version: 66.09
glider: 143
mission: 13
dive: 2090
start: 1 22 112 3 1 5
data:
$ID,143
$MISSION,13
$DIVE,2090
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,940
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,350
$T_MISSION,400
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,501.14789
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-259377.31
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2200
$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,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,54
$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,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,200112,171442,6117.301,-6030.119,181,99.0,181,-28.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-59.7
$GPS2,200112,171442,6117.301,-6030.119,181,99.0,181,-28.2
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,6117.301,-6007.639
$TGT_RADIUS,1852.000
$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,112.9,20000,-16.6,-8.952
$D_GRID,1514
$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,19,-0.71,-146.0,0.0,0.0,0,27,0.00,0.00,-6.00,0.000,2,0.000,0.000,113,1702,553,0,0,0,0,0,0
$GC,31,-0.71,-146.0,3.0,0.0,1,178,7.80,1.25,-130.35,0.000,4,0.240,0.103,1962,984,3081,0,0,0,0,0,0
$GC,432,-0.71,-146.0,52.4,-16.6,31,436,0.00,1.08,0.00,0.000,6,0.000,0.031,1959,1703,3084,0,0,0,0,0,0
$GC,760,-0.71,-146.0,100.0,-14.5,52,764,0.00,1.02,0.00,0.000,4,0.000,0.028,1954,2420,3084,0,0,0,0,0,0
$GC,1017,-0.71,-146.0,135.2,-15.0,59,1024,0.00,1.23,0.00,0.000,6,0.000,0.063,1954,1711,3082,0,0,0,0,0,0
$GC,1333,-0.71,-146.0,182.7,-13.4,70,1337,0.00,1.05,0.00,0.000,4,0.000,0.026,1950,2425,3081,0,0,0,0,0,0
$GC,1591,-0.71,-146.0,214.9,-13.8,77,1600,0.00,1.25,0.00,0.000,6,0.000,0.062,1949,1700,3081,0,0,0,0,0,0
$GC,1906,-0.71,-146.0,262.7,-14.3,88,1910,0.00,1.17,0.00,0.000,4,0.000,0.077,1949,989,3081,0,0,0,0,0,0
$GC,2167,-0.71,-146.0,300.3,-16.2,95,2174,0.00,1.08,0.00,0.000,6,0.000,0.030,1944,1713,3081,0,0,0,0,0,0
$GC,2483,-0.71,-146.0,356.9,-16.8,106,2487,0.00,1.23,0.00,0.000,4,0.000,0.075,1944,989,3082,0,0,0,0,0,0
$GC,2740,-0.71,-146.0,396.9,-16.6,113,2751,0.00,1.05,0.00,0.000,6,0.000,0.031,1939,1700,3082,0,0,0,0,0,0
$GC,3056,-0.71,-146.0,450.7,-15.8,124,3061,0.12,1.05,0.00,0.000,4,0.156,0.027,1968,2414,3083,0,0,0,0,0,0
$GC,3314,-0.71,-146.0,486.2,-15.1,131,3321,0.00,1.23,0.00,0.000,6,0.000,0.059,1969,1698,3083,0,0,0,0,0,0
$GC,3629,-0.71,-146.0,538.2,-15.5,138,3633,0.00,1.05,0.00,0.000,4,0.000,0.025,1965,2416,3084,0,0,0,0,0,0
$GC,3702,-0.71,-146.0,549.4,-15.6,139,3705,0.00,1.23,0.00,0.000,6,0.000,0.059,1965,1701,3083,0,0,0,0,0,0
