version: 66.09
glider: 143
mission: 13
dive: 38
start: 10 11 111 0 50 28
data:
$ID,143
$MISSION,13
$DIVE,38
$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,-80500.594
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,111011,004453,6633.500,-6000.136,37,0.8,37,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-71.5
$GPS2,111011,004955,6633.515,-5959.920,16,1.1,17,-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,127.3,148964,-18.3,-10.000
$D_GRID,595
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-93.35,0.000,2,0.000,0.000,120,2518,2124,0,0,0,0,0,0
$GC,116,-0.77,-146.0,3.4,-3.3,16,165,9.10,1.25,-31.95,0.000,4,0.279,0.085,2148,1812,3084,0,0,0,0,0,0
$GC,415,-0.77,-146.0,56.8,-15.6,68,422,0.00,1.25,0.00,0.000,6,0.000,0.070,2145,2514,3086,0,0,0,0,0,0
$GC,622,-0.77,-146.0,89.2,-15.8,105,629,0.00,1.15,0.00,0.000,4,0.000,0.082,2140,3211,3086,0,0,0,0,0,0
$GC,690,-0.77,-146.0,100.4,-16.2,117,694,0.00,1.15,0.00,0.000,6,0.000,0.049,2140,2504,3086,0,0,0,0,0,0
$GC,915,-0.77,-146.0,136.3,-15.8,138,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2504,3086,0,0,0,0,0,0
$GC,1127,-0.77,-146.0,170.6,-16.3,158,1131,0.00,1.12,0.00,0.000,4,0.000,0.060,2140,1810,3086,0,0,0,0,0,0
$GC,1187,-0.77,-146.0,179.5,-15.3,163,1194,0.00,1.23,0.00,0.000,6,0.000,0.070,2135,2508,3086,0,0,0,0,0,0
$GC,1407,-0.77,-146.0,213.3,-14.5,184,1410,0.00,1.15,0.00,0.000,4,0.000,0.079,2130,3214,3086,0,0,0,0,0,0
$GC,1463,-0.77,-146.0,221.5,-14.6,189,1467,0.00,1.15,0.00,0.000,6,0.000,0.047,2130,2501,3086,0,0,0,0,0,0
$GC,1688,-0.77,-146.0,253.2,-14.2,210,1692,0.00,1.10,0.00,0.000,4,0.000,0.057,2129,1813,3085,0,0,0,0,0,0
$GC,1722,-0.77,-146.0,257.9,-13.8,213,1726,0.00,1.23,0.00,0.000,6,0.000,0.069,2125,2513,3085,0,0,0,0,0,0
$GC,1947,-0.77,-146.0,289.2,-14.2,234,1950,0.00,1.15,0.00,0.000,4,0.000,0.081,2119,3218,3085,0,0,0,0,0,0
$GC,2028,-0.77,-146.0,300.4,-14.0,241,2036,0.10,1.15,0.00,0.000,6,0.169,0.047,2149,2501,3085,0,0,0,0,0,0
$GC,2249,-0.77,-146.0,326.8,-11.4,262,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2501,3085,0,0,0,0,0,0
$GC,2463,-0.77,-146.0,350.7,-11.2,282,2466,0.00,1.10,0.00,0.000,4,0.000,0.057,2149,1812,3085,0,0,0,0,0,0
$GC,2508,-0.77,-146.0,356.0,-11.1,286,2512,0.00,1.23,0.00,0.000,6,0.000,0.067,2146,2517,3085,0,0,0,0,0,0
$GC,2734,-0.77,-146.0,382.2,-11.7,307,2738,0.00,1.12,0.00,0.000,4,0.000,0.080,2140,3213,3084,0,0,0,0,0,0
$GC,2802,-0.77,-146.0,390.6,-12.0,313,2806,0.00,1.12,0.00,0.000,6,0.000,0.046,2141,2506,3084,0,0,0,0,0,0
$GC,3026,-0.77,-146.0,417.5,-11.8,334,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2506,3084,0,0,0,0,0,0
$GC,3239,-0.77,-146.0,442.3,-11.6,354,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2506,3084,0,0,0,0,0,0
$GC,3451,-0.77,-146.0,467.0,-11.7,374,3455,0.00,1.20,0.00,0.000,4,0.000,0.076,2136,3217,3084,0,0,0,0,0,0
