version: 66.09
glider: 143
mission: 13
dive: 42
start: 10 11 111 13 36 9
data:
$ID,143
$MISSION,13
$DIVE,42
$N_DIVES,50
$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,-80568.188
$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,33
$R_STBD_OVSHOOT,22
$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
$GPS1,111011,133006,6635.284,-5950.584,40,0.9,40,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-71.6
$GPS2,111011,133536,6635.263,-5950.557,15,1.9,15,-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,142.2,141487,-18.3,-10.000
$D_GRID,685
$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,17,-0.77,-146.0,0.0,0.0,0,112,0.00,0.00,-92.22,0.000,2,0.000,0.000,123,2525,2111,0,0,0,0,0,0
$GC,115,-0.77,-146.0,3.2,-2.0,15,164,8.73,1.25,-34.70,0.000,4,0.270,0.083,2150,1809,3083,0,0,0,0,0,0
$GC,412,-0.77,-146.0,55.1,-16.0,67,418,0.00,1.23,0.00,0.000,6,0.000,0.067,2147,2507,3085,0,0,0,0,0,0
$GC,618,-0.77,-146.0,88.5,-16.6,104,627,0.00,1.15,0.00,0.000,4,0.000,0.080,2142,3209,3086,0,0,0,0,0,0
$GC,696,-0.77,-146.0,100.8,-16.0,117,703,0.00,1.12,0.00,0.000,6,0.000,0.047,2142,2508,3086,0,0,0,0,0,0
$GC,915,-0.77,-146.0,134.6,-15.4,138,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3086,0,0,0,0,0,0
$GC,1127,-0.77,-146.0,166.9,-14.7,158,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3085,0,0,0,0,0,0
$GC,1340,-0.77,-146.0,196.9,-13.5,178,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3086,0,0,0,0,0,0
$GC,1552,-0.77,-146.0,224.6,-13.1,198,1556,0.00,1.12,0.00,0.000,4,0.000,0.056,2142,1804,3086,0,0,0,0,0,0
$GC,1601,-0.77,-146.0,230.5,-13.0,202,1608,0.00,1.23,0.00,0.000,6,0.000,0.068,2137,2509,3085,0,0,0,0,0,0
$GC,1821,-0.77,-146.0,260.1,-13.6,223,1824,0.00,1.15,0.00,0.000,4,0.000,0.080,2132,3215,3085,0,0,0,0,0,0
$GC,1899,-0.77,-146.0,271.0,-14.1,230,1903,0.00,1.12,0.00,0.000,6,0.000,0.047,2132,2511,3085,0,0,0,0,0,0
$GC,2123,-0.77,-146.0,302.2,-13.8,251,2127,0.00,1.12,0.00,0.000,4,0.000,0.057,2132,1808,3084,0,0,0,0,0,0
$GC,2180,-0.77,-146.0,309.7,-13.1,256,2183,0.00,1.23,0.00,0.000,6,0.000,0.067,2127,2512,3085,0,0,0,0,0,0
$GC,2405,-0.77,-146.0,339.0,-13.2,277,2409,0.00,1.15,0.00,0.000,4,0.000,0.080,2121,3221,3084,0,0,0,0,0,0
$GC,2500,-0.77,-146.0,351.1,-13.3,285,2504,0.08,1.12,0.00,0.000,6,0.170,0.047,2144,2511,3084,0,0,0,0,0,0
$GC,2725,-0.77,-146.0,378.1,-11.9,306,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2511,3084,0,0,0,0,0,0
$GC,2936,-0.77,-146.0,403.3,-11.8,326,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2511,3085,0,0,0,0,0,0
$GC,3148,-0.77,-146.0,428.6,-12.1,346,3151,0.00,1.20,0.00,0.000,4,0.000,0.077,2141,3221,3084,0,0,0,0,0,0
$GC,3228,-0.77,-146.0,438.0,-12.1,353,3232,0.00,1.12,0.00,0.000,6,0.000,0.045,2141,2509,3084,0,0,0,0,0,0
$GC,3453,-0.77,-146.0,464.7,-11.5,374,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2509,3085,0,0,0,0,0,0
$GC,3665,-0.77,-146.0,489.4,-11.8,394,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2509,3084,0,0,0,0,0,0
$GC,3880,-0.77,-146.0,513.8,-11.6,414,3883,0.00,1.20,0.00,0.000,4,0.000,0.076,2137,3220,3085,0,0,0,0,0,0
$GC,3962,-0.77,-146.0,523.3,-11.8,421,3969,0.00,1.12,0.00,0.000,6,0.000,0.044,2137,2505,3085,0,0,0,0,0,0
$GC,4181,-0.77,-146.0,549.5,-11.8,442,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2505,3085,0,0,0,0,0,0
