version: 66.09
glider: 143
mission: 13
dive: 60
start: 10 14 111 12 24 57
data:
$ID,143
$MISSION,13
$DIVE,60
$N_DIVES,112
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,350
$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,-80590.875
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,141011,121832,6644.310,-5833.268,40,0.9,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-71.7
$GPS2,141011,122424,6644.312,-5833.308,18,1.0,18,-33.5
$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,96.9,83553,-18.3,-10.000
$D_GRID,763
$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,-146.0,0.0,0.0,0,76,0.00,0.00,-56.75,0.000,2,0.000,0.000,124,2520,1856,0,0,0,0,0,0
$GC,79,-0.77,-146.0,3.0,-0.9,9,159,8.60,1.25,-61.45,0.000,4,0.265,0.082,2148,1803,3083,0,0,0,0,0,0
$GC,353,-0.77,-146.0,47.1,-17.9,56,360,0.00,1.25,0.00,0.000,6,0.000,0.067,2145,2513,3084,0,0,0,0,0,0
$GC,559,-0.77,-146.0,79.1,-14.9,93,566,0.00,1.15,0.00,0.000,4,0.000,0.079,2140,3214,3084,0,0,0,0,0,0
$GC,627,-0.77,-146.0,89.4,-15.3,105,634,0.00,1.12,0.00,0.000,6,0.000,0.044,2140,2506,3084,0,0,0,0,0,0
$GC,832,-0.77,-146.0,122.4,-16.2,142,838,0.00,1.10,0.00,0.000,4,0.000,0.053,2140,1816,3085,0,0,0,0,0,0
$GC,893,-0.77,-146.0,132.3,-15.5,153,900,0.00,1.23,0.00,0.000,6,0.000,0.066,2135,2516,3085,0,0,0,0,0,0
$GC,1097,-0.77,-146.0,165.2,-16.2,190,1104,0.00,1.17,0.00,0.000,4,0.000,0.051,2135,1813,3085,0,0,0,0,0,0
$GC,1171,-0.77,-146.0,176.5,-14.8,203,1180,0.00,1.23,0.00,0.000,6,0.000,0.067,2130,2515,3085,0,0,0,0,0,0
$GC,1383,-0.77,-146.0,208.2,-13.9,240,1390,0.00,1.15,0.00,0.000,4,0.000,0.079,2125,3222,3085,0,0,0,0,0,0
$GC,1491,-0.77,-146.0,223.9,-14.7,259,1500,0.00,1.12,0.00,0.000,6,0.000,0.044,2125,2512,3085,0,0,0,0,0,0
$GC,1702,-0.77,-146.0,253.3,-13.4,296,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2512,3084,0,0,0,0,0,0
$GC,1906,-0.77,-146.0,281.4,-13.8,333,1913,0.00,1.20,0.00,0.000,4,0.000,0.078,2120,3216,3084,0,0,0,0,0,0
$GC,1963,-0.77,-146.0,289.3,-13.3,343,1974,0.08,1.12,0.00,0.000,6,0.171,0.044,2143,2504,3084,0,0,0,0,0,0
$GC,2169,-0.77,-146.0,313.8,-11.7,369,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2504,3084,0,0,0,0,0,0
$GC,2381,-0.77,-146.0,339.0,-11.8,389,2385,0.00,1.20,0.00,0.000,4,0.000,0.076,2140,3214,3084,0,0,0,0,0,0
$GC,2437,-0.77,-146.0,345.7,-12.2,394,2441,0.00,1.10,0.00,0.000,6,0.000,0.041,2140,2514,3084,0,0,0,0,0,0
$GC,2662,-0.77,-146.0,372.1,-11.9,415,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2513,3084,0,0,0,0,0,0
