version: 66.09
glider: 143
mission: 13
dive: 206
start: 11 8 111 13 17 0
data:
$ID,143
$MISSION,13
$DIVE,206
$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,-80775.391
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,081111,131053,6659.545,-5724.927,37,0.8,37,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.0
$GPS2,081111,131628,6659.533,-5724.910,21,1.7,21,-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,149.7,27417,-16.9,-9.167
$D_GRID,804
$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,-146.0,0.0,0.0,0,53,0.00,0.00,-34.92,0.000,2,0.000,0.000,118,2510,1736,0,0,0,0,0,0
$GC,56,-0.73,-146.0,3.0,-1.2,5,151,8.75,1.17,-77.07,0.000,4,0.264,0.096,2156,3219,3082,0,0,0,0,0,0
$GC,402,-0.73,-146.0,54.0,-17.5,57,409,0.00,1.12,0.00,0.000,6,0.000,0.034,2156,2501,3084,0,0,0,0,0,0
$GC,742,-0.73,-146.0,107.1,-14.8,108,749,0.00,1.20,0.00,0.000,4,0.000,0.064,2151,3216,3085,0,0,0,0,0,0
$GC,999,-0.73,-146.0,144.7,-13.2,147,1008,0.00,1.10,0.00,0.000,6,0.000,0.034,2152,2509,3085,0,0,0,0,0,0
$GC,1340,-0.73,-146.0,186.1,-11.5,198,1347,0.00,1.17,0.00,0.000,4,0.000,0.063,2147,3213,3085,0,0,0,0,0,0
$GC,1557,-0.73,-146.0,213.3,-12.6,231,1566,0.00,1.10,0.00,0.000,6,0.000,0.034,2147,2501,3085,0,0,0,0,0,0
$GC,1901,-0.73,-146.0,257.0,-12.7,279,1904,0.00,1.17,0.00,0.000,4,0.000,0.063,2142,3209,3084,0,0,0,0,0,0
$GC,1945,-0.73,-146.0,262.2,-12.9,282,1953,0.00,1.10,0.00,0.000,6,0.000,0.033,2142,2506,3084,0,0,0,0,0,0
$GC,2271,-0.73,-146.0,303.3,-12.0,308,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2506,3084,0,0,0,0,0,0
$GC,2584,-0.73,-146.0,339.6,-11.6,333,2587,0.00,1.17,0.00,0.000,4,0.000,0.064,2137,3214,3084,0,0,0,0,0,0
$GC,2641,-0.73,-146.0,345.8,-11.7,337,2649,0.00,1.10,0.00,0.000,6,0.000,0.031,2137,2507,3083,0,0,0,0,0,0
$GC,2966,-0.73,-146.0,384.6,-11.6,363,2970,0.00,1.08,0.00,0.000,4,0.000,0.044,2138,1812,3084,0,0,0,0,0,0
$GC,3035,-0.73,-146.0,392.7,-11.8,368,3039,0.10,1.17,0.00,0.000,6,0.150,0.054,2164,2504,3084,0,0,0,0,0,0
$GC,3363,-0.73,-146.0,426.5,-10.0,394,3367,0.00,1.12,0.00,0.000,4,0.000,0.068,2161,3214,3084,0,0,0,0,0,0
$GC,3468,-0.73,-146.0,437.4,-10.3,402,3472,0.00,1.08,0.00,0.000,6,0.000,0.030,2161,2501,3084,0,0,0,0,0,0
$GC,3798,-0.73,-146.0,470.9,-9.8,428,3802,0.00,1.05,0.00,0.000,4,0.000,0.043,2161,1815,3085,0,0,0,0,0,0
$GC,3877,-0.73,-146.0,479.1,-9.9,434,3881,0.00,1.17,0.00,0.000,6,0.000,0.054,2157,2511,3085,0,0,0,0,0,0
$GC,4215,-0.73,-146.0,513.6,-10.2,455,4219,0.00,1.10,0.00,0.000,4,0.000,0.067,2151,3212,3085,0,0,0,0,0,0
$GC,4326,-0.73,-146.0,524.0,-10.3,458,4331,0.00,1.08,0.00,0.000,6,0.000,0.029,2152,2515,3085,0,0,0,0,0,0
$GC,4653,-0.73,-146.0,558.7,-10.1,469,4656,0.00,1.08,0.00,0.000,4,0.000,0.043,2152,1816,3085,0,0,0,0,0,0
$GC,4697,-0.73,-146.0,562.0,-10.1,470,4703,0.00,1.20,0.00,0.000,6,0.000,0.053,2147,2518,3085,0,0,0,0,0,0
$GC,5025,-0.73,-146.0,596.3,-9.9,481,5028,0.00,1.10,0.00,0.000,4,0.000,0.067,2141,3217,3085,0,0,0,0,0,0
$GC,5082,-0.73,-146.0,599.7,-9.9,482,5091,0.00,1.10,0.00,0.000,6,0.000,0.028,2142,2499,3086,0,0,0,0,0,0
$GC,5396,-0.73,-146.0,634.1,-10.3,493,5400,0.00,1.02,0.00,0.000,4,0.000,0.044,2142,1828,3085,0,0,0,0,0,0
$GC,5447,-0.73,-146.0,637.6,-10.4,494,5452,0.00,1.17,0.00,0.000,6,0.000,0.052,2137,2514,3085,0,0,0,0,0,0
