version: 66.09
glider: 143
mission: 13
dive: 41
start: 10 11 111 10 14 37
data:
$ID,143
$MISSION,13
$DIVE,41
$N_DIVES,45
$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,-80566.922
$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
$GPS1,111011,100655,6632.772,-5952.376,16,1.3,16,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-67.9
$GPS2,111011,101404,6632.836,-5952.292,18,1.5,18,-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,67.6,144334,-18.3,-10.000
$D_GRID,657
$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,15,-0.77,-146.0,0.0,0.0,0,129,0.00,0.00,-110.97,0.000,2,0.000,0.000,118,2514,2101,0,0,0,0,0,0
$GC,132,-0.77,-146.0,3.1,-1.6,16,181,8.70,0.00,-35.90,0.000,6,0.272,0.000,2148,2514,3082,0,0,0,0,0,0
$GC,379,-0.77,-146.0,46.6,-16.8,59,386,0.00,1.15,0.00,0.000,4,0.000,0.079,2145,3214,3085,0,0,0,0,0,0
$GC,488,-0.77,-146.0,64.7,-17.7,78,494,0.00,1.15,0.00,0.000,6,0.000,0.047,2144,2499,3085,0,0,0,0,0,0
$GC,693,-0.77,-146.0,96.5,-14.9,115,700,0.00,1.23,0.00,0.000,4,0.000,0.076,2140,3217,3085,0,0,0,0,0,0
$GC,762,-0.77,-146.0,107.2,-15.1,123,765,0.00,1.15,0.00,0.000,6,0.000,0.048,2140,2502,3085,0,0,0,0,0,0
$GC,986,-0.77,-146.0,140.7,-14.3,144,990,0.00,1.20,0.00,0.000,4,0.000,0.076,2135,3209,3085,0,0,0,0,0,0
$GC,1013,-0.77,-146.0,144.1,-14.3,146,1020,0.00,1.12,0.00,0.000,6,0.000,0.047,2135,2506,3085,0,0,0,0,0,0
$GC,1232,-0.77,-146.0,175.7,-13.9,167,1236,0.00,1.10,0.00,0.000,4,0.000,0.057,2135,1816,3085,0,0,0,0,0,0
$GC,1268,-0.77,-146.0,180.4,-13.7,170,1271,0.00,1.20,0.00,0.000,6,0.000,0.067,2130,2506,3085,0,0,0,0,0,0
$GC,1492,-0.77,-146.0,212.2,-14.0,191,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2507,3085,0,0,0,0,0,0
$GC,1705,-0.77,-146.0,242.0,-13.8,211,1708,0.00,1.15,0.00,0.000,4,0.000,0.080,2125,3214,3085,0,0,0,0,0,0
$GC,1742,-0.77,-146.0,246.8,-14.3,214,1750,0.00,1.12,0.00,0.000,6,0.000,0.047,2125,2512,3085,0,0,0,0,0,0
$GC,1962,-0.77,-146.0,278.4,-14.4,235,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2512,3084,0,0,0,0,0,0
$GC,2176,-0.77,-146.0,308.5,-14.5,255,2179,0.00,1.12,0.00,0.000,4,0.000,0.058,2125,1809,3084,0,0,0,0,0,0
$GC,2212,-0.77,-146.0,313.6,-14.4,258,2216,0.00,1.23,0.00,0.000,6,0.000,0.067,2120,2515,3084,0,0,0,0,0,0
$GC,2436,-0.77,-146.0,346.6,-14.5,279,2438,0.12,0.00,0.00,0.000,6,0.194,0.000,2148,2516,3084,0,0,0,0,0,0
$GC,2649,-0.77,-146.0,372.3,-11.5,299,2653,0.00,1.12,0.00,0.000,4,0.000,0.079,2145,3215,3084,0,0,0,0,0,0
