version: 66.09
glider: 143
mission: 13
dive: 70
start: 10 16 111 0 43 48
data:
$ID,143
$MISSION,13
$DIVE,70
$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,-80603.5
$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
$GPS1,161011,003754,6652.134,-5750.700,41,0.7,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-71.5
$GPS2,161011,004315,6652.160,-5750.729,18,0.7,20,-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,109.4,49549,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,64,0.00,0.00,-44.90,0.000,2,0.000,0.000,120,2511,1700,0,0,0,0,0,0
$GC,67,-0.77,-146.0,3.1,-1.5,7,171,8.62,1.15,-88.03,0.000,4,0.262,0.076,2145,1806,3080,0,0,0,0,0,0
$GC,272,-0.77,-146.0,26.1,-19.0,41,279,0.00,1.23,0.00,0.000,6,0.000,0.064,2143,2503,3082,0,0,0,0,0,0
$GC,477,-0.77,-146.0,62.4,-15.5,78,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2503,3082,0,0,0,0,0,0
$GC,681,-0.77,-146.0,96.5,-16.6,115,691,0.00,1.17,0.00,0.000,4,0.000,0.076,2137,3222,3083,0,0,0,0,0,0
$GC,851,-0.77,-146.0,124.0,-16.5,145,858,0.00,1.15,0.00,0.000,6,0.000,0.041,2137,2498,3083,0,0,0,0,0,0
$GC,1056,-0.77,-146.0,154.3,-15.4,182,1063,0.00,1.10,0.00,0.000,4,0.000,0.052,2137,1809,3082,0,0,0,0,0,0
$GC,1152,-0.77,-146.0,168.1,-13.6,199,1161,0.00,1.23,0.00,0.000,6,0.000,0.065,2132,2511,3083,0,0,0,0,0,0
$GC,1363,-0.77,-146.0,197.0,-13.4,236,1370,0.00,1.15,0.00,0.000,4,0.000,0.077,2127,3217,3083,0,0,0,0,0,0
$GC,1459,-0.77,-146.0,209.8,-12.5,253,1466,0.00,1.12,0.00,0.000,6,0.000,0.042,2127,2508,3082,0,0,0,0,0,0
$GC,1665,-0.77,-146.0,235.2,-12.1,290,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2507,3082,0,0,0,0,0,0
$GC,1869,-0.77,-146.0,260.7,-12.3,327,1878,0.00,1.20,0.00,0.000,4,0.000,0.073,2122,3214,3083,0,0,0,0,0,0
$GC,1941,-0.77,-146.0,269.8,-13.0,339,1950,0.00,1.12,0.00,0.000,6,0.000,0.041,2122,2502,3082,0,0,0,0,0,0
$GC,2150,-0.77,-146.0,297.0,-13.5,376,2158,0.12,1.10,0.00,0.000,4,0.185,0.052,2151,1810,3082,0,0,0,0,0,0
$GC,2201,-0.77,-146.0,302.7,-11.4,382,2204,0.00,1.23,0.00,0.000,6,0.000,0.064,2148,2517,3082,0,0,0,0,0,0
$GC,2425,-0.77,-146.0,328.0,-11.3,403,2429,0.00,1.12,0.00,0.000,4,0.000,0.076,2143,3214,3082,0,0,0,0,0,0
$GC,2496,-0.77,-146.0,335.7,-11.9,409,2503,0.00,1.10,0.00,0.000,6,0.000,0.038,2143,2511,3082,0,0,0,0,0,0
$GC,2715,-0.77,-146.0,361.0,-11.3,430,2719,0.00,1.10,0.00,0.000,4,0.000,0.050,2143,1813,3082,0,0,0,0,0,0
$GC,2749,-0.77,-146.0,364.8,-11.3,433,2753,0.00,1.20,0.00,0.000,6,0.000,0.063,2139,2508,3082,0,0,0,0,0,0
$GC,2974,-0.77,-146.0,390.4,-11.3,454,2977,0.00,1.15,0.00,0.000,4,0.000,0.076,2133,3220,3082,0,0,0,0,0,0
$GC,3056,-0.77,-146.0,399.6,-11.5,461,3066,0.00,1.12,0.00,0.000,6,0.000,0.038,2133,2501,3083,0,0,0,0,0,0
$GC,3275,-0.77,-146.0,425.4,-11.5,482,3279,0.00,1.08,0.00,0.000,4,0.000,0.051,2133,1816,3082,0,0,0,0,0,0
$GC,3311,-0.77,-146.0,429.4,-11.7,485,3314,0.00,1.20,0.00,0.000,6,0.000,0.063,2128,2513,3082,0,0,0,0,0,0
$GC,3535,-0.77,-146.0,457.4,-12.4,506,3539,0.00,1.12,0.00,0.000,4,0.000,0.076,2123,3214,3082,0,0,0,0,0,0
$GC,3640,-0.77,-146.0,470.5,-13.0,515,3649,0.00,1.10,0.00,0.000,6,0.000,0.038,2123,2510,3082,0,0,0,0,0,0
$GC,3861,-0.77,-146.0,499.8,-12.7,536,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2510,3082,0,0,0,0,0,0
