version: 66.09
glider: 143
mission: 13
dive: 40
start: 10 11 111 6 55 29
data:
$ID,143
$MISSION,13
$DIVE,40
$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,-80503.109
$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,30
$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
$GPS1,111011,064930,6632.108,-5954.182,39,0.7,39,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-71.6
$GPS2,111011,065456,6632.120,-5954.283,30,1.3,30,-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,63.0,146176,-18.3,-10.000
$D_GRID,628
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,109,0.00,0.00,-89.18,0.000,2,0.000,0.000,119,2523,2052,0,0,0,0,0,0
$GC,112,-0.77,-146.0,3.0,-2.0,14,169,8.95,1.17,-39.00,0.000,4,0.281,0.081,2146,1801,3082,0,0,0,0,0,0
$GC,198,-0.77,-146.0,15.7,-18.5,27,205,0.00,1.25,0.00,0.000,6,0.000,0.067,2143,2509,3083,0,0,0,0,0,0
$GC,406,-0.77,-146.0,49.7,-15.4,64,412,0.00,1.15,0.00,0.000,4,0.000,0.080,2138,3213,3083,0,0,0,0,0,0
$GC,501,-0.77,-146.0,64.7,-15.5,81,510,0.00,1.15,0.00,0.000,6,0.000,0.047,2138,2499,3083,0,0,0,0,0,0
$GC,711,-0.77,-146.0,96.0,-15.2,118,717,0.00,1.23,0.00,0.000,4,0.000,0.077,2133,3214,3084,0,0,0,0,0,0
$GC,781,-0.77,-146.0,106.6,-14.6,126,785,0.00,1.12,0.00,0.000,6,0.000,0.047,2134,2514,3083,0,0,0,0,0,0
$GC,1006,-0.77,-146.0,139.3,-14.6,147,1009,0.00,1.20,0.00,0.000,4,0.000,0.078,2128,3216,3083,0,0,0,0,0,0
$GC,1029,-0.77,-146.0,142.9,-14.9,149,1033,0.00,1.15,0.00,0.000,6,0.000,0.048,2128,2502,3084,0,0,0,0,0,0
$GC,1256,-0.77,-146.0,176.6,-14.7,170,1260,0.00,1.23,0.00,0.000,4,0.000,0.079,2123,3218,3083,0,0,0,0,0,0
$GC,1291,-0.77,-146.0,182.0,-14.2,173,1295,0.00,1.15,0.00,0.000,6,0.000,0.049,2123,2505,3084,0,0,0,0,0,0
$GC,1516,-0.77,-146.0,214.8,-14.5,194,1520,0.00,1.20,0.00,0.000,4,0.000,0.078,2119,3210,3083,0,0,0,0,0,0
$GC,1543,-0.77,-146.0,218.5,-14.5,196,1551,0.10,1.12,0.00,0.000,6,0.173,0.047,2148,2504,3083,0,0,0,0,0,0
$GC,1764,-0.77,-146.0,248.7,-13.5,217,1768,0.00,1.20,0.00,0.000,4,0.000,0.079,2145,3211,3083,0,0,0,0,0,0
$GC,1779,-0.77,-146.0,250.7,-13.8,218,1787,0.00,1.12,0.00,0.000,6,0.000,0.047,2145,2505,3083,0,0,0,0,0,0
$GC,1999,-0.77,-146.0,281.3,-13.5,239,2003,0.00,1.20,0.00,0.000,4,0.000,0.078,2140,3213,3083,0,0,0,0,0,0
$GC,2015,-0.77,-146.0,283.0,-13.5,240,2022,0.00,1.12,0.00,0.000,6,0.000,0.046,2140,2505,3083,0,0,0,0,0,0
$GC,2236,-0.77,-146.0,313.0,-13.5,261,2239,0.00,1.20,0.00,0.000,4,0.000,0.078,2135,3213,3083,0,0,0,0,0,0
$GC,2274,-0.77,-146.0,317.9,-13.4,264,2281,0.00,1.12,0.00,0.000,6,0.000,0.046,2135,2506,3083,0,0,0,0,0,0
$GC,2493,-0.77,-146.0,346.6,-12.2,285,2497,0.00,1.20,0.00,0.000,4,0.000,0.078,2131,3214,3082,0,0,0,0,0,0
$GC,2552,-0.77,-146.0,353.4,-12.1,290,2559,0.00,1.12,0.00,0.000,6,0.000,0.044,2130,2505,3083,0,0,0,0,0,0
$GC,2772,-0.77,-146.0,380.9,-12.2,311,2776,0.00,1.10,0.00,0.000,4,0.000,0.055,2131,1812,3083,0,0,0,0,0,0
$GC,2787,-0.77,-146.0,382.4,-12.2,312,2795,0.00,1.23,0.00,0.000,6,0.000,0.067,2125,2516,3083,0,0,0,0,0,0
$GC,3007,-0.77,-146.0,409.9,-12.3,333,3011,0.00,1.17,0.00,0.000,4,0.000,0.054,2127,1811,3083,0,0,0,0,0,0
$GC,3030,-0.77,-146.0,412.7,-12.4,335,3034,0.08,1.23,0.00,0.000,6,0.171,0.068,2144,2517,3083,0,0,0,0,0,0