$GC,2709,-0.77,-146.0,378.9,-12.0,304,2716,0.00,1.12,0.00,0.000,6,0.000,0.045,2145,2505,3084,0,0,0,0,0,0
$GC,2930,-0.77,-146.0,404.6,-11.4,325,2933,0.00,1.10,0.00,0.000,4,0.000,0.057,2145,1813,3084,0,0,0,0,0,0
$GC,2956,-0.77,-146.0,407.4,-11.1,327,2963,0.00,1.20,0.00,0.000,6,0.000,0.066,2140,2508,3084,0,0,0,0,0,0
$GC,3176,-0.77,-146.0,432.0,-10.8,348,3180,0.00,1.15,0.00,0.000,4,0.000,0.078,2135,3221,3084,0,0,0,0,0,0
$GC,3221,-0.77,-146.0,436.9,-10.8,352,3225,0.00,1.12,0.00,0.000,6,0.000,0.046,2135,2511,3083,0,0,0,0,0,0
$GC,3446,-0.77,-146.0,461.8,-11.0,373,3449,0.00,1.10,0.00,0.000,4,0.000,0.056,2135,1815,3084,0,0,0,0,0,0
$GC,3461,-0.77,-146.0,463.1,-11.0,374,3468,0.00,1.20,0.00,0.000,6,0.000,0.065,2131,2510,3084,0,0,0,0,0,0
$GC,3681,-0.77,-146.0,487.8,-11.1,395,3684,0.00,1.12,0.00,0.000,4,0.000,0.077,2125,3213,3084,0,0,0,0,0,0
$GC,3741,-0.77,-146.0,494.2,-11.5,400,3748,0.00,1.10,0.00,0.000,6,0.000,0.043,2125,2512,3083,0,0,0,0,0,0
$GC,3960,-0.77,-146.0,519.8,-11.6,421,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2512,3084,0,0,0,0,0,0
$GC,4173,-0.77,-146.0,544.1,-11.2,441,4177,0.00,1.17,0.00,0.000,4,0.000,0.076,2120,3213,3084,0,0,0,0,0,0
$GC,4199,-0.77,-146.0,546.6,-11.2,443,4207,0.10,1.10,0.00,0.000,6,0.166,0.044,2149,2508,3084,0,0,0,0,0,0
$GC,4420,-0.77,-146.0,568.6,-9.9,464,4424,0.00,1.17,0.00,0.000,4,0.000,0.076,2146,3211,3084,0,0,0,0,0,0
$GC,4447,-0.77,-146.0,571.1,-10.0,466,4454,0.00,1.10,0.00,0.000,6,0.000,0.044,2147,2509,3084,0,0,0,0,0,0
$GC,4666,-0.77,-146.0,594.0,-10.6,487,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3084,0,0,0,0,0,0
$GC,4885,-0.77,-146.0,617.2,-10.6,498,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3085,0,0,0,0,0,0
$GC,5189,-0.77,-146.0,649.1,-10.4,508,5193,0.00,1.17,0.00,0.000,4,0.000,0.076,2142,3211,3084,0,0,0,0,0,0
$GC,5277,-0.77,-146.0,656.3,-10.4,510,5282,0.00,1.10,0.00,0.000,6,0.000,0.041,2142,2505,3084,0,0,0,0,0,0
$STATE,5288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5288,begin apogee
$GC,5294,-0.16,0.0,659.6,-10.4,511,5423,0.62,0.00,119.65,1.287,6,0.149,0.000,2339,2189,2484,0,0,0,0,0,0
$STATE,5424,end apogee,CONTROL_FINISHED_OK
$STATE,5424,begin climb
$GC,5426,0.77,146.0,664.0,0.0,515,5563,0.93,1.23,127.00,1.255,4,0.074,0.061,2654,1503,1887,0,0,0,0,0,0
$GC,5782,0.77,146.0,634.9,13.3,525,5791,0.00,1.23,0.00,0.000,6,0.000,0.059,2654,2201,1879,0,0,0,0,0,0
$GC,6097,0.77,146.0,591.8,12.6,540,6101,0.00,1.20,0.00,0.000,4,0.000,0.067,2654,2909,1877,0,0,0,0,0,0
