version: 66.09
glider: 143
mission: 13
dive: 64
start: 10 15 111 2 36 34
data:
$ID,143
$MISSION,13
$DIVE,64
$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,-80595.93
$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
$GPS1,151011,023036,6647.937,-5816.401,31,0.9,31,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-71.7
$GPS2,151011,023601,6647.932,-5816.421,24,0.8,25,-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,111.5,69685,-18.3,-10.000
$D_GRID,733
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.20,0.000,2,0.000,0.000,119,2518,1698,0,0,0,0,0,0
$GC,67,-0.77,-146.0,3.1,-1.1,7,166,8.80,1.17,-85.18,0.000,4,0.274,0.106,2142,3213,3082,0,0,0,0,0,0
$GC,418,-0.77,-146.0,57.2,-17.5,67,425,0.00,1.12,0.00,0.000,6,0.000,0.042,2142,2504,3084,0,0,0,0,0,0
$GC,627,-0.77,-146.0,88.7,-13.5,104,634,0.00,1.20,0.00,0.000,4,0.000,0.075,2138,3210,3085,0,0,0,0,0,0
$GC,857,-0.77,-146.0,121.8,-14.8,145,865,0.00,1.12,0.00,0.000,6,0.000,0.042,2138,2501,3085,0,0,0,0,0,0
$GC,1066,-0.77,-146.0,153.0,-14.3,182,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2501,3085,0,0,0,0,0,0
$GC,1271,-0.77,-146.0,182.3,-13.6,219,1278,0.00,1.20,0.00,0.000,4,0.000,0.076,2133,3209,3085,0,0,0,0,0,0
$GC,1323,-0.77,-146.0,189.7,-13.9,228,1330,0.00,1.10,0.00,0.000,6,0.000,0.044,2133,2516,3085,0,0,0,0,0,0
$GC,1529,-0.77,-146.0,217.5,-13.7,265,1538,0.00,1.17,0.00,0.000,4,0.000,0.076,2128,3208,3085,0,0,0,0,0,0
$GC,1572,-0.77,-146.0,223.4,-13.4,272,1579,0.00,1.10,0.00,0.000,6,0.000,0.044,2128,2512,3084,0,0,0,0,0,0
$GC,1780,-0.77,-146.0,252.7,-14.1,309,1789,0.00,1.12,0.00,0.000,4,0.000,0.054,2128,1807,3084,0,0,0,0,0,0
$GC,1813,-0.77,-146.0,257.5,-15.0,314,1820,0.00,1.23,0.00,0.000,6,0.000,0.067,2124,2509,3084,0,0,0,0,0,0
$GC,2020,-0.77,-146.0,287.5,-14.7,351,2027,0.00,1.15,0.00,0.000,4,0.000,0.080,2118,3216,3084,0,0,0,0,0,0
$GC,2094,-0.77,-146.0,298.4,-14.7,364,2102,0.10,1.12,0.00,0.000,6,0.162,0.043,2148,2501,3084,0,0,0,0,0,0
$GC,2301,-0.77,-146.0,323.6,-11.6,384,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2501,3084,0,0,0,0,0,0
$GC,2512,-0.77,-146.0,348.2,-11.5,404,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2501,3084,0,0,0,0,0,0
$GC,2726,-0.77,-146.0,372.3,-11.0,424,2730,0.00,1.20,0.00,0.000,4,0.000,0.075,2145,3213,3084,0,0,0,0,0,0
$GC,2797,-0.77,-146.0,380.1,-11.1,430,2804,0.00,1.10,0.00,0.000,6,0.000,0.041,2145,2511,3084,0,0,0,0,0,0
$GC,3018,-0.77,-146.0,404.9,-11.1,451,3021,0.00,1.10,0.00,0.000,4,0.000,0.053,2145,1813,3084,0,0,0,0,0,0
$GC,3057,-0.77,-146.0,409.0,-11.1,454,3064,0.00,1.20,0.00,0.000,6,0.000,0.065,2141,2508,3084,0,0,0,0,0,0
$GC,3276,-0.77,-146.0,433.6,-10.8,475,3279,0.00,1.12,0.00,0.000,4,0.000,0.077,2136,3209,3084,0,0,0,0,0,0
$GC,3356,-0.77,-146.0,442.6,-11.4,482,3360,0.00,1.10,0.00,0.000,6,0.000,0.039,2135,2501,3084,0,0,0,0,0,0
$GC,3581,-0.77,-146.0,468.8,-11.7,503,3585,0.00,1.08,0.00,0.000,4,0.000,0.053,2135,1817,3083,0,0,0,0,0,0
$GC,3619,-0.77,-146.0,473.1,-12.3,506,3626,0.00,1.20,0.00,0.000,6,0.000,0.063,2131,2515,3084,0,0,0,0,0,0