$GC,4393,-0.77,-146.0,574.8,-11.8,462,4397,0.00,1.20,0.00,0.000,4,0.000,0.075,2132,3219,3085,0,0,0,0,0,0
$GC,4465,-0.77,-146.0,582.9,-12.0,468,4474,0.00,1.10,0.00,0.000,6,0.000,0.043,2132,2511,3085,0,0,0,0,0,0
$GC,4703,-0.77,-146.0,611.5,-11.7,485,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2511,3085,0,0,0,0,0,0
$GC,5008,-0.77,-146.0,646.8,-11.3,495,5012,0.00,1.17,0.00,0.000,4,0.000,0.076,2127,3213,3086,0,0,0,0,0,0
$GC,5096,-0.77,-146.0,654.5,-11.3,497,5100,0.00,1.10,0.00,0.000,6,0.000,0.043,2127,2509,3085,0,0,0,0,0,0
$STATE,5352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5352,begin apogee
$GC,5358,-0.16,0.0,687.0,-11.9,506,5487,0.68,0.00,120.18,1.301,6,0.151,0.000,2339,2190,2484,0,0,0,0,0,0
$STATE,5488,end apogee,CONTROL_FINISHED_OK
$STATE,5488,begin climb
$GC,5490,0.77,146.0,691.6,0.0,510,5627,0.90,1.23,127.35,1.268,4,0.074,0.061,2646,1505,1887,0,0,0,0,0,0
$GC,5778,0.77,146.0,671.8,12.3,518,5785,0.00,1.23,0.00,0.000,6,0.000,0.057,2646,2202,1880,0,0,0,0,0,0
$GC,6092,0.77,146.0,628.4,12.7,529,6096,0.00,1.20,0.00,0.000,4,0.000,0.067,2646,2908,1878,0,0,0,0,0,0
$GC,6130,0.77,146.0,623.8,12.8,530,6135,0.00,1.20,0.00,0.000,6,0.000,0.047,2651,2205,1876,0,0,0,0,0,0
$GC,6450,0.77,146.0,583.2,12.8,547,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,1876,0,0,0,0,0,0
$GC,6662,0.77,146.0,556.8,12.4,567,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,1875,0,0,0,0,0,0
$GC,6875,0.77,146.0,531.0,12.1,587,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,1875,0,0,0,0,0,0
$GC,7087,0.77,146.0,505.4,11.8,607,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2205,1875,0,0,0,0,0,0
$GC,7300,0.77,146.0,479.5,12.4,627,7304,0.00,1.12,0.00,0.000,4,0.000,0.061,2656,1495,1875,0,0,0,0,0,0
$GC,7312,0.77,146.0,478.0,12.2,628,7315,0.00,1.17,0.00,0.000,6,0.000,0.057,2656,2199,1875,0,0,0,0,0,0
$GC,7537,0.77,146.0,450.5,12.5,649,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2199,1875,0,0,0,0,0,0
$GC,7750,0.77,146.0,424.1,12.4,669,7753,0.00,1.15,0.00,0.000,4,0.000,0.066,2656,2900,1874,0,0,0,0,0,0
$GC,7765,0.77,146.0,422.2,12.5,670,7773,0.00,1.17,0.00,0.000,6,0.000,0.047,2661,2188,1875,0,0,0,0,0,0
$GC,7985,0.77,146.0,394.1,12.2,691,7988,0.00,1.23,0.00,0.000,4,0.000,0.064,2661,2901,1873,0,0,0,0,0,0
$GC,8001,0.77,146.0,392.6,12.1,692,8010,0.00,1.17,0.00,0.000,6,0.000,0.047,2666,2193,1874,0,0,0,0,0,0
$GC,8221,0.77,146.0,364.8,12.0,713,8224,0.00,1.10,0.00,0.000,4,0.000,0.060,2671,1492,1874,0,0,0,0,0,0
$GC,8236,0.77,146.0,363.2,12.0,714,8244,0.00,1.17,0.00,0.000,6,0.000,0.057,2671,2198,1874,0,0,0,0,0,0
$GC,8456,0.77,146.0,335.8,12.1,735,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2198,1874,0,0,0,0,0,0
$GC,8668,0.77,146.0,310.1,12.2,755,8672,0.00,1.15,0.00,0.000,4,0.000,0.056,2676,1496,1874,0,0,0,0,0,0
$GC,8702,0.77,146.0,306.0,12.0,758,8705,0.00,1.17,0.00,0.000,6,0.000,0.057,2677,2205,1873,0,0,0,0,0,0
$GC,8927,0.77,146.0,278.5,12.1,779,8930,0.00,1.17,0.00,0.000,4,0.000,0.057,2681,1492,1874,0,0,0,0,0,0
$GC,9105,0.77,146.0,257.4,11.9,795,9109,0.10,1.17,0.00,0.000,6,0.167,0.057,2652,2203,1873,0,0,0,0,0,0
$GC,9332,0.77,146.0,233.8,10.3,816,9336,0.00,1.15,0.00,0.000,4,0.000,0.056,2655,1496,1874,0,0,0,0,0,0
