version: 66.09
glider: 143
mission: 13
dive: 36
start: 10 10 111 19 10 21
data:
$ID,143
$MISSION,13
$DIVE,36
$N_DIVES,40
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$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,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$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,420
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80498.078
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,101011,190506,6631.582,-6003.137,29,1.0,29,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-69.5
$GPS2,101011,190948,6631.553,-6003.148,19,0.8,19,-33.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,60.1,152486,-18.3,-10.000
$D_GRID,551
$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,-0.77,-146.0,0.0,0.0,0,114,0.00,0.00,-95.43,0.000,2,0.000,0.000,121,2502,2156,0,0,0,0,0,0
$GC,117,-0.77,-146.0,3.4,-3.1,16,160,8.98,1.27,-30.02,0.000,4,0.275,0.106,2139,3223,3083,0,0,0,0,0,0
$GC,408,-0.77,-146.0,56.5,-16.3,67,415,0.00,1.17,0.00,0.000,6,0.000,0.046,2139,2499,3084,0,0,0,0,0,0
$GC,617,-0.77,-146.0,91.1,-15.8,104,623,0.00,1.23,0.00,0.000,4,0.000,0.076,2134,3213,3085,0,0,0,0,0,0
$GC,752,-0.77,-146.0,113.8,-16.7,121,755,0.00,1.15,0.00,0.000,6,0.000,0.047,2134,2502,3085,0,0,0,0,0,0
$GC,978,-0.77,-146.0,148.9,-15.4,142,981,0.00,1.23,0.00,0.000,4,0.000,0.077,2130,3216,3085,0,0,0,0,0,0
$GC,1069,-0.77,-146.0,162.7,-14.8,150,1073,0.00,1.15,0.00,0.000,6,0.000,0.048,2130,2503,3085,0,0,0,0,0,0
$GC,1294,-0.77,-146.0,195.7,-14.4,171,1298,0.00,1.23,0.00,0.000,4,0.000,0.078,2125,3219,3085,0,0,0,0,0,0
$GC,1361,-0.77,-146.0,205.4,-14.4,177,1365,0.00,1.15,0.00,0.000,6,0.000,0.047,2125,2504,3085,0,0,0,0,0,0
$GC,1587,-0.77,-146.0,237.0,-14.0,198,1591,0.00,1.10,0.00,0.000,4,0.000,0.057,2125,1815,3085,0,0,0,0,0,0
$GC,1599,-0.77,-146.0,238.9,-14.0,199,1604,0.10,1.23,0.00,0.000,6,0.177,0.068,2148,2514,3085,0,0,0,0,0,0
$GC,1825,-0.77,-146.0,265.8,-11.9,220,1829,0.00,1.15,0.00,0.000,4,0.000,0.080,2145,3221,3084,0,0,0,0,0,0
$GC,1874,-0.77,-146.0,271.1,-11.5,224,1881,0.00,1.15,0.00,0.000,6,0.000,0.047,2145,2502,3084,0,0,0,0,0,0
$GC,2093,-0.77,-146.0,296.9,-11.7,245,2097,0.00,1.10,0.00,0.000,4,0.000,0.057,2145,1815,3084,0,0,0,0,0,0
$GC,2107,-0.77,-146.0,298.2,-11.4,246,2110,0.00,1.23,0.00,0.000,6,0.000,0.067,2140,2517,3084,0,0,0,0,0,0
$GC,2331,-0.77,-146.0,325.2,-12.0,267,2335,0.00,1.15,0.00,0.000,4,0.000,0.081,2135,3223,3084,0,0,0,0,0,0
$GC,2354,-0.77,-146.0,328.2,-12.2,269,2358,0.00,1.15,0.00,0.000,6,0.000,0.046,2135,2506,3084,0,0,0,0,0,0
$GC,2582,-0.77,-146.0,357.0,-13.1,290,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2506,3084,0,0,0,0,0,0
$GC,2801,-0.77,-146.0,384.7,-12.3,311,2804,0.00,1.20,0.00,0.000,4,0.000,0.077,2130,3214,3084,0,0,0,0,0,0
$GC,2837,-0.77,-146.0,388.9,-12.2,314,2840,0.00,1.12,0.00,0.000,6,0.000,0.046,2130,2506,3084,0,0,0,0,0,0