$GC,4067,-0.71,-146.0,607.1,-15.8,145,4071,0.00,1.05,0.00,0.000,4,0.000,0.026,1962,2413,3084,0,0,0,0,0,0
$GC,4324,-0.71,-146.0,638.2,-15.4,148,4331,0.00,1.23,0.00,0.000,6,0.000,0.059,1962,1698,3084,0,0,0,0,0,0
$GC,4637,-0.71,-146.0,694.2,-14.9,154,4640,0.00,1.05,0.00,0.000,4,0.000,0.025,1957,2414,3084,0,0,0,0,0,0
$GC,4723,-0.71,-146.0,704.0,-14.7,155,4726,0.00,1.23,0.00,0.000,6,0.000,0.059,1958,1700,3084,0,0,0,0,0,0
$GC,5078,-0.71,-146.0,755.5,-13.9,161,5081,0.00,1.05,0.00,0.000,4,0.000,0.026,1954,2415,3084,0,0,0,0,0,0
$GC,5335,-0.71,-146.0,784.9,-14.4,164,5342,0.00,1.25,0.00,0.000,6,0.000,0.059,1954,1691,3084,0,0,0,0,0,0
$GC,5648,-0.71,-146.0,838.6,-14.5,170,5651,0.00,1.05,0.00,0.000,4,0.000,0.025,1950,2408,3085,0,0,0,0,0,0
$GC,5905,-0.71,-146.0,867.3,-14.4,173,5914,0.00,1.23,0.00,0.000,6,0.000,0.058,1950,1698,3084,0,0,0,0,0,0
$GC,6217,-0.71,-146.0,913.0,-12.2,179,6220,0.00,1.17,0.00,0.000,4,0.000,0.075,1950,982,3085,0,0,0,0,0,0
$GC,6434,-0.71,-146.0,938.0,-12.3,182,6438,0.00,1.08,0.00,0.000,6,0.000,0.030,1946,1710,3085,0,0,0,0,0,0
$STATE,6480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6480,begin apogee
$GC,6488,-0.16,0.0,946.6,-12.6,183,6623,0.60,0.00,126.78,1.445,6,0.112,0.000,2141,1712,2485,0,0,0,0,0,0
$STATE,6624,end apogee,CONTROL_FINISHED_OK
$STATE,6624,begin climb
$GC,6627,0.71,146.0,955.7,0.0,185,6775,0.82,1.12,137.80,1.401,4,0.061,0.030,2428,2383,1887,0,0,0,0,0,0
$GC,6835,1.08,439.2,965.0,-3.1,188,7123,0.30,1.27,275.58,1.378,6,0.034,0.051,2562,1692,693,0,0,0,0,0,0
$GC,7469,1.08,439.2,910.6,10.3,199,7473,0.00,1.17,0.00,0.000,4,0.000,0.063,2565,978,688,0,0,0,0,0,0
$GC,7501,1.08,439.2,910.6,10.3,199,7505,0.00,1.10,0.00,0.000,6,0.000,0.030,2565,1682,688,0,0,0,0,0,0
$GC,7840,1.08,439.2,874.4,9.6,205,7843,0.00,1.17,0.00,0.000,4,0.000,0.060,2565,975,687,0,0,0,0,0,0
$GC,7978,1.08,439.2,861.5,9.6,207,7982,0.00,1.12,0.00,0.000,6,0.000,0.029,2565,1706,687,0,0,0,0,0,0
$GC,8344,1.08,441.8,828.2,8.8,213,8348,0.00,1.20,0.00,0.000,4,0.000,0.059,2565,979,687,0,0,0,0,0,0
$GC,8464,1.08,446.1,822.2,8.8,214,8479,0.00,1.10,6.40,1.061,6,0.000,0.028,2565,1699,666,0,0,0,0,0,0
$GC,8781,1.10,458.8,790.4,8.4,220,8798,0.00,1.17,13.30,1.236,4,0.000,0.057,2565,971,613,0,0,0,0,0,0
$GC,8928,1.11,469.5,779.6,8.5,222,8944,0.00,1.12,11.23,1.204,6,0.000,0.030,2565,1697,570,0,0,0,0,0,0
$GC,9279,1.13,481.8,748.0,8.4,228,9296,0.00,1.17,12.75,1.209,4,0.000,0.057,2565,972,519,0,0,0,0,0,0
$GC,9338,1.14,494.1,748.0,8.4,228,9355,0.00,1.15,12.52,1.199,6,0.000,0.030,2565,1706,469,0,0,0,0,0,0
