version: 66.09
glider: 143
mission: 13
dive: 62
start: 10 14 111 19 40 57
data:
$ID,143
$MISSION,13
$DIVE,62
$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,-80593.398
$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,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
$GPS1,141011,193524,6646.688,-5825.336,58,0.8,58,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-70.0
$GPS2,141011,194024,6646.687,-5825.307,19,0.9,20,-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,119.9,76490,-18.3,-10.000
$D_GRID,734
$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,-146.0,0.0,0.0,0,77,0.00,0.00,-58.50,0.000,2,0.000,0.000,121,2515,1887,0,0,0,0,0,0
$GC,80,-0.77,-146.0,3.0,-1.0,9,161,8.62,1.23,-59.95,0.000,4,0.267,0.080,2146,1806,3082,0,0,0,0,0,0
$GC,392,-0.77,-146.0,52.4,-14.8,62,399,0.00,1.23,0.00,0.000,6,0.000,0.067,2143,2505,3083,0,0,0,0,0,0
$GC,597,-0.77,-146.0,85.2,-16.9,99,606,0.00,1.15,0.00,0.000,4,0.000,0.079,2138,3210,3083,0,0,0,0,0,0
$GC,697,-0.77,-146.0,101.7,-16.9,116,704,0.00,1.12,0.00,0.000,6,0.000,0.042,2138,2501,3084,0,0,0,0,0,0
$GC,902,-0.77,-146.0,135.1,-14.6,153,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2501,3083,0,0,0,0,0,0
$GC,1107,-0.77,-146.0,163.6,-13.8,190,1114,0.00,1.10,0.00,0.000,4,0.000,0.054,2138,1811,3083,0,0,0,0,0,0
$GC,1153,-0.77,-146.0,169.7,-13.3,198,1160,0.00,1.23,0.00,0.000,6,0.000,0.067,2133,2514,3083,0,0,0,0,0,0
$GC,1360,-0.77,-146.0,198.0,-14.9,235,1369,0.00,1.15,0.00,0.000,4,0.000,0.080,2128,3220,3083,0,0,0,0,0,0
$GC,1447,-0.77,-146.0,210.5,-14.1,250,1453,0.00,1.12,0.00,0.000,6,0.000,0.044,2128,2512,3083,0,0,0,0,0,0
$GC,1653,-0.77,-146.0,238.7,-13.9,287,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2512,3083,0,0,0,0,0,0
$GC,1860,-0.77,-146.0,268.0,-14.7,324,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2512,3083,0,0,0,0,0,0
$GC,2066,-0.77,-146.0,297.4,-13.9,361,2072,0.00,1.20,0.00,0.000,4,0.000,0.077,2123,3217,3083,0,0,0,0,0,0
$GC,2150,-0.77,-146.0,308.8,-14.0,370,2157,0.00,1.12,0.00,0.000,6,0.000,0.043,2123,2511,3082,0,0,0,0,0,0
$GC,2370,-0.77,-146.0,339.2,-13.2,391,2373,0.00,1.10,0.00,0.000,4,0.000,0.053,2123,1815,3083,0,0,0,0,0,0
$GC,2448,-0.77,-146.0,349.4,-12.5,398,2452,0.10,1.20,0.00,0.000,6,0.162,0.066,2149,2507,3083,0,0,0,0,0,0
$GC,2672,-0.77,-146.0,374.3,-11.4,419,2675,0.00,1.15,0.00,0.000,4,0.000,0.078,2146,3219,3083,0,0,0,0,0,0
$GC,2775,-0.77,-146.0,385.4,-11.3,428,2778,0.00,1.12,0.00,0.000,6,0.000,0.041,2145,2502,3083,0,0,0,0,0,0
$GC,2999,-0.77,-146.0,409.5,-10.3,449,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2502,3083,0,0,0,0,0,0
$GC,3213,-0.77,-146.0,431.5,-10.0,469,3216,0.00,1.20,0.00,0.000,4,0.000,0.074,2141,3214,3083,0,0,0,0,0,0
$GC,3269,-0.77,-146.0,437.3,-10.1,474,3273,0.00,1.10,0.00,0.000,6,0.000,0.041,2141,2508,3083,0,0,0,0,0,0
$GC,3494,-0.77,-146.0,460.2,-10.3,495,3498,0.00,1.10,0.00,0.000,4,0.000,0.053,2141,1811,3083,0,0,0,0,0,0
$GC,3562,-0.77,-146.0,467.2,-10.6,501,3565,0.00,1.20,0.00,0.000,6,0.000,0.064,2136,2509,3083,0,0,0,0,0,0
$GC,3786,-0.77,-146.0,490.5,-10.7,522,3790,0.00,1.12,0.00,0.000,4,0.000,0.077,2131,3210,3083,0,0,0,0,0,0
$GC,3857,-0.77,-146.0,498.2,-11.3,528,3864,0.00,1.10,0.00,0.000,6,0.000,0.040,2131,2505,3083,0,0,0,0,0,0
