version: 66.09
glider: 143
mission: 13
dive: 154
start: 10 30 111 12 5 57
data:
$ID,143
$MISSION,13
$DIVE,154
$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,-80709.656
$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,20
$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
$GPS1,301011,120035,6649.279,-5944.935,27,0.9,28,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-66.7
$GPS2,301011,120524,6649.240,-5944.982,18,1.1,19,-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,324.1,31537,-16.9,-9.167
$D_GRID,873
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.43,0.000,2,0.000,0.000,117,2512,1562,0,0,0,0,0,0
$GC,95,-0.73,-146.0,3.1,-0.8,10,244,8.65,1.15,-129.20,0.000,4,0.260,0.094,2156,3227,3080,0,0,0,0,0,0
$GC,290,-0.73,-146.0,12.8,-18.8,40,299,0.00,1.15,0.00,0.000,6,0.000,0.036,2156,2503,3081,0,0,0,0,0,0
$GC,630,-0.73,-146.0,71.8,-15.2,91,637,0.00,1.20,0.00,0.000,4,0.000,0.066,2152,3214,3081,0,0,0,0,0,0
$GC,824,-0.73,-146.0,99.9,-13.4,120,833,0.00,1.10,0.00,0.000,6,0.000,0.034,2152,2511,3081,0,0,0,0,0,0
$GC,1163,-0.73,-146.0,147.1,-14.4,171,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3081,0,0,0,0,0,0
$GC,1499,-0.73,-146.0,190.5,-12.6,222,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2510,3081,0,0,0,0,0,0
$GC,1836,-0.73,-146.0,231.3,-11.8,273,1843,0.00,1.10,0.00,0.000,4,0.000,0.047,2152,1813,3081,0,0,0,0,0,0
$GC,1849,-0.73,-146.0,233.1,-11.6,275,1856,0.00,1.20,0.00,0.000,6,0.000,0.059,2147,2511,3081,0,0,0,0,0,0
$GC,2185,-0.73,-146.0,273.9,-12.6,312,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2510,3081,0,0,0,0,0,0
$GC,2503,-0.73,-146.0,312.8,-12.2,337,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2511,3081,0,0,0,0,0,0
$GC,2816,-0.73,-146.0,349.3,-11.2,362,2820,0.00,1.12,0.00,0.000,4,0.000,0.069,2142,3218,3081,0,0,0,0,0,0
$GC,2846,-0.73,-146.0,352.4,-11.5,364,2857,0.00,1.12,0.00,0.000,6,0.000,0.034,2142,2504,3081,0,0,0,0,0,0
$GC,3171,-0.73,-146.0,390.0,-11.6,390,3175,0.00,1.08,0.00,0.000,4,0.000,0.045,2142,1812,3081,0,0,0,0,0,0
$GC,3190,-0.73,-146.0,391.6,-11.5,391,3197,0.00,1.20,0.00,0.000,6,0.000,0.056,2137,2517,3081,0,0,0,0,0,0
$GC,3515,-0.73,-146.0,432.2,-12.5,417,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2517,3081,0,0,0,0,0,0
$GC,3828,-0.73,-146.0,472.8,-13.1,442,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2517,3081,0,0,0,0,0,0
$GC,4165,-0.73,-146.0,515.2,-12.3,463,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2517,3082,0,0,0,0,0,0
$GC,4475,-0.73,-146.0,552.3,-12.1,473,4479,0.00,1.10,0.00,0.000,4,0.000,0.069,2132,3214,3082,0,0,0,0,0,0
$GC,4486,-0.73,-146.0,552.3,-12.1,473,4492,0.12,1.12,0.00,0.000,6,0.174,0.032,2161,2493,3082,0,0,0,0,0,0
$GC,4815,-0.73,-146.0,588.8,-10.4,484,4819,0.00,1.20,0.00,0.000,4,0.000,0.065,2158,3219,3082,0,0,0,0,0,0
$GC,4826,-0.73,-146.0,588.8,-10.4,484,4831,0.00,1.10,0.00,0.000,6,0.000,0.031,2158,2509,3082,0,0,0,0,0,0
$GC,5154,-0.73,-146.0,621.9,-9.5,495,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2509,3082,0,0,0,0,0,0
$GC,5463,-0.73,-146.0,652.0,-9.9,505,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2509,3082,0,0,0,0,0,0
$GC,5766,-0.73,-146.0,681.1,-9.1,515,5770,0.00,1.17,0.00,0.000,4,0.000,0.065,2153,3220,3083,0,0,0,0,0,0
$GC,5778,-0.73,-146.0,681.1,-9.1,515,5782,0.00,1.08,0.00,0.000,6,0.000,0.031,2153,2511,3083,0,0,0,0,0,0
