version: 66.09
glider: 143
mission: 13
dive: 204
start: 11 8 111 4 48 38
data:
$ID,143
$MISSION,13
$DIVE,204
$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,-80772.859
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,081111,044305,6657.647,-5731.528,41,0.8,41,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.7
$GPS2,081111,044807,6657.577,-5731.483,19,0.9,19,-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,112.5,32968,-16.9,-9.167
$D_GRID,797
$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,-146.0,0.0,0.0,0,52,0.00,0.00,-33.75,0.000,2,0.000,0.000,117,2521,1718,0,0,0,0,0,0
$GC,55,-0.73,-146.0,3.0,-1.1,5,166,8.65,1.15,-94.00,0.000,4,0.259,0.071,2163,1811,3082,0,0,0,0,0,0
$GC,333,-0.73,-146.0,35.6,-16.1,47,342,0.00,1.20,0.00,0.000,6,0.000,0.057,2161,2504,3084,0,0,0,0,0,0
$GC,673,-0.73,-146.0,87.9,-13.7,98,680,0.00,1.12,0.00,0.000,4,0.000,0.043,2161,1820,3084,0,0,0,0,0,0
$GC,715,-0.73,-146.0,93.5,-14.0,104,721,0.00,1.20,0.00,0.000,6,0.000,0.055,2156,2519,3084,0,0,0,0,0,0
$GC,1053,-0.73,-146.0,141.3,-13.7,155,1062,0.00,1.12,0.00,0.000,4,0.000,0.070,2151,3221,3084,0,0,0,0,0,0
$GC,1121,-0.73,-146.0,151.3,-14.5,165,1128,0.00,1.10,0.00,0.000,6,0.000,0.034,2151,2513,3084,0,0,0,0,0,0
$GC,1459,-0.73,-146.0,198.4,-14.5,216,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2513,3085,0,0,0,0,0,0
$GC,1796,-0.73,-146.0,244.5,-12.6,267,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2513,3084,0,0,0,0,0,0
$GC,2122,-0.73,-146.0,284.8,-12.4,296,2126,0.00,1.08,0.00,0.000,4,0.000,0.046,2151,1820,3083,0,0,0,0,0,0
$GC,2190,-0.73,-146.0,293.1,-12.1,301,2194,0.00,1.17,0.00,0.000,6,0.000,0.055,2146,2510,3083,0,0,0,0,0,0
$GC,2519,-0.73,-146.0,332.8,-11.8,327,2522,0.00,1.12,0.00,0.000,4,0.000,0.067,2141,3219,3084,0,0,0,0,0,0
$GC,2616,-0.73,-146.0,343.9,-11.9,334,2624,0.00,1.12,0.00,0.000,6,0.000,0.033,2141,2499,3084,0,0,0,0,0,0
$GC,2942,-0.73,-146.0,383.4,-11.8,360,2946,0.00,1.05,0.00,0.000,4,0.000,0.044,2141,1819,3083,0,0,0,0,0,0
$GC,2986,-0.73,-146.0,388.6,-12.3,363,2997,0.12,1.20,0.00,0.000,6,0.171,0.054,2166,2517,3083,0,0,0,0,0,0
$GC,3310,-0.73,-146.0,423.4,-10.5,389,3314,0.00,1.10,0.00,0.000,4,0.000,0.067,2163,3214,3083,0,0,0,0,0,0
$GC,3363,-0.73,-146.0,428.9,-10.3,393,3367,0.00,1.08,0.00,0.000,6,0.000,0.031,2163,2508,3083,0,0,0,0,0,0
$GC,3691,-0.73,-146.0,462.9,-10.5,419,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2507,3083,0,0,0,0,0,0
$GC,4008,-0.73,-146.0,495.9,-10.2,444,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3083,0,0,0,0,0,0
$GC,4333,-0.73,-146.0,528.6,-9.9,457,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2507,3083,0,0,0,0,0,0
$GC,4639,-0.73,-146.0,559.0,-9.8,467,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2507,3084,0,0,0,0,0,0
$GC,4945,-0.73,-146.0,589.0,-9.8,477,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2507,3084,0,0,0,0,0,0
$GC,5252,-0.73,-146.0,619.4,-10.0,487,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2507,3084,0,0,0,0,0,0
$GC,5558,-0.73,-146.0,649.8,-9.9,497,5562,0.00,1.17,0.00,0.000,4,0.000,0.066,2158,3216,3085,0,0,0,0,0,0
