version: 66.09
glider: 143
mission: 13
dive: 45
start: 10 12 111 0 10 1
data:
$ID,143
$MISSION,13
$DIVE,45
$N_DIVES,53
$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,-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,-80571.969
$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,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
$GPS1,121011,000436,6634.966,-5940.403,56,0.9,57,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-65.2
$GPS2,121011,000930,6634.956,-5940.340,23,1.0,23,-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,98.0,134858,-18.3,-10.000
$D_GRID,762
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,98,0.00,0.00,-77.93,0.000,2,0.000,0.000,125,2526,1912,0,0,0,0,0,0
$GC,101,-0.77,-146.0,3.0,-0.8,13,165,8.65,1.17,-48.65,0.000,4,0.266,0.110,2145,3211,3082,0,0,0,0,0,0
$GC,259,-0.77,-146.0,29.6,-18.4,39,266,0.00,1.15,0.00,0.000,6,0.000,0.047,2145,2502,3083,0,0,0,0,0,0
$GC,467,-0.77,-146.0,64.2,-16.0,76,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2502,3084,0,0,0,0,0,0
$GC,671,-0.77,-146.0,95.5,-15.3,113,680,0.00,1.23,0.00,0.000,4,0.000,0.077,2140,3216,3084,0,0,0,0,0,0
$GC,732,-0.77,-146.0,104.8,-15.6,121,735,0.00,1.15,0.00,0.000,6,0.000,0.047,2140,2504,3085,0,0,0,0,0,0
$GC,957,-0.77,-146.0,138.8,-14.6,142,961,0.00,1.20,0.00,0.000,4,0.000,0.077,2136,3207,3085,0,0,0,0,0,0
$GC,1018,-0.77,-146.0,147.5,-14.9,147,1025,0.00,1.12,0.00,0.000,6,0.000,0.047,2136,2508,3085,0,0,0,0,0,0
$GC,1237,-0.77,-146.0,180.6,-14.7,168,1240,0.00,1.12,0.00,0.000,4,0.000,0.056,2136,1805,3085,0,0,0,0,0,0
$GC,1272,-0.77,-146.0,185.5,-14.4,171,1276,0.00,1.23,0.00,0.000,6,0.000,0.068,2131,2505,3085,0,0,0,0,0,0
$GC,1497,-0.77,-146.0,218.4,-14.6,192,1500,0.00,1.17,0.00,0.000,4,0.000,0.082,2126,3223,3084,0,0,0,0,0,0
$GC,1565,-0.77,-146.0,228.4,-14.6,198,1569,0.00,1.15,0.00,0.000,6,0.000,0.047,2126,2506,3084,0,0,0,0,0,0
$GC,1791,-0.77,-146.0,259.6,-13.7,219,1795,0.00,1.10,0.00,0.000,4,0.000,0.057,2126,1815,3084,0,0,0,0,0,0
$GC,1874,-0.77,-146.0,270.2,-13.2,226,1881,0.08,1.23,0.00,0.000,6,0.175,0.068,2143,2519,3084,0,0,0,0,0,0
$GC,2093,-0.77,-146.0,297.7,-12.1,247,2097,0.00,1.12,0.00,0.000,4,0.000,0.081,2140,3214,3085,0,0,0,0,0,0
$GC,2219,-0.77,-146.0,312.6,-12.0,258,2226,0.00,1.12,0.00,0.000,6,0.000,0.046,2140,2508,3085,0,0,0,0,0,0
$GC,2440,-0.77,-146.0,339.5,-12.1,279,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2508,3084,0,0,0,0,0,0
$GC,2651,-0.77,-146.0,365.1,-12.1,299,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2508,3084,0,0,0,0,0,0
$GC,2863,-0.77,-146.0,390.3,-11.7,319,2866,0.00,1.20,0.00,0.000,4,0.000,0.077,2135,3216,3084,0,0,0,0,0,0
$GC,2945,-0.77,-146.0,399.8,-11.8,326,2953,0.00,1.12,0.00,0.000,6,0.000,0.045,2135,2508,3084,0,0,0,0,0,0
$GC,3164,-0.77,-146.0,427.1,-12.5,347,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2508,3083,0,0,0,0,0,0
$GC,3377,-0.77,-146.0,452.6,-11.7,367,3381,0.00,1.20,0.00,0.000,4,0.000,0.076,2131,3221,3084,0,0,0,0,0,0
$GC,3426,-0.77,-146.0,458.2,-12.2,371,3433,0.00,1.12,0.00,0.000,6,0.000,0.044,2131,2506,3084,0,0,0,0,0,0
$GC,3646,-0.77,-146.0,484.8,-12.0,392,3649,0.00,1.10,0.00,0.000,4,0.000,0.055,2131,1810,3085,0,0,0,0,0,0
$GC,3683,-0.77,-146.0,488.9,-12.2,395,3690,0.00,1.20,0.00,0.000,6,0.000,0.066,2126,2510,3084,0,0,0,0,0,0
$GC,3903,-0.77,-146.0,516.3,-12.1,416,3907,0.00,1.12,0.00,0.000,4,0.000,0.077,2120,3213,3084,0,0,0,0,0,0
