version: 66.09
glider: 143
mission: 13
dive: 37
start: 10 10 111 21 59 49
data:
$ID,143
$MISSION,13
$DIVE,37
$N_DIVES,40
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$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,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$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,420
$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,-80499.336
$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,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
$GPS1,101011,215423,6631.907,-6001.914,40,0.9,40,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.7
$GPS2,101011,215918,6631.954,-6001.879,17,1.0,17,-33.6
$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,74.9,151355,-18.3,-10.000
$D_GRID,561
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-146.0,0.0,0.0,0,110,0.00,0.00,-91.82,0.000,2,0.000,0.000,124,2523,2092,0,0,0,0,0,0
$GC,113,-0.77,-146.0,3.0,-1.4,15,162,8.80,1.17,-35.58,0.000,4,0.274,0.109,2144,3213,3083,0,0,0,0,0,0
$GC,400,-0.77,-146.0,53.2,-15.3,65,407,0.00,1.15,0.00,0.000,6,0.000,0.046,2144,2499,3085,0,0,0,0,0,0
$GC,605,-0.77,-146.0,84.7,-15.8,102,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2499,3085,0,0,0,0,0,0
$GC,806,-0.77,-146.0,114.2,-14.5,130,810,0.00,1.23,0.00,0.000,4,0.000,0.077,2139,3216,3085,0,0,0,0,0,0
$GC,878,-0.77,-146.0,123.9,-14.6,136,887,0.00,1.12,0.00,0.000,6,0.000,0.046,2139,2509,3085,0,0,0,0,0,0
$GC,1099,-0.77,-146.0,156.4,-14.9,157,1103,0.00,1.20,0.00,0.000,4,0.000,0.078,2135,3211,3085,0,0,0,0,0,0
$GC,1133,-0.77,-146.0,161.7,-14.8,160,1137,0.00,1.12,0.00,0.000,6,0.000,0.047,2135,2509,3085,0,0,0,0,0,0
$GC,1359,-0.77,-146.0,193.7,-14.0,181,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2507,3085,0,0,0,0,0,0
$GC,1571,-0.77,-146.0,224.2,-14.0,201,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2508,3085,0,0,0,0,0,0
$GC,1783,-0.77,-146.0,254.5,-14.0,221,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2508,3085,0,0,0,0,0,0
$GC,1996,-0.77,-146.0,284.7,-14.0,241,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2508,3085,0,0,0,0,0,0
$GC,2208,-0.77,-146.0,314.0,-13.4,261,2212,0.00,1.20,0.00,0.000,4,0.000,0.079,2130,3213,3084,0,0,0,0,0,0
$GC,2265,-0.77,-146.0,321.7,-13.6,266,2268,0.00,1.12,0.00,0.000,6,0.000,0.047,2130,2506,3084,0,0,0,0,0,0
$GC,2492,-0.77,-146.0,351.2,-12.7,287,2495,0.00,1.10,0.00,0.000,4,0.000,0.056,2130,1813,3084,0,0,0,0,0,0
$GC,2518,-0.77,-146.0,354.6,-13.1,289,2525,0.00,1.20,0.00,0.000,6,0.000,0.069,2125,2505,3084,0,0,0,0,0,0
$GC,2737,-0.77,-146.0,382.9,-12.5,310,2741,0.00,1.15,0.00,0.000,4,0.000,0.080,2120,3215,3084,0,0,0,0,0,0
$GC,2794,-0.77,-146.0,390.1,-12.7,315,2798,0.10,1.12,0.00,0.000,6,0.165,0.047,2149,2505,3084,0,0,0,0,0,0
$GC,3019,-0.77,-146.0,413.6,-9.8,336,3023,0.00,1.20,0.00,0.000,4,0.000,0.076,2147,3217,3084,0,0,0,0,0,0
$GC,3057,-0.77,-146.0,417.3,-10.2,339,3064,0.00,1.12,0.00,0.000,6,0.000,0.044,2146,2504,3084,0,0,0,0,0,0