$GC,4086,-0.77,-146.0,528.3,-12.5,544,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2510,3083,0,0,0,0,0,0
$GC,4392,-0.77,-146.0,565.9,-12.3,554,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2510,3083,0,0,0,0,0,0
$GC,4699,-0.77,-146.0,603.6,-12.3,564,4703,0.00,1.10,0.00,0.000,4,0.000,0.050,2123,1810,3083,0,0,0,0,0,0
$GC,4749,-0.77,-146.0,608.0,-12.3,565,4754,0.10,1.20,0.00,0.000,6,0.158,0.062,2148,2511,3083,0,0,0,0,0,0
$GC,5075,-0.77,-146.0,643.9,-10.5,576,5079,0.00,1.12,0.00,0.000,4,0.000,0.074,2145,3214,3083,0,0,0,0,0,0
$GC,5183,-0.77,-146.0,655.6,-10.9,579,5187,0.00,1.10,0.00,0.000,6,0.000,0.036,2145,2505,3083,0,0,0,0,0,0
$GC,5519,-0.77,-146.0,693.1,-11.1,590,5523,0.00,1.08,0.00,0.000,4,0.000,0.049,2145,1814,3083,0,0,0,0,0,0
$GC,5569,-0.77,-146.0,696.9,-11.0,591,5573,0.00,1.20,0.00,0.000,6,0.000,0.062,2141,2511,3083,0,0,0,0,0,0
$GC,5894,-0.77,-146.0,733.1,-10.9,602,5897,0.00,1.12,0.00,0.000,4,0.000,0.073,2136,3216,3083,0,0,0,0,0,0
$GC,5982,-0.77,-146.0,741.1,-11.3,604,5986,0.00,1.10,0.00,0.000,6,0.000,0.037,2136,2504,3083,0,0,0,0,0,0
$STATE,6085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6086,begin apogee
$GC,6091,-0.16,0.0,755.4,-11.5,608,6219,0.65,0.00,120.53,1.349,6,0.142,0.000,2343,2194,2485,0,0,0,0,0,0
$STATE,6220,end apogee,CONTROL_FINISHED_OK
$STATE,6220,begin climb
$GC,6222,0.77,146.0,761.3,0.0,612,6360,0.90,1.20,128.52,1.320,4,0.073,0.056,2651,1510,1888,0,0,0,0,0,0
$GC,6461,0.77,146.0,746.0,11.1,619,6465,0.00,1.23,0.00,0.000,6,0.000,0.054,2651,2202,1882,0,0,0,0,0,0
$GC,6791,0.77,146.0,702.9,12.8,630,6794,0.00,1.20,0.00,0.000,4,0.000,0.062,2651,2908,1878,0,0,0,0,0,0
$GC,6812,0.77,146.0,702.9,12.8,630,6816,0.00,1.20,0.00,0.000,6,0.000,0.041,2656,2204,1878,0,0,0,0,0,0
$GC,7132,0.77,146.0,658.6,13.1,641,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2204,1877,0,0,0,0,0,0
$GC,7437,0.77,146.0,617.6,13.6,651,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2204,1876,0,0,0,0,0,0
$GC,7743,0.77,146.0,575.7,13.6,661,7747,0.00,1.12,0.00,0.000,4,0.000,0.057,2661,1494,1875,0,0,0,0,0,0
$GC,7812,0.77,146.0,566.5,13.5,663,7816,0.00,1.17,0.00,0.000,6,0.000,0.054,2661,2202,1875,0,0,0,0,0,0
$GC,8153,0.77,146.0,520.6,13.4,674,8156,0.00,1.15,0.00,0.000,4,0.000,0.063,2661,2904,1875,0,0,0,0,0,0
$GC,8213,0.77,146.0,516.0,13.3,675,8223,0.00,1.17,0.00,0.000,6,0.000,0.044,2666,2194,1875,0,0,0,0,0,0
$GC,8537,0.77,146.0,469.1,13.2,700,8541,0.00,1.10,0.00,0.000,4,0.000,0.057,2671,1493,1874,0,0,0,0,0,0
$GC,8575,0.77,146.0,464.5,13.2,703,8584,0.00,1.17,0.00,0.000,6,0.000,0.055,2671,2200,1875,0,0,0,0,0,0
$GC,8796,0.77,146.0,434.3,13.4,724,8799,0.00,1.15,0.00,0.000,4,0.000,0.063,2671,2907,1875,0,0,0,0,0,0
$GC,8852,0.77,146.0,426.3,13.4,729,8856,0.00,1.17,0.00,0.000,6,0.000,0.045,2676,2193,1873,0,0,0,0,0,0
$GC,9077,0.77,146.0,396.1,14.0,750,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2193,1874,0,0,0,0,0,0
$GC,9290,0.77,146.0,367.0,13.6,770,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2193,1874,0,0,0,0,0,0
$GC,9502,0.77,146.0,338.1,13.6,790,9505,0.00,1.23,0.00,0.000,4,0.000,0.060,2676,2911,1874,0,0,0,0,0,0
$GC,9528,0.77,146.0,334.9,13.8,792,9536,0.10,1.17,0.00,0.000,6,0.165,0.045,2651,2197,1874,0,0,0,0,0,0