$GC,3534,-0.77,-146.0,476.4,-11.8,381,3541,0.00,1.12,0.00,0.000,6,0.000,0.046,2136,2508,3085,0,0,0,0,0,0
$GC,3754,-0.77,-146.0,502.1,-11.2,402,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2508,3084,0,0,0,0,0,0
$GC,3965,-0.77,-146.0,527.5,-11.8,422,3969,0.00,1.20,0.00,0.000,4,0.000,0.076,2131,3219,3084,0,0,0,0,0,0
$GC,4044,-0.77,-146.0,537.0,-11.8,429,4048,0.00,1.12,0.00,0.000,6,0.000,0.045,2131,2506,3085,0,0,0,0,0,0
$GC,4268,-0.77,-146.0,563.8,-12.2,450,4272,0.00,1.10,0.00,0.000,4,0.000,0.056,2131,1809,3085,0,0,0,0,0,0
$GC,4351,-0.77,-146.0,573.5,-12.3,457,4358,0.00,1.20,0.00,0.000,6,0.000,0.066,2126,2504,3085,0,0,0,0,0,0
$STATE,4527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4527,begin apogee
$GC,4533,-0.16,0.0,595.7,-12.6,474,4659,0.68,0.00,119.07,1.248,6,0.151,0.000,2338,2190,2485,0,0,0,0,0,0
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4660,begin climb
$GC,4662,0.77,146.0,599.6,0.0,485,4799,0.93,1.40,126.47,1.215,4,0.077,0.063,2643,2908,1888,0,0,0,0,0,0
$GC,4972,0.77,146.0,574.2,13.0,510,4981,0.00,1.23,0.00,0.000,6,0.000,0.050,2648,2211,1880,0,0,0,0,0,0
$GC,5193,0.77,146.0,545.0,12.8,531,5197,0.00,1.17,0.00,0.000,4,0.000,0.062,2653,1497,1878,0,0,0,0,0,0
$GC,5240,0.77,146.0,538.7,13.3,535,5244,0.00,1.23,0.00,0.000,6,0.000,0.059,2653,2205,1877,0,0,0,0,0,0
$GC,5464,0.77,146.0,509.9,12.5,556,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,1876,0,0,0,0,0,0
$GC,5677,0.77,146.0,484.1,12.1,576,5681,0.00,1.20,0.00,0.000,4,0.000,0.060,2657,1496,1876,0,0,0,0,0,0
$GC,5733,0.77,146.0,477.4,11.8,581,5737,0.00,1.20,0.00,0.000,6,0.000,0.058,2658,2203,1876,0,0,0,0,0,0
$GC,5958,0.77,146.0,450.0,12.2,602,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2203,1876,0,0,0,0,0,0
$GC,6170,0.77,146.0,424.3,12.3,622,6173,0.00,1.20,0.00,0.000,4,0.000,0.058,2663,1491,1875,0,0,0,0,0,0
$GC,6183,0.77,146.0,422.8,12.1,623,6187,0.00,1.20,0.00,0.000,6,0.000,0.057,2663,2206,1875,0,0,0,0,0,0
$GC,6408,0.77,146.0,396.8,11.3,644,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2206,1875,0,0,0,0,0,0
$GC,6620,0.77,146.0,372.4,11.1,664,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2206,1875,0,0,0,0,0,0
$GC,6832,0.77,146.0,348.6,11.3,684,6836,0.00,1.20,0.00,0.000,4,0.000,0.059,2667,1490,1875,0,0,0,0,0,0
$GC,6868,0.77,146.0,344.9,10.5,687,6872,0.00,1.20,0.00,0.000,6,0.000,0.057,2668,2209,1875,0,0,0,0,0,0
$GC,7093,0.77,146.0,319.7,11.0,708,7097,0.00,1.20,0.00,0.000,4,0.000,0.058,2673,1490,1875,0,0,0,0,0,0
$GC,7353,0.77,146.0,290.4,11.5,731,7357,0.00,1.17,0.00,0.000,6,0.000,0.058,2672,2199,1874,0,0,0,0,0,0
$GC,7577,0.77,146.0,265.3,11.1,752,7581,0.00,1.17,0.00,0.000,4,0.000,0.058,2677,1491,1874,0,0,0,0,0,0
$GC,7613,0.77,146.0,261.5,10.9,755,7617,0.00,1.17,0.00,0.000,6,0.000,0.057,2678,2199,1874,0,0,0,0,0,0
$GC,7838,0.77,147.6,238.1,9.9,776,7842,0.00,1.17,0.00,0.000,4,0.000,0.060,2682,1493,1874,0,0,0,0,0,0