$GC,3841,-0.77,-146.0,500.2,-12.5,527,3844,0.00,1.12,0.00,0.000,4,0.000,0.076,2125,3213,3084,0,0,0,0,0,0
$GC,3957,-0.77,-146.0,513.5,-12.6,530,3961,0.00,1.10,0.00,0.000,6,0.000,0.039,2125,2509,3084,0,0,0,0,0,0
$GC,4282,-0.77,-146.0,556.7,-12.5,541,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2509,3084,0,0,0,0,0,0
$GC,4588,-0.77,-146.0,594.9,-12.4,551,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2509,3084,0,0,0,0,0,0
$GC,4894,-0.77,-146.0,631.7,-12.0,561,4898,0.00,1.17,0.00,0.000,4,0.000,0.073,2121,3211,3084,0,0,0,0,0,0
$GC,5012,-0.77,-146.0,644.1,-12.1,564,5016,0.08,1.10,0.00,0.000,6,0.164,0.038,2145,2498,3084,0,0,0,0,0,0
$GC,5335,-0.77,-146.0,680.3,-10.1,575,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3085,0,0,0,0,0,0
$GC,5641,-0.77,-146.0,711.8,-10.3,585,5645,0.00,1.20,0.00,0.000,4,0.000,0.073,2141,3216,3085,0,0,0,0,0,0
$GC,5724,-0.77,-146.0,718.7,-10.2,587,5728,0.00,1.10,0.00,0.000,6,0.000,0.037,2141,2505,3085,0,0,0,0,0,0
$STATE,5863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5863,begin apogee
$GC,5869,-0.16,0.0,735.2,-10.8,592,5998,0.62,0.00,120.25,1.342,6,0.142,0.000,2341,2197,2485,0,0,0,0,0,0
$STATE,5999,end apogee,CONTROL_FINISHED_OK
$STATE,5999,begin climb
$GC,6001,0.77,146.0,740.5,0.0,596,6137,0.90,1.20,128.27,1.310,4,0.072,0.056,2650,1506,1888,0,0,0,0,0,0
$GC,6171,0.81,183.2,733.1,8.3,601,6209,0.00,1.27,34.22,1.242,6,0.000,0.055,2650,2208,1738,0,0,0,0,0,0
$GC,6529,0.81,183.2,677.9,15.1,613,6533,0.00,1.20,0.00,0.000,4,0.000,0.064,2650,2907,1729,0,0,0,0,0,0
$GC,6573,0.81,183.2,672.4,15.1,614,6577,0.00,1.20,0.00,0.000,6,0.000,0.043,2655,2212,1729,0,0,0,0,0,0
$GC,6904,0.81,183.2,620.2,15.3,625,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2211,1728,0,0,0,0,0,0
$GC,7209,0.81,183.2,572.2,15.5,635,7212,0.00,1.23,0.00,0.000,4,0.000,0.061,2655,2907,1728,0,0,0,0,0,0
$GC,7253,0.81,183.2,566.7,15.7,636,7257,0.00,1.20,0.00,0.000,6,0.000,0.044,2660,2194,1727,0,0,0,0,0,0
$GC,7583,0.81,183.2,512.7,15.9,647,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2194,1727,0,0,0,0,0,0
$GC,7898,0.81,183.2,465.0,14.8,671,7902,0.00,1.25,0.00,0.000,4,0.000,0.061,2659,2917,1726,0,0,0,0,0,0
$GC,7971,0.81,183.2,454.8,14.8,677,7980,0.00,1.20,0.00,0.000,6,0.000,0.043,2664,2193,1726,0,0,0,0,0,0
$GC,8191,0.81,183.2,423.0,13.8,698,8194,0.00,1.10,0.00,0.000,4,0.000,0.056,2670,1493,1726,0,0,0,0,0,0
$GC,8238,0.81,183.2,416.5,13.6,702,8242,0.00,1.20,0.00,0.000,6,0.000,0.056,2670,2211,1726,0,0,0,0,0,0
$GC,8464,0.81,183.2,383.6,14.6,723,8468,0.00,1.15,0.00,0.000,4,0.000,0.064,2670,2913,1726,0,0,0,0,0,0
$GC,8480,0.81,183.2,381.5,14.7,724,8487,0.00,1.17,0.00,0.000,6,0.000,0.044,2674,2200,1726,0,0,0,0,0,0
$GC,8699,0.81,183.2,348.2,14.9,745,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,1726,0,0,0,0,0,0
$GC,8912,0.81,183.2,317.2,14.3,765,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,1726,0,0,0,0,0,0
$GC,9127,0.81,183.2,286.2,14.2,793,9136,0.00,1.10,0.00,0.000,4,0.000,0.059,2680,1496,1726,0,0,0,0,0,0
$GC,9171,0.81,183.2,280.1,13.8,800,9177,0.00,1.17,0.00,0.000,6,0.000,0.057,2680,2204,1725,0,0,0,0,0,0
