version: 66.09
glider: 143
mission: 13
dive: 225
start: 11 11 111 9 43 20
data:
$ID,143
$MISSION,13
$DIVE,225
$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,-80802.148
$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,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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$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
$GPS1,111111,093706,6700.484,-5717.329,38,0.9,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-70.8
$GPS2,111111,094248,6700.476,-5717.413,20,0.9,20,-33.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,302.7,141297,-16.9,-9.167
$D_GRID,783
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-25.90,0.000,2,0.000,0.000,119,2508,1628,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-1.9,4,162,8.65,1.17,-97.47,0.000,4,0.256,0.095,2161,3214,3082,0,0,0,0,0,0
$GC,289,-0.73,-146.0,25.7,-15.3,40,298,0.00,1.10,0.00,0.000,6,0.000,0.031,2161,2502,3084,0,0,0,0,0,0
$GC,630,-0.73,-146.0,77.4,-13.9,91,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2502,3084,0,0,0,0,0,0
$GC,967,-0.73,-146.0,123.4,-13.1,142,974,0.00,1.20,0.00,0.000,4,0.000,0.064,2157,3219,3084,0,0,0,0,0,0
$GC,1080,-0.73,-146.0,138.8,-14.1,159,1086,0.00,1.10,0.00,0.000,6,0.000,0.031,2156,2505,3084,0,0,0,0,0,0
$GC,1417,-0.73,-146.0,182.8,-12.3,210,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2505,3084,0,0,0,0,0,0
$GC,1755,-0.73,-146.0,221.8,-11.4,261,1762,0.00,1.17,0.00,0.000,4,0.000,0.066,2152,3210,3083,0,0,0,0,0,0
$GC,1815,-0.73,-146.0,228.7,-11.2,270,1822,0.00,1.08,0.00,0.000,6,0.000,0.032,2152,2509,3083,0,0,0,0,0,0
$GC,2148,-0.73,-146.0,265.9,-11.4,310,2151,0.00,1.17,0.00,0.000,4,0.000,0.064,2147,3217,3083,0,0,0,0,0,0
$GC,2193,-0.73,-146.0,270.6,-11.4,313,2200,0.00,1.10,0.00,0.000,6,0.000,0.031,2148,2501,3083,0,0,0,0,0,0
$GC,2518,-0.73,-146.0,309.0,-11.5,339,2521,0.00,1.17,0.00,0.000,4,0.000,0.063,2143,3212,3083,0,0,0,0,0,0
$GC,2562,-0.73,-146.0,313.6,-11.0,342,2570,0.00,1.10,0.00,0.000,6,0.000,0.030,2143,2499,3082,0,0,0,0,0,0
$GC,2888,-0.73,-146.0,350.5,-11.3,368,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2499,3083,0,0,0,0,0,0
$GC,3203,-0.73,-146.0,386.4,-11.4,393,3206,0.00,1.17,0.00,0.000,4,0.000,0.063,2138,3212,3083,0,0,0,0,0,0
$GC,3247,-0.73,-146.0,391.2,-11.7,396,3257,0.00,1.08,0.00,0.000,6,0.000,0.028,2138,2512,3083,0,0,0,0,0,0
$GC,3572,-0.73,-146.0,428.1,-11.1,422,3576,0.00,1.15,0.00,0.000,4,0.000,0.063,2134,3208,3083,0,0,0,0,0,0
$GC,3652,-0.73,-146.0,437.2,-11.3,428,3656,0.08,1.05,0.00,0.000,6,0.147,0.029,2158,2510,3083,0,0,0,0,0,0
$GC,3981,-0.73,-146.0,470.9,-10.4,454,3984,0.00,1.15,0.00,0.000,4,0.000,0.063,2156,3209,3084,0,0,0,0,0,0
$GC,3999,-0.73,-146.0,472.2,-10.3,455,4006,0.00,1.08,0.00,0.000,6,0.000,0.027,2156,2492,3084,0,0,0,0,0,0
$GC,4334,-0.73,-146.0,507.5,-10.5,479,4338,0.00,1.20,0.00,0.000,4,0.000,0.063,2151,3220,3084,0,0,0,0,0,0
$GC,4371,-0.73,-146.0,511.1,-10.4,480,4376,0.00,1.10,0.00,0.000,6,0.000,0.027,2151,2502,3084,0,0,0,0,0,0
$GC,4706,-0.73,-146.0,546.4,-10.5,491,4709,0.00,1.17,0.00,0.000,4,0.000,0.062,2146,3216,3085,0,0,0,0,0,0
