version: 66.09
glider: 143
mission: 13
dive: 39
start: 10 11 111 3 49 39
data:
$ID,143
$MISSION,13
$DIVE,39
$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,-80501.852
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,111011,034405,6633.595,-5957.293,29,0.9,29,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.8
$GPS2,111011,034906,6633.505,-5957.408,19,1.1,19,-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,124.2,147284,-18.3,-10.000
$D_GRID,612
$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,17,-0.77,-146.0,0.0,0.0,0,117,0.00,0.00,-97.53,0.000,2,0.000,0.000,123,2508,2184,0,0,0,0,0,0
$GC,120,-0.77,-146.0,3.4,-2.7,17,164,8.95,1.23,-29.30,0.000,4,0.279,0.085,2146,1808,3082,0,0,0,0,0,0
$GC,359,-0.77,-146.0,44.5,-15.2,58,366,0.00,1.23,0.00,0.000,6,0.000,0.069,2143,2502,3084,0,0,0,0,0,0
$GC,567,-0.77,-146.0,76.4,-15.2,95,574,0.00,1.17,0.00,0.000,4,0.000,0.080,2137,3218,3084,0,0,0,0,0,0
$GC,691,-0.77,-146.0,94.8,-14.6,117,698,0.00,1.15,0.00,0.000,6,0.000,0.048,2137,2506,3084,0,0,0,0,0,0
$GC,897,-0.77,-146.0,125.6,-15.2,139,900,0.00,1.12,0.00,0.000,4,0.000,0.058,2137,1810,3084,0,0,0,0,0,0
$GC,968,-0.77,-146.0,135.9,-15.4,145,975,0.00,1.23,0.00,0.000,6,0.000,0.070,2132,2505,3084,0,0,0,0,0,0
$GC,1189,-0.77,-146.0,171.0,-15.7,166,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2505,3084,0,0,0,0,0,0
$GC,1399,-0.77,-146.0,203.6,-14.9,186,1403,0.00,1.17,0.00,0.000,4,0.000,0.079,2127,3227,3084,0,0,0,0,0,0
$GC,1493,-0.77,-146.0,216.7,-14.9,194,1500,0.00,1.15,0.00,0.000,6,0.000,0.047,2127,2513,3085,0,0,0,0,0,0
$GC,1712,-0.77,-146.0,249.0,-14.9,215,1716,0.00,1.12,0.00,0.000,4,0.000,0.060,2127,1814,3084,0,0,0,0,0,0
$GC,1758,-0.77,-146.0,255.5,-14.1,219,1761,0.00,1.23,0.00,0.000,6,0.000,0.068,2122,2518,3084,0,0,0,0,0,0
$GC,1982,-0.77,-146.0,287.1,-13.3,240,1986,0.12,1.12,0.00,0.000,4,0.192,0.080,2147,3213,3083,0,0,0,0,0,0
$GC,2084,-0.77,-146.0,298.8,-11.0,249,2088,0.00,1.12,0.00,0.000,6,0.000,0.047,2147,2508,3083,0,0,0,0,0,0
$GC,2310,-0.77,-146.0,323.8,-10.6,270,2314,0.00,1.20,0.00,0.000,4,0.000,0.076,2142,3217,3083,0,0,0,0,0,0
$GC,2359,-0.77,-146.0,329.1,-11.2,274,2367,0.00,1.12,0.00,0.000,6,0.000,0.047,2142,2513,3083,0,0,0,0,0,0
$GC,2582,-0.77,-146.0,353.9,-11.1,295,2586,0.00,1.12,0.00,0.000,4,0.000,0.058,2142,1809,3083,0,0,0,0,0,0
$GC,2643,-0.77,-146.0,360.7,-11.3,300,2653,0.00,1.20,0.00,0.000,6,0.000,0.066,2137,2507,3083,0,0,0,0,0,0