$GC,4092,-0.77,-146.0,525.6,-11.9,537,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2505,3083,0,0,0,0,0,0
$GC,4395,-0.77,-146.0,561.7,-11.7,547,4399,0.00,1.20,0.00,0.000,4,0.000,0.073,2126,3220,3083,0,0,0,0,0,0
$GC,4450,-0.77,-146.0,565.8,-11.7,548,4455,0.00,1.10,0.00,0.000,6,0.000,0.039,2126,2515,3083,0,0,0,0,0,0
$GC,4769,-0.77,-146.0,605.9,-11.8,559,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2515,3083,0,0,0,0,0,0
$GC,5075,-0.77,-146.0,641.3,-11.5,569,5078,0.00,1.17,0.00,0.000,4,0.000,0.074,2121,3216,3084,0,0,0,0,0,0
$GC,5135,-0.77,-146.0,645.4,-11.6,570,5143,0.08,1.10,0.00,0.000,6,0.169,0.040,2145,2502,3084,0,0,0,0,0,0
$GC,5449,-0.77,-146.0,680.4,-10.2,581,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2502,3084,0,0,0,0,0,0
$GC,5755,-0.77,-146.0,712.0,-10.3,591,5758,0.00,1.20,0.00,0.000,4,0.000,0.074,2141,3219,3084,0,0,0,0,0,0
$GC,5809,-0.77,-146.0,715.5,-10.2,592,5814,0.00,1.10,0.00,0.000,6,0.000,0.038,2142,2512,3084,0,0,0,0,0,0
$STATE,5973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5973,begin apogee
$GC,5979,-0.16,0.0,734.4,-10.1,598,6108,0.62,0.00,119.97,1.335,6,0.142,0.000,2341,2191,2485,0,0,0,0,0,0
$STATE,6109,end apogee,CONTROL_FINISHED_OK
$STATE,6109,begin climb
$GC,6111,0.77,146.0,738.2,0.0,602,6246,0.90,1.10,128.10,1.305,4,0.074,0.056,2651,1507,1888,0,0,0,0,0,0
$GC,6280,0.80,174.4,729.3,8.7,607,6312,0.00,1.27,26.25,1.228,6,0.000,0.056,2651,2206,1774,0,0,0,0,0,0
$GC,6644,0.80,174.4,676.6,13.9,619,6648,0.00,1.20,0.00,0.000,4,0.000,0.065,2651,2907,1766,0,0,0,0,0,0
$GC,6666,0.80,174.4,676.6,13.9,619,6670,0.00,1.20,0.00,0.000,6,0.000,0.044,2655,2206,1765,0,0,0,0,0,0
$GC,6985,0.80,174.4,628.3,14.3,630,6988,0.00,1.25,0.00,0.000,4,0.000,0.062,2656,2911,1764,0,0,0,0,0,0
$GC,7029,0.80,174.4,623.2,14.3,631,7033,0.00,1.20,0.00,0.000,6,0.000,0.044,2660,2203,1764,0,0,0,0,0,0
$GC,7358,0.80,174.4,572.7,14.9,642,7362,0.00,1.25,0.00,0.000,4,0.000,0.062,2660,2917,1764,0,0,0,0,0,0
$GC,7407,0.80,174.4,567.4,15.0,643,7412,0.00,1.23,0.00,0.000,6,0.000,0.045,2665,2190,1763,0,0,0,0,0,0
$GC,7732,0.80,174.4,516.3,15.0,654,7736,0.00,1.25,0.00,0.000,4,0.000,0.063,2665,2907,1763,0,0,0,0,0,0
$GC,7759,0.80,174.4,516.3,15.0,654,7766,0.00,1.17,0.00,0.000,6,0.000,0.045,2670,2201,1763,0,0,0,0,0,0
$GC,8081,0.80,174.4,462.3,15.6,679,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2201,1762,0,0,0,0,0,0
$GC,8294,0.80,174.4,430.5,14.6,699,8297,0.00,1.23,0.00,0.000,4,0.000,0.063,2670,2907,1762,0,0,0,0,0,0
$GC,8343,0.80,174.4,423.5,15.4,703,8352,0.00,1.17,0.00,0.000,6,0.000,0.045,2675,2198,1762,0,0,0,0,0,0
$GC,8564,0.80,174.4,390.3,15.1,724,8568,0.00,1.23,0.00,0.000,4,0.000,0.063,2674,2907,1762,0,0,0,0,0,0
$GC,8646,0.80,174.4,378.0,15.7,731,8656,0.00,1.17,0.00,0.000,6,0.000,0.046,2679,2199,1762,0,0,0,0,0,0
$GC,8867,0.80,174.4,344.4,15.0,752,8871,0.00,1.23,0.00,0.000,4,0.000,0.063,2680,2910,1762,0,0,0,0,0,0
$GC,8913,0.80,174.4,337.3,15.4,756,8917,0.00,1.17,0.00,0.000,6,0.000,0.045,2685,2197,1762,0,0,0,0,0,0
$GC,9137,0.80,174.4,303.7,14.5,777,9140,0.00,1.23,0.00,0.000,4,0.000,0.062,2685,2909,1762,0,0,0,0,0,0
$GC,9164,0.80,174.4,300.2,14.8,779,9174,0.10,1.17,0.00,0.000,6,0.174,0.044,2660,2194,1762,0,0,0,0,0,0
$GC,9396,0.80,174.4,269.4,12.9,820,9403,0.00,1.23,0.00,0.000,4,0.000,0.063,2660,2908,1762,0,0,0,0,0,0