$GC,4730,-0.73,-146.0,546.4,-10.5,491,4738,0.00,1.10,0.00,0.000,6,0.000,0.027,2146,2495,3085,0,0,0,0,0,0
$GC,5044,-0.73,-146.0,581.9,-10.3,502,5047,0.00,1.17,0.00,0.000,4,0.000,0.062,2142,3211,3085,0,0,0,0,0,0
$GC,5069,-0.73,-146.0,581.9,-10.3,502,5077,0.00,1.08,0.00,0.000,6,0.000,0.028,2141,2509,3085,0,0,0,0,0,0
$GC,5384,-0.73,-146.0,618.6,-10.9,513,5387,0.00,1.15,0.00,0.000,4,0.000,0.062,2137,3211,3086,0,0,0,0,0,0
$GC,5408,-0.73,-146.0,618.6,-10.9,513,5416,0.00,1.08,0.00,0.000,6,0.000,0.027,2137,2506,3086,0,0,0,0,0,0
$GC,5723,-0.73,-146.0,656.5,-11.1,524,5726,0.00,1.17,0.00,0.000,4,0.000,0.063,2133,3220,3086,0,0,0,0,0,0
$GC,5757,-0.73,-146.0,660.3,-11.0,525,5761,0.10,1.08,0.00,0.000,6,0.142,0.028,2164,2505,3086,0,0,0,0,0,0
$GC,6096,-0.73,-146.0,692.4,-9.3,536,6100,0.00,1.17,0.00,0.000,4,0.000,0.063,2161,3219,3085,0,0,0,0,0,0
$GC,6114,-0.73,-146.0,692.4,-9.3,536,6118,0.00,1.10,0.00,0.000,6,0.000,0.027,2161,2498,3085,0,0,0,0,0,0
$GC,6435,-0.73,-146.0,724.0,-9.3,547,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2498,3086,0,0,0,0,0,0
$GC,6745,-0.73,-146.0,751.9,-9.1,557,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2498,3086,0,0,0,0,0,0
$GC,7047,-0.73,-146.0,780.1,-9.2,567,7051,0.00,1.17,0.00,0.000,4,0.000,0.063,2156,3212,3086,0,0,0,0,0,0
$STATE,7078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7078,begin apogee
$GC,7085,-0.16,0.0,783.4,-9.4,568,7213,0.57,0.00,121.28,1.390,6,0.129,0.000,2344,2205,2485,0,0,0,0,0,0
$STATE,7214,end apogee,CONTROL_FINISHED_OK
$STATE,7214,begin climb
$GC,7217,0.73,146.0,788.2,0.0,572,7356,0.85,1.20,131.07,1.333,4,0.065,0.047,2642,1508,1888,0,0,0,0,0,0
$GC,7599,0.73,146.0,754.0,12.2,584,7604,0.00,1.23,0.00,0.000,6,0.000,0.044,2641,2214,1880,0,0,0,0,0,0
$GC,7933,0.73,146.0,711.5,12.7,595,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2214,1878,0,0,0,0,0,0
$GC,8239,0.73,146.0,672.4,12.6,605,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2214,1877,0,0,0,0,0,0
$GC,8546,0.73,146.0,633.3,12.6,615,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2214,1876,0,0,0,0,0,0
$GC,8852,0.73,146.0,594.9,12.4,625,8855,0.00,1.12,0.00,0.000,4,0.000,0.055,2642,2913,1874,0,0,0,0,0,0
$GC,8955,0.73,146.0,582.3,12.6,628,8961,0.00,1.17,0.00,0.000,6,0.000,0.034,2646,2194,1874,0,0,0,0,0,0
$GC,9290,0.73,146.0,540.6,12.3,639,9293,0.00,1.08,0.00,0.000,4,0.000,0.049,2651,1491,1874,0,0,0,0,0,0
$GC,9394,0.73,146.0,528.4,12.2,642,9399,0.00,1.17,0.00,0.000,6,0.000,0.045,2652,2204,1874,0,0,0,0,0,0
$GC,9715,0.73,146.0,488.4,12.3,656,9718,0.00,1.12,0.00,0.000,4,0.000,0.057,2652,2905,1874,0,0,0,0,0,0
$GC,9825,0.73,146.0,474.7,12.3,664,9833,0.00,1.15,0.00,0.000,6,0.000,0.037,2657,2200,1873,0,0,0,0,0,0
$GC,10152,0.73,146.0,434.7,12.0,690,10155,0.00,1.08,0.00,0.000,4,0.000,0.050,2662,1494,1873,0,0,0,0,0,0
$GC,10235,0.73,146.0,424.9,11.8,696,10243,0.00,1.17,0.00,0.000,6,0.000,0.046,2662,2210,1873,0,0,0,0,0,0
$GC,10563,0.73,146.0,384.3,12.4,722,10567,0.00,1.10,0.00,0.000,4,0.000,0.056,2662,2900,1873,0,0,0,0,0,0
$GC,10674,0.73,146.0,370.1,13.2,730,10682,0.12,1.15,0.00,0.000,6,0.173,0.037,2636,2194,1873,0,0,0,0,0,0
$GC,10997,0.73,146.0,330.6,11.5,756,11001,0.00,1.05,0.00,0.000,4,0.000,0.050,2640,1496,1872,0,0,0,0,0,0