$GC,7854,0.77,149.8,237.0,9.9,777,7862,0.10,1.17,0.00,0.000,6,0.170,0.058,2653,2200,1874,0,0,0,0,0,0
$GC,8075,0.77,151.0,215.0,9.9,798,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2200,1874,0,0,0,0,0,0
$GC,8286,0.81,183.5,195.2,8.5,818,8323,0.00,1.15,29.75,0.998,4,0.000,0.057,2656,1494,1736,0,0,0,0,0,0
$GC,8373,0.81,183.5,187.1,10.0,825,8380,0.00,1.20,0.00,0.000,6,0.000,0.060,2656,2200,1734,0,0,0,0,0,0
$GC,8592,0.81,183.5,163.5,10.8,846,8595,0.00,1.17,0.00,0.000,4,0.000,0.060,2661,1495,1733,0,0,0,0,0,0
$GC,8694,0.81,183.5,152.6,10.8,855,8698,0.00,1.20,0.00,0.000,6,0.000,0.060,2661,2205,1732,0,0,0,0,0,0
$GC,8919,0.81,183.5,128.1,10.7,876,8922,0.00,1.17,0.00,0.000,4,0.000,0.061,2666,1497,1732,0,0,0,0,0,0
$GC,9035,0.81,183.5,116.3,10.3,886,9044,0.00,1.17,0.00,0.000,6,0.000,0.060,2666,2199,1730,0,0,0,0,0,0
$GC,9257,0.81,183.5,94.1,11.2,912,9264,0.00,1.17,0.00,0.000,4,0.000,0.060,2671,1491,1730,0,0,0,0,0,0
$GC,9271,0.81,183.5,92.6,10.3,914,9280,0.00,1.20,0.00,0.000,6,0.000,0.060,2670,2206,1730,0,0,0,0,0,0
$GC,9482,0.83,200.0,72.6,9.2,951,9501,0.00,0.00,14.27,0.931,6,0.000,0.000,2670,2206,1669,0,0,0,0,0,0
$GC,9701,0.86,222.7,52.6,9.0,990,9722,0.00,0.00,19.50,0.921,6,0.000,0.000,2670,2206,1577,0,0,0,0,0,0
$GC,9921,0.87,225.6,30.7,9.9,1029,9927,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2206,1572,0,0,0,0,0,0
$GC,10127,0.95,289.8,15.2,7.1,1066,10170,0.10,1.20,34.28,0.113,4,0.113,0.060,2714,1497,1300,0,0,0,0,0,0
$STATE,10250,end climb,SURFACE_DEPTH_REACHED
$STATE,10250,begin surface coast
$FINISH,1.3,1.015333
$STATE,10266,end surface coast,CONTROL_FINISHED_OK
$STATE,10266,begin surface
$SM_CCo,10284,59.58,0.087,0,0,772,420.20
$SM_GC,2.07,7.25,1.73,59.58,0.063,0.056,0.087,124,2505,772,-7.07,-0.90,420.20,0,0,0,0,0,0
$RAFOS_CLK,667
$RAFOS,5,1318293666,0.700000,0.685000,59,59,59,0,0,0,177,186,230,0,0,0
$RAFOS_FIX,6633.785156,-5957.840332,111011,000012,5,86,0.54
$IRIDIUM_FIX,6604.29,-6005.95,101011,212102
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.24
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.10
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,500.9,113.6
$24V_AH,23.2,5.755
$10V_AH,10.2,5.040
$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,18.250,57.825,343.350,59.575,0.000,0.000,0.000,196.175,5.750,0.000,18.329,2999.115,4897.017,544.717,2014.948,197.322,0.000,1722.519,0.000,1804.452,0.000,12.795,0.000
$DEVICE_MAMPS,279.225,84.915,1248.480,87.210,0.000,0.000,0.000,258.419,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,781.794,777.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150392
$DATA_FILE_SIZE,43311,1089
$CAP_FILE_SIZE,125673,0
$CFSIZE,260165632,245559296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.5
$CURRENT,0.130,297.6,1
$GPS,111011,034405,6633.595,-5957.293,29,0.9,29,-33.6