$GC,3063,-0.77,-146.0,416.6,-12.4,335,3066,0.00,1.20,0.00,0.000,4,0.000,0.076,2125,3216,3084,0,0,0,0,0,0
$GC,3089,-0.77,-146.0,419.8,-12.4,337,3099,0.00,1.12,0.00,0.000,6,0.000,0.044,2125,2509,3084,0,0,0,0,0,0
$GC,3310,-0.77,-146.0,447.5,-12.6,358,3313,0.00,1.20,0.00,0.000,4,0.000,0.076,2120,3219,3084,0,0,0,0,0,0
$GC,3380,-0.77,-146.0,456.4,-12.6,364,3385,0.08,1.12,0.00,0.000,6,0.171,0.045,2143,2508,3084,0,0,0,0,0,0
$GC,3604,-0.77,-146.0,481.5,-11.2,385,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2508,3084,0,0,0,0,0,0
$GC,3817,-0.77,-146.0,504.2,-10.5,405,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2508,3084,0,0,0,0,0,0
$GC,4029,-0.77,-146.0,526.6,-10.4,425,4032,0.00,1.20,0.00,0.000,4,0.000,0.076,2140,3220,3084,0,0,0,0,0,0
$GC,4087,-0.77,-146.0,532.8,-11.0,430,4090,0.00,1.12,0.00,0.000,6,0.000,0.045,2140,2506,3084,0,0,0,0,0,0
$STATE,4236,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4236,begin apogee
$GC,4242,-0.16,0.0,549.5,-11.1,444,4368,0.62,0.00,118.35,1.218,6,0.142,0.000,2340,2192,2485,0,0,0,0,0,0
$STATE,4369,end apogee,CONTROL_FINISHED_OK
$STATE,4369,begin climb
$GC,4371,0.77,146.0,554.1,0.0,455,4508,0.93,1.15,125.55,1.185,4,0.074,0.061,2653,1502,1887,0,0,0,0,0,0
$GC,4756,0.77,146.0,520.1,12.9,489,4764,0.00,1.25,0.00,0.000,6,0.000,0.060,2653,2211,1879,0,0,0,0,0,0
$GC,4978,0.77,146.0,492.7,12.0,510,4981,0.00,1.20,0.00,0.000,4,0.000,0.070,2653,2912,1877,0,0,0,0,0,0
$GC,5023,0.77,146.0,486.7,12.6,514,5026,0.00,1.23,0.00,0.000,6,0.000,0.053,2658,2203,1876,0,0,0,0,0,0
$GC,5247,0.77,146.0,460.3,11.5,535,5251,0.00,1.15,0.00,0.000,4,0.000,0.063,2663,1494,1875,0,0,0,0,0,0
$GC,5429,0.77,146.0,439.8,11.5,551,5436,0.00,1.20,0.00,0.000,6,0.000,0.061,2663,2197,1876,0,0,0,0,0,0
$GC,5649,0.77,146.0,414.3,11.3,572,5652,0.00,1.20,0.00,0.000,4,0.000,0.069,2663,2915,1875,0,0,0,0,0,0
$GC,5738,0.77,146.0,403.9,11.8,580,5742,0.00,1.23,0.00,0.000,6,0.000,0.052,2668,2191,1874,0,0,0,0,0,0
$GC,5964,0.77,146.0,377.9,11.3,601,5968,0.00,1.12,0.00,0.000,4,0.000,0.063,2673,1492,1874,0,0,0,0,0,0
$GC,6100,0.77,146.0,362.5,11.2,613,6104,0.00,1.20,0.00,0.000,6,0.000,0.062,2673,2200,1874,0,0,0,0,0,0
$GC,6325,0.77,146.0,335.9,11.4,634,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,1874,0,0,0,0,0,0
$GC,6537,0.77,146.0,312.7,11.1,654,6541,0.00,1.17,0.00,0.000,4,0.000,0.062,2678,1497,1874,0,0,0,0,0,0
$GC,6773,0.77,146.0,287.0,10.4,675,6777,0.10,1.17,0.00,0.000,6,0.174,0.063,2650,2198,1874,0,0,0,0,0,0
$GC,6999,0.77,151.0,265.2,9.8,696,7002,0.00,1.17,0.00,0.000,4,0.000,0.070,2649,2915,1874,0,0,0,0,0,0
$GC,7032,0.77,151.0,261.5,10.3,699,7036,0.00,1.20,0.00,0.000,6,0.000,0.052,2653,2197,1874,0,0,0,0,0,0
$GC,7257,0.79,161.3,239.5,9.5,720,7273,0.00,1.15,11.65,0.985,4,0.000,0.065,2657,1496,1827,0,0,0,0,0,0
$GC,7441,0.79,161.3,219.8,11.3,736,7445,0.00,1.20,0.00,0.000,6,0.000,0.061,2658,2206,1825,0,0,0,0,0,0
