version: 66.09
glider: 143
mission: 13
dive: 179
start: 11 3 111 4 1 32
data:
$ID,143
$MISSION,13
$DIVE,179
$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,-80741.188
$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,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
$GPS1,031111,035606,6645.414,-5944.450,30,0.9,31,-33.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-73.6
$GPS2,031111,040100,6645.341,-5944.411,20,1.1,21,-33.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,64.4,131525,-16.9,-9.167
$D_GRID,828
$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,-146.0,0.0,0.0,0,45,0.00,0.00,-26.60,0.000,2,0.000,0.000,118,2510,1621,0,0,0,0,0,0
$GC,48,-0.73,-146.0,3.0,-2.1,4,155,8.65,1.20,-91.90,0.000,4,0.261,0.073,2163,1813,3081,0,0,0,0,0,0
$GC,243,-0.73,-146.0,23.8,-18.4,33,252,0.00,1.20,0.00,0.000,6,0.000,0.057,2160,2505,3083,0,0,0,0,0,0
$GC,584,-0.73,-146.0,80.0,-14.8,84,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2505,3083,0,0,0,0,0,0
$GC,920,-0.73,-146.0,127.1,-14.1,135,927,0.00,1.15,0.00,0.000,4,0.000,0.070,2154,3220,3083,0,0,0,0,0,0
$GC,980,-0.73,-146.0,135.7,-14.1,144,987,0.00,1.12,0.00,0.000,6,0.000,0.037,2154,2505,3083,0,0,0,0,0,0
$GC,1318,-0.73,-146.0,183.1,-13.9,195,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2505,3083,0,0,0,0,0,0
$GC,1656,-0.73,-146.0,228.2,-12.4,246,1663,0.00,1.08,0.00,0.000,4,0.000,0.047,2154,1817,3083,0,0,0,0,0,0
$GC,1703,-0.73,-146.0,234.0,-12.0,253,1712,0.00,1.20,0.00,0.000,6,0.000,0.058,2150,2514,3083,0,0,0,0,0,0
$GC,2040,-0.73,-146.0,274.9,-12.3,289,2043,0.00,1.12,0.00,0.000,4,0.000,0.070,2144,3219,3083,0,0,0,0,0,0
$GC,2097,-0.73,-146.0,281.5,-12.5,293,2107,0.00,1.12,0.00,0.000,6,0.000,0.034,2144,2506,3083,0,0,0,0,0,0
$GC,2420,-0.73,-146.0,322.8,-12.6,319,2424,0.00,1.17,0.00,0.000,4,0.000,0.067,2140,3210,3083,0,0,0,0,0,0
$GC,2433,-0.73,-146.0,324.3,-12.7,320,2437,0.00,1.10,0.00,0.000,6,0.000,0.035,2140,2502,3082,0,0,0,0,0,0
$GC,2763,-0.73,-146.0,365.6,-12.2,346,2767,0.00,1.08,0.00,0.000,4,0.000,0.046,2140,1811,3083,0,0,0,0,0,0
$GC,2781,-0.73,-146.0,367.3,-12.4,347,2790,0.12,1.23,0.00,0.000,6,0.174,0.057,2164,2518,3082,0,0,0,0,0,0
$GC,3104,-0.73,-146.0,402.3,-10.6,373,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2518,3082,0,0,0,0,0,0
$GC,3421,-0.73,-146.0,435.7,-10.4,398,3425,0.00,1.10,0.00,0.000,4,0.000,0.070,2161,3211,3083,0,0,0,0,0,0
$GC,3448,-0.73,-146.0,438.6,-10.7,400,3452,0.00,1.10,0.00,0.000,6,0.000,0.034,2161,2499,3082,0,0,0,0,0,0
