-9.5,480,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2497,3084,0,0,0,0,0,0
$GC,5519,-0.73,-146.0,648.4,-9.4,490,5523,0.00,1.05,0.00,0.000,4,0.000,0.045,2165,1816,3084,0,0,0,0,0,0
$GC,5531,-0.73,-146.0,648.4,-9.4,490,5536,0.00,1.20,0.00,0.000,6,0.000,0.054,2162,2516,3085,0,0,0,0,0,0
$GC,5858,-0.73,-146.0,679.7,-9.1,501,5862,0.00,1.12,0.00,0.000,4,0.000,0.043,2162,1821,3085,0,0,0,0,0,0
$GC,5909,-0.73,-146.0,682.8,-9.1,502,5914,0.00,1.20,0.00,0.000,6,0.000,0.054,2157,2521,3085,0,0,0,0,0,0
$GC,6230,-0.73,-146.0,714.3,-9.3,513,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2521,3085,0,0,0,0,0,0
$GC,6536,-0.73,-146.0,743.9,-9.7,523,6540,0.00,1.10,0.00,0.000,4,0.000,0.069,2152,3218,3085,0,0,0,0,0,0
$GC,6547,-0.73,-146.0,743.9,-9.7,523,6552,0.00,1.10,0.00,0.000,6,0.000,0.031,2152,2505,3085,0,0,0,0,0,0
$GC,6875,-0.73,-146.0,777.1,-9.7,534,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3085,0,0,0,0,0,0
$GC,7183,-0.73,-146.0,806.6,-9.7,544,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3085,0,0,0,0,0,0
$GC,7487,-0.73,-146.0,837.1,-9.9,554,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3085,0,0,0,0,0,0
$GC,7795,-0.73,-146.0,867.1,-9.3,564,7799,0.00,1.17,0.00,0.000,4,0.000,0.066,2147,3216,3086,0,0,0,0,0,0
$GC,7814,-0.73,-146.0,867.1,-9.3,564,7818,0.00,1.08,0.00,0.000,6,0.000,0.031,2147,2505,3086,0,0,0,0,0,0
$GC,8136,-0.73,-146.0,902.8,-11.4,575,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2505,3086,0,0,0,0,0,0
$STATE,8346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8346,begin apogee
$GC,8352,-0.16,0.0,923.8,-9.7,582,8481,0.60,0.00,123.32,1.483,6,0.129,0.000,2344,2201,2485,0,0,0,0,0,0
$STATE,8482,end apogee,CONTROL_FINISHED_OK
$STATE,8482,begin climb
$GC,8484,0.73,146.0,929.5,0.0,586,8625,0.82,1.25,133.27,1.426,4,0.063,0.051,2635,1507,1889,0,0,0,0,0,0
$GC,8875,0.73,146.0,893.2,12.0,597,8880,0.00,1.23,0.00,0.000,6,0.000,0.047,2635,2203,1881,0,0,0,0,0,0
$GC,9198,0.73,146.0,849.3,12.7,608,9201,0.00,1.17,0.00,0.000,4,0.000,0.057,2635,2906,1879,0,0,0,0,0,0
$GC,9308,0.73,146.0,835.4,13.5,611,9313,0.00,1.17,0.00,0.000,6,0.000,0.037,2639,2211,1877,0,0,0,0,0,0
$GC,9636,0.73,146.0,788.4,13.2,622,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2211,1877,0,0,0,0,0,0
$GC,9943,0.73,146.0,748.1,13.1,632,9947,0.00,1.20,0.00,0.000,4,0.000,0.054,2640,2909,1876,0,0,0,0,0,0
$GC,10034,0.73,146.0,738.7,13.5,634,10042,0.00,1.20,0.00,0.000,6,0.000,0.039,2644,2190,1876,0,0,0,0,0,0
$GC,10349,0.73,146.0,694.4,12.8,645,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2190,1875,0,0,0,0,0,0
$GC,10654,0.73,146.0,655.1,12.9,655,10658,0.00,1.23,0.00,0.000,4,0.000,0.056,2644,2911,1875,0,0,0,0,0,0
$GC,10731,0.73,146.0,646.3,13.0,657,10736,0.00,1.17,0.00,0.000,6,0.000,0.039,2649,2199,1875,0,0,0,0,0,0
$GC,11060,0.73,146.0,602.5,13.1,668,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,1875,0,0,0,0,0,0
$GC,11365,0.73,146.0,564.6,11.2,678,11368,0.00,1.20,0.00,0.000,4,0.000,0.055,2648,2907,1875,0,0,0,0,0,0
$GC,11550,0.73,146.0,542.7,13.4,683,11553,0.00,1.15,0.00,0.000,6,0.000,0.039,2654,2198,1875,0,0,0,0,0,0
$GC,11869,0.73,146.0,499.9,12.3,694,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2198,1875,0,0,0,0,0,0
$GC,12185,0.73,146.0,462.3,11.8,719,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2198,1875,0,0,0,0,0,0
$GC,12502,0.73,146.0,425.5,11.6,744,12506,0.00,1.20,0.00,0.000,4,0.000,0.055,2653,2909,1874,0,0,0,0,0,0
$GC,12556,0.73,146.0,418.9,12.2,748,12560,0.00,1.15,0.00,0.000,6,0.000,0.039,2659,2196,1874,0,0,0,0,0,0
