version: 66.09
glider: 143
mission: 13
dive: 156
start: 10 30 111 20 37 34
data:
$ID,143
$MISSION,13
$DIVE,156
$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,-80712.18
$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,39
$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
$GPS1,301011,203153,6650.279,-5948.091,46,0.9,46,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-71.6
$GPS2,301011,203701,6650.214,-5948.053,19,0.9,20,-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,303.0,30052,-16.9,-9.167
$D_GRID,836
$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,-146.0,0.0,0.0,0,47,0.00,0.00,-28.98,0.000,2,0.000,0.000,125,2523,1656,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.1,-1.8,4,156,8.68,1.15,-91.97,0.000,4,0.265,0.100,2159,3208,3082,0,0,0,0,0,0
$GC,223,-0.73,-146.0,20.5,-18.3,30,230,0.00,1.10,0.00,0.000,6,0.000,0.036,2159,2510,3083,0,0,0,0,0,0
$GC,562,-0.73,-146.0,77.1,-14.8,81,568,0.00,1.17,0.00,0.000,4,0.000,0.066,2154,3209,3084,0,0,0,0,0,0
$GC,601,-0.73,-146.0,83.1,-15.2,87,610,0.00,1.10,0.00,0.000,6,0.000,0.036,2154,2506,3084,0,0,0,0,0,0
$GC,941,-0.73,-146.0,131.2,-13.2,138,948,0.00,1.08,0.00,0.000,4,0.000,0.046,2154,1821,3084,0,0,0,0,0,0
$GC,983,-0.73,-146.0,136.5,-12.9,144,989,0.00,1.17,0.00,0.000,6,0.000,0.057,2150,2503,3084,0,0,0,0,0,0
$GC,1320,-0.73,-146.0,181.9,-14.2,195,1329,0.00,1.15,0.00,0.000,4,0.000,0.070,2145,3219,3084,0,0,0,0,0,0
$GC,1342,-0.73,-146.0,185.1,-14.1,198,1349,0.00,1.10,0.00,0.000,6,0.000,0.035,2144,2512,3084,0,0,0,0,0,0
$GC,1679,-0.73,-146.0,232.8,-13.9,249,1686,0.00,1.10,0.00,0.000,4,0.000,0.047,2144,1813,3084,0,0,0,0,0,0
$GC,1739,-0.73,-146.0,240.6,-12.7,258,1745,0.00,1.20,0.00,0.000,6,0.000,0.058,2141,2512,3084,0,0,0,0,0,0
$GC,2070,-0.73,-146.0,282.9,-13.0,290,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3083,0,0,0,0,0,0
$GC,2386,-0.73,-146.0,324.3,-12.9,315,2389,0.00,1.12,0.00,0.000,4,0.000,0.070,2134,3218,3083,0,0,0,0,0,0
$GC,2417,-0.73,-146.0,327.7,-13.3,317,2426,0.12,1.12,0.00,0.000,6,0.176,0.034,2163,2503,3083,0,0,0,0,0,0
$GC,2740,-0.73,-146.0,364.2,-10.8,343,2744,0.00,1.08,0.00,0.000,4,0.000,0.044,2164,1813,3083,0,0,0,0,0,0
$GC,2811,-0.73,-146.0,371.3,-10.4,348,2819,0.00,1.23,0.00,0.000,6,0.000,0.056,2161,2522,3083,0,0,0,0,0,0
$GC,3137,-0.73,-146.0,405.7,-10.5,374,3141,0.00,1.15,0.00,0.000,4,0.000,0.044,2161,1818,3083,0,0,0,0,0,0
$GC,3177,-0.73,-146.0,410.2,-10.5,377,3181,0.00,1.17,0.00,0.000,6,0.000,0.057,2156,2509,3083,0,0,0,0,0,0