$GC,3257,-0.77,-146.0,437.3,-11.2,356,3260,0.00,1.12,0.00,0.000,4,0.000,0.080,2141,3214,3083,0,0,0,0,0,0
$GC,3317,-0.77,-146.0,443.9,-11.0,361,3326,0.00,1.12,0.00,0.000,6,0.000,0.045,2141,2506,3083,0,0,0,0,0,0
$GC,3539,-0.77,-146.0,469.1,-11.4,382,3543,0.00,1.20,0.00,0.000,4,0.000,0.076,2136,3217,3083,0,0,0,0,0,0
$GC,3562,-0.77,-146.0,472.0,-11.5,384,3566,0.00,1.12,0.00,0.000,6,0.000,0.046,2136,2506,3083,0,0,0,0,0,0
$GC,3789,-0.77,-146.0,497.2,-11.2,405,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2506,3083,0,0,0,0,0,0
$GC,3999,-0.77,-146.0,521.1,-11.4,425,4003,0.00,1.20,0.00,0.000,4,0.000,0.076,2131,3219,3083,0,0,0,0,0,0
$GC,4025,-0.77,-146.0,523.7,-11.5,427,4033,0.00,1.12,0.00,0.000,6,0.000,0.044,2131,2504,3083,0,0,0,0,0,0
$GC,4245,-0.77,-146.0,549.0,-11.0,448,4249,0.00,1.20,0.00,0.000,4,0.000,0.076,2126,3216,3083,0,0,0,0,0,0
$GC,4273,-0.77,-146.0,551.9,-11.7,450,4280,0.00,1.12,0.00,0.000,6,0.000,0.044,2126,2504,3083,0,0,0,0,0,0
$GC,4492,-0.77,-146.0,577.8,-11.5,471,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2504,3084,0,0,0,0,0,0
$GC,4725,-0.77,-146.0,603.6,-11.3,491,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2504,3084,0,0,0,0,0,0
$STATE,4969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4969,begin apogee
$GC,4975,-0.16,0.0,631.3,-11.3,499,5104,0.68,0.00,119.10,1.268,6,0.153,0.000,2338,2187,2485,0,0,0,0,0,0
$STATE,5104,end apogee,CONTROL_FINISHED_OK
$STATE,5105,begin climb
$GC,5107,0.77,146.0,636.2,0.0,503,5243,0.93,1.23,126.53,1.234,4,0.076,0.062,2650,1505,1888,0,0,0,0,0,0
$GC,5327,0.81,180.3,626.6,8.4,509,5361,0.00,1.25,30.42,1.156,6,0.000,0.057,2650,2202,1749,0,0,0,0,0,0
$GC,5676,0.81,180.3,573.7,15.0,530,5680,0.00,1.20,0.00,0.000,4,0.000,0.060,2655,1503,1742,0,0,0,0,0,0
$GC,5782,0.81,180.3,558.4,14.7,539,5789,0.00,1.20,0.00,0.000,6,0.000,0.057,2655,2200,1741,0,0,0,0,0,0
$GC,6001,0.81,180.3,526.1,14.3,560,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2200,1740,0,0,0,0,0,0
$GC,6214,0.81,180.3,495.9,14.6,580,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2200,1740,0,0,0,0,0,0
$GC,6426,0.81,180.3,465.9,14.1,600,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2200,1740,0,0,0,0,0,0
$GC,6639,0.81,180.3,435.7,14.2,620,6642,0.00,1.17,0.00,0.000,4,0.000,0.067,2655,2907,1739,0,0,0,0,0,0
$GC,6674,0.81,180.3,430.7,14.6,623,6678,0.00,1.17,0.00,0.000,6,0.000,0.048,2660,2207,1740,0,0,0,0,0,0
$GC,6902,0.81,180.3,399.3,14.1,644,6905,0.00,1.12,0.00,0.000,4,0.000,0.062,2665,1500,1738,0,0,0,0,0,0
$GC,7062,0.81,180.3,376.7,14.4,658,7069,0.00,1.17,0.00,0.000,6,0.000,0.058,2665,2200,1738,0,0,0,0,0,0
$GC,7281,0.81,180.3,344.7,14.1,679,7285,0.00,1.17,0.00,0.000,4,0.000,0.061,2670,1499,1738,0,0,0,0,0,0
$GC,7353,0.81,180.3,335.1,14.2,685,7362,0.00,1.17,0.00,0.000,6,0.000,0.058,2670,2202,1738,0,0,0,0,0,0
$GC,7574,0.81,180.3,304.7,13.2,706,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2202,1738,0,0,0,0,0,0
$GC,7786,0.81,180.3,277.2,12.6,726,7790,0.00,1.17,0.00,0.000,4,0.000,0.060,2675,1496,1738,0,0,0,0,0,0
$GC,7835,0.81,180.3,271.2,12.8,730,7842,0.00,1.17,0.00,0.000,6,0.000,0.058,2675,2201,1738,0,0,0,0,0,0