$GC,9747,0.77,146.0,307.6,11.6,813,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2196,1874,0,0,0,0,0,0
$GC,9965,0.77,146.0,280.9,12.0,847,9974,0.00,1.20,0.00,0.000,4,0.000,0.060,2651,2901,1873,0,0,0,0,0,0
$GC,10021,0.77,146.0,274.1,12.5,856,10027,0.00,1.15,0.00,0.000,6,0.000,0.045,2654,2196,1873,0,0,0,0,0,0
$GC,10228,0.77,146.0,249.8,11.7,893,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2196,1874,0,0,0,0,0,0
$GC,10433,0.77,146.0,226.8,11.3,930,10439,0.00,1.20,0.00,0.000,4,0.000,0.060,2654,2904,1874,0,0,0,0,0,0
$GC,10632,0.77,146.0,204.7,10.7,966,10639,0.00,1.15,0.00,0.000,6,0.000,0.044,2660,2194,1873,0,0,0,0,0,0
$GC,10838,0.77,146.0,183.0,10.5,1003,10847,0.00,1.20,0.00,0.000,4,0.000,0.060,2659,2904,1873,0,0,0,0,0,0
$GC,10988,0.77,146.1,167.8,10.0,1029,10995,0.00,1.15,0.00,0.000,6,0.000,0.044,2664,2194,1874,0,0,0,0,0,0
$GC,11194,0.77,146.1,146.7,10.5,1066,11201,0.00,1.08,0.00,0.000,4,0.000,0.057,2669,1494,1874,0,0,0,0,0,0
$GC,11452,0.79,160.9,122.1,9.3,1112,11471,0.00,1.15,10.95,0.924,6,0.000,0.056,2669,2200,1828,0,0,0,0,0,0
$GC,11670,0.82,189.8,102.0,8.7,1151,11705,0.00,1.17,25.38,0.944,4,0.000,0.055,2674,1501,1710,0,0,0,0,0,0
$GC,11718,0.82,190.4,97.2,10.0,1158,11725,0.00,1.17,0.00,0.000,6,0.000,0.054,2674,2199,1709,0,0,0,0,0,0
$GC,11923,0.83,193.3,76.4,9.9,1195,11933,0.00,1.20,4.05,0.698,4,0.000,0.054,2678,1494,1696,0,0,0,0,0,0
$GC,12011,0.84,205.6,67.7,9.4,1210,12027,0.00,1.17,12.25,0.898,6,0.000,0.055,2678,2199,1646,0,0,0,0,0,0
$GC,12229,0.86,218.8,48.3,9.4,1248,12248,0.00,1.15,12.15,0.892,4,0.000,0.060,2678,2906,1591,0,0,0,0,0,0
$GC,12288,0.86,218.8,42.2,10.8,1258,12295,0.00,1.17,0.00,0.000,6,0.000,0.044,2683,2204,1590,0,0,0,0,0,0
$GC,12495,0.89,248.4,23.1,8.6,1295,12517,0.00,1.27,17.17,0.858,4,0.000,0.060,2683,2911,1471,0,0,0,0,0,0
$STATE,12687,end climb,SURFACE_DEPTH_REACHED
$STATE,12687,begin surface coast
$FINISH,1.7,1.011958
$STATE,12705,end surface coast,CONTROL_FINISHED_OK
$STATE,12705,begin surface
$SM_CCo,12723,48.05,0.085,0,0,1057,350.04
$SM_GC,2.64,7.07,0.68,48.05,0.054,0.043,0.085,127,2493,1057,-7.06,1.07,350.04,0,0,0,0,0,0
$RAFOS_CLK,826
$RAFOS,1,1318738144,4.166667,4.151111,78,62,56,0,0,0,891,180,156,0,0,0
$RAFOS,0,1318737662,4.033333,4.017222,114,59,57,0,0,0,1043,193,179,0,0,0
$RAFOS,6,1318726145,0.833333,0.818056,139,62,61,0,0,0,730,222,177,0,0,0
$RAFOS,4,1318725182,0.566667,0.550556,70,57,55,0,0,0,198,172,162,0,0,0
$RAFOS_FIX,6651.001465,-5757.012207,161011,000012,4,99,0.00
$IRIDIUM_FIX,6625.71,-5817.09,151011,202026
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,700.4,108.1
$24V_AH,23.1,9.532
$10V_AH,10.2,8.034
$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,17.575,69.475,331.000,48.050,0.000,0.000,0.000,204.750,7.500,0.000,20.880,3694.520,6194.682,597.464,2406.157,242.038,0.000,1975.784,0.000,2178.328,1080.000,22.860,0.000
$DEVICE_MAMPS,262.395,77.265,1348.695,84.915,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.006,795.317,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,50037,1332
$CAP_FILE_SIZE,150198,0
$CFSIZE,260165632,243109888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.1
$CURRENT,0.219,334.9,1
$GPS,161011,041835,6653.845,-5747.410,30,0.9,30,-33.5