version: 66.09
glider: 143
mission: 13
dive: 153
start: 10 30 111 7 19 51
data:
$ID,143
$MISSION,13
$DIVE,153
$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,-80708.391
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,301011,071405,6652.598,-5941.377,32,0.8,33,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-70.9
$GPS2,301011,071918,6652.582,-5941.292,15,1.6,16,-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,260.1,36364,-16.9,-9.167
$D_GRID,926
$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,-146.0,0.0,0.0,0,38,0.00,0.00,-20.00,0.000,2,0.000,0.000,115,2508,1488,0,0,0,0,0,0
$GC,41,-0.73,-146.0,3.1,-1.9,3,153,8.65,1.12,-95.65,0.000,4,0.261,0.095,2155,3218,3079,0,0,0,0,0,0
$GC,408,-0.73,-146.0,55.1,-16.0,58,414,0.00,1.12,0.00,0.000,6,0.000,0.037,2155,2508,3080,0,0,0,0,0,0
$GC,745,-0.73,-146.0,103.4,-14.4,109,754,0.00,1.20,0.00,0.000,4,0.000,0.067,2151,3218,3081,0,0,0,0,0,0
$GC,808,-0.73,-146.0,112.8,-14.9,118,815,0.00,1.12,0.00,0.000,6,0.000,0.037,2151,2505,3080,0,0,0,0,0,0
$GC,1144,-0.73,-146.0,162.3,-13.2,169,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2505,3081,0,0,0,0,0,0
$GC,1483,-0.73,-146.0,205.8,-13.4,220,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2505,3081,0,0,0,0,0,0
$GC,1819,-0.73,-146.0,250.0,-12.2,271,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2505,3080,0,0,0,0,0,0
$GC,2141,-0.73,-146.0,288.1,-11.5,297,2145,0.00,1.08,0.00,0.000,4,0.000,0.047,2151,1817,3080,0,0,0,0,0,0
$GC,2199,-0.73,-146.0,294.2,-11.5,301,2209,0.00,1.23,0.00,0.000,6,0.000,0.057,2146,2522,3080,0,0,0,0,0,0
$GC,2524,-0.73,-146.0,332.9,-12.0,327,2527,0.00,1.10,0.00,0.000,4,0.000,0.070,2141,3213,3079,0,0,0,0,0,0
$GC,2603,-0.73,-146.0,342.8,-12.0,333,2607,0.00,1.10,0.00,0.000,6,0.000,0.036,2141,2502,3079,0,0,0,0,0,0
$GC,2932,-0.73,-146.0,381.6,-11.2,359,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3079,0,0,0,0,0,0
$GC,3247,-0.73,-146.0,417.9,-11.6,384,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3079,0,0,0,0,0,0
$GC,3564,-0.73,-146.0,453.9,-11.3,409,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3080,0,0,0,0,0,0
$GC,3880,-0.73,-146.0,488.3,-11.0,434,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3080,0,0,0,0,0,0
$GC,4208,-0.73,-146.0,524.8,-11.3,450,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3081,0,0,0,0,0,0
$GC,4512,-0.73,-146.0,557.6,-10.8,460,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3081,0,0,0,0,0,0
$GC,4820,-0.73,-146.0,590.0,-10.4,470,4824,0.00,1.17,0.00,0.000,4,0.000,0.066,2136,3211,3081,0,0,0,0,0,0
$GC,4898,-0.73,-146.0,597.2,-10.4,472,4903,0.12,1.10,0.00,0.000,6,0.171,0.032,2166,2499,3081,0,0,0,0,0,0
$GC,5225,-0.73,-146.0,628.5,-9.3,483,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2499,3082,0,0,0,0,0,0
$GC,5533,-0.73,-146.0,657.0,-9.2,493,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2499,3082,0,0,0,0,0,0
$GC,5838,-0.73,-146.0,684.8,-8.9,503,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2499,3082,0,0,0,0,0,0
$GC,6144,-0.73,-146.0,711.9,-8.7,513,6147,0.00,1.17,0.00,0.000,4,0.000,0.065,2163,3211,3082,0,0,0,0,0,0
$GC,6244,-0.73,-146.0,720.5,-8.7,516,6247,0.00,1.08,0.00,0.000,6,0.000,0.032,2163,2502,3082,0,0,0,0,0,0