$GC,9714,1.17,512.7,711.7,8.2,235,9725,0.00,1.25,7.53,1.087,4,0.000,0.057,2565,978,441,0,0,0,0,0,0
$GC,9746,1.19,531.4,711.7,8.2,235,9750,0.00,1.12,0.00,0.000,6,0.000,0.031,2565,1697,441,0,0,0,0,0,0
$GC,10078,1.20,541.5,681.0,8.5,241,10081,0.00,1.20,0.00,0.000,4,0.000,0.057,2565,976,439,0,0,0,0,0,0
$GC,10150,1.22,553.3,675.4,8.5,242,10154,0.00,1.12,0.00,0.000,6,0.000,0.031,2565,1705,439,0,0,0,0,0,0
$GC,10515,1.24,574.1,645.3,8.1,248,10520,0.10,1.20,0.00,0.000,4,0.097,0.057,2629,980,439,0,0,0,0,0,0
$GC,10555,1.27,594.8,645.3,8.1,248,10558,0.00,1.12,0.00,0.000,6,0.000,0.032,2629,1705,439,0,0,0,0,0,0
$GC,10886,1.27,594.8,608.7,9.9,254,10889,0.00,1.08,0.00,0.000,4,0.000,0.042,2629,2400,439,0,0,0,0,0,0
$GC,11012,1.27,594.8,601.7,10.1,255,11019,0.00,1.17,0.00,0.000,6,0.000,0.047,2631,1691,439,0,0,0,0,0,0
$GC,11323,1.27,594.8,561.2,11.1,261,11326,0.00,1.12,0.00,0.000,4,0.000,0.041,2631,2391,438,0,0,0,0,0,0
$GC,11335,1.27,594.8,561.2,11.1,261,11339,0.00,1.15,0.00,0.000,6,0.000,0.047,2635,1693,439,0,0,0,0,0,0
$GC,11693,1.27,594.8,519.5,11.3,267,11697,0.00,1.12,0.00,0.000,4,0.000,0.061,2638,986,439,0,0,0,0,0,0
$GC,11713,1.27,594.8,519.5,11.3,267,11717,0.08,1.10,0.00,0.000,6,0.096,0.032,2609,1702,439,0,0,0,0,0,0
$GC,12035,1.27,594.8,481.3,11.3,275,12039,0.00,1.17,0.00,0.000,4,0.000,0.060,2610,994,439,0,0,0,0,0,0
$GC,12161,1.27,594.8,469.4,11.7,278,12167,0.00,1.10,0.00,0.000,6,0.000,0.032,2609,1708,439,0,0,0,0,0,0
$GC,12476,1.27,594.8,428.5,12.2,289,12480,0.00,1.20,0.00,0.000,4,0.000,0.057,2609,982,438,0,0,0,0,0,0
$GC,12595,1.27,594.8,415.7,12.4,292,12599,0.00,1.10,0.00,0.000,6,0.000,0.032,2609,1698,439,0,0,0,0,0,0
$GC,12918,1.27,594.8,373.2,12.6,303,12921,0.00,1.17,0.00,0.000,4,0.000,0.057,2610,988,439,0,0,0,0,0,0
$GC,13030,1.27,594.8,360.3,12.6,306,13033,0.00,1.10,0.00,0.000,6,0.000,0.031,2609,1704,439,0,0,0,0,0,0
$GC,13358,1.27,594.8,319.2,12.2,317,13361,0.00,1.17,0.00,0.000,4,0.000,0.057,2609,992,439,0,0,0,0,0,0
$GC,13470,1.27,594.8,307.3,11.8,320,13474,0.00,1.10,0.00,0.000,6,0.000,0.031,2609,1709,439,0,0,0,0,0,0
$GC,13798,1.27,594.8,268.7,11.1,331,13802,0.00,1.20,0.00,0.000,4,0.000,0.057,2610,984,439,0,0,0,0,0,0
$GC,13924,1.27,594.8,258.7,9.9,334,13931,0.00,1.10,0.00,0.000,6,0.000,0.032,2609,1697,439,0,0,0,0,0,0
$GC,14241,1.27,594.8,221.6,10.9,345,14245,0.00,1.17,0.00,0.000,4,0.000,0.057,2609,986,439,0,0,0,0,0,0
$GC,14367,1.27,594.8,211.0,10.4,348,14374,0.00,1.10,0.00,0.000,6,0.000,0.031,2610,1702,439,0,0,0,0,0,0
$GC,14681,1.27,594.8,173.5,11.4,359,14685,0.00,1.17,0.00,0.000,4,0.000,0.057,2609,992,439,0,0,0,0,0,0