$GC,2874,-0.77,-146.0,396.8,-11.4,435,2877,0.00,1.10,0.00,0.000,4,0.000,0.054,2140,1816,3084,0,0,0,0,0,0
$GC,2912,-0.77,-146.0,400.7,-11.4,438,2919,0.00,1.20,0.00,0.000,6,0.000,0.066,2135,2510,3084,0,0,0,0,0,0
$GC,3131,-0.77,-146.0,426.7,-11.8,459,3135,0.00,1.15,0.00,0.000,4,0.000,0.077,2130,3223,3083,0,0,0,0,0,0
$GC,3180,-0.77,-146.0,432.2,-12.3,463,3190,0.00,1.12,0.00,0.000,6,0.000,0.040,2130,2502,3084,0,0,0,0,0,0
$GC,3401,-0.77,-146.0,459.6,-12.3,484,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2502,3084,0,0,0,0,0,0
$GC,3612,-0.77,-146.0,486.3,-12.7,504,3616,0.00,1.20,0.00,0.000,4,0.000,0.074,2125,3216,3083,0,0,0,0,0,0
$GC,3673,-0.77,-146.0,493.7,-13.2,509,3680,0.00,1.10,0.00,0.000,6,0.000,0.041,2125,2510,3083,0,0,0,0,0,0
$GC,3907,-0.77,-146.0,524.4,-12.9,520,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2510,3084,0,0,0,0,0,0
$GC,4212,-0.77,-146.0,563.3,-12.6,530,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2510,3084,0,0,0,0,0,0
$GC,4522,-0.77,-146.0,601.1,-12.3,540,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2510,3084,0,0,0,0,0,0
$GC,4825,-0.77,-146.0,638.1,-12.1,550,4828,0.00,1.20,0.00,0.000,4,0.000,0.074,2121,3226,3085,0,0,0,0,0,0
$GC,4919,-0.77,-146.0,646.6,-12.2,552,4930,0.08,1.12,0.00,0.000,6,0.168,0.039,2143,2501,3085,0,0,0,0,0,0
$GC,5232,-0.77,-146.0,684.6,-11.3,563,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2501,3085,0,0,0,0,0,0
$GC,5538,-0.77,-146.0,716.5,-10.2,573,5542,0.00,1.20,0.00,0.000,4,0.000,0.073,2140,3219,3085,0,0,0,0,0,0
$GC,5573,-0.77,-146.0,720.2,-10.3,574,5576,0.00,1.10,0.00,0.000,6,0.000,0.039,2140,2508,3085,0,0,0,0,0,0
$GC,5914,-0.77,-146.0,757.0,-11.2,585,5917,0.00,1.20,0.00,0.000,4,0.000,0.073,2135,3226,3085,0,0,0,0,0,0
$GC,5963,-0.77,-146.0,760.9,-11.2,586,5967,0.00,1.10,0.00,0.000,6,0.000,0.038,2135,2516,3085,0,0,0,0,0,0
$STATE,5979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5979,begin apogee
$GC,5985,-0.16,0.0,764.5,-11.0,587,6115,0.65,0.00,120.62,1.356,6,0.146,0.000,2342,2192,2485,0,0,0,0,0,0
$STATE,6116,end apogee,CONTROL_FINISHED_OK
$STATE,6116,begin climb
$GC,6118,0.77,146.0,769.6,0.0,591,6254,0.90,1.15,128.70,1.328,4,0.074,0.058,2649,1510,1888,0,0,0,0,0,0
$GC,6313,0.79,162.9,758.1,9.2,597,6333,0.00,1.25,15.82,1.187,6,0.000,0.055,2649,2208,1820,0,0,0,0,0,0
$GC,6647,0.79,162.9,712.5,13.4,608,6651,0.00,1.17,0.00,0.000,4,0.000,0.063,2649,2905,1814,0,0,0,0,0,0
$GC,6685,0.79,162.9,707.6,13.5,609,6689,0.00,1.20,0.00,0.000,6,0.000,0.044,2654,2205,1814,0,0,0,0,0,0