$GC,3507,-0.73,-146.0,446.8,-10.9,403,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2510,3084,0,0,0,0,0,0
$GC,3822,-0.73,-146.0,480.3,-10.4,428,3826,0.00,1.12,0.00,0.000,4,0.000,0.070,2151,3216,3084,0,0,0,0,0,0
$GC,3862,-0.73,-146.0,484.7,-10.3,431,3866,0.00,1.08,0.00,0.000,6,0.000,0.034,2151,2517,3084,0,0,0,0,0,0
$GC,4198,-0.73,-146.0,520.1,-10.6,449,4201,0.00,1.10,0.00,0.000,4,0.000,0.045,2151,1809,3084,0,0,0,0,0,0
$GC,4222,-0.73,-146.0,520.1,-10.6,449,4230,0.00,1.23,0.00,0.000,6,0.000,0.056,2147,2522,3084,0,0,0,0,0,0
$GC,4539,-0.73,-146.0,556.0,-10.5,460,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2521,3084,0,0,0,0,0,0
$GC,4842,-0.73,-146.0,586.7,-9.8,470,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2522,3085,0,0,0,0,0,0
$GC,5150,-0.73,-146.0,614.3,-8.9,480,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2521,3085,0,0,0,0,0,0
$GC,5455,-0.73,-146.0,642.2,-9.2,490,5459,0.00,1.10,0.00,0.000,4,0.000,0.071,2141,3214,3085,0,0,0,0,0,0
$GC,5473,-0.73,-146.0,642.2,-9.2,490,5478,0.00,1.12,0.00,0.000,6,0.000,0.033,2141,2494,3085,0,0,0,0,0,0
$GC,5793,-0.73,-146.0,673.5,-9.3,501,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2494,3085,0,0,0,0,0,0
$GC,6100,-0.73,-146.0,704.6,-10.4,511,6104,0.00,1.20,0.00,0.000,4,0.000,0.067,2136,3218,3085,0,0,0,0,0,0
$GC,6138,-0.73,-146.0,708.2,-10.6,512,6144,0.12,1.10,0.00,0.000,6,0.173,0.032,2165,2503,3085,0,0,0,0,0,0
$GC,6472,-0.73,-146.0,739.4,-9.2,523,6476,0.00,1.17,0.00,0.000,4,0.000,0.063,2163,3217,3086,0,0,0,0,0,0
$GC,6517,-0.73,-146.0,742.4,-9.1,524,6522,0.00,1.08,0.00,0.000,6,0.000,0.030,2163,2503,3086,0,0,0,0,0,0
$GC,6844,-0.73,-146.0,772.0,-8.6,535,6848,0.00,1.17,0.00,0.000,4,0.000,0.065,2158,3214,3085,0,0,0,0,0,0
$GC,6882,-0.73,-146.0,774.9,-8.6,536,6887,0.00,1.10,0.00,0.000,6,0.000,0.030,2158,2499,3085,0,0,0,0,0,0
$GC,7217,-0.73,-146.0,804.5,-9.1,547,7220,0.00,1.17,0.00,0.000,4,0.000,0.064,2153,3213,3086,0,0,0,0,0,0
$GC,7283,-0.73,-146.0,810.8,-9.4,549,7286,0.00,1.08,0.00,0.000,6,0.000,0.031,2153,2500,3086,0,0,0,0,0,0
$STATE,7558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7559,begin apogee
$GC,7564,-0.16,0.0,836.0,-8.9,558,7693,0.57,0.00,122.32,1.426,6,0.132,0.000,2340,2198,2484,0,0,0,0,0,0
$STATE,7694,end apogee,CONTROL_FINISHED_OK
$STATE,7694,begin climb
$GC,7696,0.73,146.0,838.7,0.0,562,7835,0.85,1.17,131.43,1.368,4,0.068,0.047,2635,1510,1888,0,0,0,0,0,0
$GC,7900,0.74,154.4,827.0,8.8,568,7912,0.00,1.25,8.32,1.128,6,0.000,0.045,2635,2203,1855,0,0,0,0,0,0