$GC,6146,0.77,146.0,586.0,12.8,544,6153,0.00,1.20,0.00,0.000,6,0.000,0.047,2659,2204,1876,0,0,0,0,0,0
$GC,6366,0.77,146.0,558.0,12.6,565,6367,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2204,1876,0,0,0,0,0,0
$GC,6578,0.77,146.0,531.4,12.3,585,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2204,1875,0,0,0,0,0,0
$GC,6791,0.77,146.0,505.2,12.6,605,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2204,1874,0,0,0,0,0,0
$GC,7003,0.77,146.0,478.9,12.1,625,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2204,1875,0,0,0,0,0,0
$GC,7215,0.77,146.0,453.3,11.9,645,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2204,1874,0,0,0,0,0,0
$GC,7429,0.77,146.0,428.1,11.8,665,7433,0.00,1.23,0.00,0.000,4,0.000,0.066,2659,2910,1874,0,0,0,0,0,0
$GC,7489,0.77,146.0,421.3,11.7,670,7496,0.00,1.20,0.00,0.000,6,0.000,0.047,2664,2192,1874,0,0,0,0,0,0
$GC,7708,0.77,146.0,395.3,11.8,691,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2192,1874,0,0,0,0,0,0
$GC,7921,0.77,146.0,370.4,11.6,711,7924,0.00,1.10,0.00,0.000,4,0.000,0.060,2669,1493,1873,0,0,0,0,0,0
$GC,7988,0.77,146.0,362.6,11.6,717,7992,0.00,1.17,0.00,0.000,6,0.000,0.058,2669,2201,1873,0,0,0,0,0,0
$GC,8215,0.77,146.0,336.8,11.1,738,8219,0.00,1.15,0.00,0.000,4,0.000,0.067,2669,2904,1873,0,0,0,0,0,0
$GC,8254,0.77,146.0,332.4,11.4,741,8263,0.00,1.17,0.00,0.000,6,0.000,0.047,2674,2190,1873,0,0,0,0,0,0
$GC,8475,0.77,146.0,306.6,11.5,762,8478,0.00,1.10,0.00,0.000,4,0.000,0.060,2679,1492,1873,0,0,0,0,0,0
$GC,8667,0.77,146.0,284.5,11.4,779,8675,0.10,1.17,0.00,0.000,6,0.166,0.058,2650,2201,1873,0,0,0,0,0,0
$GC,8889,0.77,146.0,261.7,10.0,800,8892,0.00,1.15,0.00,0.000,4,0.000,0.068,2650,2904,1873,0,0,0,0,0,0
$GC,9002,0.78,157.6,250.6,9.5,810,9015,0.00,1.17,8.30,0.949,6,0.000,0.048,2653,2191,1842,0,0,0,0,0,0
$GC,9228,0.78,157.6,228.1,10.3,831,9231,0.00,1.08,0.00,0.000,4,0.000,0.060,2658,1496,1841,0,0,0,0,0,0
$GC,9421,0.78,157.6,208.2,10.8,848,9428,0.00,1.17,0.00,0.000,6,0.000,0.058,2658,2201,1841,0,0,0,0,0,0
$GC,9642,0.78,157.6,184.2,10.9,869,9645,0.00,1.15,0.00,0.000,4,0.000,0.058,2663,1497,1841,0,0,0,0,0,0
$GC,9720,0.78,157.6,175.6,10.7,876,9724,0.00,1.17,0.00,0.000,6,0.000,0.058,2663,2205,1841,0,0,0,0,0,0
$GC,9945,0.78,157.6,151.3,10.4,897,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2205,1841,0,0,0,0,0,0
$GC,10157,0.79,166.9,130.4,9.6,917,10173,0.00,1.20,9.40,0.920,4,0.000,0.059,2667,1497,1804,0,0,0,0,0,0