$GC,3277,-0.77,-146.0,441.5,-10.4,360,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2504,3085,0,0,0,0,0,0
$GC,3489,-0.77,-146.0,464.2,-10.8,380,3492,0.00,1.20,0.00,0.000,4,0.000,0.076,2142,3217,3084,0,0,0,0,0,0
$GC,3547,-0.77,-146.0,470.3,-11.0,385,3551,0.00,1.12,0.00,0.000,6,0.000,0.044,2142,2504,3084,0,0,0,0,0,0
$GC,3771,-0.77,-146.0,494.8,-10.9,406,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2504,3084,0,0,0,0,0,0
$GC,3983,-0.77,-146.0,517.3,-10.7,426,3987,0.00,1.20,0.00,0.000,4,0.000,0.076,2137,3214,3084,0,0,0,0,0,0
$GC,4088,-0.77,-146.0,528.2,-11.4,435,4095,0.00,1.12,0.00,0.000,6,0.000,0.044,2137,2502,3084,0,0,0,0,0,0
$GC,4307,-0.77,-146.0,553.0,-11.0,456,4311,0.00,1.20,0.00,0.000,4,0.000,0.076,2132,3217,3085,0,0,0,0,0,0
$GC,4356,-0.77,-146.0,558.2,-11.5,460,4366,0.00,1.12,0.00,0.000,6,0.000,0.044,2132,2505,3084,0,0,0,0,0,0
$STATE,4382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4382,begin apogee
$GC,4388,-0.16,0.0,561.9,-11.5,463,4514,0.68,0.00,118.50,1.232,6,0.151,0.000,2343,2189,2485,0,0,0,0,0,0
$STATE,4515,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4517,0.77,146.0,566.4,0.0,474,4655,0.90,1.20,125.78,1.198,4,0.069,0.063,2653,1509,1888,0,0,0,0,0,0
$GC,4693,0.77,146.0,559.1,11.9,489,4700,0.00,1.25,0.00,0.000,6,0.000,0.060,2653,2202,1883,0,0,0,0,0,0
$GC,4913,0.77,146.0,530.2,13.3,510,4917,0.00,1.23,0.00,0.000,4,0.000,0.067,2653,2913,1879,0,0,0,0,0,0
$GC,5006,0.77,146.0,518.7,12.2,518,5013,0.00,1.23,0.00,0.000,6,0.000,0.047,2658,2204,1878,0,0,0,0,0,0
$GC,5226,0.77,146.0,489.6,12.9,539,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2204,1877,0,0,0,0,0,0
$GC,5438,0.77,146.0,462.7,12.8,559,5441,0.00,1.15,0.00,0.000,4,0.000,0.062,2663,1495,1876,0,0,0,0,0,0
$GC,5494,0.77,146.0,455.7,12.6,564,5498,0.00,1.20,0.00,0.000,6,0.000,0.061,2663,2197,1876,0,0,0,0,0,0
$GC,5720,0.77,146.0,426.9,12.9,585,5724,0.00,1.17,0.00,0.000,4,0.000,0.060,2667,1499,1876,0,0,0,0,0,0
$GC,5792,0.77,146.0,417.7,13.5,591,5799,0.00,1.20,0.00,0.000,6,0.000,0.060,2668,2203,1875,0,0,0,0,0,0
$GC,6011,0.77,146.0,388.0,13.4,612,6015,0.00,1.17,0.00,0.000,4,0.000,0.068,2668,2909,1875,0,0,0,0,0,0
$GC,6056,0.77,146.0,381.8,13.5,616,6060,0.00,1.20,0.00,0.000,6,0.000,0.050,2673,2196,1875,0,0,0,0,0,0
$GC,6282,0.77,146.0,352.6,13.1,637,6286,0.00,1.12,0.00,0.000,4,0.000,0.063,2678,1492,1874,0,0,0,0,0,0
$GC,6429,0.77,146.0,334.2,12.5,650,6433,0.10,1.20,0.00,0.000,6,0.170,0.061,2650,2204,1874,0,0,0,0,0,0
$GC,6653,0.77,146.0,309.3,10.5,671,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2204,1874,0,0,0,0,0,0
$GC,6866,0.78,155.5,288.1,9.6,691,6876,0.00,0.00,6.60,0.920,6,0.000,0.000,2649,2204,1851,0,0,0,0,0,0
$GC,7088,0.78,155.5,266.4,10.0,712,7092,0.00,1.17,0.00,0.000,4,0.000,0.059,2653,1493,1851,0,0,0,0,0,0
$GC,7170,0.79,165.9,259.2,9.5,719,7190,0.00,1.17,11.00,0.982,6,0.000,0.060,2653,2198,1807,0,0,0,0,0,0