$GC,5768,-0.73,-146.0,674.2,-10.9,505,5771,0.00,1.10,0.00,0.000,4,0.000,0.067,2132,3211,3086,0,0,0,0,0,0
$GC,5868,-0.73,-146.0,685.5,-11.4,508,5873,0.10,1.05,0.00,0.000,6,0.147,0.031,2163,2512,3086,0,0,0,0,0,0
$GC,6209,-0.73,-146.0,717.6,-9.1,519,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2512,3085,0,0,0,0,0,0
$GC,6514,-0.73,-146.0,745.7,-9.3,529,6518,0.00,1.05,0.00,0.000,4,0.000,0.044,2163,1829,3086,0,0,0,0,0,0
$GC,6552,-0.73,-146.0,748.8,-9.3,530,6556,0.00,1.17,0.00,0.000,6,0.000,0.054,2161,2514,3086,0,0,0,0,0,0
$GC,6886,-0.73,-146.0,780.6,-9.1,541,6890,0.00,1.10,0.00,0.000,4,0.000,0.067,2155,3213,3086,0,0,0,0,0,0
$GC,6964,-0.73,-146.0,787.0,-9.5,543,6968,0.00,1.08,0.00,0.000,6,0.000,0.029,2155,2515,3086,0,0,0,0,0,0
$STATE,7135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7135,begin apogee
$GC,7141,-0.16,0.0,804.2,-9.5,549,7271,0.57,0.00,121.82,1.414,6,0.129,0.000,2341,2196,2485,0,0,0,0,0,0
$STATE,7271,end apogee,CONTROL_FINISHED_OK
$STATE,7271,begin climb
$GC,7274,0.73,146.0,809.1,0.0,553,7415,0.85,1.20,132.02,1.356,4,0.067,0.050,2636,1514,1889,0,0,0,0,0,0
$GC,7499,0.73,146.0,795.1,10.4,560,7504,0.00,1.25,0.00,0.000,6,0.000,0.043,2636,2213,1884,0,0,0,0,0,0
$GC,7827,0.73,146.0,753.4,12.3,571,7830,0.00,1.15,0.00,0.000,4,0.000,0.055,2636,2902,1880,0,0,0,0,0,0
$GC,7904,0.73,146.0,745.1,12.4,573,7909,0.00,1.17,0.00,0.000,6,0.000,0.036,2641,2207,1879,0,0,0,0,0,0
$GC,8233,0.73,146.0,704.1,11.9,584,8234,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2207,1878,0,0,0,0,0,0
$GC,8538,0.73,146.0,667.9,11.8,594,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2206,1877,0,0,0,0,0,0
$GC,8845,0.73,146.0,631.0,12.2,604,8849,0.00,1.20,0.00,0.000,4,0.000,0.054,2641,2909,1877,0,0,0,0,0,0
$GC,8870,0.73,146.0,631.0,12.2,604,8878,0.00,1.17,0.00,0.000,6,0.000,0.037,2646,2196,1877,0,0,0,0,0,0
$GC,9184,0.73,146.0,589.9,12.2,615,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2196,1875,0,0,0,0,0,0
$GC,9490,0.73,146.0,552.4,12.3,625,9494,0.00,1.20,0.00,0.000,4,0.000,0.053,2646,2905,1875,0,0,0,0,0,0
$GC,9528,0.73,146.0,548.2,12.4,626,9532,0.00,1.17,0.00,0.000,6,0.000,0.037,2650,2186,1875,0,0,0,0,0,0
$GC,9865,0.73,146.0,507.0,12.0,637,9868,0.00,1.20,0.00,0.000,4,0.000,0.052,2651,2900,1875,0,0,0,0,0,0
$GC,9882,0.73,146.0,507.0,12.0,637,9887,0.00,1.15,0.00,0.000,6,0.000,0.037,2655,2195,1875,0,0,0,0,0,0
$GC,10206,0.73,146.0,466.5,11.6,661,10210,0.00,1.20,0.00,0.000,4,0.000,0.053,2655,2910,1873,0,0,0,0,0,0
$GC,10220,0.73,146.0,464.7,11.7,662,10223,0.00,1.15,0.00,0.000,6,0.000,0.037,2660,2194,1873,0,0,0,0,0,0
$GC,10550,0.73,146.0,425.4,12.2,688,10553,0.00,1.20,0.00,0.000,4,0.000,0.052,2660,2909,1873,0,0,0,0,0,0
$GC,10589,0.73,146.0,420.3,12.4,691,10594,0.10,1.15,0.00,0.000,6,0.155,0.037,2634,2191,1874,0,0,0,0,0,0
$GC,10918,0.73,146.0,382.4,11.9,717,10922,0.00,1.20,0.00,0.000,4,0.000,0.054,2633,2905,1874,0,0,0,0,0,0
$GC,10975,0.73,146.0,375.9,12.4,721,10983,0.00,1.15,0.00,0.000,6,0.000,0.037,2637,2196,1874,0,0,0,0,0,0
$GC,11298,0.73,146.0,336.6,11.9,747,11302,0.00,1.20,0.00,0.000,4,0.000,0.053,2637,2911,1874,0,0,0,0,0,0
$GC,11324,0.73,146.0,333.4,11.8,749,11328,0.00,1.15,0.00,0.000,6,0.000,0.037,2641,2193,1874,0,0,0,0,0,0