$GC,9375,0.81,183.2,252.2,13.5,837,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2204,1724,0,0,0,0,0,0
$GC,9586,0.81,183.2,224.2,13.9,874,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2204,1725,0,0,0,0,0,0
$GC,9792,0.81,183.2,195.2,14.0,911,9799,0.00,1.17,0.00,0.000,4,0.000,0.056,2685,1492,1724,0,0,0,0,0,0
$GC,9878,0.81,183.2,183.1,13.3,926,9885,0.00,1.17,0.00,0.000,6,0.000,0.057,2685,2202,1725,0,0,0,0,0,0
$GC,10086,0.81,183.2,154.6,12.9,963,10092,0.00,1.15,0.00,0.000,4,0.000,0.064,2685,2911,1724,0,0,0,0,0,0
$GC,10165,0.81,183.2,144.9,11.9,977,10174,0.00,1.17,0.00,0.000,6,0.000,0.046,2690,2194,1724,0,0,0,0,0,0
$GC,10374,0.81,183.2,119.4,11.9,1014,10381,0.00,1.08,0.00,0.000,4,0.000,0.058,2694,1496,1725,0,0,0,0,0,0
$GC,10541,0.81,183.2,99.0,11.6,1044,10549,0.10,1.15,0.00,0.000,6,0.168,0.057,2665,2198,1724,0,0,0,0,0,0
$GC,10748,0.82,186.1,78.0,9.9,1081,10757,0.00,1.12,0.00,0.000,4,0.000,0.055,2668,1497,1724,0,0,0,0,0,0
$GC,10852,0.82,186.6,67.9,10.0,1099,10859,0.00,1.17,0.00,0.000,6,0.000,0.057,2668,2209,1724,0,0,0,0,0,0
$GC,11058,0.85,209.1,48.2,9.0,1136,11085,0.00,1.12,20.60,0.920,4,0.000,0.063,2668,2907,1631,0,0,0,0,0,0
$GC,11276,0.86,218.3,26.7,9.6,1174,11290,0.00,1.17,6.93,0.826,6,0.000,0.045,2673,2196,1595,0,0,0,0,0,0
$GC,11489,0.90,254.8,8.9,8.3,1212,11510,0.00,0.00,18.35,0.096,6,0.000,0.000,2673,2196,1445,0,0,0,0,0,0
$STATE,11564,end climb,SURFACE_DEPTH_REACHED
$STATE,11564,begin surface coast
$FINISH,1.8,1.024348
$STATE,11589,end surface coast,CONTROL_FINISHED_OK
$STATE,11589,begin surface
$SM_CCo,11605,44.45,0.086,0,0,1056,350.04
$SM_GC,2.39,7.00,0.60,44.45,0.054,0.064,0.086,116,2509,1056,-7.08,-0.79,350.04,0,0,0,0,0,0
$RAFOS_CLK,752
$RAFOS,6,1318654147,4.833333,4.818611,75,59,58,0,0,0,702,213,196,0,0,0
$RAFOS,5,1318653683,4.700000,4.689722,83,60,60,0,0,0,519,203,169,0,0,0
$RAFOS,4,1318653186,4.566667,4.551667,60,59,59,0,0,0,190,213,641,0,0,0
$RAFOS,3,1318652720,4.433333,4.422222,75,71,68,0,0,0,683,190,137,0,0,0
$RAFOS,2,1318652225,4.300000,4.284722,71,64,59,0,0,0,811,192,213,0,0,0
$RAFOS,1,1318651745,4.166667,4.151389,75,58,56,0,0,0,813,167,203,0,0,0
$RAFOS,0,1318651282,4.033333,4.022778,59,58,58,0,0,0,119,159,181,0,0,0
$RAFOS_FIX,6649.397461,-5819.215332,151011,040456,5,76,0.49
$IRIDIUM_FIX,6614.97,-5821.05,141011,232345
$TT8_MAMPS,0.025466,0.025466
$HUMID,56.69
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,702.3,88.6
$24V_AH,23.1,8.821
$10V_AH,10.3,7.470
$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,17.600,58.950,328.625,44.450,0.000,0.000,0.000,205.800,7.000,0.000,25.926,3397.473,5579.460,565.220,2228.500,225.757,0.000,1851.809,0.000,1993.838,2520.000,22.798,0.000
$DEVICE_MAMPS,273.870,106.335,1341.810,86.445,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.285,729.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150344
$DATA_FILE_SIZE,46720,1229
$CAP_FILE_SIZE,137343,0
$CFSIZE,260165632,243589120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.5
$CURRENT,0.110,331.4,1
$GPS,151011,055223,6648.767,-5812.358,37,0.9,37,-33.5