$GC,3779,-0.73,-146.0,472.2,-9.8,426,3783,0.00,1.05,0.00,0.000,4,0.000,0.044,2161,1817,3083,0,0,0,0,0,0
$GC,3792,-0.73,-146.0,473.8,-9.8,427,3796,0.00,1.17,0.00,0.000,6,0.000,0.056,2157,2508,3084,0,0,0,0,0,0
$GC,4133,-0.73,-146.0,507.3,-10.1,451,4137,0.00,1.12,0.00,0.000,4,0.000,0.068,2151,3220,3084,0,0,0,0,0,0
$GC,4184,-0.73,-146.0,510.7,-10.0,452,4189,0.00,1.12,0.00,0.000,6,0.000,0.032,2152,2499,3084,0,0,0,0,0,0
$GC,4505,-0.73,-146.0,546.5,-10.6,463,4508,0.00,1.17,0.00,0.000,4,0.000,0.064,2146,3210,3083,0,0,0,0,0,0
$GC,4538,-0.73,-146.0,550.0,-10.5,464,4541,0.00,1.08,0.00,0.000,6,0.000,0.032,2146,2509,3084,0,0,0,0,0,0
$GC,4877,-0.73,-146.0,587.3,-11.0,475,4881,0.00,1.08,0.00,0.000,4,0.000,0.044,2146,1812,3084,0,0,0,0,0,0
$GC,4901,-0.73,-146.0,587.3,-11.0,475,4909,0.00,1.23,0.00,0.000,6,0.000,0.056,2142,2523,3084,0,0,0,0,0,0
$GC,5217,-0.73,-146.0,625.8,-11.4,486,5221,0.00,1.10,0.00,0.000,4,0.000,0.069,2136,3220,3084,0,0,0,0,0,0
$GC,5241,-0.73,-146.0,625.8,-11.4,486,5249,0.00,1.12,0.00,0.000,6,0.000,0.032,2137,2497,3084,0,0,0,0,0,0
$GC,5555,-0.73,-146.0,665.0,-11.6,497,5559,0.12,1.20,0.00,0.000,4,0.171,0.066,2163,3220,3084,0,0,0,0,0,0
$GC,5593,-0.73,-146.0,668.6,-11.5,498,5598,0.00,1.12,0.00,0.000,6,0.000,0.031,2164,2494,3085,0,0,0,0,0,0
$GC,5929,-0.73,-146.0,702.2,-9.9,509,5933,0.00,1.20,0.00,0.000,4,0.000,0.065,2159,3221,3085,0,0,0,0,0,0
$GC,5963,-0.73,-146.0,705.7,-9.8,510,5967,0.00,1.08,0.00,0.000,6,0.000,0.031,2158,2514,3086,0,0,0,0,0,0
$GC,6303,-0.73,-146.0,738.2,-9.4,521,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2514,3086,0,0,0,0,0,0
$GC,6609,-0.73,-146.0,769.7,-11.0,531,6612,0.00,1.15,0.00,0.000,4,0.000,0.065,2154,3211,3085,0,0,0,0,0,0
$GC,6633,-0.73,-146.0,769.7,-11.0,531,6641,0.00,1.10,0.00,0.000,6,0.000,0.030,2154,2498,3085,0,0,0,0,0,0
$GC,6949,-0.73,-146.0,804.2,-9.1,542,6953,0.00,1.17,0.00,0.000,4,0.000,0.064,2149,3213,3086,0,0,0,0,0,0
$GC,7026,-0.73,-146.0,810.8,-9.4,544,7031,0.00,1.10,0.00,0.000,6,0.000,0.029,2149,2496,3085,0,0,0,0,0,0
$STATE,7200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7200,begin apogee
$GC,7206,-0.16,0.0,828.9,-10.0,550,7334,0.60,0.00,122.50,1.425,6,0.132,0.000,2345,2195,2485,0,0,0,0,0,0
$STATE,7335,end apogee,CONTROL_FINISHED_OK
$STATE,7335,begin climb
$GC,7337,0.73,146.0,834.1,0.0,554,7482,0.82,1.20,132.73,1.366,4,0.063,0.050,2637,1516,1888,0,0,0,0,0,0
$GC,7705,0.73,146.0,805.2,12.1,565,7715,0.00,1.23,0.00,0.000,6,0.000,0.045,2638,2212,1881,0,0,0,0,0,0
