version: 66.09
glider: 143
mission: 13
dive: 200
start: 11 7 111 11 1 17
data:
$ID,143
$MISSION,13
$DIVE,200
$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,-3
$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,-80767.82
$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,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
$GPS1,071111,105535,6655.749,-5751.049,62,0.9,62,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-69.6
$GPS2,071111,110048,6655.740,-5751.057,19,0.8,19,-33.6
$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,106.8,47480,-16.9,-9.167
$D_GRID,854
$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,-146.0,0.0,0.0,0,59,0.00,0.00,-40.97,0.000,2,0.000,0.000,122,2523,1807,0,0,0,0,0,0
$GC,62,-0.73,-146.0,3.1,-1.7,6,169,8.55,1.23,-92.20,0.000,4,0.257,0.070,2160,1804,3082,0,0,0,0,0,0
$GC,357,-0.73,-146.0,37.3,-15.4,50,366,0.00,1.20,0.00,0.000,6,0.000,0.057,2157,2498,3084,0,0,0,0,0,0
$GC,697,-0.73,-146.0,88.0,-15.0,101,704,0.00,1.15,0.00,0.000,4,0.000,0.070,2151,3213,3084,0,0,0,0,0,0
$GC,776,-0.73,-146.0,99.4,-14.1,113,783,0.00,1.10,0.00,0.000,6,0.000,0.034,2152,2504,3084,0,0,0,0,0,0
$GC,1114,-0.73,-146.0,145.9,-13.6,164,1121,0.00,1.08,0.00,0.000,4,0.000,0.047,2151,1818,3084,0,0,0,0,0,0
$GC,1174,-0.73,-146.0,153.9,-13.5,173,1181,0.00,1.17,0.00,0.000,6,0.000,0.057,2147,2505,3084,0,0,0,0,0,0
$GC,1511,-0.73,-146.0,199.4,-13.1,224,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2505,3084,0,0,0,0,0,0
$GC,1850,-0.73,-146.0,243.5,-12.5,275,1856,0.00,1.12,0.00,0.000,4,0.000,0.071,2142,3211,3084,0,0,0,0,0,0
$GC,1943,-0.73,-146.0,255.7,-13.0,286,1947,0.00,1.08,0.00,0.000,6,0.000,0.035,2142,2515,3084,0,0,0,0,0,0
$GC,2275,-0.73,-146.0,296.6,-12.2,312,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2515,3084,0,0,0,0,0,0
$GC,2588,-0.73,-146.0,334.4,-12.2,337,2592,0.00,1.10,0.00,0.000,4,0.000,0.046,2142,1811,3084,0,0,0,0,0,0
$GC,2632,-0.73,-146.0,339.4,-12.1,340,2640,0.00,1.23,0.00,0.000,6,0.000,0.056,2137,2520,3084,0,0,0,0,0,0
$GC,2957,-0.73,-146.0,376.0,-12.1,366,2961,0.00,1.10,0.00,0.000,4,0.000,0.070,2132,3213,3084,0,0,0,0,0,0
$GC,3028,-0.73,-146.0,384.1,-11.9,371,3037,0.12,1.12,0.00,0.000,6,0.170,0.033,2161,2496,3084,0,0,0,0,0,0
$GC,3351,-0.73,-146.0,416.6,-9.6,397,3355,0.00,1.05,0.00,0.000,4,0.000,0.045,2161,1816,3084,0,0,0,0,0,0
$GC,3382,-0.73,-146.0,419.0,-9.4,399,3389,0.00,1.20,0.00,0.000,6,0.000,0.055,2158,2513,3084,0,0,0,0,0,0
$GC,3707,-0.73,-146.0,451.9,-10.0,425,3710,0.00,1.10,0.00,0.000,4,0.000,0.069,2153,3209,3084,0,0,0,0,0,0