$GC,11081,0.73,146.0,321.3,11.5,762,11089,0.00,1.15,0.00,0.000,6,0.000,0.046,2641,2202,1872,0,0,0,0,0,0
$GC,11406,0.73,146.0,284.4,10.8,788,11410,0.00,1.12,0.00,0.000,4,0.000,0.055,2641,2908,1872,0,0,0,0,0,0
$GC,11552,0.73,146.0,267.7,11.3,799,11555,0.00,1.12,0.00,0.000,6,0.000,0.036,2645,2200,1872,0,0,0,0,0,0
$GC,11880,0.73,146.0,232.8,10.8,836,11887,0.00,1.17,0.00,0.000,4,0.000,0.053,2645,2902,1872,0,0,0,0,0,0
$GC,12111,0.73,146.0,206.6,11.0,871,12117,0.00,1.12,0.00,0.000,6,0.000,0.037,2650,2197,1872,0,0,0,0,0,0
$GC,12450,0.73,146.0,171.5,10.2,922,12456,0.00,1.05,0.00,0.000,4,0.000,0.049,2655,1496,1872,0,0,0,0,0,0
$GC,12536,0.73,146.0,162.7,9.9,935,12543,0.00,1.12,0.00,0.000,6,0.000,0.046,2655,2199,1872,0,0,0,0,0,0
$GC,12876,0.73,146.0,130.1,9.3,986,12882,0.00,1.12,0.00,0.000,4,0.000,0.055,2655,2908,1872,0,0,0,0,0,0
$GC,13001,0.73,146.0,118.4,9.2,1005,13010,0.00,1.12,0.00,0.000,6,0.000,0.037,2659,2200,1872,0,0,0,0,0,0
$GC,13341,0.78,190.1,91.2,7.3,1056,13383,0.00,1.12,35.38,0.956,4,0.000,0.050,2665,1494,1709,0,0,0,0,0,0
$GC,13544,0.79,201.5,73.2,8.7,1086,13559,0.00,1.15,10.95,0.888,6,0.000,0.046,2665,2197,1663,0,0,0,0,0,0
$GC,13890,0.82,223.4,40.7,8.2,1138,13918,0.00,1.12,19.45,0.915,4,0.000,0.044,2669,1491,1573,0,0,0,0,0,0
$GC,14169,0.91,293.5,17.2,6.2,1180,14211,0.00,1.17,36.45,0.110,6,0.000,0.045,2669,2208,1287,0,0,0,0,0,0
$STATE,14304,end climb,SURFACE_DEPTH_REACHED
$STATE,14305,begin surface coast
$FINISH,1.9,1.015789
$STATE,14318,end surface coast,CONTROL_FINISHED_OK
$STATE,14318,begin surface
$SM_CCo,14335,1.55,0.088,0,0,1261,300.00
$SM_GC,3.55,6.95,0.52,1.55,0.047,0.067,0.088,119,2511,1261,-7.07,-0.71,300.00,0,0,0,0,0,0
$RAFOS_CLK,923
$RAFOS,6,1321015750,12.833333,12.819445,67,61,57,0,0,0,713,191,116,0,0,0
$RAFOS,5,1321015267,12.700000,12.685278,107,64,60,0,0,0,538,218,191,0,0,0
$RAFOS,4,1321014782,12.566667,12.550555,61,59,59,0,0,0,196,205,800,0,0,0
$RAFOS,3,1321014309,12.433333,12.419167,74,59,56,0,0,0,199,218,147,0,0,0
$RAFOS,2,1321013826,12.300000,12.285000,61,58,57,0,0,0,226,178,191,0,0,0
$RAFOS,1,1321013358,12.166667,12.155000,71,62,62,0,0,0,214,204,147,0,0,0
$RAFOS,0,1321012868,12.033333,12.018888,67,61,59,0,0,0,196,213,225,0,0,0
$RAFOS_FIX,6701.807129,-5734.536133,111111,121200,2,87,1.14
$IRIDIUM_FIX,6631.12,-5716.55,111111,050547
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.15
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.40
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.9,18.1
$ALTIM_BOTTOM_PING,751.9,50.7
$24V_AH,22.7,28.289
$10V_AH,10.2,21.719
$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,17.325,64.400,354.575,1.550,0.000,0.000,0.000,225.675,8.000,0.000,22.845,3314.457,8334.141,544.585,2263.154,235.033,0.000,1851.464,0.000,2005.853,2520.000,30.549,0.000
$DEVICE_MAMPS,255.510,94.860,1390.005,87.975,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,868.494,663.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46684,1202
$CAP_FILE_SIZE,138370,0
$CFSIZE,260165632,232423424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.9
$CURRENT,0.252, 21.5,1
$GPS,111111,134423,6702.524,-5722.170,71,0.7,71,-33.6