version: 66.09
glider: 143
mission: 13
dive: 157
start: 10 31 111 0 57 44
data:
$ID,143
$MISSION,13
$DIVE,157
$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,-80713.445
$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,32
$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
$GPS1,311011,005205,6648.637,-5951.403,27,0.9,27,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-73.7
$GPS2,311011,005712,6648.583,-5951.362,15,0.9,15,-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,330.4,26723,-16.9,-9.167
$D_GRID,778
$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,-146.0,0.0,0.0,0,47,0.00,0.00,-28.95,0.000,2,0.000,0.000,120,2525,1656,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.1,-1.7,4,149,8.45,1.23,-85.62,0.000,4,0.255,0.074,2161,1811,3082,0,0,0,0,0,0
$GC,165,-0.73,-146.0,10.5,-16.4,21,171,0.00,1.20,0.00,0.000,6,0.000,0.060,2158,2499,3084,0,0,0,0,0,0
$GC,503,-0.73,-146.0,70.0,-14.7,72,510,0.00,1.15,0.00,0.000,4,0.000,0.070,2152,3215,3085,0,0,0,0,0,0
$GC,558,-0.73,-146.0,77.9,-14.4,80,565,0.00,1.10,0.00,0.000,6,0.000,0.035,2152,2510,3085,0,0,0,0,0,0
$GC,896,-0.73,-146.0,126.4,-13.5,131,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2510,3084,0,0,0,0,0,0
$GC,1235,-0.73,-146.0,172.7,-13.2,182,1241,0.00,1.17,0.00,0.000,4,0.000,0.067,2148,3211,3085,0,0,0,0,0,0
$GC,1315,-0.73,-146.0,183.6,-13.9,194,1322,0.00,1.10,0.00,0.000,6,0.000,0.035,2148,2504,3085,0,0,0,0,0,0
$GC,1653,-0.73,-146.0,227.9,-13.1,245,1660,0.00,1.20,0.00,0.000,4,0.000,0.068,2143,3220,3084,0,0,0,0,0,0
$GC,1687,-0.73,-146.0,232.6,-14.3,250,1694,0.00,1.10,0.00,0.000,6,0.000,0.035,2143,2515,3085,0,0,0,0,0,0
$GC,2015,-0.73,-146.0,279.2,-14.1,285,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2515,3085,0,0,0,0,0,0
$GC,2331,-0.73,-146.0,320.2,-12.5,310,2335,0.00,1.10,0.00,0.000,4,0.000,0.045,2143,1810,3084,0,0,0,0,0,0
$GC,2362,-0.73,-146.0,323.5,-12.5,312,2370,0.00,1.23,0.00,0.000,6,0.000,0.057,2138,2517,3084,0,0,0,0,0,0
$GC,2688,-0.73,-146.0,365.1,-12.3,338,2692,0.00,1.10,0.00,0.000,4,0.000,0.070,2133,3211,3084,0,0,0,0,0,0
$GC,2717,-0.73,-146.0,368.7,-12.4,340,2721,0.10,1.10,0.00,0.000,6,0.158,0.034,2163,2494,3084,0,0,0,0,0,0
$GC,3046,-0.73,-146.0,403.5,-10.4,366,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2494,3084,0,0,0,0,0,0
$GC,3361,-0.73,-146.0,435.8,-10.5,391,3364,0.00,1.20,0.00,0.000,4,0.000,0.067,2160,3215,3084,0,0,0,0,0,0
$GC,3400,-0.73,-146.0,440.0,-10.6,394,3404,0.00,1.08,0.00,0.000,6,0.000,0.032,2160,2512,3084,0,0,0,0,0,0
$GC,3730,-0.73,-146.0,473.8,-10.0,420,3734,0.00,1.17,0.00,0.000,4,0.000,0.067,2156,3218,3084,0,0,0,0,0,0
$GC,3761,-0.73,-146.0,476.6,-10.0,422,3769,0.00,1.12,0.00,0.000,6,0.000,0.031,2156,2496,3084,0,0,0,0,0,0
$GC,4090,-0.73,-146.0,510.0,-10.0,444,4093,0.00,1.20,0.00,0.000,4,0.000,0.067,2151,3219,3084,0,0,0,0,0,0
$GC,4101,-0.73,-146.0,510.0,-10.0,444,4105,0.00,1.12,0.00,0.000,6,0.000,0.031,2151,2498,3084,0,0,0,0,0,0
$GC,4429,-0.73,-146.0,544.0,-10.0,455,4433,0.00,1.20,0.00,0.000,4,0.000,0.066,2146,3220,3084,0,0,0,0,0,0