$GC,3817,-0.73,-146.0,463.1,-10.4,433,3825,0.00,1.10,0.00,0.000,6,0.000,0.032,2153,2502,3084,0,0,0,0,0,0
$GC,4142,-0.73,-146.0,495.6,-9.8,459,4145,0.00,1.17,0.00,0.000,4,0.000,0.063,2149,3213,3084,0,0,0,0,0,0
$GC,4199,-0.73,-146.0,501.0,-9.8,463,4206,0.00,1.10,0.00,0.000,6,0.000,0.031,2149,2502,3083,0,0,0,0,0,0
$GC,4513,-0.73,-146.0,532.9,-10.1,474,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2501,3084,0,0,0,0,0,0
$GC,4819,-0.73,-146.0,565.2,-10.7,484,4823,0.00,1.17,0.00,0.000,4,0.000,0.064,2144,3213,3084,0,0,0,0,0,0
$GC,4863,-0.73,-146.0,568.7,-10.7,485,4868,0.00,1.10,0.00,0.000,6,0.000,0.031,2144,2501,3085,0,0,0,0,0,0
$GC,5192,-0.73,-146.0,605.8,-11.0,496,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2501,3084,0,0,0,0,0,0
$GC,5497,-0.73,-146.0,637.9,-10.2,506,5501,0.00,1.17,0.00,0.000,4,0.000,0.064,2140,3213,3085,0,0,0,0,0,0
$GC,5548,-0.73,-146.0,641.4,-10.2,507,5553,0.00,1.10,0.00,0.000,6,0.000,0.031,2140,2501,3085,0,0,0,0,0,0
$GC,5869,-0.73,-146.0,676.4,-10.3,518,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2500,3085,0,0,0,0,0,0
$GC,6175,-0.73,-146.0,708.6,-10.5,528,6179,0.00,1.17,0.00,0.000,4,0.000,0.063,2135,3213,3085,0,0,0,0,0,0
$GC,6252,-0.73,-146.0,715.8,-10.6,530,6258,0.12,1.10,0.00,0.000,6,0.171,0.030,2165,2497,3085,0,0,0,0,0,0
$GC,6581,-0.73,-146.0,746.6,-9.0,541,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2497,3085,0,0,0,0,0,0
$GC,6888,-0.73,-146.0,774.0,-9.0,551,6891,0.00,1.20,0.00,0.000,4,0.000,0.063,2162,3218,3085,0,0,0,0,0,0
$GC,6945,-0.73,-146.0,777.2,-9.0,552,6953,0.00,1.10,0.00,0.000,6,0.000,0.029,2162,2501,3085,0,0,0,0,0,0
$GC,7261,-0.73,-146.0,808.3,-9.2,563,7265,0.00,1.17,0.00,0.000,4,0.000,0.064,2157,3212,3085,0,0,0,0,0,0
$GC,7332,-0.73,-146.0,814.6,-9.2,565,7337,0.00,1.08,0.00,0.000,6,0.000,0.028,2157,2512,3085,0,0,0,0,0,0
$GC,7667,-0.73,-146.0,846.5,-9.4,576,7671,0.00,1.15,0.00,0.000,4,0.000,0.065,2153,3210,3085,0,0,0,0,0,0
$GC,7725,-0.73,-146.0,849.8,-9.2,577,7733,0.00,1.08,0.00,0.000,6,0.000,0.029,2153,2508,3086,0,0,0,0,0,0
$STATE,7762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7762,begin apogee
$GC,7768,-0.16,0.0,856.0,-9.6,579,7897,0.57,0.00,122.80,1.445,6,0.133,0.000,2340,2191,2485,0,0,0,0,0,0
$STATE,7898,end apogee,CONTROL_FINISHED_OK
$STATE,7898,begin climb
$GC,7900,0.73,146.0,860.3,0.0,583,8044,0.85,1.20,132.85,1.385,4,0.070,0.050,2636,1509,1888,0,0,0,0,0,0
$GC,8146,0.73,146.0,842.8,11.4,591,8149,0.00,1.23,0.00,0.000,6,0.000,0.045,2636,2206,1883,0,0,0,0,0,0