$GC,5597,-0.73,-146.0,653.1,-9.9,498,5602,0.00,1.10,0.00,0.000,6,0.000,0.030,2158,2499,3084,0,0,0,0,0,0
$GC,5931,-0.73,-146.0,685.8,-9.5,509,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2499,3085,0,0,0,0,0,0
$GC,6237,-0.73,-146.0,714.3,-9.3,519,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2499,3085,0,0,0,0,0,0
$GC,6543,-0.73,-146.0,740.8,-8.5,529,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2499,3085,0,0,0,0,0,0
$GC,6850,-0.73,-146.0,766.8,-8.3,539,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2499,3085,0,0,0,0,0,0
$GC,7156,-0.73,-146.0,791.9,-8.2,549,7160,0.00,1.02,0.00,0.000,4,0.000,0.043,2158,1828,3086,0,0,0,0,0,0
$GC,7214,-0.73,-146.0,794.5,-8.1,550,7222,0.00,1.17,0.00,0.000,6,0.000,0.052,2154,2514,3086,0,0,0,0,0,0
$STATE,7252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7252,begin apogee
$GC,7258,-0.16,0.0,799.7,-7.9,552,7385,0.57,0.00,121.75,1.409,6,0.132,0.000,2341,2196,2485,0,0,0,0,0,0
$STATE,7386,end apogee,CONTROL_FINISHED_OK
$STATE,7386,begin climb
$GC,7388,0.73,146.0,803.1,0.0,556,7533,0.85,1.20,131.90,1.350,4,0.068,0.048,2639,1512,1888,0,0,0,0,0,0
$GC,7684,0.73,146.0,778.5,13.1,565,7689,0.00,1.23,0.00,0.000,6,0.000,0.044,2639,2207,1881,0,0,0,0,0,0
$GC,8006,0.73,146.0,732.7,13.5,576,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2208,1878,0,0,0,0,0,0
$GC,8311,0.73,146.0,692.2,13.3,586,8315,0.00,1.15,0.00,0.000,4,0.000,0.056,2638,2908,1877,0,0,0,0,0,0
$GC,8349,0.73,146.0,687.9,13.2,587,8354,0.00,1.17,0.00,0.000,6,0.000,0.036,2644,2202,1877,0,0,0,0,0,0
$GC,8682,0.73,146.0,644.6,12.5,598,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,1876,0,0,0,0,0,0
$GC,8990,0.73,146.0,606.7,12.5,608,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,1876,0,0,0,0,0,0
$GC,9295,0.73,146.0,569.9,11.9,618,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2202,1874,0,0,0,0,0,0
$GC,9602,0.73,146.0,534.3,11.4,628,9606,0.00,1.08,0.00,0.000,4,0.000,0.050,2649,1497,1874,0,0,0,0,0,0
$GC,9660,0.73,146.0,530.4,11.3,629,9668,0.00,1.17,0.00,0.000,6,0.000,0.045,2649,2209,1874,0,0,0,0,0,0
$GC,9976,0.73,146.0,492.6,11.0,643,9979,0.00,1.10,0.00,0.000,4,0.000,0.055,2649,2898,1874,0,0,0,0,0,0
$GC,10002,0.73,146.0,489.6,11.0,645,10006,0.00,1.12,0.00,0.000,6,0.000,0.036,2653,2196,1874,0,0,0,0,0,0
$GC,10332,0.73,146.0,452.7,11.4,671,10336,0.00,1.05,0.00,0.000,4,0.000,0.048,2658,1497,1874,0,0,0,0,0,0
$GC,10347,0.73,146.0,451.0,11.3,672,10350,0.00,1.12,0.00,0.000,6,0.000,0.045,2659,2196,1874,0,0,0,0,0,0
$GC,10677,0.73,146.0,412.4,11.4,698,10680,0.00,1.12,0.00,0.000,4,0.000,0.056,2658,2901,1874,0,0,0,0,0,0
$GC,10695,0.73,146.0,410.6,11.8,699,10705,0.00,1.15,0.00,0.000,6,0.000,0.036,2664,2194,1874,0,0,0,0,0,0
$GC,11019,0.73,146.0,371.2,12.0,725,11023,0.00,1.05,0.00,0.000,4,0.000,0.048,2668,1497,1874,0,0,0,0,0,0
$GC,11037,0.73,146.0,369.5,12.1,726,11046,0.15,1.15,0.00,0.000,6,0.164,0.045,2631,2201,1875,0,0,0,0,0,0
$GC,11362,0.73,146.0,332.0,11.3,752,11365,0.00,1.12,0.00,0.000,4,0.000,0.047,2634,1496,1874,0,0,0,0,0,0
$GC,11419,0.73,146.0,325.8,11.6,756,11427,0.00,1.17,0.00,0.000,6,0.000,0.047,2635,2210,1874,0,0,0,0,0,0