$GC,2864,-0.77,-146.0,387.4,-12.0,321,2868,0.00,1.15,0.00,0.000,4,0.000,0.078,2132,3218,3083,0,0,0,0,0,0
$GC,2925,-0.77,-146.0,394.6,-12.3,326,2931,0.00,1.12,0.00,0.000,6,0.000,0.047,2132,2512,3083,0,0,0,0,0,0
$GC,3145,-0.77,-146.0,421.7,-11.9,347,3149,0.00,1.12,0.00,0.000,4,0.000,0.058,2132,1806,3083,0,0,0,0,0,0
$GC,3216,-0.77,-146.0,429.9,-11.9,353,3219,0.00,1.23,0.00,0.000,6,0.000,0.068,2126,2514,3083,0,0,0,0,0,0
$GC,3440,-0.77,-146.0,457.5,-12.3,374,3444,0.00,1.12,0.00,0.000,4,0.000,0.078,2121,3213,3083,0,0,0,0,0,0
$GC,3520,-0.77,-146.0,467.3,-12.4,381,3525,0.08,1.12,0.00,0.000,6,0.171,0.047,2144,2503,3083,0,0,0,0,0,0
$GC,3746,-0.77,-146.0,491.6,-10.5,402,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2503,3083,0,0,0,0,0,0
$GC,3956,-0.77,-146.0,514.0,-10.7,422,3960,0.00,1.10,0.00,0.000,4,0.000,0.057,2144,1810,3083,0,0,0,0,0,0
$GC,4002,-0.77,-146.0,519.1,-11.0,426,4005,0.00,1.20,0.00,0.000,6,0.000,0.067,2141,2507,3084,0,0,0,0,0,0
$GC,4226,-0.77,-146.0,543.9,-11.0,447,4230,0.00,1.15,0.00,0.000,4,0.000,0.079,2136,3221,3083,0,0,0,0,0,0
$GC,4283,-0.77,-146.0,550.4,-11.8,452,4287,0.00,1.12,0.00,0.000,6,0.000,0.045,2136,2509,3084,0,0,0,0,0,0
$GC,4509,-0.77,-146.0,575.0,-10.9,473,4512,0.00,1.10,0.00,0.000,4,0.000,0.055,2136,1813,3084,0,0,0,0,0,0
$GC,4580,-0.77,-146.0,582.8,-11.6,479,4587,0.00,1.20,0.00,0.000,6,0.000,0.064,2131,2510,3084,0,0,0,0,0,0
$GC,4797,-0.77,-146.0,608.0,-11.5,496,4801,0.00,1.12,0.00,0.000,4,0.000,0.078,2126,3213,3084,0,0,0,0,0,0
$STATE,4831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4831,begin apogee
$GC,4838,-0.16,0.0,612.1,-11.5,497,4966,0.68,0.00,119.07,1.257,6,0.151,0.000,2337,2194,2485,0,0,0,0,0,0
$STATE,4967,end apogee,CONTROL_FINISHED_OK
$STATE,4967,begin climb
$GC,4969,0.77,146.0,617.3,0.0,501,5103,0.93,1.25,126.05,1.223,4,0.074,0.061,2652,1496,1888,0,0,0,0,0,0
$GC,5195,0.77,146.0,603.3,10.7,508,5198,0.00,1.25,0.00,0.000,6,0.000,0.058,2652,2199,1882,0,0,0,0,0,0
$GC,5528,0.77,146.0,562.1,12.6,537,5532,0.00,1.20,0.00,0.000,4,0.000,0.059,2657,1500,1877,0,0,0,0,0,0
$GC,5566,0.77,146.0,557.4,12.8,540,5576,0.00,1.20,0.00,0.000,6,0.000,0.057,2657,2199,1877,0,0,0,0,0,0
$GC,5787,0.77,146.0,528.6,13.0,561,5790,0.00,1.20,0.00,0.000,4,0.000,0.058,2662,1496,1876,0,0,0,0,0,0
$GC,5932,0.77,146.0,510.6,11.9,574,5936,0.00,1.20,0.00,0.000,6,0.000,0.059,2662,2200,1876,0,0,0,0,0,0