$GC,14815,1.27,594.8,157.7,11.8,363,14819,0.00,1.10,0.00,0.000,6,0.000,0.032,2609,1708,439,0,0,0,0,0,0
$GC,15156,1.27,594.8,121.0,10.2,374,15160,0.00,1.17,0.00,0.000,4,0.000,0.057,2609,995,439,0,0,0,0,0,0
$GC,15262,1.27,594.8,109.8,10.8,377,15265,0.00,1.08,0.00,0.000,6,0.000,0.031,2609,1697,439,0,0,0,0,0,0
$GC,15585,1.27,594.8,77.4,9.3,394,15589,0.00,1.17,0.00,0.000,4,0.000,0.057,2609,986,439,0,0,0,0,0,0
$GC,15706,1.27,599.6,66.7,8.8,403,15710,0.00,1.10,0.00,0.000,6,0.000,0.030,2609,1710,439,0,0,0,0,0,0
$GC,16033,1.27,599.6,33.6,10.6,424,16037,0.00,1.20,0.00,0.000,4,0.000,0.057,2609,985,440,0,0,0,0,0,0
$GC,16167,1.27,599.6,22.6,9.0,434,16170,0.00,1.10,0.00,0.000,6,0.000,0.030,2609,1708,441,0,0,0,0,0,0
$FREEZE,8.95,-1.688,-1.827,2,9,0
$FREEZE,7.27,-1.689,-1.826,2,9,0
$FREEZE,5.56,-1.690,-1.824,2,9,0
$FREEZE,3.88,-1.692,-1.823,2,9,0
$FREEZE,2.00,-1.692,-1.822,2,9,0
$STATE,16366,end climb,SURFACE_DEPTH_REACHED
$STATE,16366,begin surface coast
$FREEZE,1.63,-1.698,-1.821,2,9,0
$FINISH,1.6,1.026727
$STATE,16383,end surface coast,CONTROL_FINISHED_OK
$STATE,16383,begin surface
$SM_CCo,16464,0.00,0.000,0,0,439,501.88
$SM_GC,2.93,6.65,0.00,0.00,0.044,0.000,0.000,118,1722,439,-6.45,0.62,501.88,0,0,0,0,0,0
$RAFOS_CLK,1056
$RAFOS,6,1327207743,4.833333,4.817500,56,56,55,0,0,0,199,211,148,0,0,0
$RAFOS,5,1327207296,4.700000,4.693333,65,62,57,0,0,0,190,157,219,0,0,0
$RAFOS,4,1327206786,4.566667,4.551667,60,58,56,0,0,0,214,190,162,0,0,0
$RAFOS,3,1327206337,4.433333,4.426944,65,65,58,0,0,0,181,197,159,0,0,0
$RAFOS,2,1327205836,4.300000,4.287778,56,54,54,0,0,0,181,169,153,0,0,0
$RAFOS,1,1327205342,4.166667,4.150556,60,59,58,0,0,0,157,139,209,0,0,0
$RAFOS,0,1327204887,4.033333,4.024167,59,54,53,0,0,0,214,201,141,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6054.92,-6025.86,200112,171700
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.86
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,22.1,51.709
$10V_AH,9.8,64.990
$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,16.475,77.800,603.875,0.000,0.000,0.000,0.000,0.000,4.000,0.000,0.000,1677.087,12026.078,672.573,1818.941,331.658,0.000,1720.333,0.000,1770.897,2520.000,25.604,0.000
$DEVICE_MAMPS,240.210,103.275,1445.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.876,159.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270468
$DATA_FILE_SIZE,16791,448
$CAP_FILE_SIZE,132125,0
$CFSIZE,260165632,208044032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.9
$CURRENT,0.044,220.3,1
$GPS,200112,171442,6117.301,-6030.119,181,99.0,181,-28.2