$GC,6583,-0.73,-146.0,749.9,-8.7,527,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2501,3082,0,0,0,0,0,0
$GC,6889,-0.73,-146.0,776.0,-8.6,537,6893,0.00,1.17,0.00,0.000,4,0.000,0.065,2158,3214,3083,0,0,0,0,0,0
$GC,7027,-0.73,-146.0,787.4,-8.6,541,7031,0.00,1.08,0.00,0.000,6,0.000,0.031,2158,2506,3082,0,0,0,0,0,0
$GC,7361,-0.73,-146.0,817.9,-9.1,552,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2505,3083,0,0,0,0,0,0
$GC,7669,-0.73,-146.0,846.8,-9.3,562,7672,0.00,1.17,0.00,0.000,4,0.000,0.066,2153,3216,3083,0,0,0,0,0,0
$GC,7802,-0.73,-146.0,859.2,-9.2,566,7806,0.00,1.08,0.00,0.000,6,0.000,0.032,2153,2509,3083,0,0,0,0,0,0
$GC,8141,-0.73,-146.0,891.4,-10.7,577,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2509,3083,0,0,0,0,0,0
$STATE,8231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8231,begin apogee
$GC,8238,-0.16,0.0,899.7,-9.5,580,8366,0.57,0.00,122.78,1.470,6,0.129,0.000,2341,2193,2484,0,0,0,0,0,0
$STATE,8367,end apogee,CONTROL_FINISHED_OK
$STATE,8367,begin climb
$GC,8369,0.73,146.0,903.5,0.0,584,8507,0.88,0.00,133.85,1.414,6,0.083,0.000,2628,2191,1888,0,0,0,0,0,0
$GC,8793,0.73,146.0,869.6,12.2,598,8797,0.00,1.27,0.00,0.000,4,0.000,0.054,2628,2905,1879,0,0,0,0,0,0
$GC,8859,0.73,146.0,860.6,13.0,600,8863,0.00,1.17,0.00,0.000,6,0.000,0.037,2632,2211,1878,0,0,0,0,0,0
$GC,9199,0.73,146.0,818.5,12.7,611,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2211,1877,0,0,0,0,0,0
$GC,9504,0.73,146.0,781.0,12.2,621,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2211,1876,0,0,0,0,0,0
$GC,9811,0.73,146.0,742.6,12.7,631,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2212,1875,0,0,0,0,0,0
$GC,10117,0.73,146.0,704.8,12.2,641,10121,0.00,1.17,0.00,0.000,4,0.000,0.054,2632,2903,1875,0,0,0,0,0,0
$GC,10216,0.73,146.0,692.2,12.6,644,10220,0.00,1.15,0.00,0.000,6,0.000,0.037,2637,2194,1875,0,0,0,0,0,0
$GC,10556,0.73,146.0,649.0,12.8,655,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2194,1875,0,0,0,0,0,0
$GC,10863,0.73,146.0,609.7,12.8,665,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2194,1875,0,0,0,0,0,0
$GC,11168,0.73,146.0,571.6,12.3,675,11172,0.00,1.20,0.00,0.000,4,0.000,0.054,2637,2907,1873,0,0,0,0,0,0
$GC,11259,0.73,146.0,563.4,12.4,677,11269,0.00,1.17,0.00,0.000,6,0.000,0.036,2642,2186,1873,0,0,0,0,0,0
$GC,11573,0.73,146.0,522.9,12.0,688,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2186,1873,0,0,0,0,0,0
$GC,11888,0.73,146.0,484.1,12.4,703,11891,0.00,1.23,0.00,0.000,4,0.000,0.054,2642,2914,1873,0,0,0,0,0,0
$GC,11932,0.73,146.0,479.3,12.2,706,11940,0.00,1.17,0.00,0.000,6,0.000,0.037,2647,2193,1873,0,0,0,0,0,0
$GC,12257,0.73,146.0,439.0,12.3,732,12261,0.00,1.20,0.00,0.000,4,0.000,0.054,2647,2909,1873,0,0,0,0,0,0
$GC,12301,0.73,146.0,433.8,12.5,735,12309,0.00,1.15,0.00,0.000,6,0.000,0.037,2652,2200,1873,0,0,0,0,0,0
$GC,12626,0.73,146.0,394.3,11.8,761,12630,0.00,1.20,0.00,0.000,4,0.000,0.055,2652,2913,1873,0,0,0,0,0,0
$GC,12723,0.73,146.0,382.7,12.7,768,12731,0.00,1.17,0.00,0.000,6,0.000,0.036,2656,2189,1873,0,0,0,0,0,0
$GC,13049,0.73,146.0,343.3,11.8,794,13050,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2189,1873,0,0,0,0,0,0
$GC,13362,0.73,146.0,308.0,10.7,819,13366,0.00,1.20,0.00,0.000,4,0.000,0.054,2657,2905,1873,0,0,0,0,0,0
