version: 66.09
glider: 143
mission: 13
dive: 67
start: 10 15 111 13 12 32
data:
$ID,143
$MISSION,13
$DIVE,67
$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,-80599.711
$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,24
$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
$GPS1,151011,130659,6649.223,-5803.767,48,0.9,48,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.6
$GPS2,151011,131201,6649.237,-5803.803,15,1.8,15,-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,103.3,60384,-18.3,-10.000
$D_GRID,752
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,63,0.00,0.00,-43.53,0.000,2,0.000,0.000,121,2517,1670,0,0,0,0,0,0
$GC,66,-0.77,-146.0,3.0,-1.3,7,189,8.77,1.17,-104.12,0.000,4,0.269,0.076,2147,1808,3080,0,0,0,0,0,0
$GC,382,-0.77,-146.0,40.8,-17.2,61,388,0.00,1.23,0.00,0.000,6,0.000,0.065,2144,2503,3082,0,0,0,0,0,0
$GC,589,-0.77,-146.0,74.3,-14.6,98,596,0.00,1.15,0.00,0.000,4,0.000,0.050,2144,1816,3082,0,0,0,0,0,0
$GC,613,-0.77,-146.0,77.9,-15.1,102,620,0.00,1.23,0.00,0.000,6,0.000,0.065,2140,2515,3082,0,0,0,0,0,0
$GC,820,-0.77,-146.0,108.7,-15.5,139,829,0.00,1.15,0.00,0.000,4,0.000,0.076,2134,3222,3083,0,0,0,0,0,0
$GC,907,-0.77,-146.0,122.6,-15.6,154,914,0.00,1.15,0.00,0.000,6,0.000,0.041,2134,2501,3083,0,0,0,0,0,0
$GC,1112,-0.77,-146.0,153.6,-15.5,191,1121,0.00,1.10,0.00,0.000,4,0.000,0.053,2134,1811,3083,0,0,0,0,0,0
$GC,1139,-0.77,-146.0,157.7,-15.2,195,1148,0.00,1.23,0.00,0.000,6,0.000,0.066,2129,2513,3083,0,0,0,0,0,0
$GC,1350,-0.77,-146.0,190.0,-15.3,232,1357,0.00,1.15,0.00,0.000,4,0.000,0.077,2124,3221,3083,0,0,0,0,0,0
$GC,1408,-0.77,-146.0,199.4,-16.0,242,1415,0.00,1.12,0.00,0.000,6,0.000,0.042,2124,2511,3083,0,0,0,0,0,0
$GC,1614,-0.77,-146.0,230.1,-15.3,279,1622,0.00,1.12,0.00,0.000,4,0.000,0.054,2124,1807,3083,0,0,0,0,0,0
$GC,1662,-0.77,-146.0,237.1,-14.6,287,1672,0.10,1.23,0.00,0.000,6,0.169,0.066,2149,2510,3082,0,0,0,0,0,0
$GC,1872,-0.77,-146.0,263.3,-12.6,324,1879,0.00,1.15,0.00,0.000,4,0.000,0.077,2145,3221,3082,0,0,0,0,0,0
$GC,1979,-0.77,-146.0,276.8,-12.1,343,1989,0.00,1.12,0.00,0.000,6,0.000,0.042,2145,2509,3082,0,0,0,0,0,0
$GC,2192,-0.77,-146.0,303.2,-12.3,379,2195,0.00,1.10,0.00,0.000,4,0.000,0.052,2145,1816,3082,0,0,0,0,0,0
$GC,2218,-0.77,-146.0,306.0,-12.4,381,2225,0.00,1.20,0.00,0.000,6,0.000,0.065,2141,2509,3082,0,0,0,0,0,0
$GC,2438,-0.77,-146.0,333.3,-12.1,402,2442,0.00,1.15,0.00,0.000,4,0.000,0.077,2135,3219,3082,0,0,0,0,0,0
$GC,2487,-0.77,-146.0,339.1,-12.8,406,2494,0.00,1.12,0.00,0.000,6,0.000,0.041,2135,2509,3082,0,0,0,0,0,0
$GC,2707,-0.77,-146.0,367.3,-12.4,427,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2509,3082,0,0,0,0,0,0
$GC,2919,-0.77,-146.0,393.7,-12.3,447,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3082,0,0,0,0,0,0
$GC,3131,-0.77,-146.0,420.6,-12.2,467,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2509,3082,0,0,0,0,0,0
$GC,3344,-0.77,-146.0,446.1,-11.6,487,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2509,3082,0,0,0,0,0,0
$GC,3556,-0.77,-146.0,469.9,-10.9,507,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3082,0,0,0,0,0,0
$GC,3769,-0.77,-146.0,493.2,-11.2,527,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3082,0,0,0,0,0,0