$GC,8241,0.74,154.4,780.0,12.2,580,8244,0.00,1.17,0.00,0.000,4,0.000,0.054,2635,2908,1850,0,0,0,0,0,0
$GC,8419,0.74,154.4,758.4,13.1,585,8423,0.00,1.17,0.00,0.000,6,0.000,0.037,2640,2208,1849,0,0,0,0,0,0
$GC,8746,0.74,154.4,714.8,12.7,596,8750,0.00,1.20,0.00,0.000,4,0.000,0.053,2640,2903,1848,0,0,0,0,0,0
$GC,8912,0.74,154.4,693.7,12.5,601,8916,0.00,1.15,0.00,0.000,6,0.000,0.037,2645,2203,1847,0,0,0,0,0,0
$GC,9252,0.74,154.4,650.8,12.7,612,9256,0.00,1.20,0.00,0.000,4,0.000,0.053,2645,2905,1847,0,0,0,0,0,0
$GC,9386,0.74,154.4,633.2,13.1,616,9390,0.00,1.15,0.00,0.000,6,0.000,0.037,2649,2200,1847,0,0,0,0,0,0
$GC,9726,0.74,154.4,587.5,13.7,627,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,1846,0,0,0,0,0,0
$GC,10032,0.74,154.4,545.3,13.7,637,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2200,1845,0,0,0,0,0,0
$GC,10338,0.74,154.4,503.1,13.5,647,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2200,1845,0,0,0,0,0,0
$GC,10659,0.74,154.4,461.7,12.9,671,10663,0.00,1.08,0.00,0.000,4,0.000,0.051,2655,1496,1845,0,0,0,0,0,0
$GC,10730,0.74,154.4,453.2,12.6,676,10738,0.00,1.17,0.00,0.000,6,0.000,0.047,2654,2208,1844,0,0,0,0,0,0
$GC,11055,0.74,154.4,412.3,12.9,702,11059,0.00,1.10,0.00,0.000,4,0.000,0.058,2655,2895,1845,0,0,0,0,0,0
$GC,11189,0.74,154.4,395.1,12.9,712,11192,0.00,1.12,0.00,0.000,6,0.000,0.040,2659,2200,1845,0,0,0,0,0,0
$GC,11519,0.74,154.4,352.7,12.9,738,11523,0.00,1.08,0.00,0.000,4,0.000,0.051,2664,1493,1845,0,0,0,0,0,0
$GC,11638,0.74,154.4,336.8,13.1,747,11642,0.00,1.15,0.00,0.000,6,0.000,0.048,2664,2203,1844,0,0,0,0,0,0
$GC,11970,0.74,154.4,294.9,12.7,773,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2203,1843,0,0,0,0,0,0
$GC,12282,0.74,154.4,258.0,11.1,798,12286,0.00,1.12,0.00,0.000,4,0.000,0.056,2664,2911,1844,0,0,0,0,0,0
$GC,12395,0.74,154.4,245.5,11.4,809,12402,0.10,1.15,0.00,0.000,6,0.155,0.037,2638,2192,1843,0,0,0,0,0,0
$GC,12734,0.74,154.4,212.5,10.0,860,12741,0.00,1.20,0.00,0.000,4,0.000,0.052,2638,2912,1843,0,0,0,0,0,0
$GC,12834,0.74,154.4,202.1,10.2,875,12843,0.00,1.15,0.00,0.000,6,0.000,0.036,2642,2190,1843,0,0,0,0,0,0
$GC,13174,0.74,154.4,168.6,9.9,926,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2190,1844,0,0,0,0,0,0
$GC,13512,0.77,181.8,138.7,8.0,977,13540,0.00,1.25,22.67,0.992,4,0.000,0.054,2642,2905,1743,0,0,0,0,0,0
$GC,13791,0.77,181.8,113.3,9.3,1019,13800,0.00,1.15,0.00,0.000,6,0.000,0.037,2647,2197,1740,0,0,0,0,0,0