$GC,13441,0.73,146.0,299.0,11.4,825,13445,0.00,1.12,0.00,0.000,6,0.000,0.038,2661,2201,1873,0,0,0,0,0,0
$GC,13772,0.73,146.0,263.1,10.3,851,13775,0.00,1.17,0.00,0.000,4,0.000,0.054,2661,2904,1873,0,0,0,0,0,0
$GC,13843,0.73,146.0,256.1,10.4,856,13851,0.12,1.15,0.00,0.000,6,0.176,0.038,2636,2197,1873,0,0,0,0,0,0
$GC,14179,0.73,146.2,226.5,9.2,902,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2197,1873,0,0,0,0,0,0
$GC,14516,0.75,168.2,196.7,8.2,953,14538,0.00,1.25,17.38,1.008,4,0.000,0.054,2636,2918,1798,0,0,0,0,0,0
$GC,14598,0.75,168.2,189.0,10.0,965,14607,0.00,1.15,0.00,0.000,6,0.000,0.037,2639,2203,1797,0,0,0,0,0,0
$GC,14937,0.80,203.5,159.8,7.7,1016,14973,0.00,1.25,30.92,1.010,4,0.000,0.053,2640,2907,1655,0,0,0,0,0,0
$GC,15046,0.80,203.5,149.6,9.8,1032,15053,0.00,1.17,0.00,0.000,6,0.000,0.037,2644,2197,1653,0,0,0,0,0,0
$GC,15383,0.80,203.5,117.1,9.4,1083,15390,0.00,1.20,0.00,0.000,4,0.000,0.053,2644,2906,1650,0,0,0,0,0,0
$GC,15463,0.80,203.5,109.0,10.2,1095,15470,0.00,1.15,0.00,0.000,6,0.000,0.038,2649,2200,1651,0,0,0,0,0,0
$GC,15801,0.80,203.5,76.4,9.2,1146,15808,0.00,1.20,0.00,0.000,4,0.000,0.054,2649,2910,1650,0,0,0,0,0,0
$GC,15841,0.80,203.5,72.4,9.6,1152,15848,0.00,1.15,0.00,0.000,6,0.000,0.038,2654,2201,1650,0,0,0,0,0,0
$GC,16179,0.84,243.2,41.8,7.5,1203,16219,0.00,1.10,33.50,0.959,4,0.000,0.049,2659,1492,1492,0,0,0,0,0,0
$GC,16253,0.95,326.8,38.3,5.6,1214,16334,0.10,1.20,70.22,0.925,6,0.061,0.047,2706,2210,1152,0,0,0,0,0,0
$STATE,16550,end climb,SURFACE_DEPTH_REACHED
$STATE,16550,begin surface coast
$FINISH,2.0,1.025076
$STATE,16567,end surface coast,CONTROL_FINISHED_OK
$STATE,16567,begin surface
$SM_CCo,16570,79.25,0.083,0,0,441,501.15
$SM_GC,2.65,7.10,0.52,0.00,0.044,0.062,0.000,117,2508,432,-7.08,-0.74,503.60,0,0,0,0,0,0
$RAFOS_CLK,1099
$RAFOS,6,1319964567,8.833333,8.824166,74,64,60,0,0,0,619,180,226,0,0,0
$RAFOS,5,1319964067,8.700000,8.685278,67,61,58,0,0,0,829,213,146,0,0,0
$RAFOS,4,1319963609,8.566667,8.558056,83,67,62,0,0,0,487,211,174,0,0,0
$RAFOS,3,1319963105,8.433333,8.418056,67,59,58,0,0,0,745,182,217,0,0,0
$RAFOS,2,1319962625,8.300000,8.284722,67,67,65,0,0,0,215,654,120,0,0,0
$RAFOS,1,1319962146,8.166667,8.151667,75,65,60,0,0,0,573,213,174,0,0,0
$RAFOS,0,1319961673,8.033334,8.020278,81,65,65,0,0,0,664,222,201,0,0,0
$RAFOS_FIX,6649.962402,-5939.761719,301011,080848,6,74,1.19
$IRIDIUM_FIX,6620.33,-5938.72,301011,020254
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.97
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,16.30
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,801.4,112.1
$24V_AH,22.5,19.540
$10V_AH,10.2,15.462
$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,17.550,49.850,408.650,79.250,0.000,0.000,0.000,203.075,7.500,0.000,17.329,3473.554,10458.525,658.291,2267.005,230.071,0.000,1941.965,0.000,2042.658,2520.000,23.391,0.000
$DEVICE_MAMPS,260.865,94.860,1469.565,82.620,0.000,0.000,0.000,253.925,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.528,684.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150308
$DATA_FILE_SIZE,46629,1261
$CAP_FILE_SIZE,140991,0
$CFSIZE,260165632,237350912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.3
$CURRENT,0.160,150.6,1
$GPS,301011,120035,6649.279,-5944.935,27,0.9,28,-33.9