$GC,8020,0.73,146.0,763.2,12.8,576,8023,0.00,1.15,0.00,0.000,4,0.000,0.054,2638,2905,1878,0,0,0,0,0,0
$GC,8090,0.73,146.0,754.6,13.0,578,8095,0.00,1.17,0.00,0.000,6,0.000,0.037,2642,2209,1877,0,0,0,0,0,0
$GC,8423,0.73,146.0,713.7,12.4,589,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2209,1877,0,0,0,0,0,0
$GC,8730,0.73,146.0,675.3,12.5,599,8734,0.00,1.20,0.00,0.000,4,0.000,0.053,2642,2910,1877,0,0,0,0,0,0
$GC,8854,0.73,146.0,662.5,12.8,602,8862,0.00,1.17,0.00,0.000,6,0.000,0.037,2647,2198,1877,0,0,0,0,0,0
$GC,9168,0.73,146.0,620.4,12.3,613,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2198,1875,0,0,0,0,0,0
$GC,9474,0.73,146.0,582.4,12.4,623,9478,0.00,1.08,0.00,0.000,4,0.000,0.050,2652,1496,1875,0,0,0,0,0,0
$GC,9518,0.73,146.0,578.3,12.4,624,9523,0.00,1.17,0.00,0.000,6,0.000,0.047,2653,2205,1875,0,0,0,0,0,0
$GC,9847,0.73,146.0,534.9,12.7,635,9851,0.00,1.12,0.00,0.000,4,0.000,0.057,2653,2904,1875,0,0,0,0,0,0
$GC,9925,0.73,146.0,526.1,12.9,637,9930,0.00,1.17,0.00,0.000,6,0.000,0.037,2657,2190,1875,0,0,0,0,0,0
$GC,10243,0.73,146.0,482.4,13.3,653,10247,0.00,1.08,0.00,0.000,4,0.000,0.050,2662,1490,1874,0,0,0,0,0,0
$GC,10310,0.73,146.0,473.7,13.1,658,10314,0.00,1.15,0.00,0.000,6,0.000,0.047,2662,2199,1874,0,0,0,0,0,0
$GC,10641,0.73,146.0,430.8,12.7,684,10644,0.00,1.12,0.00,0.000,4,0.000,0.058,2662,2901,1874,0,0,0,0,0,0
$GC,10685,0.73,146.0,425.6,12.7,687,10694,0.12,1.15,0.00,0.000,6,0.174,0.037,2638,2198,1874,0,0,0,0,0,0
$GC,11008,0.73,146.0,388.9,10.7,713,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2198,1874,0,0,0,0,0,0
$GC,11325,0.73,146.0,354.6,10.8,738,11329,0.00,1.20,0.00,0.000,4,0.000,0.054,2637,2910,1874,0,0,0,0,0,0
$GC,11486,0.73,146.0,336.8,11.2,750,11489,0.00,1.15,0.00,0.000,6,0.000,0.037,2641,2193,1874,0,0,0,0,0,0
$GC,11816,0.73,146.0,303.0,9.7,776,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2192,1874,0,0,0,0,0,0
$GC,12130,0.73,146.0,271.8,9.7,801,12134,0.00,1.05,0.00,0.000,4,0.000,0.050,2646,1497,1874,0,0,0,0,0,0
$GC,12210,0.73,146.0,264.1,9.5,807,12214,0.00,1.15,0.00,0.000,6,0.000,0.047,2647,2209,1874,0,0,0,0,0,0
$GC,12541,0.73,146.0,230.3,10.2,847,12547,0.00,1.10,0.00,0.000,4,0.000,0.057,2646,2901,1874,0,0,0,0,0,0
$GC,12747,0.73,146.0,209.3,10.3,878,12754,0.00,1.12,0.00,0.000,6,0.000,0.037,2651,2199,1874,0,0,0,0,0,0
$GC,13085,0.73,149.5,177.3,9.0,929,13093,0.00,1.05,0.00,0.000,4,0.000,0.050,2656,1496,1875,0,0,0,0,0,0
$GC,13292,0.75,164.1,159.8,8.6,960,13313,0.00,1.15,13.95,0.982,6,0.000,0.048,2656,2207,1816,0,0,0,0,0,0