$GC,3996,-0.77,-146.0,517.6,-10.7,539,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3082,0,0,0,0,0,0
$GC,4305,-0.77,-146.0,552.2,-11.4,549,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3082,0,0,0,0,0,0
$GC,4609,-0.77,-146.0,586.9,-11.5,559,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2509,3082,0,0,0,0,0,0
$GC,4915,-0.77,-146.0,622.1,-11.4,569,4919,0.00,1.10,0.00,0.000,4,0.000,0.051,2135,1807,3083,0,0,0,0,0,0
$GC,4964,-0.77,-146.0,626.1,-11.5,570,4969,0.00,1.23,0.00,0.000,6,0.000,0.063,2131,2519,3083,0,0,0,0,0,0
$GC,5289,-0.77,-146.0,666.2,-11.9,581,5292,0.00,1.10,0.00,0.000,4,0.000,0.075,2126,3212,3083,0,0,0,0,0,0
$GC,5350,-0.77,-146.0,670.4,-12.1,582,5357,0.00,1.10,0.00,0.000,6,0.000,0.037,2126,2499,3082,0,0,0,0,0,0
$GC,5663,-0.77,-146.0,712.4,-12.5,593,5667,0.00,1.08,0.00,0.000,4,0.000,0.050,2125,1811,3083,0,0,0,0,0,0
$GC,5713,-0.77,-146.0,716.8,-12.6,594,5718,0.08,1.20,0.00,0.000,6,0.165,0.062,2144,2513,3083,0,0,0,0,0,0
$STATE,6010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6010,begin apogee
$GC,6016,-0.16,0.0,753.0,-11.8,604,6144,0.60,0.00,120.47,1.353,6,0.140,0.000,2339,2192,2485,0,0,0,0,0,0
$STATE,6144,end apogee,CONTROL_FINISHED_OK
$STATE,6144,begin climb
$GC,6147,0.77,146.0,760.4,0.0,608,6284,0.93,1.17,128.73,1.320,4,0.076,0.055,2653,1513,1888,0,0,0,0,0,0
$GC,6457,0.77,146.0,738.6,12.2,617,6462,0.00,1.20,0.00,0.000,6,0.000,0.054,2653,2201,1880,0,0,0,0,0,0
$GC,6783,0.77,146.0,696.8,12.2,628,6786,0.00,1.20,0.00,0.000,4,0.000,0.062,2653,2911,1878,0,0,0,0,0,0
$GC,6838,0.77,146.0,692.2,12.3,629,6842,0.00,1.17,0.00,0.000,6,0.000,0.044,2657,2214,1877,0,0,0,0,0,0
$GC,7158,0.77,146.0,650.1,12.1,640,7162,0.00,1.15,0.00,0.000,4,0.000,0.057,2663,1496,1876,0,0,0,0,0,0
$GC,7219,0.77,146.0,645.6,12.2,641,7226,0.00,1.20,0.00,0.000,6,0.000,0.054,2663,2209,1876,0,0,0,0,0,0
$GC,7534,0.77,146.0,603.5,12.4,652,7538,0.00,1.20,0.00,0.000,4,0.000,0.055,2667,1493,1875,0,0,0,0,0,0
$GC,7584,0.77,146.0,598.9,12.5,653,7587,0.00,1.20,0.00,0.000,6,0.000,0.054,2668,2206,1875,0,0,0,0,0,0
$GC,7909,0.77,146.0,555.7,12.9,664,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2206,1875,0,0,0,0,0,0
$GC,8214,0.77,146.0,514.3,13.5,674,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2206,1875,0,0,0,0,0,0
$GC,8529,0.77,146.0,471.1,13.9,696,8533,0.00,1.15,0.00,0.000,4,0.000,0.063,2667,2908,1874,0,0,0,0,0,0
$GC,8576,0.77,146.0,464.3,14.5,700,8580,0.00,1.17,0.00,0.000,6,0.000,0.045,2672,2196,1874,0,0,0,0,0,0
$GC,8801,0.77,146.0,432.1,14.0,721,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1874,0,0,0,0,0,0
$GC,9013,0.77,146.0,401.8,14.3,741,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1874,0,0,0,0,0,0
$GC,9226,0.77,146.0,371.9,13.9,761,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1873,0,0,0,0,0,0
$GC,9439,0.77,146.0,342.6,13.8,781,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2196,1873,0,0,0,0,0,0
$GC,9651,0.77,146.0,314.1,13.0,801,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1873,0,0,0,0,0,0
$GC,9868,0.77,146.0,287.4,12.2,830,9874,0.00,1.20,0.00,0.000,4,0.000,0.060,2672,2902,1873,0,0,0,0,0,0
$GC,9979,0.77,146.0,273.4,12.3,850,9986,0.08,1.15,0.00,0.000,6,0.166,0.044,2654,2198,1873,0,0,0,0,0,0