$GC,4467,-0.73,-146.0,547.4,-10.0,456,4472,0.00,1.12,0.00,0.000,6,0.000,0.031,2146,2498,3085,0,0,0,0,0,0
$GC,4801,-0.73,-146.0,581.7,-10.1,467,4805,0.00,1.17,0.00,0.000,4,0.000,0.065,2141,3210,3085,0,0,0,0,0,0
$GC,4872,-0.73,-146.0,588.4,-10.1,469,4877,0.00,1.10,0.00,0.000,6,0.000,0.031,2141,2499,3085,0,0,0,0,0,0
$GC,5207,-0.73,-146.0,624.2,-11.1,480,5211,0.00,1.17,0.00,0.000,4,0.000,0.065,2137,3212,3086,0,0,0,0,0,0
$GC,5251,-0.73,-146.0,628.0,-11.0,481,5256,0.00,1.10,0.00,0.000,6,0.000,0.031,2137,2499,3086,0,0,0,0,0,0
$GC,5580,-0.73,-146.0,664.8,-11.4,492,5584,0.12,1.17,0.00,0.000,4,0.176,0.066,2163,3210,3086,0,0,0,0,0,0
$GC,5679,-0.73,-146.0,675.8,-11.0,495,5683,0.00,1.08,0.00,0.000,6,0.000,0.031,2163,2499,3086,0,0,0,0,0,0
$GC,6021,-0.73,-146.0,706.8,-8.7,506,6024,0.00,1.20,0.00,0.000,4,0.000,0.064,2158,3221,3086,0,0,0,0,0,0
$GC,6088,-0.73,-146.0,713.1,-9.4,508,6092,0.00,1.08,0.00,0.000,6,0.000,0.031,2158,2514,3087,0,0,0,0,0,0
$GC,6428,-0.73,-146.0,747.4,-9.9,519,6431,0.00,1.15,0.00,0.000,4,0.000,0.065,2154,3213,3087,0,0,0,0,0,0
$GC,6496,-0.73,-146.0,753.9,-9.3,521,6500,0.00,1.08,0.00,0.000,6,0.000,0.031,2154,2499,3086,0,0,0,0,0,0
$STATE,6772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6772,begin apogee
$GC,6779,-0.16,0.0,780.5,-8.9,530,6907,0.57,0.00,121.60,1.395,6,0.131,0.000,2342,2195,2485,0,0,0,0,0,0
$STATE,6908,end apogee,CONTROL_FINISHED_OK
$STATE,6908,begin climb
$GC,6910,0.73,146.0,783.8,0.0,534,7050,0.85,1.20,130.45,1.336,4,0.070,0.049,2634,1513,1889,0,0,0,0,0,0
$GC,7255,0.73,146.0,748.6,14.2,545,7259,0.00,1.20,0.00,0.000,6,0.000,0.047,2634,2205,1881,0,0,0,0,0,0
$GC,7596,0.73,146.0,700.4,14.5,556,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2205,1879,0,0,0,0,0,0
$GC,7901,0.75,165.3,668.6,8.4,566,7923,0.00,1.20,16.52,1.233,4,0.000,0.056,2634,2904,1811,0,0,0,0,0,0
$GC,8010,0.75,165.3,657.0,11.6,569,8015,0.00,1.17,0.00,0.000,6,0.000,0.036,2639,2209,1809,0,0,0,0,0,0
$GC,8338,0.75,165.3,612.5,12.8,580,8342,0.00,1.17,0.00,0.000,4,0.000,0.053,2639,2900,1808,0,0,0,0,0,0
$GC,8416,0.75,165.3,603.1,13.4,582,8421,0.00,1.17,0.00,0.000,6,0.000,0.036,2644,2194,1808,0,0,0,0,0,0
$GC,8744,0.75,165.3,557.7,12.9,593,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2194,1806,0,0,0,0,0,0
$GC,9049,0.75,165.3,521.1,11.6,603,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2194,1806,0,0,0,0,0,0
$GC,9366,0.75,165.3,485.2,11.6,618,9370,0.00,1.20,0.00,0.000,4,0.000,0.054,2644,2908,1805,0,0,0,0,0,0
$GC,9477,0.75,165.3,472.4,12.0,626,9485,0.00,1.17,0.00,0.000,6,0.000,0.037,2648,2193,1805,0,0,0,0,0,0
$GC,9803,0.75,165.3,432.7,12.3,652,9806,0.00,1.20,0.00,0.000,4,0.000,0.054,2649,2909,1805,0,0,0,0,0,0
$GC,9882,0.75,165.3,422.0,13.3,658,9886,0.00,1.15,0.00,0.000,6,0.000,0.037,2653,2196,1805,0,0,0,0,0,0
$GC,10213,0.75,165.3,379.6,12.8,684,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2196,1805,0,0,0,0,0,0
$GC,10526,0.75,165.3,340.3,12.2,709,10530,0.00,1.17,0.00,0.000,4,0.000,0.054,2653,2902,1805,0,0,0,0,0,0