$GC,11744,0.73,146.0,288.7,10.8,782,11748,0.00,1.15,0.00,0.000,4,0.000,0.047,2638,1491,1874,0,0,0,0,0,0
$GC,11762,0.73,146.0,287.1,10.8,783,11772,0.00,1.17,0.00,0.000,6,0.000,0.046,2639,2210,1874,0,0,0,0,0,0
$GC,12085,0.73,146.0,252.5,10.1,809,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2210,1874,0,0,0,0,0,0
$GC,12415,0.73,146.0,219.3,9.7,857,12422,0.00,1.15,0.00,0.000,4,0.000,0.047,2643,1490,1874,0,0,0,0,0,0
$GC,12475,0.73,146.0,213.3,9.8,866,12482,0.00,1.15,0.00,0.000,6,0.000,0.047,2643,2206,1874,0,0,0,0,0,0
$GC,12812,0.73,146.0,182.3,9.4,917,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2206,1874,0,0,0,0,0,0
$GC,13151,0.73,152.8,152.4,8.9,968,13164,0.00,1.17,4.53,0.778,4,0.000,0.047,2648,1491,1861,0,0,0,0,0,0
$GC,13179,0.74,158.4,149.8,8.9,972,13192,0.00,1.15,6.62,0.873,6,0.000,0.048,2648,2203,1839,0,0,0,0,0,0
$GC,13524,0.77,182.4,119.8,8.2,1024,13551,0.00,0.00,21.65,0.986,6,0.000,0.000,2648,2203,1741,0,0,0,0,0,0
$GC,13882,0.78,194.4,88.5,8.7,1078,13898,0.00,0.00,11.43,0.935,6,0.000,0.000,2648,2203,1691,0,0,0,0,0,0
$GC,14229,0.79,199.1,54.6,9.0,1130,14244,0.00,1.15,5.40,0.802,4,0.000,0.057,2648,2906,1673,0,0,0,0,0,0
$GC,14497,0.88,271.1,36.7,6.1,1170,14566,0.00,1.15,61.58,0.942,6,0.000,0.038,2652,2200,1377,0,0,0,0,0,0
$STATE,14809,end climb,SURFACE_DEPTH_REACHED
$STATE,14809,begin surface coast
$FINISH,1.7,1.001953
$STATE,14833,end surface coast,CONTROL_FINISHED_OK
$STATE,14833,begin surface
$SM_CCo,14849,12.43,0.086,0,0,1261,300.00
$SM_GC,3.08,6.88,0.57,12.43,0.043,0.046,0.086,122,2514,1261,-7.06,-0.93,300.00,0,0,0,0,0,0
$RAFOS_CLK,973
$RAFOS,6,1320742146,8.833333,8.818334,61,58,54,0,0,0,160,216,195,0,0,0
$RAFOS,5,1320741666,8.700000,8.685000,83,56,55,0,0,0,533,173,150,0,0,0
$RAFOS,4,1320741185,8.566667,8.551389,75,62,60,0,0,0,772,171,211,0,0,0
$RAFOS,3,1320740706,8.433333,8.418333,67,59,58,0,0,0,881,204,135,0,0,0
$RAFOS,2,1320740224,8.300000,8.284445,67,61,57,0,0,0,960,194,112,0,0,0
$RAFOS,1,1320739750,8.166667,8.152778,71,63,61,0,0,0,215,204,230,0,0,0
$RAFOS,0,1320739269,8.033334,8.019167,67,59,59,0,0,0,215,202,1054,0,0,0
$RAFOS,6,1320727741,4.833333,4.816945,63,62,59,0,0,0,192,206,228,0,0,0
$RAFOS_FIX,6657.540039,-5734.566406,081111,080828,4,73,0.17
$IRIDIUM_FIX,6631.12,-5731.73,081111,000027
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.46
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,751.3,115.1
$24V_AH,22.6,25.944
$10V_AH,10.2,20.000
$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,17.225,48.825,364.850,12.425,0.000,0.000,0.000,187.300,7.000,0.000,19.944,3327.029,8931.492,555.585,2138.878,226.660,0.000,1782.064,0.000,1922.938,2880.000,24.726,0.000
$DEVICE_MAMPS,259.335,71.145,1409.130,85.680,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.914,673.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150232
$DATA_FILE_SIZE,46607,1220
$CAP_FILE_SIZE,133688,0
$CFSIZE,260165632,233783296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.6
$CURRENT,0.101,228.2,1
$GPS,081111,085759,6657.534,-5726.526,38,0.8,38,-33.5