$GC,9431,0.80,174.4,264.5,12.9,826,9438,0.00,1.17,0.00,0.000,6,0.000,0.044,2663,2191,1762,0,0,0,0,0,0
$GC,9636,0.80,174.4,238.6,12.6,863,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2191,1762,0,0,0,0,0,0
$GC,9846,0.80,174.4,212.4,12.1,900,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2191,1762,0,0,0,0,0,0
$GC,10050,0.80,174.4,188.1,11.4,937,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2191,1761,0,0,0,0,0,0
$GC,10254,0.80,174.4,164.4,11.3,974,10261,0.00,1.08,0.00,0.000,4,0.000,0.057,2669,1497,1762,0,0,0,0,0,0
$GC,10301,0.80,174.4,159.1,11.5,982,10307,0.00,1.17,0.00,0.000,6,0.000,0.057,2669,2208,1762,0,0,0,0,0,0
$GC,10506,0.80,174.4,136.2,10.9,1019,10515,0.00,1.12,0.00,0.000,4,0.000,0.066,2669,2899,1761,0,0,0,0,0,0
$GC,10571,0.80,174.4,129.2,10.6,1030,10578,0.00,1.15,0.00,0.000,6,0.000,0.045,2673,2196,1762,0,0,0,0,0,0
$GC,10777,0.81,177.9,108.8,9.8,1067,10786,0.00,1.08,0.00,0.000,4,0.000,0.057,2679,1496,1762,0,0,0,0,0,0
$GC,10837,0.82,185.8,102.8,9.6,1077,10850,0.00,1.17,9.10,0.900,6,0.000,0.058,2679,2206,1727,0,0,0,0,0,0
$GC,11048,0.82,185.8,80.3,10.6,1115,11057,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2207,1725,0,0,0,0,0,0
$GC,11257,0.84,200.6,60.0,9.3,1152,11276,0.00,1.20,13.62,0.916,4,0.000,0.066,2679,2918,1667,0,0,0,0,0,0
$GC,11397,0.90,252.2,46.7,7.6,1177,11445,0.00,1.20,43.78,0.914,6,0.000,0.045,2684,2194,1456,0,0,0,0,0,0
$GC,11648,0.90,252.2,21.5,11.1,1220,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2194,1448,0,0,0,0,0,0
$STATE,11826,end climb,SURFACE_DEPTH_REACHED
$STATE,11826,begin surface coast
$FINISH,1.8,1.005159
$STATE,11843,end surface coast,CONTROL_FINISHED_OK
$STATE,11843,begin surface
$SM_CCo,11860,45.62,0.086,0,0,1057,350.04
$SM_GC,2.45,7.05,0.62,45.62,0.052,0.063,0.086,123,2517,1057,-7.07,-0.51,350.04,0,0,0,0,0,0
$RAFOS_CLK,764
$RAFOS,6,1318625344,20.833334,20.817778,67,58,57,0,0,0,731,184,227,0,0,0
$RAFOS,5,1318624871,20.700001,20.686388,82,60,53,0,0,0,614,205,169,0,0,0
$RAFOS,4,1318624392,20.566668,20.553333,75,62,58,0,0,0,596,215,194,0,0,0
$RAFOS,3,1318623906,20.433332,20.418333,76,61,55,0,0,0,734,176,230,0,0,0
$RAFOS,2,1318623423,20.299999,20.284166,66,61,58,0,0,0,807,220,181,0,0,0
$RAFOS,1,1318622945,20.166666,20.151388,59,59,55,0,0,0,189,792,222,0,0,0
$RAFOS,0,1318622465,20.033333,20.018055,70,65,59,0,0,0,922,215,198,0,0,0
$RAFOS_FIX,6646.969238,-5825.121582,141011,202052,6,73,0.18
$IRIDIUM_FIX,6614.97,-5833.19,141011,151554
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.67
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,652.6,123.6
$24V_AH,23.1,8.596
$10V_AH,10.3,7.294
$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,17.475,64.350,340.825,45.625,0.000,0.000,0.000,184.550,6.750,0.000,20.459,3406.320,5742.103,583.933,2253.843,233.459,0.000,1885.289,0.000,2049.504,2520.000,18.118,0.000
$DEVICE_MAMPS,266.985,80.325,1334.925,85.680,0.000,0.000,0.000,265.909,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.953,746.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150352
$DATA_FILE_SIZE,46622,1255
$CAP_FILE_SIZE,142584,0
$CFSIZE,260165632,243732480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.8
$CURRENT,0.100,157.4,1
$GPS,141011,230100,6646.268,-5819.483,40,0.9,40,-33.5