$GC,7020,0.79,162.9,661.6,13.6,620,7024,0.00,1.15,0.00,0.000,4,0.000,0.057,2659,1492,1812,0,0,0,0,0,0
$GC,7042,0.79,162.9,661.6,13.6,620,7046,0.00,1.23,0.00,0.000,6,0.000,0.055,2659,2208,1811,0,0,0,0,0,0
$GC,7361,0.79,162.9,614.5,13.5,631,7365,0.00,1.17,0.00,0.000,4,0.000,0.065,2659,2914,1811,0,0,0,0,0,0
$GC,7416,0.79,162.9,609.9,13.5,632,7420,0.00,1.20,0.00,0.000,6,0.000,0.046,2664,2200,1811,0,0,0,0,0,0
$GC,7735,0.79,162.9,563.4,13.6,643,7738,0.00,1.23,0.00,0.000,4,0.000,0.063,2664,2903,1810,0,0,0,0,0,0
$GC,7762,0.79,162.9,563.4,13.6,643,7769,0.00,1.17,0.00,0.000,6,0.000,0.046,2669,2202,1811,0,0,0,0,0,0
$GC,8075,0.79,162.9,517.3,13.5,654,8078,0.00,1.12,0.00,0.000,4,0.000,0.059,2674,1492,1810,0,0,0,0,0,0
$GC,8135,0.79,162.9,512.7,13.5,655,8143,0.00,1.17,0.00,0.000,6,0.000,0.057,2674,2199,1810,0,0,0,0,0,0
$GC,8460,0.79,162.9,465.2,13.2,682,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,1810,0,0,0,0,0,0
$GC,8671,0.79,162.9,435.9,13.9,702,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2199,1810,0,0,0,0,0,0
$GC,8884,0.79,162.9,406.3,14.5,722,8888,0.00,1.17,0.00,0.000,4,0.000,0.056,2679,1489,1809,0,0,0,0,0,0
$GC,8922,0.79,162.9,401.7,13.6,725,8929,0.00,1.17,0.00,0.000,6,0.000,0.057,2679,2202,1809,0,0,0,0,0,0
$GC,9141,0.79,162.9,371.0,14.1,746,9145,0.00,1.17,0.00,0.000,4,0.000,0.055,2684,1489,1809,0,0,0,0,0,0
$GC,9187,0.79,162.9,364.8,13.6,750,9191,0.08,1.17,0.00,0.000,6,0.169,0.056,2661,2202,1809,0,0,0,0,0,0
$GC,9411,0.79,162.9,336.1,12.3,771,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,1809,0,0,0,0,0,0
$GC,9623,0.79,162.9,309.5,12.2,791,9627,0.00,1.15,0.00,0.000,4,0.000,0.064,2661,2908,1809,0,0,0,0,0,0
$GC,9680,0.79,162.9,302.4,12.7,796,9684,0.00,1.17,0.00,0.000,6,0.000,0.045,2664,2190,1809,0,0,0,0,0,0
$GC,9905,0.79,162.9,275.1,12.2,835,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2190,1810,0,0,0,0,0,0
$GC,10109,0.79,162.9,250.1,12.2,872,10118,0.00,1.08,0.00,0.000,4,0.000,0.057,2669,1495,1809,0,0,0,0,0,0
$GC,10158,0.79,162.9,244.2,12.0,880,10167,0.00,1.15,0.00,0.000,6,0.000,0.056,2670,2196,1809,0,0,0,0,0,0
$GC,10368,0.79,162.9,219.1,12.1,917,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2196,1809,0,0,0,0,0,0
$GC,10574,0.79,162.9,195.1,11.3,954,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2196,1809,0,0,0,0,0,0
$GC,10779,0.79,162.9,172.2,11.5,991,10786,0.00,1.15,0.00,0.000,4,0.000,0.065,2669,2907,1809,0,0,0,0,0,0
$GC,10838,0.79,162.9,165.6,11.9,1001,10845,0.00,1.15,0.00,0.000,6,0.000,0.046,2674,2201,1809,0,0,0,0,0,0