$GC,8485,0.73,146.0,800.0,12.5,602,8489,0.00,1.17,0.00,0.000,4,0.000,0.056,2636,2908,1879,0,0,0,0,0,0
$GC,8531,0.73,146.0,795.8,12.5,603,8535,0.00,1.17,0.00,0.000,6,0.000,0.037,2641,2206,1877,0,0,0,0,0,0
$GC,8857,0.73,146.0,752.3,12.8,614,8861,0.00,1.12,0.00,0.000,4,0.000,0.050,2646,1491,1877,0,0,0,0,0,0
$GC,8891,0.73,146.0,748.1,12.7,615,8895,0.00,1.17,0.00,0.000,6,0.000,0.046,2646,2201,1877,0,0,0,0,0,0
$GC,9231,0.73,146.0,705.5,12.5,626,9234,0.00,1.15,0.00,0.000,4,0.000,0.056,2646,2907,1876,0,0,0,0,0,0
$GC,9275,0.73,146.0,701.2,12.6,627,9280,0.00,1.20,0.00,0.000,6,0.000,0.038,2651,2187,1875,0,0,0,0,0,0
$GC,9604,0.73,146.0,657.7,13.1,638,9607,0.00,1.08,0.00,0.000,4,0.000,0.050,2656,1493,1875,0,0,0,0,0,0
$GC,9670,0.73,146.0,648.9,13.1,640,9673,0.00,1.17,0.00,0.000,6,0.000,0.047,2656,2209,1874,0,0,0,0,0,0
$GC,10011,0.73,146.0,604.4,13.0,651,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2209,1874,0,0,0,0,0,0
$GC,10315,0.73,146.0,564.7,13.0,661,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2209,1874,0,0,0,0,0,0
$GC,10623,0.73,146.0,524.8,12.9,671,10627,0.00,1.12,0.00,0.000,4,0.000,0.057,2656,2909,1874,0,0,0,0,0,0
$GC,10701,0.73,146.0,515.6,13.2,673,10706,0.00,1.17,0.00,0.000,6,0.000,0.037,2661,2192,1873,0,0,0,0,0,0
$GC,11028,0.73,146.0,471.2,13.0,694,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2192,1873,0,0,0,0,0,0
$GC,11345,0.73,146.0,429.7,13.4,719,11346,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2192,1873,0,0,0,0,0,0
$GC,11660,0.73,146.0,389.2,13.0,744,11663,0.00,1.05,0.00,0.000,4,0.000,0.051,2667,1500,1873,0,0,0,0,0,0
$GC,11704,0.73,146.0,384.1,12.8,747,11713,0.12,1.17,0.00,0.000,6,0.167,0.048,2636,2210,1873,0,0,0,0,0,0
$GC,12027,0.73,146.0,346.9,10.9,773,12031,0.00,1.12,0.00,0.000,4,0.000,0.058,2636,2911,1874,0,0,0,0,0,0
$GC,12111,0.73,146.0,337.7,11.7,779,12119,0.00,1.17,0.00,0.000,6,0.000,0.037,2639,2189,1873,0,0,0,0,0,0
$GC,12437,0.73,146.0,302.0,10.8,805,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2189,1873,0,0,0,0,0,0
$GC,12750,0.73,146.0,269.1,10.2,830,12754,0.00,1.20,0.00,0.000,4,0.000,0.054,2639,2903,1873,0,0,0,0,0,0
$GC,12871,0.73,146.0,256.8,10.4,839,12874,0.00,1.12,0.00,0.000,6,0.000,0.039,2644,2200,1873,0,0,0,0,0,0
$GC,13205,0.73,146.0,224.3,9.8,884,13212,0.00,1.17,0.00,0.000,4,0.000,0.054,2644,2898,1873,0,0,0,0,0,0
$GC,13332,0.73,146.0,211.7,10.4,903,13339,0.00,1.12,0.00,0.000,6,0.000,0.037,2649,2193,1873,0,0,0,0,0,0
$GC,13671,0.73,153.6,178.4,8.8,954,13681,0.00,1.23,5.15,0.842,4,0.000,0.053,2649,2907,1858,0,0,0,0,0,0