$GC,6158,0.77,146.0,482.9,12.2,595,6162,0.00,1.17,0.00,0.000,4,0.000,0.059,2666,1502,1875,0,0,0,0,0,0
$GC,6173,0.77,146.0,481.3,12.3,596,6183,0.00,1.20,0.00,0.000,6,0.000,0.057,2666,2205,1875,0,0,0,0,0,0
$GC,6394,0.77,146.0,454.0,12.1,617,6398,0.00,1.20,0.00,0.000,4,0.000,0.058,2671,1494,1875,0,0,0,0,0,0
$GC,6420,0.77,146.0,450.9,12.6,619,6428,0.00,1.20,0.00,0.000,6,0.000,0.058,2671,2204,1875,0,0,0,0,0,0
$GC,6640,0.77,146.0,423.3,12.8,640,6644,0.00,1.17,0.00,0.000,4,0.000,0.069,2671,2911,1875,0,0,0,0,0,0
$GC,6662,0.77,146.0,420.6,12.4,642,6666,0.00,1.20,0.00,0.000,6,0.000,0.050,2677,2196,1874,0,0,0,0,0,0
$GC,6886,0.77,146.0,392.5,12.6,663,6890,0.00,1.12,0.00,0.000,4,0.000,0.063,2681,1493,1874,0,0,0,0,0,0
$GC,6913,0.77,146.0,389.6,12.3,665,6921,0.10,1.20,0.00,0.000,6,0.167,0.058,2653,2209,1874,0,0,0,0,0,0
$GC,7132,0.77,146.0,364.0,11.5,686,7136,0.00,1.20,0.00,0.000,4,0.000,0.058,2656,1492,1874,0,0,0,0,0,0
$GC,7213,0.77,146.0,355.3,10.9,693,7216,0.00,1.20,0.00,0.000,6,0.000,0.060,2656,2206,1874,0,0,0,0,0,0
$GC,7439,0.77,146.0,329.0,11.6,714,7443,0.00,1.17,0.00,0.000,4,0.000,0.060,2660,1499,1873,0,0,0,0,0,0
$GC,7521,0.77,146.0,319.4,11.8,721,7528,0.00,1.17,0.00,0.000,6,0.000,0.060,2661,2199,1874,0,0,0,0,0,0
$GC,7741,0.77,146.0,292.1,12.5,742,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2199,1874,0,0,0,0,0,0
$GC,7953,0.77,146.0,267.5,11.2,762,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2199,1874,0,0,0,0,0,0
$GC,8166,0.77,146.0,244.8,10.3,782,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2199,1874,0,0,0,0,0,0
$GC,8378,0.78,155.3,223.5,9.6,802,8391,0.00,1.20,6.57,0.900,4,0.000,0.068,2661,2911,1850,0,0,0,0,0,0
$GC,8451,0.78,155.3,216.1,10.9,808,8461,0.00,1.20,0.00,0.000,6,0.000,0.050,2666,2190,1850,0,0,0,0,0,0
$GC,8672,0.80,168.2,194.0,9.4,829,8688,0.00,1.08,12.55,0.967,4,0.000,0.059,2671,1495,1798,0,0,0,0,0,0
$GC,8734,0.80,168.2,187.5,10.2,834,8738,0.00,1.20,0.00,0.000,6,0.000,0.060,2671,2206,1797,0,0,0,0,0,0
$GC,8959,0.80,175.2,164.8,9.7,855,8971,0.00,1.20,7.15,0.890,4,0.000,0.068,2671,2913,1770,0,0,0,0,0,0
$GC,9050,0.80,175.2,155.1,10.8,863,9054,0.00,1.20,0.00,0.000,6,0.000,0.049,2676,2196,1769,0,0,0,0,0,0
$GC,9275,0.80,175.2,131.4,10.6,884,9279,0.00,1.23,0.00,0.000,4,0.000,0.065,2676,2907,1768,0,0,0,0,0,0
$GC,9342,0.80,175.2,124.0,11.3,890,9345,0.00,1.17,0.00,0.000,6,0.000,0.050,2681,2201,1768,0,0,0,0,0,0
$GC,9566,0.80,175.2,99.8,10.9,911,9573,0.00,1.10,0.00,0.000,4,0.000,0.063,2686,1497,1768,0,0,0,0,0,0