$GC,6105,-0.73,-146.0,710.4,-8.4,526,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2511,3083,0,0,0,0,0,0
$GC,6411,-0.73,-146.0,737.7,-9.5,536,6414,0.00,1.15,0.00,0.000,4,0.000,0.064,2149,3210,3084,0,0,0,0,0,0
$GC,6528,-0.73,-146.0,747.4,-9.7,539,6533,0.00,1.10,0.00,0.000,6,0.000,0.031,2149,2496,3084,0,0,0,0,0,0
$GC,6849,-0.73,-146.0,780.9,-9.0,550,6853,0.00,1.17,0.00,0.000,4,0.000,0.065,2144,3210,3083,0,0,0,0,0,0
$GC,6887,-0.73,-146.0,784.1,-9.2,551,6891,0.00,1.10,0.00,0.000,6,0.000,0.031,2144,2498,3084,0,0,0,0,0,0
$GC,7221,-0.73,-146.0,816.4,-9.3,562,7224,0.00,1.17,0.00,0.000,4,0.000,0.064,2139,3213,3084,0,0,0,0,0,0
$GC,7232,-0.73,-146.0,816.4,-9.3,562,7237,0.00,1.10,0.00,0.000,6,0.000,0.030,2139,2498,3084,0,0,0,0,0,0
$GC,7560,-0.73,-146.0,854.6,-12.0,573,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2498,3084,0,0,0,0,0,0
$STATE,7771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7771,begin apogee
$GC,7777,-0.16,0.0,875.6,-9.3,580,7906,0.62,0.00,122.78,1.457,6,0.136,0.000,2340,2197,2485,0,0,0,0,0,0
$STATE,7907,end apogee,CONTROL_FINISHED_OK
$STATE,7907,begin climb
$GC,7909,0.73,146.0,879.3,0.0,584,8049,0.85,1.17,131.77,1.398,4,0.070,0.048,2633,1501,1887,0,0,0,0,0,0
$GC,8266,0.73,146.0,849.6,11.5,594,8271,0.00,1.25,0.00,0.000,6,0.000,0.045,2633,2211,1879,0,0,0,0,0,0
$GC,8587,0.73,146.0,806.7,13.0,605,8590,0.00,1.15,0.00,0.000,4,0.000,0.054,2633,2905,1877,0,0,0,0,0,0
$GC,8710,0.73,146.0,793.4,13.3,608,8719,0.00,1.17,0.00,0.000,6,0.000,0.037,2638,2210,1876,0,0,0,0,0,0
$GC,9025,0.73,146.0,750.8,12.8,619,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2210,1875,0,0,0,0,0,0
$GC,9331,0.73,146.0,712.8,12.7,629,9334,0.00,1.20,0.00,0.000,4,0.000,0.054,2638,2910,1874,0,0,0,0,0,0
$GC,9462,0.73,146.0,696.3,12.6,633,9466,0.00,1.17,0.00,0.000,6,0.000,0.038,2643,2190,1874,0,0,0,0,0,0
$GC,9802,0.73,146.0,654.4,12.4,644,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2190,1874,0,0,0,0,0,0
$GC,10109,0.73,146.0,618.1,11.6,654,10113,0.00,1.23,0.00,0.000,4,0.000,0.054,2643,2914,1872,0,0,0,0,0,0
$GC,10252,0.73,146.0,602.0,12.1,658,10257,0.00,1.17,0.00,0.000,6,0.000,0.037,2648,2198,1873,0,0,0,0,0,0
$GC,10580,0.73,146.0,562.8,11.3,669,10584,0.00,1.08,0.00,0.000,4,0.000,0.050,2653,1496,1873,0,0,0,0,0,0
$GC,10651,0.73,146.0,555.2,11.2,671,10656,0.00,1.17,0.00,0.000,6,0.000,0.047,2653,2208,1873,0,0,0,0,0,0
$GC,10987,0.73,146.0,513.7,12.7,682,10991,0.00,1.12,0.00,0.000,4,0.000,0.057,2653,2908,1872,0,0,0,0,0,0
$GC,11212,0.73,146.0,484.5,12.3,693,11215,0.00,1.15,0.00,0.000,6,0.000,0.038,2658,2196,1872,0,0,0,0,0,0
$GC,11542,0.73,146.0,444.4,12.2,719,11543,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2196,1872,0,0,0,0,0,0
$GC,11856,0.73,146.0,407.1,11.5,744,11859,0.00,1.20,0.00,0.000,4,0.000,0.053,2658,2910,1873,0,0,0,0,0,0
$GC,12015,0.73,146.0,388.1,12.1,756,12019,0.00,1.15,0.00,0.000,6,0.000,0.037,2662,2193,1872,0,0,0,0,0,0
$GC,12346,0.73,146.0,348.4,12.4,782,12350,0.00,1.20,0.00,0.000,4,0.000,0.053,2662,2910,1872,0,0,0,0,0,0
$GC,12454,0.73,146.0,335.2,12.2,790,12458,0.10,1.12,0.00,0.000,6,0.158,0.037,2636,2204,1872,0,0,0,0,0,0
$GC,12782,0.73,146.0,299.3,10.6,816,12786,0.00,1.17,0.00,0.000,4,0.000,0.053,2636,2906,1872,0,0,0,0,0,0