$GC,13767,0.73,153.6,168.9,10.7,968,13774,0.00,1.12,0.00,0.000,6,0.000,0.038,2654,2202,1858,0,0,0,0,0,0
$GC,14106,0.77,185.7,138.9,7.8,1019,14140,0.00,1.25,28.52,0.998,4,0.000,0.054,2653,2911,1727,0,0,0,0,0,0
$GC,14188,0.77,185.7,131.6,9.8,1031,14195,0.00,1.17,0.00,0.000,6,0.000,0.037,2658,2195,1725,0,0,0,0,0,0
$GC,14526,0.77,186.1,100.4,9.1,1082,14534,0.00,1.08,0.00,0.000,4,0.000,0.050,2663,1492,1724,0,0,0,0,0,0
$GC,14633,0.77,186.1,90.5,9.6,1098,14642,0.00,1.17,0.00,0.000,6,0.000,0.047,2663,2209,1724,0,0,0,0,0,0
$GC,14974,0.77,186.1,59.8,9.5,1149,14981,0.00,1.12,0.00,0.000,4,0.000,0.057,2663,2913,1723,0,0,0,0,0,0
$GC,15155,0.85,249.6,44.4,6.5,1176,15215,0.00,1.15,53.47,0.953,6,0.000,0.038,2668,2199,1467,0,0,0,0,0,0
$GC,15548,0.85,249.6,10.6,9.8,1235,15554,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2199,1459,0,0,0,0,0,0
$STATE,15626,end climb,SURFACE_DEPTH_REACHED
$STATE,15626,begin surface coast
$FINISH,1.9,1.025798
$STATE,15646,end surface coast,CONTROL_FINISHED_OK
$STATE,15646,begin surface
$SM_CCo,15662,23.15,0.086,0,0,1262,300.00
$SM_GC,2.32,6.90,0.60,23.15,0.044,0.052,0.086,119,2520,1262,-7.08,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,1029
$RAFOS,6,1320670163,12.833333,12.823055,67,59,59,0,0,0,611,214,182,0,0,0
$RAFOS,5,1320669666,12.700000,12.685000,107,56,56,0,0,0,513,204,147,0,0,0
$RAFOS,4,1320669184,12.566667,12.551111,75,59,59,0,0,0,716,196,111,0,0,0
$RAFOS,3,1320668712,12.433333,12.420000,74,58,58,0,0,0,803,204,140,0,0,0
$RAFOS,2,1320668249,12.300000,12.291389,60,60,57,0,0,0,129,769,219,0,0,0
$RAFOS,1,1320667752,12.166667,12.153334,63,58,58,0,0,0,205,194,130,0,0,0
$RAFOS,0,1320667266,12.033333,12.018333,61,60,56,0,0,0,208,168,188,0,0,0
$RAFOS_FIX,6656.778809,-5757.314453,071111,121202,3,72,0.85
$IRIDIUM_FIX,6625.71,-5749.80,071111,060614
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,802.7,91.1
$24V_AH,22.5,25.431
$10V_AH,10.2,19.637
$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,17.250,67.500,342.800,23.150,0.000,0.000,0.000,195.500,6.750,0.000,20.620,3460.059,9444.147,563.949,2304.716,238.078,0.000,1882.933,0.000,2081.607,2520.000,23.333,0.000
$DEVICE_MAMPS,257.040,71.145,1445.085,86.445,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.992,681.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,46686,1250
$CAP_FILE_SIZE,145454,0
$CFSIZE,260165632,234057728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.0
$CURRENT,0.094,287.9,1
$GPS,071111,152505,6656.704,-5746.489,82,0.9,82,-33.6