version: 66.09
glider: 143
mission: 13
dive: 43
start: 10 11 111 16 59 33
data:
$ID,143
$MISSION,13
$DIVE,43
$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,-80569.445
$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,32
$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
$GPS1,111011,165405,6635.149,-5947.097,38,0.7,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.4
$GPS2,111011,165900,6635.077,-5947.206,18,1.4,18,-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,127.8,139363,-18.3,-10.000
$D_GRID,713
$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,-146.0,0.0,0.0,0,111,0.00,0.00,-91.93,0.000,2,0.000,0.000,119,2523,2104,0,0,0,0,0,0
$GC,114,-0.77,-146.0,3.2,-1.5,15,163,8.82,1.25,-35.92,0.000,4,0.274,0.084,2145,1809,3083,0,0,0,0,0,0
$GC,358,-0.77,-146.0,45.3,-16.6,57,365,0.00,1.23,0.00,0.000,6,0.000,0.068,2142,2504,3084,0,0,0,0,0,0
$GC,563,-0.77,-146.0,78.5,-16.5,94,570,0.00,1.17,0.00,0.000,4,0.000,0.080,2137,3218,3085,0,0,0,0,0,0
$GC,671,-0.77,-146.0,96.1,-16.3,113,678,0.00,1.15,0.00,0.000,6,0.000,0.047,2137,2506,3085,0,0,0,0,0,0
$GC,876,-0.77,-146.0,127.9,-15.1,134,880,0.00,1.12,0.00,0.000,4,0.000,0.056,2137,1808,3085,0,0,0,0,0,0
$GC,957,-0.77,-146.0,138.7,-13.1,141,960,0.00,1.23,0.00,0.000,6,0.000,0.069,2132,2505,3085,0,0,0,0,0,0
$GC,1181,-0.77,-146.0,169.6,-14.0,162,1185,0.00,1.15,0.00,0.000,4,0.000,0.081,2127,3211,3085,0,0,0,0,0,0
$GC,1341,-0.77,-146.0,191.8,-13.9,176,1344,0.00,1.12,0.00,0.000,6,0.000,0.048,2127,2511,3085,0,0,0,0,0,0
$GC,1567,-0.77,-146.0,222.7,-13.1,197,1570,0.00,1.12,0.00,0.000,4,0.000,0.057,2127,1808,3085,0,0,0,0,0,0
$GC,1616,-0.77,-146.0,229.2,-13.6,201,1623,0.00,1.23,0.00,0.000,6,0.000,0.069,2122,2509,3085,0,0,0,0,0,0
$GC,1835,-0.77,-146.0,261.6,-14.9,222,1840,0.12,1.15,0.00,0.000,4,0.194,0.080,2147,3214,3085,0,0,0,0,0,0
$GC,1963,-0.77,-146.0,277.9,-13.0,233,1969,0.00,1.12,0.00,0.000,6,0.000,0.046,2147,2509,3084,0,0,0,0,0,0
$GC,2183,-0.77,-146.0,307.2,-13.0,254,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3084,0,0,0,0,0,0
$GC,2394,-0.77,-146.0,333.5,-12.0,274,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3084,0,0,0,0,0,0
$GC,2606,-0.77,-146.0,357.5,-10.9,294,2609,0.00,1.20,0.00,0.000,4,0.000,0.078,2142,3215,3084,0,0,0,0,0,0
$GC,2707,-0.77,-146.0,368.5,-10.6,303,2710,0.00,1.12,0.00,0.000,6,0.000,0.046,2142,2508,3084,0,0,0,0,0,0
$GC,2931,-0.77,-146.0,392.2,-10.4,324,2935,0.00,1.10,0.00,0.000,4,0.000,0.055,2142,1813,3084,0,0,0,0,0,0
$GC,2969,-0.77,-146.0,395.9,-10.9,327,2976,0.00,1.20,0.00,0.000,6,0.000,0.067,2138,2505,3084,0,0,0,0,0,0
$GC,3189,-0.77,-146.0,419.7,-10.5,348,3192,0.00,1.15,0.00,0.000,4,0.000,0.079,2132,3217,3084,0,0,0,0,0,0
$GC,3311,-0.77,-146.0,433.1,-10.8,359,3315,0.00,1.12,0.00,0.000,6,0.000,0.045,2133,2505,3084,0,0,0,0,0,0
$GC,3536,-0.77,-146.0,457.8,-11.0,380,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2505,3084,0,0,0,0,0,0
$GC,3748,-0.77,-146.0,481.0,-11.1,400,3752,0.00,1.20,0.00,0.000,4,0.000,0.076,2128,3217,3084,0,0,0,0,0,0
$GC,3806,-0.77,-146.0,487.3,-11.1,405,3810,0.00,1.12,0.00,0.000,6,0.000,0.045,2128,2505,3084,0,0,0,0,0,0
$GC,4031,-0.77,-146.0,512.9,-11.2,426,4034,0.00,1.10,0.00,0.000,4,0.000,0.054,2128,1808,3084,0,0,0,0,0,0
