version: 66.09
glider: 143
mission: 13
dive: 203
start: 11 8 111 0 26 48
data:
$ID,143
$MISSION,13
$DIVE,203
$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,-80771.602
$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,41
$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
$GPS1,081111,001723,6657.657,-5735.923,62,0.9,78,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-68.7
$GPS2,081111,002617,6657.669,-5735.925,85,0.9,85,-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,120.1,35990,-16.9,-9.167
$D_GRID,821
$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,-146.0,0.0,0.0,0,58,0.00,0.00,-39.72,0.000,2,0.000,0.000,118,2521,1750,0,0,0,0,0,0
$GC,61,-0.73,-146.0,3.0,-1.2,6,168,8.70,1.23,-91.22,0.000,4,0.263,0.073,2159,1809,3082,0,0,0,0,0,0
$GC,348,-0.73,-146.0,39.3,-17.4,49,355,0.00,1.20,0.00,0.000,6,0.000,0.054,2157,2505,3084,0,0,0,0,0,0
$GC,686,-0.73,-146.0,91.8,-15.3,100,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2505,3084,0,0,0,0,0,0
$GC,1024,-0.73,-146.0,138.9,-13.0,151,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2505,3084,0,0,0,0,0,0
$GC,1362,-0.73,-146.0,182.3,-12.3,202,1369,0.00,1.12,0.00,0.000,4,0.000,0.070,2151,3211,3084,0,0,0,0,0,0
$GC,1468,-0.73,-146.0,194.6,-11.5,218,1475,0.00,1.10,0.00,0.000,6,0.000,0.034,2151,2501,3084,0,0,0,0,0,0
$GC,1805,-0.73,-146.0,235.4,-11.9,269,1812,0.00,1.08,0.00,0.000,4,0.000,0.046,2151,1813,3084,0,0,0,0,0,0
$GC,1854,-0.73,-146.0,241.2,-11.8,276,1860,0.00,1.17,0.00,0.000,6,0.000,0.054,2147,2504,3084,0,0,0,0,0,0
$GC,2179,-0.73,-146.0,281.0,-12.2,307,2183,0.00,1.12,0.00,0.000,4,0.000,0.069,2141,3211,3084,0,0,0,0,0,0
$GC,2285,-0.73,-146.0,293.6,-11.6,315,2289,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2500,3084,0,0,0,0,0,0
$GC,2615,-0.73,-146.0,330.2,-11.3,341,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3084,0,0,0,0,0,0
$GC,2929,-0.73,-146.0,365.9,-10.8,366,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3084,0,0,0,0,0,0
$GC,3245,-0.73,-146.0,398.6,-9.9,391,3249,0.00,1.20,0.00,0.000,4,0.000,0.064,2137,3217,3084,0,0,0,0,0,0
$GC,3364,-0.73,-146.0,410.6,-10.0,400,3368,0.00,1.10,0.00,0.000,6,0.000,0.032,2137,2501,3084,0,0,0,0,0,0
$GC,3695,-0.73,-146.0,444.6,-10.7,426,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2501,3084,0,0,0,0,0,0
$GC,4008,-0.73,-146.0,478.7,-11.3,451,4012,0.00,1.17,0.00,0.000,4,0.000,0.063,2132,3213,3084,0,0,0,0,0,0
$GC,4066,-0.73,-146.0,484.7,-11.6,455,4077,0.12,1.10,0.00,0.000,6,0.168,0.031,2162,2502,3084,0,0,0,0,0,0
$GC,4397,-0.73,-146.0,519.1,-10.5,473,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3084,0,0,0,0,0,0
$GC,4705,-0.73,-146.0,550.3,-10.2,483,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3084,0,0,0,0,0,0
$GC,5009,-0.73,-146.0,581.1,-9.9,493,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3084,0,0,0,0,0,0
$GC,5315,-0.73,-146.0,611.3,-9.9,503,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3085,0,0,0,0,0,0
$GC,5621,-0.73,-146.0,641.9,-10.1,513,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3085,0,0,0,0,0,0
$GC,5927,-0.73,-146.0,671.5,-9.5,523,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3085,0,0,0,0,0,0