$GC,12887,0.73,146.0,379.0,12.5,774,12890,0.00,1.08,0.00,0.000,4,0.000,0.051,2664,1493,1874,0,0,0,0,0,0
$GC,13034,0.73,146.0,360.4,12.6,785,13038,0.08,1.15,0.00,0.000,6,0.158,0.048,2642,2203,1874,0,0,0,0,0,0
$GC,13362,0.73,146.0,323.2,10.9,811,13366,0.00,1.12,0.00,0.000,4,0.000,0.057,2641,2908,1874,0,0,0,0,0,0
$GC,13507,0.73,146.0,307.1,10.9,822,13512,0.00,1.15,0.00,0.000,6,0.000,0.038,2645,2192,1874,0,0,0,0,0,0
$GC,13839,0.73,146.0,272.9,10.1,848,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2192,1874,0,0,0,0,0,0
$GC,14156,0.73,146.0,240.7,10.3,879,14165,0.00,1.20,0.00,0.000,4,0.000,0.054,2645,2908,1874,0,0,0,0,0,0
$GC,14356,0.73,146.0,219.6,10.5,909,14363,0.00,1.12,0.00,0.000,6,0.000,0.038,2649,2202,1874,0,0,0,0,0,0
$GC,14696,0.73,146.0,187.6,9.4,960,14702,0.00,1.17,0.00,0.000,4,0.000,0.054,2649,2902,1874,0,0,0,0,0,0
$GC,14808,0.73,148.9,177.3,9.0,977,14815,0.00,1.12,0.00,0.000,6,0.000,0.039,2654,2200,1874,0,0,0,0,0,0
$GC,15147,0.73,151.5,148.5,9.1,1028,15154,0.00,1.05,0.00,0.000,4,0.000,0.050,2659,1496,1874,0,0,0,0,0,0
$GC,15353,0.75,163.2,130.7,8.7,1059,15375,0.00,1.15,13.48,0.961,6,0.000,0.048,2659,2209,1818,0,0,0,0,0,0
$GC,15706,0.78,194.1,100.0,7.9,1112,15740,0.00,0.00,27.15,0.978,6,0.000,0.000,2659,2209,1693,0,0,0,0,0,0
$GC,16070,0.78,194.1,68.4,9.2,1167,16079,0.00,1.12,0.00,0.000,4,0.000,0.057,2659,2906,1689,0,0,0,0,0,0
$GC,16285,0.78,194.1,47.7,9.5,1199,16294,0.00,1.15,0.00,0.000,6,0.000,0.040,2663,2202,1687,0,0,0,0,0,0
$GC,16625,0.95,331.1,27.9,3.4,1250,16721,0.12,1.25,84.68,0.911,4,0.096,0.054,2714,2895,1131,0,0,0,0,0,0
$GC,16809,0.95,331.1,6.5,15.7,1277,16816,0.00,1.17,0.00,0.000,6,0.000,0.039,2719,2201,1125,0,0,0,0,0,0
$STATE,16847,end climb,SURFACE_DEPTH_REACHED
$STATE,16847,begin surface coast
$FINISH,1.9,1.025328
$STATE,16868,end surface coast,CONTROL_FINISHED_OK
$STATE,16868,begin surface
$SM_CCo,16946,0.00,0.000,0,0,1119,335.08
$SM_GC,2.83,7.18,0.60,0.00,0.047,0.055,0.000,116,2517,1119,-7.07,-0.74,335.08,0,0,0,0,0,0
$RAFOS_CLK,1114
$RAFOS,6,1319935756,0.833333,0.821111,115,58,56,0,0,0,648,162,208,0,0,0
$RAFOS,5,1319935290,0.700000,0.691667,89,67,63,0,0,0,682,187,222,0,0,0
$RAFOS,4,1319934782,0.566667,0.550556,75,65,58,0,0,0,610,170,215,0,0,0
$RAFOS,3,1319934302,0.433333,0.417222,72,61,60,0,0,0,761,220,164,0,0,0
$RAFOS,2,1319933832,0.300000,0.286667,63,62,53,0,0,0,205,157,174,0,0,0
$RAFOS,1,1319933346,0.166667,0.151667,62,58,54,0,0,0,203,170,189,0,0,0
$RAFOS,0,1319932861,0.033333,0.016944,63,57,55,0,0,0,153,182,193,0,0,0
$RAFOS_FIX,6650.626953,-5926.907227,301011,000056,4,88,0.47
$IRIDIUM_FIX,6625.71,-5935.13,291011,161623
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.40
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.10
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,902.8,54.7
$24V_AH,22.4,19.257
$10V_AH,10.3,15.280
$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,17.375,54.100,381.900,0.000,0.000,0.000,0.000,184.950,7.750,0.000,21.001,3543.936,10617.652,544.498,2322.593,231.920,0.000,1859.202,0.000,2103.795,2520.000,29.724,0.000
$DEVICE_MAMPS,250.920,95.625,1482.570,0.000,0.000,0.000,0.000,258.419,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.919,696.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,49986,1286
$CAP_FILE_SIZE,143985,0
$CFSIZE,260165632,237486080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.0
$CURRENT,0.157, 83.9,1
$GPS,301011,023106,6651.833,-5936.084,39,1.0,39,-33.9