$GC,11045,0.79,162.9,143.0,10.5,1038,11052,0.00,1.10,0.00,0.000,4,0.000,0.059,2680,1493,1809,0,0,0,0,0,0
$GC,11141,0.79,162.9,132.8,10.7,1055,11148,0.00,1.17,0.00,0.000,6,0.000,0.057,2680,2206,1809,0,0,0,0,0,0
$GC,11347,0.79,162.9,111.2,10.6,1092,11355,0.00,1.12,0.00,0.000,4,0.000,0.067,2680,2902,1809,0,0,0,0,0,0
$GC,11501,0.79,162.9,94.8,10.9,1119,11508,0.08,1.15,0.00,0.000,6,0.178,0.047,2662,2199,1809,0,0,0,0,0,0
$GC,11707,0.85,209.7,76.9,7.8,1156,11749,0.00,1.15,37.72,0.940,4,0.000,0.057,2665,1494,1629,0,0,0,0,0,0
$GC,11860,0.85,209.7,62.3,10.4,1182,11867,0.00,1.20,0.00,0.000,6,0.000,0.057,2665,2206,1625,0,0,0,0,0,0
$GC,12065,0.85,209.7,39.9,11.2,1219,12072,0.00,1.17,0.00,0.000,4,0.000,0.057,2670,1494,1623,0,0,0,0,0,0
$GC,12080,0.85,209.7,38.4,12.0,1221,12087,0.00,1.20,0.00,0.000,6,0.000,0.057,2670,2207,1623,0,0,0,0,0,0
$GC,12285,0.91,258.9,22.2,7.7,1258,12319,0.00,1.20,27.15,0.859,4,0.000,0.065,2670,2905,1428,0,0,0,0,0,0
$GC,12377,0.91,258.9,13.8,10.4,1273,12384,0.00,1.20,0.00,0.000,6,0.000,0.046,2675,2195,1424,0,0,0,0,0,0
$STATE,12498,end climb,SURFACE_DEPTH_REACHED
$STATE,12498,begin surface coast
$FINISH,1.7,1.004826
$STATE,12521,end surface coast,CONTROL_FINISHED_OK
$STATE,12521,begin surface
$SM_CCo,12538,42.53,0.086,0,0,1057,350.04
$SM_GC,2.61,7.05,0.60,42.53,0.054,0.059,0.086,123,2511,1057,-7.07,-0.82,350.04,0,0,0,0,0,0
$RAFOS_CLK,812
$RAFOS,6,1318596546,12.833333,12.818334,82,55,54,0,0,0,705,216,146,0,0,0
$RAFOS,5,1318596062,12.700000,12.683888,67,59,58,0,0,0,689,221,202,0,0,0
$RAFOS,4,1318595582,12.566667,12.550555,75,59,58,0,0,0,630,213,167,0,0,0
$RAFOS,3,1318595120,12.433333,12.422222,67,62,59,0,0,0,167,193,205,0,0,0
$RAFOS_FIX,6646.916504,-5835.278809,141011,121244,4,72,7.45
$IRIDIUM_FIX,6614.97,-5838.87,141011,080826
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.24
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,650.6,139.9
$24V_AH,23.1,8.364
$10V_AH,10.2,7.115
$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,17.500,68.750,330.025,42.525,0.000,0.000,0.000,236.575,7.500,0.000,20.034,3543.045,6242.568,573.686,2347.346,240.689,0.000,1953.302,0.000,2090.687,1440.000,18.160,0.000
$DEVICE_MAMPS,264.690,81.855,1356.345,86.445,0.000,0.000,0.000,257.670,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.164,767.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150324
$DATA_FILE_SIZE,49974,1299
$CAP_FILE_SIZE,147293,0
$CFSIZE,260165632,243879936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.4
$CURRENT,0.271,332.9,1
$GPS,141011,155605,6646.901,-5830.524,30,0.8,30,-33.6