$GC,12906,0.73,146.0,286.7,10.3,825,12916,0.00,1.15,0.00,0.000,6,0.000,0.037,2640,2198,1873,0,0,0,0,0,0
$GC,13231,0.73,146.0,256.2,9.4,851,13234,0.00,1.05,0.00,0.000,4,0.000,0.050,2645,1499,1872,0,0,0,0,0,0
$GC,13391,0.73,151.7,241.9,8.9,869,13400,0.00,1.12,0.00,0.000,6,0.000,0.047,2645,2199,1872,0,0,0,0,0,0
$GC,13731,0.74,161.8,211.1,8.7,920,13747,0.00,1.17,11.70,0.992,4,0.000,0.057,2645,2915,1824,0,0,0,0,0,0
$GC,13854,0.74,161.8,199.6,9.8,938,13861,0.00,1.15,0.00,0.000,6,0.000,0.037,2650,2201,1823,0,0,0,0,0,0
$GC,14192,0.74,161.8,167.1,9.3,989,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2201,1823,0,0,0,0,0,0
$GC,14531,0.76,170.3,136.0,8.8,1040,14547,0.00,1.23,8.60,0.929,4,0.000,0.054,2650,2907,1790,0,0,0,0,0,0
$GC,14646,0.76,170.3,124.9,9.7,1057,14655,0.00,1.15,0.00,0.000,6,0.000,0.038,2654,2195,1789,0,0,0,0,0,0
$GC,14988,0.78,193.5,95.6,8.2,1108,15015,0.00,1.05,20.88,0.982,4,0.000,0.049,2660,1493,1695,0,0,0,0,0,0
$GC,15130,0.78,193.5,82.4,10.1,1129,15138,0.00,1.17,0.00,0.000,6,0.000,0.047,2660,2206,1692,0,0,0,0,0,0
$GC,15469,0.80,209.8,50.5,8.5,1180,15490,0.00,0.00,14.57,0.946,6,0.000,0.000,2660,2206,1628,0,0,0,0,0,0
$GC,15821,0.89,277.9,28.4,6.3,1233,15875,0.00,1.17,45.85,0.930,4,0.000,0.057,2660,2896,1351,0,0,0,0,0,0
$GC,15915,0.89,277.9,20.5,9.9,1247,15922,0.00,1.17,0.00,0.000,6,0.000,0.037,2664,2196,1347,0,0,0,0,0,0
$STATE,16105,end climb,SURFACE_DEPTH_REACHED
$STATE,16105,begin surface coast
$FINISH,1.9,1.023222
$STATE,16121,end surface coast,CONTROL_FINISHED_OK
$STATE,16121,begin surface
$SM_CCo,16137,9.18,0.088,0,0,1261,300.00
$SM_GC,4.21,6.93,0.60,9.18,0.043,0.056,0.088,119,2508,1261,-7.07,-0.79,300.00,0,0,0,0,0,0
$RAFOS_CLK,1062
$RAFOS,3,1319991904,16.433332,16.417778,99,64,63,0,0,0,779,224,195,0,0,0
$RAFOS,2,1319991423,16.299999,16.284166,61,59,57,0,0,0,214,681,226,0,0,0
$RAFOS,1,1319990942,16.166666,16.150555,137,66,62,0,0,0,588,223,195,0,0,0
$RAFOS,0,1319990461,16.033333,16.016945,83,61,59,0,0,0,714,208,131,0,0,0
$RAFOS,6,1319978943,12.833333,12.817500,131,63,59,0,0,0,742,163,186,0,0,0
$RAFOS,5,1319978464,12.700000,12.684444,75,60,52,0,0,0,860,199,171,0,0,0
$RAFOS,4,1319977985,12.566667,12.551389,139,71,59,0,0,0,624,170,229,0,0,0
$RAFOS,3,1319977505,12.433333,12.418056,80,66,62,0,0,0,751,221,121,0,0,0
$RAFOS,2,1319977025,12.300000,12.284722,128,72,56,0,0,0,655,209,170,0,0,0
$RAFOS,1,1319976544,12.166667,12.151111,89,72,64,0,0,0,571,151,206,0,0,0
$RAFOS_FIX,6649.507324,-5941.173340,301011,121217,6,107,1.82
$IRIDIUM_FIX,6625.71,-5943.43,301011,070755
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.16
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,751.3,143.2
$24V_AH,22.5,19.671
$10V_AH,10.2,15.554
$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,17.275,58.550,356.150,9.175,0.000,0.000,0.000,174.025,6.500,0.000,20.397,3519.072,9734.428,603.918,2374.448,238.171,0.000,1938.437,0.000,2166.313,3960.000,24.778,0.000
$DEVICE_MAMPS,260.100,94.095,1457.325,87.975,0.000,0.000,0.000,265.160,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.299,699.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,49973,1278
$CAP_FILE_SIZE,146448,0
$CFSIZE,260165632,237273088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.2
$CURRENT,0.325, 14.1,1
$GPS,301011,163704,6653.112,-5949.341,39,1.2,43,-34.0