$GC,6237,-0.73,-146.0,700.9,-9.6,533,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3085,0,0,0,0,0,0
$GC,6540,-0.73,-146.0,729.4,-9.3,543,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2502,3085,0,0,0,0,0,0
$GC,6846,-0.73,-146.0,757.3,-9.0,553,6850,0.00,1.05,0.00,0.000,4,0.000,0.044,2162,1818,3085,0,0,0,0,0,0
$GC,6885,-0.73,-146.0,760.3,-9.0,554,6889,0.00,1.17,0.00,0.000,6,0.000,0.053,2160,2513,3085,0,0,0,0,0,0
$GC,7218,-0.73,-146.0,791.7,-9.2,565,7222,0.00,1.10,0.00,0.000,4,0.000,0.067,2154,3214,3085,0,0,0,0,0,0
$GC,7325,-0.73,-146.0,801.0,-9.3,568,7330,0.00,1.10,0.00,0.000,6,0.000,0.030,2154,2496,3085,0,0,0,0,0,0
$STATE,7566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7566,begin apogee
$GC,7573,-0.16,0.0,823.5,-9.0,576,7700,0.57,0.00,122.03,1.421,6,0.132,0.000,2341,2194,2485,0,0,0,0,0,0
$STATE,7701,end apogee,CONTROL_FINISHED_OK
$STATE,7701,begin climb
$GC,7704,0.73,146.0,827.6,0.0,580,7848,0.85,1.20,132.23,1.364,4,0.068,0.049,2634,1507,1888,0,0,0,0,0,0
$GC,7914,0.73,146.0,813.3,10.2,587,7919,0.00,1.23,0.00,0.000,6,0.000,0.044,2635,2200,1884,0,0,0,0,0,0
$GC,8254,0.73,146.0,771.5,12.2,598,8258,0.00,1.17,0.00,0.000,4,0.000,0.054,2635,2904,1879,0,0,0,0,0,0
$GC,8305,0.73,146.0,767.3,12.5,599,8310,0.00,1.17,0.00,0.000,6,0.000,0.036,2639,2210,1878,0,0,0,0,0,0
$GC,8625,0.73,146.0,724.5,12.7,610,8629,0.00,1.12,0.00,0.000,4,0.000,0.049,2645,1491,1877,0,0,0,0,0,0
$GC,8650,0.73,146.0,724.5,12.7,610,8658,0.00,1.20,0.00,0.000,6,0.000,0.045,2645,2206,1877,0,0,0,0,0,0
$GC,8964,0.73,146.0,680.8,12.9,621,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1876,0,0,0,0,0,0
$GC,9270,0.73,146.0,642.4,12.4,631,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1876,0,0,0,0,0,0
$GC,9577,0.73,146.0,604.5,12.3,641,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1876,0,0,0,0,0,0
$GC,9883,0.73,146.0,567.8,11.8,651,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1875,0,0,0,0,0,0
$GC,10189,0.73,146.0,531.3,12.0,661,10193,0.00,1.12,0.00,0.000,4,0.000,0.057,2645,2906,1875,0,0,0,0,0,0
$GC,10255,0.73,146.0,523.1,12.3,663,10258,0.00,1.15,0.00,0.000,6,0.000,0.038,2650,2193,1875,0,0,0,0,0,0
$GC,10573,0.73,146.0,484.7,12.2,678,10576,0.00,1.20,0.00,0.000,4,0.000,0.054,2650,2906,1874,0,0,0,0,0,0
$GC,10604,0.73,146.0,481.3,12.6,680,10612,0.00,1.15,0.00,0.000,6,0.000,0.037,2654,2198,1875,0,0,0,0,0,0
$GC,10929,0.73,146.0,440.3,12.4,706,10932,0.00,1.17,0.00,0.000,4,0.000,0.053,2654,2899,1875,0,0,0,0,0,0
$GC,10973,0.73,146.0,435.0,12.6,709,10981,0.00,1.15,0.00,0.000,6,0.000,0.037,2659,2193,1875,0,0,0,0,0,0
$GC,11298,0.73,146.0,393.2,12.8,735,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2193,1875,0,0,0,0,0,0
$GC,11613,0.73,146.0,354.9,11.9,760,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2193,1875,0,0,0,0,0,0
$GC,11927,0.73,146.0,318.1,11.1,785,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2193,1873,0,0,0,0,0,0
$GC,12243,0.73,146.0,282.6,10.9,810,12247,0.00,1.20,0.00,0.000,4,0.000,0.054,2659,2908,1873,0,0,0,0,0,0
$GC,12271,0.73,146.0,279.7,10.8,812,12275,0.08,1.12,0.00,0.000,6,0.153,0.038,2640,2203,1873,0,0,0,0,0,0