$GC,10287,0.81,183.0,118.5,9.3,928,10313,0.00,1.17,14.68,0.937,6,0.000,0.059,2668,2200,1738,0,0,0,0,0,0
$GC,10524,0.82,191.8,95.6,9.6,954,10537,0.00,1.20,8.48,0.885,4,0.000,0.067,2668,2907,1703,0,0,0,0,0,0
$GC,10666,0.83,194.9,81.6,9.9,979,10674,0.00,1.17,4.10,0.705,6,0.000,0.049,2673,2202,1689,0,0,0,0,0,0
$GC,10873,0.86,221.3,62.7,8.8,1016,10900,0.00,1.17,23.30,0.920,4,0.000,0.062,2678,1496,1581,0,0,0,0,0,0
$GC,10951,0.86,221.3,55.1,10.4,1029,10960,0.00,1.20,0.00,0.000,6,0.000,0.059,2678,2199,1579,0,0,0,0,0,0
$GC,11162,0.88,233.8,33.8,9.4,1066,11176,0.00,1.23,10.20,0.869,4,0.000,0.060,2683,1497,1532,0,0,0,0,0,0
$GC,11410,0.91,265.1,12.8,8.6,1110,11437,0.00,1.20,15.88,0.107,6,0.000,0.059,2683,2205,1403,0,0,0,0,0,0
$STATE,11519,end climb,SURFACE_DEPTH_REACHED
$STATE,11520,begin surface coast
$FINISH,1.5,1.024642
$STATE,11536,end surface coast,CONTROL_FINISHED_OK
$STATE,11537,begin surface
$SM_CCo,11553,71.85,0.086,0,0,771,420.20
$SM_GC,2.39,7.07,0.55,71.85,0.056,0.068,0.086,124,2522,771,-7.06,-0.40,420.20,0,0,0,0,0,0
$RAFOS_CLK,754
$RAFOS,6,1318337341,12.833333,12.816944,67,65,59,0,0,0,847,188,126,0,0,0
$RAFOS,5,1318336866,12.700000,12.685000,67,61,56,0,0,0,891,219,231,0,0,0
$RAFOS,4,1318336389,12.566667,12.552500,107,65,58,0,0,0,652,212,159,0,0,0
$RAFOS,3,1318335910,12.433333,12.419444,74,62,52,0,0,0,647,211,156,0,0,0
$RAFOS,2,1318335428,12.300000,12.285556,90,66,61,0,0,0,545,212,176,0,0,0
$RAFOS,1,1318334950,12.166667,12.152778,65,59,56,0,0,0,215,153,206,0,0,0
$RAFOS,0,1318334461,12.033333,12.016945,67,57,54,0,0,0,689,218,130,0,0,0
$RAFOS_FIX,6635.100098,-5949.029785,111011,121252,6,79,0.59
$IRIDIUM_FIX,6604.29,-5955.89,111011,101026
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.30
$XPDR_PINGS,43
$ALTIM_BOTTOM_PING,600.8,90.3
$24V_AH,23.1,6.089
$10V_AH,10.4,5.311
$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,17.650,63.750,340.975,71.850,0.000,0.000,0.000,0.000,13.000,0.000,20.090,3149.427,5830.930,593.213,1982.280,182.892,0.000,1654.724,0.000,1941.230,2520.000,19.271,0.000
$DEVICE_MAMPS,271.575,79.560,1287.495,86.445,0.000,0.000,0.000,0.000,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.286,812.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43343,1132
$CAP_FILE_SIZE,152482,0
$CFSIZE,260165632,245325824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.6
$CURRENT,0.168,331.9,1
$GPS,111011,133006,6635.284,-5950.584,40,0.9,40,-33.6