version: 66.09
glider: 143
mission: 13
dive: 158
start: 10 31 111 4 57 45
data:
$ID,143
$MISSION,13
$DIVE,158
$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,-80714.711
$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,27
$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
$GPS1,311011,045200,6650.755,-5953.753,40,0.9,40,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-72.3
$GPS2,311011,045712,6650.726,-5953.909,17,0.8,17,-34.0
$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,268.9,26577,-16.9,-9.167
$D_GRID,770
$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,-19.90,0.000,2,0.000,0.000,122,2521,1529,0,0,0,0,0,0
$GC,41,-0.73,-146.0,3.0,-0.9,3,163,8.55,1.15,-105.62,0.000,4,0.259,0.098,2155,3211,3082,0,0,0,0,0,0
$GC,415,-0.73,-146.0,54.5,-17.3,59,424,0.00,1.10,0.00,0.000,6,0.000,0.034,2155,2504,3085,0,0,0,0,0,0
$GC,755,-0.73,-146.0,107.5,-14.7,110,762,0.00,1.17,0.00,0.000,4,0.000,0.067,2151,3204,3085,0,0,0,0,0,0
$GC,942,-0.73,-146.0,134.2,-14.3,138,949,0.00,1.08,0.00,0.000,6,0.000,0.034,2151,2513,3085,0,0,0,0,0,0
$GC,1279,-0.73,-146.0,177.3,-12.5,189,1285,0.00,1.17,0.00,0.000,4,0.000,0.067,2146,3213,3084,0,0,0,0,0,0
$GC,1353,-0.73,-146.0,187.2,-13.5,200,1360,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2502,3084,0,0,0,0,0,0
$GC,1690,-0.73,-146.0,232.0,-12.7,251,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2502,3085,0,0,0,0,0,0
$GC,2027,-0.73,-146.0,274.3,-12.6,288,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2502,3084,0,0,0,0,0,0
$GC,2342,-0.73,-146.0,314.5,-13.2,313,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2502,3084,0,0,0,0,0,0
$GC,2657,-0.73,-146.0,353.1,-11.3,338,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2502,3084,0,0,0,0,0,0
$GC,2973,-0.73,-146.0,389.7,-11.8,363,2976,0.00,1.17,0.00,0.000,4,0.000,0.067,2142,3207,3084,0,0,0,0,0,0
$GC,3056,-0.73,-146.0,398.3,-10.9,369,3064,0.00,1.10,0.00,0.000,6,0.000,0.033,2142,2504,3083,0,0,0,0,0,0
$GC,3382,-0.73,-146.0,432.6,-10.7,395,3386,0.00,1.17,0.00,0.000,4,0.000,0.066,2137,3212,3083,0,0,0,0,0,0
$GC,3488,-0.73,-146.0,444.6,-11.0,403,3492,0.00,1.08,0.00,0.000,6,0.000,0.033,2137,2509,3083,0,0,0,0,0,0
$GC,3818,-0.73,-146.0,480.1,-10.8,429,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2509,3083,0,0,0,0,0,0
$GC,4149,-0.73,-146.0,520.0,-12.3,448,4152,0.00,1.15,0.00,0.000,4,0.000,0.065,2133,3205,3084,0,0,0,0,0,0
$GC,4215,-0.73,-146.0,528.7,-12.4,450,4219,0.10,1.08,0.00,0.000,6,0.151,0.032,2164,2496,3084,0,0,0,0,0,0
$GC,4554,-0.73,-146.0,564.0,-10.0,461,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2497,3084,0,0,0,0,0,0
$GC,4861,-0.73,-146.0,592.2,-8.8,471,4864,0.00,1.17,0.00,0.000,4,0.000,0.066,2161,3209,3085,0,0,0,0,0,0
$GC,4931,-0.73,-146.0,598.1,-8.9,473,4936,0.00,1.08,0.00,0.000,6,0.000,0.030,2161,2509,3085,0,0,0,0,0,0
$GC,5267,-0.73,-146.0,629.1,-9.2,484,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2509,3085,0,0,0,0,0,0
$GC,5571,-0.73,-146.0,657.5,-9.4,494,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2509,3085,0,0,0,0,0,0
$GC,5879,-0.73,-146.0,687.5,-9.9,504,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2509,3086,0,0,0,0,0,0
$GC,6183,-0.73,-146.0,718.6,-10.1,514,6187,0.00,1.15,0.00,0.000,4,0.000,0.065,2156,3209,3086,0,0,0,0,0,0
$GC,6307,-0.73,-146.0,728.3,-10.0,517,6315,0.00,1.08,0.00,0.000,6,0.000,0.030,2156,2507,3086,0,0,0,0,0,0
$GC,6623,-0.73,-146.0,762.0,-8.9,528,6627,0.00,1.17,0.00,0.000,4,0.000,0.066,2151,3217,3086,0,0,0,0,0,0
$GC,6689,-0.73,-146.0,768.8,-9.4,530,6693,0.00,1.08,0.00,0.000,6,0.000,0.031,2151,2506,3086,0,0,0,0,0,0
$STATE,6720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6720,begin apogee
$GC,6726,-0.16,0.0,772.1,-9.7,531,6855,0.57,0.00,121.50,1.392,6,0.132,0.000,2340,2188,2485,0,0,0,0,0,0
$STATE,6855,end apogee,CONTROL_FINISHED_OK
$STATE,6855,begin climb
$GC,6858,0.73,146.0,775.8,0.0,535,6997,0.85,1.20,130.43,1.333,4,0.071,0.051,2636,1509,1888,0,0,0,0,0,0
$GC,7246,0.73,146.0,738.4,13.1,547,7252,0.00,1.23,0.00,0.000,6,0.000,0.045,2636,2207,1881,0,0,0,0,0,0