$GC,12597,0.73,146.0,246.1,9.9,840,12604,0.00,1.08,0.00,0.000,4,0.000,0.049,2643,1490,1873,0,0,0,0,0,0
$GC,12610,0.73,146.0,244.6,9.9,842,12617,0.00,1.15,0.00,0.000,6,0.000,0.046,2643,2205,1873,0,0,0,0,0,0
$GC,12948,0.73,146.0,211.7,9.3,893,12954,0.00,1.10,0.00,0.000,4,0.000,0.057,2643,2897,1873,0,0,0,0,0,0
$GC,12988,0.73,146.0,207.9,10.0,899,12997,0.00,1.12,0.00,0.000,6,0.000,0.037,2648,2191,1873,0,0,0,0,0,0
$GC,13326,0.73,146.0,176.7,9.4,950,13333,0.00,1.20,0.00,0.000,4,0.000,0.053,2648,2910,1873,0,0,0,0,0,0
$GC,13353,0.73,146.0,174.1,9.6,954,13359,0.00,1.12,0.00,0.000,6,0.000,0.037,2653,2201,1873,0,0,0,0,0,0
$GC,13690,0.76,176.5,144.7,7.9,1005,13719,0.00,1.12,24.35,0.996,4,0.000,0.050,2658,1492,1764,0,0,0,0,0,0
$GC,13752,0.77,181.0,139.4,9.0,1014,13768,0.00,1.15,5.30,0.806,6,0.000,0.047,2658,2195,1746,0,0,0,0,0,0
$GC,14099,0.77,181.0,107.0,9.2,1066,14105,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2195,1744,0,0,0,0,0,0
$GC,14436,0.81,212.2,77.9,7.9,1117,14469,0.00,0.00,27.27,0.968,6,0.000,0.000,2658,2195,1618,0,0,0,0,0,0
$GC,14802,0.87,261.5,46.3,7.1,1172,14848,0.00,1.20,42.00,0.945,4,0.000,0.048,2662,1498,1419,0,0,0,0,0,0
$GC,15068,0.87,261.5,20.7,11.9,1212,15075,0.00,1.17,0.00,0.000,6,0.000,0.047,2662,2203,1412,0,0,0,0,0,0
$STATE,15233,end climb,SURFACE_DEPTH_REACHED
$STATE,15233,begin surface coast
$FINISH,1.8,1.013037
$STATE,15252,end surface coast,CONTROL_FINISHED_OK
$STATE,15252,begin surface
$SM_CCo,15269,17.35,0.086,0,0,1261,300.00
$SM_GC,2.39,6.95,0.52,17.35,0.048,0.056,0.086,118,2518,1261,-7.08,-0.68,300.00,0,0,0,0,0,0
$RAFOS_CLK,994
$RAFOS,4,1320726786,4.566667,4.551667,64,61,59,0,0,0,750,211,741,0,0,0
$RAFOS,3,1320726302,4.433333,4.417222,62,59,59,0,0,0,191,159,207,0,0,0
$RAFOS,2,1320725826,4.300000,4.285000,60,55,55,0,0,0,206,165,225,0,0,0
$RAFOS,1,1320725346,4.166667,4.151667,71,64,61,0,0,0,191,200,937,0,0,0
$RAFOS,0,1320724861,4.033333,4.016944,63,59,55,0,0,0,197,1085,221,0,0,0
$RAFOS,6,1320713341,0.833333,0.816944,75,61,58,0,0,0,755,201,148,0,0,0
$RAFOS,5,1320712864,0.700000,0.684444,74,60,57,0,0,0,524,149,214,0,0,0
$RAFOS,4,1320712381,0.566667,0.550278,65,59,59,0,0,0,203,178,779,0,0,0
$RAFOS,1,1320710941,0.166667,0.150278,75,63,58,0,0,0,196,154,140,0,0,0
$RAFOS_FIX,6657.047852,-5745.992188,071111,202044,2,86,2.00
$IRIDIUM_FIX,6631.12,-5731.73,081111,000007
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.78
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.30
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,801.0,53.0
$24V_AH,22.6,25.815
$10V_AH,10.1,19.913
$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,17.275,46.900,353.175,17.350,0.000,0.000,0.000,292.150,9.250,0.000,85.861,3385.045,9338.365,536.039,2341.101,223.603,0.000,1875.596,0.000,1956.024,2880.000,26.253,0.000
$DEVICE_MAMPS,263.160,72.675,1421.370,85.680,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.025,682.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150336
$DATA_FILE_SIZE,46700,1240
$CAP_FILE_SIZE,134847,0
$CFSIZE,260165632,233852928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.4
$CURRENT,0.107,268.1,1
$GPS,081111,044305,6657.647,-5731.528,41,0.8,41,-33.6