$GC,14133,0.78,186.7,82.6,9.0,1070,14148,0.00,1.10,5.47,0.824,4,0.000,0.050,2652,1491,1723,0,0,0,0,0,0
$GC,14221,0.78,186.7,74.2,9.5,1083,14230,0.00,1.15,0.00,0.000,6,0.000,0.047,2652,2198,1722,0,0,0,0,0,0
$GC,14560,0.79,200.1,45.5,8.6,1134,14577,0.00,1.17,12.62,0.935,4,0.000,0.057,2652,2903,1669,0,0,0,0,0,0
$GC,14658,0.83,227.6,37.4,8.0,1148,14687,0.00,1.15,23.90,0.946,6,0.000,0.038,2656,2199,1556,0,0,0,0,0,0
$GC,15019,0.91,294.6,13.4,6.3,1202,15062,0.12,1.12,34.17,0.107,4,0.092,0.051,2710,1497,1282,0,0,0,0,0,0
$GC,15096,0.91,294.6,5.6,11.6,1213,15103,0.00,1.17,0.00,0.000,6,0.000,0.049,2710,2204,1279,0,0,0,0,0,0
$STATE,15127,end climb,SURFACE_DEPTH_REACHED
$STATE,15127,begin surface coast
$FINISH,1.9,1.001992
$STATE,15149,end surface coast,CONTROL_FINISHED_OK
$STATE,15149,begin surface
$SM_CCo,15165,1.12,0.092,0,0,1261,300.00
$SM_GC,3.43,6.95,0.52,1.12,0.041,0.057,0.092,120,2521,1261,-7.07,-0.71,300.00,0,0,0,0,0,0
$RAFOS_CLK,997
$RAFOS,5,1320021662,0.700000,0.683889,115,67,59,0,0,0,878,222,178,0,0,0
$RAFOS,4,1320021182,0.566667,0.550556,67,59,59,0,0,0,212,185,666,0,0,0
$RAFOS,3,1320020704,0.433333,0.417778,91,67,67,0,0,0,740,212,197,0,0,0
$RAFOS,2,1320020225,0.300000,0.284722,78,60,57,0,0,0,633,230,218,0,0,0
$RAFOS,1,1320019745,0.166667,0.151389,83,63,58,0,0,0,544,208,167,0,0,0
$RAFOS,0,1320019271,0.033333,0.019722,104,59,52,0,0,0,647,189,199,0,0,0
$RAFOS,6,1320007741,20.833334,20.816944,90,61,59,0,0,0,765,145,167,0,0,0
$RAFOS,5,1320007262,20.700001,20.683889,121,64,56,0,0,0,875,214,238,0,0,0
$RAFOS,3,1320006306,20.433332,20.418333,75,59,58,0,0,0,730,210,162,0,0,0
$RAFOS_FIX,6648.484863,-5945.997070,301011,202057,6,103,0.00
$IRIDIUM_FIX,6625.71,-5948.16,301011,161649
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.81
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,701.4,160.1
$24V_AH,22.5,19.930
$10V_AH,10.3,15.725
$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,17.525,65.075,360.925,1.125,0.000,0.000,0.000,193.875,7.000,0.000,20.833,3384.200,9101.597,529.505,2267.816,227.510,0.000,1825.373,0.000,2044.093,3240.000,19.986,0.000
$DEVICE_MAMPS,264.690,100.215,1425.960,91.800,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.505,669.481,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150340
$DATA_FILE_SIZE,46698,1221
$CAP_FILE_SIZE,144085,0
$CFSIZE,260165632,237137920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.4
$CURRENT,0.257,139.6,1
$GPS,311011,005205,6648.637,-5951.403,27,0.9,27,-33.9