$GC,7574,0.73,146.0,694.7,12.7,558,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2208,1878,0,0,0,0,0,0
$GC,7880,0.73,146.0,655.5,12.3,568,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2208,1877,0,0,0,0,0,0
$GC,8186,0.73,146.0,615.6,13.2,578,8190,0.00,1.15,0.00,0.000,4,0.000,0.048,2641,1504,1877,0,0,0,0,0,0
$GC,8319,0.73,146.0,599.1,12.3,582,8322,0.00,1.15,0.00,0.000,6,0.000,0.047,2641,2203,1876,0,0,0,0,0,0
$GC,8661,0.73,146.0,559.8,11.3,593,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2202,1875,0,0,0,0,0,0
$GC,8965,0.73,146.0,525.5,11.3,603,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,9272,0.73,146.0,489.7,12.0,616,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,9589,0.73,146.0,452.9,11.1,641,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,9903,0.73,146.0,417.9,11.2,666,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,10219,0.73,146.0,381.5,11.6,691,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,10534,0.73,146.0,345.7,10.9,716,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,10853,0.73,146.0,310.1,11.8,741,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2203,1875,0,0,0,0,0,0
$GC,11165,0.73,146.0,274.5,10.6,766,11169,0.00,1.12,0.00,0.000,4,0.000,0.050,2646,1502,1875,0,0,0,0,0,0
$GC,11223,0.73,146.0,269.1,10.3,770,11231,0.00,1.15,0.00,0.000,6,0.000,0.049,2646,2200,1875,0,0,0,0,0,0
$GC,11553,0.74,156.2,236.4,8.7,807,11569,0.00,1.10,7.38,0.940,4,0.000,0.054,2646,2907,1848,0,0,0,0,0,0
$GC,11662,0.74,161.1,226.3,9.0,823,11678,0.00,1.12,5.68,0.875,6,0.000,0.038,2650,2208,1830,0,0,0,0,0,0
$GC,12009,0.74,161.1,193.6,9.2,875,12015,0.00,1.08,0.00,0.000,4,0.000,0.051,2655,1497,1829,0,0,0,0,0,0
$GC,12089,0.74,161.1,185.9,9.5,887,12095,0.00,1.15,0.00,0.000,6,0.000,0.048,2655,2206,1829,0,0,0,0,0,0
$GC,12426,0.74,161.1,154.1,9.3,938,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2206,1829,0,0,0,0,0,0
$GC,12766,0.76,176.2,123.7,8.5,989,12784,0.00,0.00,14.77,0.981,6,0.000,0.000,2655,2206,1766,0,0,0,0,0,0
$GC,13118,0.84,239.6,93.6,6.5,1042,13178,0.00,1.20,54.30,0.979,4,0.000,0.057,2655,2900,1507,0,0,0,0,0,0
$GC,13264,0.84,239.6,79.9,10.8,1064,13273,0.00,1.17,0.00,0.000,6,0.000,0.040,2660,2201,1502,0,0,0,0,0,0
$GC,13603,0.84,239.6,43.7,10.4,1115,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2201,1500,0,0,0,0,0,0
$GC,13940,0.94,321.7,18.1,5.7,1166,13988,0.12,0.00,42.15,0.120,6,0.093,0.000,2710,2201,1171,0,0,0,0,0,0
$STATE,14085,end climb,SURFACE_DEPTH_REACHED
$STATE,14085,begin surface coast
$FINISH,1.9,1.025263
$STATE,14099,end surface coast,CONTROL_FINISHED_OK
$STATE,14099,begin surface
$SM_CCo,14177,0.00,0.000,0,0,1161,324.53
$SM_GC,2.91,7.00,0.60,0.00,0.044,0.065,0.000,116,2512,1161,-7.08,-0.71,324.53,0,0,0,0,0,0
$RAFOS_CLK,932
$RAFOS,5,1320050461,8.700000,8.683611,99,57,56,0,0,0,908,220,194,0,0,0
$RAFOS,4,1320049988,8.566667,8.552222,131,65,64,0,0,0,637,213,169,0,0,0
$RAFOS,3,1320049502,8.433333,8.417222,129,61,57,0,0,0,773,208,195,0,0,0
$RAFOS,2,1320049026,8.300000,8.285000,91,58,57,0,0,0,640,169,138,0,0,0
$RAFOS,1,1320048544,8.166667,8.151111,91,64,62,0,0,0,536,212,169,0,0,0
$RAFOS,0,1320048064,8.033334,8.017777,62,58,56,0,0,0,198,121,668,0,0,0
$RAFOS,6,1320036546,4.833333,4.818333,65,64,59,0,0,0,215,752,115,0,0,0
$RAFOS_FIX,6647.644043,-5953.687500,311011,080818,5,108,0.45
$IRIDIUM_FIX,6620.33,-5950.91,311011,000048
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.52
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,703.2,94.2
$24V_AH,22.6,20.173
$10V_AH,10.3,15.896
$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,17.200,35.150,376.200,0.000,0.000,0.000,0.000,200.975,7.250,0.000,18.506,3252.906,8385.981,509.360,2152.969,202.846,0.000,1728.541,0.000,1930.627,2520.000,19.810,0.000
$DEVICE_MAMPS,258.570,97.920,1391.535,0.000,0.000,0.000,0.000,258.419,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.246,654.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,43392,1190
$CAP_FILE_SIZE,124330,0
$CFSIZE,260165632,237023232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.4
$CURRENT,0.094, 88.2,1
$GPS,311011,085535,6649.443,-5957.692,38,1.0,38,-33.9