$GC,10700,0.75,165.3,318.8,12.1,722,10703,0.00,1.12,0.00,0.000,6,0.000,0.038,2658,2202,1805,0,0,0,0,0,0
$GC,11031,0.75,165.3,281.6,10.9,748,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2202,1805,0,0,0,0,0,0
$GC,11345,0.75,165.3,246.4,11.2,775,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2202,1805,0,0,0,0,0,0
$GC,11684,0.75,165.3,210.0,9.7,826,11690,0.00,1.17,0.00,0.000,4,0.000,0.055,2658,2907,1805,0,0,0,0,0,0
$GC,11911,0.75,165.3,186.9,10.7,860,11917,0.00,1.12,0.00,0.000,6,0.000,0.038,2662,2202,1805,0,0,0,0,0,0
$GC,12247,0.75,165.3,151.0,11.2,911,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2202,1805,0,0,0,0,0,0
$GC,12588,0.75,166.8,116.0,9.1,962,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2202,1805,0,0,0,0,0,0
$GC,12927,0.82,226.1,89.1,6.7,1013,12987,0.00,1.27,50.78,0.985,4,0.000,0.054,2662,2915,1562,0,0,0,0,0,0
$GC,13057,0.82,226.1,77.4,10.8,1032,13063,0.00,1.17,0.00,0.000,6,0.000,0.037,2667,2204,1558,0,0,0,0,0,0
$GC,13395,0.85,244.4,44.8,8.4,1083,13417,0.00,0.00,15.80,0.932,6,0.000,0.000,2667,2204,1488,0,0,0,0,0,0
$GC,13750,0.88,270.9,16.2,8.1,1136,13770,0.00,1.25,13.57,0.118,4,0.000,0.054,2667,2917,1380,0,0,0,0,0,0
$GC,13857,0.88,270.9,5.6,10.7,1152,13864,0.00,1.17,0.00,0.000,6,0.000,0.037,2672,2200,1377,0,0,0,0,0,0
$STATE,13888,end climb,SURFACE_DEPTH_REACHED
$STATE,13888,begin surface coast
$FINISH,1.8,1.002574
$STATE,13910,end surface coast,CONTROL_FINISHED_OK
$STATE,13910,begin surface
$SM_CCo,13927,13.10,0.088,0,0,1261,300.00
$SM_GC,3.78,6.93,0.60,13.10,0.048,0.057,0.088,123,2518,1261,-7.06,-0.62,300.00,0,0,0,0,0,0
$RAFOS_CLK,914
$RAFOS,5,1320036064,4.700000,4.684444,99,67,59,0,0,0,882,213,193,0,0,0
$RAFOS,4,1320035586,4.566667,4.551667,104,59,56,0,0,0,644,194,168,0,0,0
$RAFOS,3,1320035104,4.433333,4.417778,96,65,63,0,0,0,771,212,185,0,0,0
$RAFOS,2,1320034626,4.300000,4.285000,91,73,63,0,0,0,654,198,215,0,0,0
$RAFOS,1,1320034141,4.166667,4.150278,177,59,57,0,0,0,570,166,208,0,0,0
$RAFOS,0,1320033665,4.033333,4.018055,113,59,56,0,0,0,680,146,196,0,0,0
$RAFOS,6,1320022141,0.833333,0.816944,88,61,56,0,0,0,779,205,153,0,0,0
$RAFOS_FIX,6647.278809,-5950.439453,311011,040428,6,113,0.20
$IRIDIUM_FIX,6620.33,-5950.91,301011,202031
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.97
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,750.2,86.7
$24V_AH,22.6,20.052
$10V_AH,10.2,15.810
$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,17.025,56.675,348.725,13.100,0.000,0.000,0.000,196.050,7.000,0.000,16.096,3258.499,8115.958,512.867,2170.864,220.974,0.000,1760.094,0.000,1953.371,2520.000,21.559,0.000
$DEVICE_MAMPS,254.745,74.205,1395.360,87.975,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.025,640.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43421,1160
$CAP_FILE_SIZE,132699,0
$CFSIZE,260165632,237080576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.8
$CURRENT,0.177, 51.8,1
$GPS,311011,045200,6650.755,-5953.753,40,0.9,40,-34.0