$GC,4068,-0.77,-146.0,516.8,-11.4,429,4075,0.00,1.23,0.00,0.000,6,0.000,0.066,2123,2516,3084,0,0,0,0,0,0
$GC,4288,-0.77,-146.0,541.8,-11.2,450,4292,0.00,1.12,0.00,0.000,4,0.000,0.078,2118,3216,3084,0,0,0,0,0,0
$GC,4382,-0.77,-146.0,552.3,-11.6,458,4390,0.10,1.12,0.00,0.000,6,0.161,0.043,2148,2499,3085,0,0,0,0,0,0
$GC,4604,-0.77,-146.0,574.0,-9.5,479,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2500,3085,0,0,0,0,0,0
$GC,4814,-0.77,-146.0,595.0,-10.1,499,4818,0.00,1.20,0.00,0.000,4,0.000,0.075,2145,3214,3085,0,0,0,0,0,0
$GC,4873,-0.77,-146.0,600.7,-10.3,504,4883,0.00,1.10,0.00,0.000,6,0.000,0.041,2145,2514,3085,0,0,0,0,0,0
$GC,5187,-0.77,-146.0,633.5,-10.4,515,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2514,3085,0,0,0,0,0,0
$GC,5494,-0.77,-146.0,666.1,-10.6,525,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2514,3086,0,0,0,0,0,0
$GC,5799,-0.77,-146.0,697.7,-10.4,535,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2514,3086,0,0,0,0,0,0
$STATE,5950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5950,begin apogee
$GC,5956,-0.16,0.0,713.8,-10.5,540,6085,0.62,0.00,120.68,1.318,6,0.144,0.000,2343,2183,2485,0,0,0,0,0,0
$STATE,6086,end apogee,CONTROL_FINISHED_OK
$STATE,6086,begin climb
$GC,6088,0.77,146.0,716.0,0.0,544,6220,0.90,0.00,128.68,1.287,6,0.063,0.000,2647,2180,1889,0,0,0,0,0,0
$GC,6511,0.77,146.0,671.5,13.0,558,6515,0.00,1.12,0.00,0.000,4,0.000,0.061,2652,1499,1878,0,0,0,0,0,0
$GC,6633,0.77,146.0,658.4,12.9,561,6637,0.00,1.23,0.00,0.000,6,0.000,0.057,2652,2208,1877,0,0,0,0,0,0
$GC,6952,0.77,146.0,614.1,13.2,572,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2208,1876,0,0,0,0,0,0
$GC,7267,0.77,146.0,573.6,13.0,594,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2208,1875,0,0,0,0,0,0
$GC,7479,0.77,146.0,546.5,12.6,614,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2208,1875,0,0,0,0,0,0
$GC,7692,0.77,146.0,519.8,12.7,634,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2208,1875,0,0,0,0,0,0
$GC,7904,0.77,146.0,493.7,11.8,654,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2208,1875,0,0,0,0,0,0
$GC,8117,0.77,146.0,467.6,12.4,674,8121,0.00,1.17,0.00,0.000,4,0.000,0.058,2657,1500,1874,0,0,0,0,0,0
$GC,8155,0.77,146.0,463.2,12.2,677,8165,0.00,1.17,0.00,0.000,6,0.000,0.057,2657,2202,1875,0,0,0,0,0,0
$GC,8376,0.77,146.0,435.5,12.4,698,8380,0.00,1.17,0.00,0.000,4,0.000,0.058,2662,1494,1874,0,0,0,0,0,0
$GC,8402,0.77,146.0,432.4,12.8,700,8410,0.00,1.17,0.00,0.000,6,0.000,0.057,2662,2199,1874,0,0,0,0,0,0
$GC,8622,0.77,146.0,404.0,12.5,721,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2199,1874,0,0,0,0,0,0
$GC,8835,0.77,146.0,378.4,12.0,741,8839,0.00,1.15,0.00,0.000,4,0.000,0.058,2666,1500,1874,0,0,0,0,0,0
$GC,8902,0.77,146.0,370.4,12.0,747,8906,0.00,1.17,0.00,0.000,6,0.000,0.057,2666,2206,1874,0,0,0,0,0,0
$GC,9127,0.77,146.0,343.2,11.7,768,9130,0.00,1.15,0.00,0.000,4,0.000,0.067,2666,2911,1874,0,0,0,0,0,0
$GC,9153,0.77,146.0,340.2,12.3,770,9160,0.00,1.17,0.00,0.000,6,0.000,0.048,2671,2199,1873,0,0,0,0,0,0
$GC,9372,0.77,146.0,314.1,11.5,791,9376,0.00,1.10,0.00,0.000,4,0.000,0.063,2677,1497,1873,0,0,0,0,0,0