$GC,8055,0.81,180.3,244.1,11.3,751,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2201,1738,0,0,0,0,0,0
$GC,8267,0.81,180.3,219.3,11.5,771,8271,0.00,1.17,0.00,0.000,4,0.000,0.060,2680,1495,1738,0,0,0,0,0,0
$GC,8335,0.81,180.3,211.7,10.9,777,8339,0.00,1.17,0.00,0.000,6,0.000,0.059,2679,2202,1738,0,0,0,0,0,0
$GC,8561,0.81,180.3,186.2,11.4,798,8564,0.00,1.17,0.00,0.000,4,0.000,0.059,2685,1494,1738,0,0,0,0,0,0
$GC,8610,0.81,180.3,180.9,11.1,802,8617,0.00,1.17,0.00,0.000,6,0.000,0.058,2685,2203,1738,0,0,0,0,0,0
$GC,8829,0.81,180.3,155.8,11.3,823,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2203,1738,0,0,0,0,0,0
$GC,9042,0.81,180.3,132.3,10.9,843,9046,0.00,1.17,0.00,0.000,4,0.000,0.059,2690,1493,1738,0,0,0,0,0,0
$GC,9131,0.81,180.3,122.5,11.1,851,9135,0.00,1.17,0.00,0.000,6,0.000,0.059,2689,2201,1738,0,0,0,0,0,0
$GC,9350,0.81,180.3,99.0,10.6,872,9357,0.00,1.15,0.00,0.000,4,0.000,0.068,2690,2907,1738,0,0,0,0,0,0
$GC,9446,0.81,180.3,88.3,10.7,889,9455,0.10,1.17,0.00,0.000,6,0.176,0.050,2665,2197,1738,0,0,0,0,0,0
$GC,9656,0.83,193.0,68.7,9.4,926,9669,0.00,0.00,9.95,0.911,6,0.000,0.000,2665,2197,1697,0,0,0,0,0,0
$GC,9867,0.87,229.2,49.6,8.3,964,9900,0.00,0.00,30.75,0.925,6,0.000,0.000,2665,2197,1550,0,0,0,0,0,0
$GC,10099,0.92,267.3,27.9,8.3,1005,10134,0.00,1.23,25.95,0.885,4,0.000,0.064,2665,2905,1394,0,0,0,0,0,0
$GC,10242,0.94,284.0,15.5,9.2,1029,10258,0.08,1.20,8.07,0.114,6,0.071,0.050,2708,2204,1327,0,0,0,0,0,0
$STATE,10363,end climb,SURFACE_DEPTH_REACHED
$STATE,10363,begin surface coast
$FINISH,1.5,1.024720
$STATE,10380,end surface coast,CONTROL_FINISHED_OK
$STATE,10380,begin surface
$SM_CCo,10397,64.00,0.086,0,0,771,420.20
$SM_GC,2.16,7.15,0.60,64.00,0.051,0.066,0.086,118,2510,771,-7.07,-0.71,420.20,0,0,0,0,0,0
$RAFOS_CLK,676
$RAFOS,6,1318322951,8.833333,8.819722,75,65,61,0,0,0,814,181,209,0,0,0
$RAFOS,5,1318322468,8.700000,8.685555,72,60,58,0,0,0,900,140,155,0,0,0
$RAFOS,4,1318321990,8.566667,8.552778,66,59,59,0,0,0,225,195,675,0,0,0
$RAFOS,3,1318321520,8.433333,8.422222,71,59,58,0,0,0,183,578,202,0,0,0
$RAFOS,2,1318321035,8.300000,8.287500,68,62,57,0,0,0,194,173,131,0,0,0
$RAFOS,1,1318320544,8.166667,8.151111,91,63,56,0,0,0,609,163,220,0,0,0
$RAFOS,0,1318320062,8.033334,8.017222,69,58,58,0,0,0,685,217,199,0,0,0
$RAFOS_FIX,6635.173828,-5953.723633,111011,080840,4,77,1.03
$IRIDIUM_FIX,6604.29,-6007.94,111011,030354
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,550.5,106.6
$24V_AH,23.2,5.976
$10V_AH,10.3,5.201
$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,18.050,64.500,350.775,64.000,0.000,0.000,0.000,203.075,6.000,0.000,32.031,2928.243,5106.559,578.613,1985.020,204.816,0.000,1764.389,0.000,1752.076,2520.000,17.561,0.000
$DEVICE_MAMPS,280.755,81.090,1268.370,85.680,0.000,0.000,0.000,254.674,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.802,752.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150476
$DATA_FILE_SIZE,40048,1053
$CAP_FILE_SIZE,129049,0
$CFSIZE,260165632,245420032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.7
$CURRENT,0.202,202.5,1
$GPS,111011,095123,6632.627,-5952.531,37,0.8,37,-33.6