$GC,13645,0.75,164.1,127.6,9.3,1013,13654,0.00,1.10,0.00,0.000,4,0.000,0.057,2656,2900,1815,0,0,0,0,0,0
$GC,13793,0.75,164.1,113.5,9.3,1035,13799,0.00,1.12,0.00,0.000,6,0.000,0.038,2660,2201,1815,0,0,0,0,0,0
$GC,14131,0.78,189.0,83.3,8.1,1086,14159,0.00,1.25,22.42,0.975,4,0.000,0.054,2661,2912,1713,0,0,0,0,0,0
$GC,14241,0.78,189.0,73.1,9.4,1102,14247,0.00,1.17,0.00,0.000,6,0.000,0.037,2665,2194,1712,0,0,0,0,0,0
$GC,14578,0.87,264.7,46.5,6.0,1153,14647,0.00,1.15,64.50,0.948,4,0.000,0.050,2670,1498,1405,0,0,0,0,0,0
$GC,14702,0.89,284.0,37.5,8.4,1171,14725,0.00,1.17,17.00,0.890,6,0.000,0.047,2670,2193,1326,0,0,0,0,0,0
$GC,15056,0.89,284.0,2.5,9.7,1224,15062,0.00,1.17,0.00,0.000,4,0.000,0.058,2670,2905,1318,0,0,0,0,0,0
$STATE,15068,end climb,SURFACE_DEPTH_REACHED
$STATE,15068,begin surface coast
$FINISH,1.9,1.025376
$STATE,15094,end surface coast,CONTROL_FINISHED_OK
$STATE,15094,begin surface
$SM_CCo,15112,6.43,0.089,0,0,1262,300.00
$SM_GC,3.67,6.95,0.68,6.43,0.044,0.041,0.089,118,2493,1262,-7.07,0.93,300.00,0,0,0,0,0,0
$RAFOS_CLK,987
$RAFOS,0,1320307263,8.033334,8.017500,115,59,58,0,0,0,711,216,191,0,0,0
$RAFOS,6,1320295742,4.833333,4.817222,107,63,59,0,0,0,771,208,217,0,0,0
$RAFOS,5,1320295272,4.700000,4.686666,107,62,58,0,0,0,801,201,231,0,0,0
$RAFOS,4,1320294791,4.566667,4.553056,145,59,59,0,0,0,590,197,115,0,0,0
$RAFOS,3,1320294306,4.433333,4.418334,89,67,66,0,0,0,710,152,201,0,0,0
$RAFOS,2,1320293823,4.300000,4.284167,115,59,59,0,0,0,631,193,150,0,0,0
$RAFOS,1,1320293347,4.166667,4.151945,155,66,60,0,0,0,558,187,220,0,0,0
$RAFOS,0,1320292915,4.033333,4.031944,65,59,59,0,0,0,210,198,419,0,0,0
$RAFOS_FIX,6644.955078,-5940.273926,031111,040456,6,120,1.73
$IRIDIUM_FIX,6620.33,-5941.47,021111,232344
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.56
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,801.4,70.1
$24V_AH,22.5,22.626
$10V_AH,10.3,17.585
$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,17.400,70.775,373.100,6.425,0.000,0.000,0.000,179.150,7.000,0.000,22.047,3404.092,8961.034,562.370,2268.223,238.250,0.000,1859.294,0.000,2057.764,3240.000,23.280,0.000
$DEVICE_MAMPS,260.865,73.440,1425.195,88.740,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.311,674.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,46686,1230
$CAP_FILE_SIZE,144657,0
$CFSIZE,260165632,235622400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.9
$CURRENT,0.044,207.3,1
$GPS,031111,081506,6647.138,-5941.772,32,0.8,32,-33.8