$GC,7402,0.80,175.2,236.1,9.6,741,7415,0.00,1.23,9.05,0.949,4,0.000,0.059,2658,1491,1770,0,0,0,0,0,0
$GC,7533,0.80,175.2,223.2,10.1,752,7541,0.00,1.20,0.00,0.000,6,0.000,0.060,2657,2198,1768,0,0,0,0,0,0
$GC,7753,0.80,175.2,199.5,10.9,773,7758,0.00,1.17,0.00,0.000,4,0.000,0.070,2657,2909,1768,0,0,0,0,0,0
$GC,7912,0.80,175.2,180.9,11.4,787,7916,0.00,1.20,0.00,0.000,6,0.000,0.051,2663,2196,1768,0,0,0,0,0,0
$GC,8138,0.80,175.2,156.5,10.2,808,8141,0.00,1.10,0.00,0.000,4,0.000,0.063,2667,1496,1767,0,0,0,0,0,0
$GC,8340,0.82,184.0,136.2,9.6,826,8352,0.00,1.17,8.85,0.919,6,0.000,0.062,2668,2196,1734,0,0,0,0,0,0
$GC,8565,0.82,185.0,113.6,10.0,847,8569,0.00,1.17,0.00,0.000,4,0.000,0.061,2672,1493,1731,0,0,0,0,0,0
$GC,8658,0.82,185.0,104.4,10.2,855,8665,0.00,1.20,0.00,0.000,6,0.000,0.061,2672,2203,1731,0,0,0,0,0,0
$GC,8884,0.82,190.7,81.4,9.7,892,8895,0.00,1.23,6.93,0.872,4,0.000,0.061,2677,1493,1706,0,0,0,0,0,0
$GC,9000,0.82,190.7,69.8,10.3,912,9009,0.00,1.20,0.00,0.000,6,0.000,0.062,2677,2202,1705,0,0,0,0,0,0
$GC,9209,0.82,190.7,49.1,10.0,949,9215,0.00,1.17,0.00,0.000,4,0.000,0.061,2681,1495,1705,0,0,0,0,0,0
$GC,9279,0.85,214.8,42.2,8.9,961,9306,0.00,1.20,21.05,0.925,6,0.000,0.063,2682,2203,1608,0,0,0,0,0,0
$GC,9506,0.98,314.1,23.0,5.4,1001,9570,0.00,1.25,55.55,0.855,4,0.000,0.063,2686,1500,1202,0,0,0,0,0,0
$GC,9672,0.98,314.1,7.7,10.9,1029,9680,0.00,1.23,0.00,0.000,6,0.000,0.061,2686,2199,1195,0,0,0,0,0,0
$STATE,9723,end climb,SURFACE_DEPTH_REACHED
$STATE,9723,begin surface coast
$FINISH,1.3,1.024447
$STATE,9742,end surface coast,CONTROL_FINISHED_OK
$STATE,9742,begin surface
$SM_CCo,9759,48.80,0.086,0,0,771,420.20
$SM_GC,2.27,7.30,0.57,48.80,0.060,0.074,0.086,120,2516,771,-7.08,-0.42,420.20,0,0,0,0,0,0
$RAFOS_CLK,634
$RAFOS,4,1318293183,0.566667,0.550833,84,59,57,0,0,0,714,215,144,0,0,0
$RAFOS,3,1318292705,0.433333,0.418056,64,57,56,0,0,0,685,695,214,0,0,0
$RAFOS,2,1318292225,0.300000,0.284722,99,61,58,0,0,0,542,210,226,0,0,0
$RAFOS,1,1318291746,0.166667,0.151667,75,60,58,0,0,0,586,224,205,0,0,0
$RAFOS,0,1318291269,0.033333,0.019167,107,69,65,0,0,0,625,224,170,0,0,0
$RAFOS_FIX,6633.785156,-5957.840332,111011,000012,5,86,0.54
$IRIDIUM_FIX,6604.29,-6000.56,101011,191944
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.97
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,450.7,132.3
$24V_AH,23.2,5.649
$10V_AH,10.2,4.962
$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,17.875,57.675,363.300,48.800,0.000,0.000,0.000,185.875,6.000,0.000,18.604,2814.707,4606.591,553.069,1957.601,190.797,0.000,1706.922,0.000,1752.271,2160.000,14.129,0.000
$DEVICE_MAMPS,273.870,108.630,1232.415,85.680,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.326,740.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150380
$DATA_FILE_SIZE,39980,1041
$CAP_FILE_SIZE,122651,0
$CFSIZE,260165632,245633024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.0
$CURRENT,0.134,304.6,1
$GPS,111011,004453,6633.500,-6000.136,37,0.8,37,-33.6