$GC,9581,0.80,175.2,98.3,11.1,913,9588,0.00,1.17,0.00,0.000,6,0.000,0.060,2686,2201,1768,0,0,0,0,0,0
$GC,9787,0.82,185.5,77.1,9.5,950,9799,0.00,0.00,9.95,0.911,6,0.000,0.000,2686,2201,1727,0,0,0,0,0,0
$GC,9999,0.84,207.2,58.1,9.0,988,10020,0.00,0.00,19.08,0.926,6,0.000,0.000,2686,2200,1640,0,0,0,0,0,0
$GC,10219,0.84,207.2,35.6,10.7,1027,10226,0.00,1.17,0.00,0.000,4,0.000,0.070,2686,2910,1636,0,0,0,0,0,0
$GC,10238,0.84,207.2,33.7,10.4,1030,10245,0.00,1.20,0.00,0.000,6,0.000,0.050,2691,2198,1636,0,0,0,0,0,0
$GC,10446,0.92,268.4,14.2,7.2,1067,10488,0.00,1.15,30.98,0.111,4,0.000,0.062,2696,1497,1388,0,0,0,0,0,0
$STATE,10576,end climb,SURFACE_DEPTH_REACHED
$STATE,10576,begin surface coast
$FINISH,1.3,1.019749
$STATE,10599,end surface coast,CONTROL_FINISHED_OK
$STATE,10599,begin surface
$SM_CCo,10618,69.70,0.087,0,0,772,420.20
$SM_GC,2.25,7.07,1.75,69.70,0.054,0.059,0.087,119,2515,772,-7.08,-0.57,420.20,0,0,0,0,0,0
$RAFOS_CLK,689
$RAFOS,6,1318308551,4.833333,4.819722,89,70,59,0,0,0,817,199,184,0,0,0
$RAFOS,5,1318308067,4.700000,4.685278,75,63,62,0,0,0,897,214,158,0,0,0
$RAFOS,4,1318307582,4.566667,4.550556,83,62,60,0,0,0,713,151,194,0,0,0
$RAFOS,3,1318307105,4.433333,4.418056,99,65,58,0,0,0,668,147,217,0,0,0
$RAFOS,2,1318306625,4.300000,4.284722,96,63,62,0,0,0,534,195,184,0,0,0
$RAFOS,1,1318306143,4.166667,4.150833,91,60,53,0,0,0,618,207,195,0,0,0
$RAFOS,0,1318305662,4.033333,4.017222,146,59,57,0,0,0,678,203,191,0,0,0
$RAFOS_FIX,6633.759766,-5953.907227,111011,040434,7,97,1.14
$IRIDIUM_FIX,6609.62,-5957.86,111011,000033
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.77
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.10
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,500.4,139.4
$24V_AH,23.2,5.859
$10V_AH,10.3,5.121
$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,17.925,73.775,331.400,69.700,0.000,0.000,0.000,189.675,5.250,0.000,20.661,3077.418,5072.213,564.818,2089.337,210.399,0.000,1798.079,0.000,1877.424,2520.000,12.865,0.000
$DEVICE_MAMPS,279.225,84.915,1256.895,87.210,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.550,779.328,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150348
$DATA_FILE_SIZE,43379,1093
$CAP_FILE_SIZE,136959,0
$CFSIZE,260165632,245477376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.7
$CURRENT,0.220,200.9,1
$GPS,111011,064930,6632.108,-5954.182,39,0.7,39,-33.6