$GC,10186,0.77,146.0,250.3,10.5,887,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2198,1873,0,0,0,0,0,0
$GC,10396,0.77,150.5,228.9,9.8,924,10403,0.00,1.20,0.00,0.000,4,0.000,0.060,2654,2912,1873,0,0,0,0,0,0
$GC,10459,0.77,150.5,222.2,10.1,935,10468,0.00,1.15,0.00,0.000,6,0.000,0.044,2657,2201,1873,0,0,0,0,0,0
$GC,10669,0.77,150.5,201.8,10.5,972,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2201,1873,0,0,0,0,0,0
$GC,10876,0.78,157.0,182.4,9.7,1009,10889,0.00,1.12,7.80,0.916,4,0.000,0.058,2662,1495,1845,0,0,0,0,0,0
$GC,10974,0.78,157.0,173.2,10.0,1026,10980,0.00,1.17,0.00,0.000,6,0.000,0.056,2662,2206,1844,0,0,0,0,0,0
$GC,11180,0.78,158.6,152.1,9.9,1063,11189,0.00,1.12,0.00,0.000,4,0.000,0.063,2663,2905,1844,0,0,0,0,0,0
$GC,11218,0.78,158.6,148.2,10.7,1069,11225,0.00,1.15,0.00,0.000,6,0.000,0.044,2667,2201,1844,0,0,0,0,0,0
$GC,11424,0.79,166.2,127.7,9.7,1106,11439,0.00,0.00,9.65,0.920,6,0.000,0.000,2667,2201,1806,0,0,0,0,0,0
$GC,11639,0.80,168.8,105.9,9.9,1144,11646,0.00,1.25,3.62,0.675,4,0.000,0.060,2668,2914,1796,0,0,0,0,0,0
$GC,11786,0.80,168.8,90.1,10.2,1170,11793,0.00,1.17,0.00,0.000,6,0.000,0.045,2672,2200,1796,0,0,0,0,0,0
$GC,11992,0.84,203.7,71.6,8.4,1207,12027,0.00,0.00,30.40,0.929,6,0.000,0.000,2672,2199,1654,0,0,0,0,0,0
$GC,12229,0.86,222.5,48.2,9.1,1248,12255,0.00,1.25,16.42,0.897,4,0.000,0.062,2672,2898,1576,0,0,0,0,0,0
$GC,12281,0.89,242.3,43.5,9.1,1256,12308,0.00,1.20,17.83,0.878,6,0.000,0.044,2677,2190,1496,0,0,0,0,0,0
$GC,12509,0.89,242.3,19.9,10.3,1296,12517,0.00,1.25,0.00,0.000,4,0.000,0.061,2677,2906,1491,0,0,0,0,0,0
$STATE,12681,end climb,SURFACE_DEPTH_REACHED
$STATE,12681,begin surface coast
$FINISH,1.8,1.024577
$STATE,12693,end surface coast,CONTROL_FINISHED_OK
$STATE,12693,begin surface
$SM_CCo,12709,51.00,0.086,0,0,1057,350.04
$SM_GC,2.60,6.97,0.68,51.00,0.046,0.044,0.086,125,2495,1057,-7.06,0.99,350.04,0,0,0,0,0,0
$RAFOS_CLK,825
$RAFOS,4,1318696383,16.566668,16.550833,145,59,53,0,0,0,686,219,207,0,0,0
$RAFOS,3,1318695905,16.433332,16.418056,72,58,56,0,0,0,807,189,214,0,0,0
$RAFOS,2,1318695425,16.299999,16.284721,107,57,57,0,0,0,863,206,196,0,0,0
$RAFOS,1,1318694945,16.166666,16.151388,136,60,58,0,0,0,850,166,209,0,0,0
$RAFOS,0,1318694463,16.033333,16.017500,87,66,56,0,0,0,988,220,187,0,0,0
$RAFOS_FIX,6651.065430,-5806.162598,151011,161646,5,109,0.34
$IRIDIUM_FIX,6620.33,-5810.67,151011,090915
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.73
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,753.0,51.0
$24V_AH,23.1,9.174
$10V_AH,10.2,7.749
$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,17.525,56.125,334.925,51.000,0.000,0.000,0.000,192.950,7.000,0.000,16.527,3583.425,6346.385,603.298,2313.251,236.077,0.000,1927.818,0.000,2102.264,2160.000,24.403,0.000
$DEVICE_MAMPS,269.280,77.265,1352.520,85.680,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,951.789,792.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,49958,1329
$CAP_FILE_SIZE,144013,0
$CFSIZE,260165632,243351552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.6
$CURRENT,0.301,329.3,1
$GPS,151011,164653,6651.733,-5801.557,39,0.8,39,-33.6