$GC,11656,0.73,146.0,296.6,10.7,775,11659,0.00,1.20,0.00,0.000,4,0.000,0.053,2642,2909,1873,0,0,0,0,0,0
$GC,11723,0.73,146.0,289.1,11.0,780,11727,0.00,1.12,0.00,0.000,6,0.000,0.036,2646,2200,1873,0,0,0,0,0,0
$GC,12051,0.73,146.0,254.8,9.9,806,12053,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,1873,0,0,0,0,0,0
$GC,12381,0.73,146.0,221.5,10.2,852,12387,0.00,1.17,0.00,0.000,4,0.000,0.053,2646,2905,1873,0,0,0,0,0,0
$GC,12515,0.73,146.0,206.4,10.7,872,12521,0.00,1.12,0.00,0.000,6,0.000,0.037,2651,2197,1873,0,0,0,0,0,0
$GC,12852,0.73,146.0,170.8,10.2,923,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2197,1873,0,0,0,0,0,0
$GC,13191,0.73,146.0,137.5,10.0,974,13197,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2197,1873,0,0,0,0,0,0
$GC,13528,0.75,164.0,106.6,8.4,1025,13550,0.00,1.10,13.90,0.943,4,0.000,0.049,2656,1492,1816,0,0,0,0,0,0
$GC,13651,0.75,170.1,95.9,8.9,1043,13662,0.00,1.15,6.88,0.857,6,0.000,0.046,2656,2203,1791,0,0,0,0,0,0
$GC,13994,0.81,217.3,66.5,7.2,1094,14042,0.00,1.12,40.78,0.946,4,0.000,0.044,2661,1496,1597,0,0,0,0,0,0
$GC,14234,0.85,246.2,46.1,7.9,1130,14267,0.00,1.17,24.92,0.912,6,0.000,0.046,2661,2207,1480,0,0,0,0,0,0
$GC,14599,0.85,246.2,8.1,9.9,1185,14606,0.00,1.12,0.00,0.000,4,0.000,0.054,2661,2909,1475,0,0,0,0,0,0
$GC,14626,0.85,246.2,5.2,10.7,1189,14633,0.00,1.15,0.00,0.000,6,0.000,0.036,2665,2206,1475,0,0,0,0,0,0
$STATE,14664,end climb,SURFACE_DEPTH_REACHED
$STATE,14664,begin surface coast
$FINISH,1.8,1.015719
$STATE,14685,end surface coast,CONTROL_FINISHED_OK
$STATE,14685,begin surface
$SM_CCo,14702,24.90,0.083,0,0,1262,300.00
$SM_GC,2.33,6.82,0.57,24.90,0.040,0.047,0.083,119,2518,1262,-7.07,-0.71,300.00,0,0,0,0,0,0
$RAFOS_CLK,958
$RAFOS,6,1320770944,16.833334,16.817778,67,66,61,0,0,0,761,189,204,0,0,0
$RAFOS,5,1320770465,16.700001,16.684723,138,57,54,0,0,0,550,221,233,0,0,0
$RAFOS,4,1320769992,16.566668,16.553333,69,67,58,0,0,0,204,746,219,0,0,0
$RAFOS,3,1320769504,16.433332,16.417778,71,67,58,0,0,0,207,222,151,0,0,0
$RAFOS,2,1320769022,16.299999,16.283890,65,55,54,0,0,0,975,213,190,0,0,0
$RAFOS,1,1320768552,16.166666,16.153334,83,62,62,0,0,0,916,199,144,0,0,0
$RAFOS,0,1320768079,16.033333,16.021944,59,56,54,0,0,0,1008,223,170,0,0,0
$RAFOS_FIX,6658.427734,-5732.198730,081111,161656,4,88,0.49
$IRIDIUM_FIX,6631.12,-5724.14,081111,090928
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.28
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.60
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,700.6,131.2
$24V_AH,22.6,26.196
$10V_AH,10.2,20.188
$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,17.300,67.275,340.325,24.900,0.000,0.000,0.000,218.250,8.000,0.000,21.849,3330.287,8738.194,526.714,2246.904,238.389,0.000,1828.844,0.000,2002.044,2520.000,22.957,0.000
$DEVICE_MAMPS,263.925,96.390,1413.720,83.385,0.000,0.000,0.000,253.925,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.740,660.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46645,1198
$CAP_FILE_SIZE,140811,0
$CFSIZE,260165632,233635840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.0
$CURRENT,0.145,317.6,1
$GPS,081111,172405,6659.296,-5722.058,36,0.8,36,-33.5