$GC,9377,0.77,146.0,228.9,10.4,820,9381,0.00,1.17,0.00,0.000,6,0.000,0.060,2655,2205,1873,0,0,0,0,0,0
$GC,9605,0.77,150.9,206.0,9.8,841,9609,0.00,1.15,0.00,0.000,4,0.000,0.057,2660,1496,1873,0,0,0,0,0,0
$GC,9653,0.78,158.6,201.2,9.6,845,9665,0.00,1.17,9.25,0.941,6,0.000,0.059,2660,2204,1838,0,0,0,0,0,0
$GC,9880,0.78,158.8,178.3,10.0,866,9883,0.00,1.17,0.00,0.000,4,0.000,0.057,2664,1490,1837,0,0,0,0,0,0
$GC,9951,0.80,170.8,171.6,9.4,872,9971,0.00,1.17,11.73,0.951,6,0.000,0.058,2665,2199,1787,0,0,0,0,0,0
$GC,10183,0.81,176.3,148.0,9.7,894,10196,0.00,1.15,6.05,0.847,4,0.000,0.063,2665,2911,1765,0,0,0,0,0,0
$GC,10265,0.81,176.3,139.6,10.4,901,10269,0.00,1.20,0.00,0.000,6,0.000,0.048,2670,2190,1764,0,0,0,0,0,0
$GC,10491,0.83,193.7,118.0,9.2,922,10515,0.00,1.25,15.85,0.943,4,0.000,0.063,2669,2919,1694,0,0,0,0,0,0
$GC,10549,0.83,196.6,112.2,9.9,927,10562,0.00,1.20,3.88,0.678,6,0.000,0.049,2674,2204,1682,0,0,0,0,0,0
$GC,10778,0.83,196.6,88.5,10.3,958,10785,0.00,1.12,0.00,0.000,4,0.000,0.060,2680,1493,1680,0,0,0,0,0,0
$GC,10820,0.83,196.6,84.2,10.8,965,10827,0.00,1.20,0.00,0.000,6,0.000,0.060,2680,2203,1680,0,0,0,0,0,0
$GC,11024,0.83,196.6,61.9,11.0,1002,11031,0.00,1.17,0.00,0.000,4,0.000,0.059,2685,1495,1680,0,0,0,0,0,0
$GC,11142,0.83,199.7,49.9,9.9,1023,11149,0.00,1.20,4.03,0.709,6,0.000,0.060,2685,2206,1670,0,0,0,0,0,0
$GC,11348,0.87,231.6,30.5,8.5,1060,11383,0.00,1.17,26.38,0.913,4,0.000,0.057,2690,1493,1539,0,0,0,0,0,0
$GC,11632,0.91,258.2,6.1,8.8,1110,11653,0.00,1.20,12.65,0.092,6,0.000,0.060,2690,2199,1430,0,0,0,0,0,0
$STATE,11669,end climb,SURFACE_DEPTH_REACHED
$STATE,11669,begin surface coast
$FINISH,1.5,1.007385
$STATE,11686,end surface coast,CONTROL_FINISHED_OK
$STATE,11686,begin surface
$SM_CCo,11703,75.40,0.086,0,0,771,420.20
$SM_GC,2.39,7.18,0.55,75.40,0.059,0.067,0.086,120,2518,771,-7.08,-0.54,420.20,0,0,0,0,0,0
$RAFOS_CLK,768
$RAFOS,5,1318351265,16.700001,16.684723,59,58,58,0,0,0,217,181,200,0,0,0
$RAFOS,4,1318350791,16.566668,16.553055,112,63,59,0,0,0,637,215,192,0,0,0
$RAFOS,3,1318350307,16.433332,16.418612,80,64,62,0,0,0,651,226,190,0,0,0
$RAFOS,2,1318349825,16.299999,16.284721,107,63,63,0,0,0,551,209,154,0,0,0
$RAFOS,1,1318349348,16.166666,16.152222,144,56,55,0,0,0,583,225,130,0,0,0
$RAFOS,0,1318348862,16.033333,16.017221,67,65,54,0,0,0,702,142,160,0,0,0
$RAFOS_FIX,6635.155273,-5947.628906,111011,161612,5,102,0.22
$IRIDIUM_FIX,6604.29,-5948.50,111011,101041
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.65
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.20
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,550.8,169.7
$24V_AH,23.1,6.201
$10V_AH,10.2,5.396
$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,17.650,61.975,337.325,75.400,0.000,0.000,0.000,220.825,7.500,0.000,16.583,3120.619,6112.363,557.873,2128.225,207.427,0.000,1818.698,0.000,1889.620,2520.000,14.713,0.000
$DEVICE_MAMPS,270.045,82.620,1301.265,86.445,0.000,0.000,0.000,250.929,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.798,801.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150332
$DATA_FILE_SIZE,43354,1119
$CAP_FILE_SIZE,136917,0
$CFSIZE,260165632,245268480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.4
$CURRENT,0.117,325.7,1
$GPS,111011,165405,6635.149,-5947.097,38,0.7,38,-33.6