$GC,9499,0.77,146.0,299.3,12.0,802,9506,0.00,1.17,0.00,0.000,6,0.000,0.059,2677,2202,1873,0,0,0,0,0,0
$GC,9718,0.77,146.0,273.0,12.0,823,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2202,1873,0,0,0,0,0,0
$GC,9931,0.77,146.0,248.4,11.3,843,9935,0.00,1.15,0.00,0.000,4,0.000,0.067,2677,2908,1873,0,0,0,0,0,0
$GC,10078,0.77,146.0,231.8,11.5,856,10082,0.10,1.17,0.00,0.000,6,0.170,0.050,2652,2196,1873,0,0,0,0,0,0
$GC,10305,0.77,146.0,209.3,10.2,877,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2196,1873,0,0,0,0,0,0
$GC,10525,0.79,161.0,187.6,9.3,898,10540,0.00,1.05,11.20,0.956,4,0.000,0.058,2656,1495,1827,0,0,0,0,0,0
$GC,10603,0.79,161.0,179.7,10.3,905,10607,0.00,1.17,0.00,0.000,6,0.000,0.058,2656,2202,1827,0,0,0,0,0,0
$GC,10829,0.79,161.0,156.7,10.2,926,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,1826,0,0,0,0,0,0
$GC,11042,0.81,180.0,136.4,9.1,946,11066,0.00,1.15,16.92,0.955,4,0.000,0.064,2656,2912,1750,0,0,0,0,0,0
$GC,11112,0.81,180.2,129.5,10.0,952,11116,0.00,1.20,0.00,0.000,6,0.000,0.049,2660,2196,1749,0,0,0,0,0,0
$GC,11338,0.81,182.5,107.8,9.9,973,11341,0.00,1.10,0.00,0.000,4,0.000,0.061,2666,1494,1747,0,0,0,0,0,0
$GC,11587,0.84,201.1,84.0,9.1,1010,11614,0.00,1.17,18.40,0.933,6,0.000,0.059,2666,2198,1664,0,0,0,0,0,0
$GC,11814,0.84,201.6,60.5,10.0,1050,11821,0.00,1.17,0.00,0.000,4,0.000,0.068,2665,2911,1661,0,0,0,0,0,0
$GC,11877,0.84,206.6,54.1,9.8,1061,11887,0.00,1.20,5.65,0.802,6,0.000,0.050,2671,2197,1642,0,0,0,0,0,0
$GC,12087,0.85,216.1,34.7,9.6,1098,12100,0.00,1.27,8.62,0.873,4,0.000,0.065,2670,2905,1604,0,0,0,0,0,0
$GC,12351,0.93,279.2,14.7,7.1,1145,12391,0.00,1.20,32.30,0.112,6,0.000,0.049,2675,2190,1344,0,0,0,0,0,0
$STATE,12480,end climb,SURFACE_DEPTH_REACHED
$STATE,12480,begin surface coast
$FINISH,2.0,1.024515
$STATE,12497,end surface coast,CONTROL_FINISHED_OK
$STATE,12497,begin surface
$SM_CCo,12514,64.65,0.086,0,0,771,420.20
$SM_GC,2.31,7.05,0.62,64.65,0.056,0.060,0.086,120,2518,771,-7.08,-0.45,420.20,0,0,0,0,0,0
$RAFOS_CLK,819
$RAFOS,2,1318364226,20.299999,20.285000,99,60,59,0,0,0,550,164,196,0,0,0
$RAFOS,1,1318363743,20.166666,20.150833,72,61,58,0,0,0,218,151,191,0,0,0
$RAFOS,0,1318363261,20.033333,20.016945,67,61,54,0,0,0,716,213,127,0,0,0
$RAFOS,6,1318351744,16.833334,16.817778,59,56,56,0,0,0,219,162,119,0,0,0
$RAFOS_FIX,6632.827637,-5948.139648,111011,202044,2,83,0.37
$IRIDIUM_FIX,6604.29,-5945.78,111011,131352
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.44
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,653.2,84.6
$24V_AH,23.1,6.312
$10V_AH,10.3,5.479
$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,17.725,59.300,342.450,64.650,0.000,0.000,0.000,182.475,6.750,0.000,20.221,3228.785,6709.584,579.432,2155.625,211.929,0.000,1807.105,0.000,1954.141,1440.000,18.011,0.000
$DEVICE_MAMPS,273.870,84.150,1318.095,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.447,842.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150380
$DATA_FILE_SIZE,46662,1170
$CAP_FILE_SIZE,137876,0
$CFSIZE,260165632,245194752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.0
$CURRENT,0.192,196.6,1
$GPS,111011,203135,6633.606,-5943.231,92,0.8,92,-33.6