$GC,7667,0.79,161.3,194.3,11.8,757,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2206,1825,0,0,0,0,0,0
$GC,7879,0.79,161.3,169.6,12.0,777,7882,0.00,1.17,0.00,0.000,4,0.000,0.062,2663,1497,1825,0,0,0,0,0,0
$GC,8085,0.80,169.2,148.6,9.6,795,8096,0.00,1.17,7.97,0.913,6,0.000,0.061,2663,2197,1794,0,0,0,0,0,0
$GC,8311,0.82,188.8,127.2,9.1,816,8336,0.00,1.20,17.62,0.954,4,0.000,0.071,2662,2904,1714,0,0,0,0,0,0
$GC,8427,0.82,188.8,115.6,10.3,826,8431,0.00,1.20,0.00,0.000,6,0.000,0.054,2667,2200,1712,0,0,0,0,0,0
$GC,8650,0.84,202.4,94.6,9.4,851,8665,0.00,0.00,12.62,0.921,6,0.000,0.000,2667,2200,1659,0,0,0,0,0,0
$GC,8867,0.84,202.4,72.8,10.4,889,8874,0.00,1.23,0.00,0.000,4,0.000,0.069,2668,2900,1655,0,0,0,0,0,0
$GC,8930,0.84,202.4,65.8,10.8,900,8939,0.00,1.20,0.00,0.000,6,0.000,0.053,2672,2194,1656,0,0,0,0,0,0
$GC,9139,0.84,202.4,45.3,10.0,937,9145,0.00,1.10,0.00,0.000,4,0.000,0.065,2678,1499,1655,0,0,0,0,0,0
$GC,9309,0.85,210.5,29.5,9.6,967,9324,0.00,1.20,6.22,0.826,6,0.000,0.063,2678,2205,1625,0,0,0,0,0,0
$GC,9527,0.96,302.9,13.9,5.8,1005,9579,0.00,1.20,46.35,0.109,4,0.000,0.069,2678,2908,1249,0,0,0,0,0,0
$GC,9630,0.96,302.9,4.7,10.7,1022,9637,0.00,1.20,0.00,0.000,6,0.000,0.047,2682,2191,1243,0,0,0,0,0,0
$STATE,9652,end climb,SURFACE_DEPTH_REACHED
$STATE,9652,begin surface coast
$FINISH,1.3,1.024337
$STATE,9671,end surface coast,CONTROL_FINISHED_OK
$STATE,9671,begin surface
$SM_CCo,9688,53.20,0.086,0,0,771,420.20
$SM_GC,2.23,7.07,0.62,53.20,0.057,0.063,0.086,124,2520,771,-7.06,-0.48,420.20,0,0,0,0,0,0
$RAFOS_CLK,632
$RAFOS,6,1318279750,20.833334,20.819445,75,62,59,0,0,0,843,201,217,0,0,0
$RAFOS,5,1318279266,20.700001,20.684999,91,61,60,0,0,0,935,207,221,0,0,0
$RAFOS,4,1318278784,20.566668,20.551111,61,53,52,0,0,0,201,181,119,0,0,0
$RAFOS,3,1318278308,20.433332,20.418888,83,63,56,0,0,0,664,207,159,0,0,0
$RAFOS,2,1318277826,20.299999,20.285000,74,70,67,0,0,0,136,219,527,0,0,0
$RAFOS,1,1318277348,20.166666,20.152222,67,64,63,0,0,0,581,174,207,0,0,0
$RAFOS,0,1318276869,20.033333,20.019167,83,67,55,0,0,0,624,193,210,0,0,0
$RAFOS_FIX,6633.846680,-6000.985352,101011,202031,5,80,0.97
$IRIDIUM_FIX,6604.29,-6010.62,101011,161648
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.00
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,450.5,112.9
$24V_AH,23.2,5.534
$10V_AH,10.3,4.885
$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,17.875,60.125,346.350,53.200,0.000,0.000,0.000,172.575,5.500,0.000,20.367,2819.020,4532.759,519.202,1978.796,197.692,0.000,1670.266,0.000,1787.117,2520.000,11.025,0.000
$DEVICE_MAMPS,275.400,105.570,1217.880,86.445,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.348,734.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150408
$DATA_FILE_SIZE,40055,1029
$CAP_FILE_SIZE,123240,0
$CFSIZE,260165632,245694464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.0
$CURRENT,0.170,204.7,1
$GPS,101011,215423,6631.907,-6001.914,40,0.9,40,-33.6