$GC,3992,-0.77,-146.0,527.4,-12.2,424,3997,0.08,1.12,0.00,0.000,6,0.170,0.043,2143,2497,3085,0,0,0,0,0,0
$GC,4218,-0.77,-146.0,551.6,-10.9,445,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2496,3084,0,0,0,0,0,0
$GC,4428,-0.77,-146.0,574.2,-10.5,465,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2497,3084,0,0,0,0,0,0
$GC,4641,-0.77,-146.0,596.4,-10.7,485,4645,0.00,1.20,0.00,0.000,4,0.000,0.076,2140,3213,3085,0,0,0,0,0,0
$GC,4684,-0.77,-146.0,600.1,-10.7,488,4688,0.00,1.10,0.00,0.000,6,0.000,0.043,2140,2509,3084,0,0,0,0,0,0
$GC,5014,-0.77,-146.0,636.3,-10.8,499,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2509,3085,0,0,0,0,0,0
$GC,5320,-0.77,-146.0,669.2,-10.6,509,5324,0.00,1.17,0.00,0.000,4,0.000,0.075,2135,3213,3086,0,0,0,0,0,0
$GC,5363,-0.77,-146.0,673.0,-10.7,510,5368,0.00,1.10,0.00,0.000,6,0.000,0.041,2136,2508,3086,0,0,0,0,0,0
$GC,5694,-0.77,-146.0,710.4,-11.1,521,5698,0.00,1.17,0.00,0.000,4,0.000,0.074,2131,3212,3086,0,0,0,0,0,0
$GC,5748,-0.77,-146.0,714.4,-11.2,522,5753,0.00,1.10,0.00,0.000,6,0.000,0.041,2131,2509,3086,0,0,0,0,0,0
$GC,6067,-0.77,-146.0,752.3,-11.2,533,6071,0.00,1.17,0.00,0.000,4,0.000,0.075,2126,3214,3086,0,0,0,0,0,0
$STATE,6167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6167,begin apogee
$GC,6174,-0.16,0.0,763.4,-11.0,536,6303,0.68,0.00,120.85,1.352,6,0.152,0.000,2338,2202,2485,0,0,0,0,0,0
$STATE,6304,end apogee,CONTROL_FINISHED_OK
$STATE,6304,begin climb
$GC,6306,0.77,146.0,768.7,0.0,540,6443,0.93,1.38,128.25,1.318,4,0.074,0.063,2647,2908,1888,0,0,0,0,0,0
$GC,6549,0.77,146.0,754.4,11.5,547,6553,0.00,1.25,0.00,0.000,6,0.000,0.044,2653,2197,1881,0,0,0,0,0,0
$GC,6869,0.77,146.0,708.5,13.3,558,6873,0.00,1.27,0.00,0.000,4,0.000,0.063,2653,2909,1877,0,0,0,0,0,0
$GC,6937,0.77,146.0,698.6,13.7,560,6941,0.00,1.23,0.00,0.000,6,0.000,0.047,2657,2193,1876,0,0,0,0,0,0
$GC,7278,0.77,146.0,653.0,13.2,571,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2193,1876,0,0,0,0,0,0
$GC,7585,0.77,146.0,612.3,13.4,581,7589,0.00,1.12,0.00,0.000,4,0.000,0.060,2663,1491,1875,0,0,0,0,0,0
$GC,7639,0.77,146.0,607.7,13.3,582,7644,0.00,1.20,0.00,0.000,6,0.000,0.057,2663,2204,1875,0,0,0,0,0,0
$GC,7969,0.77,146.0,561.4,13.3,611,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2203,1874,0,0,0,0,0,0
$GC,8182,0.77,146.0,533.1,13.4,631,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2204,1874,0,0,0,0,0,0
$GC,8394,0.77,146.0,504.2,13.5,651,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2204,1874,0,0,0,0,0,0
$GC,8607,0.77,146.0,475.9,13.2,671,8611,0.00,1.17,0.00,0.000,4,0.000,0.058,2667,1494,1874,0,0,0,0,0,0
$GC,8656,0.77,146.0,469.9,13.2,675,8663,0.00,1.17,0.00,0.000,6,0.000,0.057,2667,2202,1874,0,0,0,0,0,0
$GC,8876,0.77,146.0,440.8,12.5,696,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,1874,0,0,0,0,0,0
$GC,9088,0.77,146.0,414.2,12.5,716,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,1873,0,0,0,0,0,0
$GC,9300,0.77,146.0,387.9,12.4,736,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,1873,0,0,0,0,0,0
$GC,9513,0.77,146.0,362.5,11.7,756,9517,0.00,1.15,0.00,0.000,4,0.000,0.066,2667,2907,1874,0,0,0,0,0,0
$GC,9618,0.77,146.0,350.4,12.1,765,9627,0.00,1.17,0.00,0.000,6,0.000,0.048,2672,2195,1872,0,0,0,0,0,0
$GC,9839,0.77,146.0,324.2,11.9,786,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2195,1872,0,0,0,0,0,0
$GC,10050,0.77,146.0,300.3,10.9,806,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2195,1872,0,0,0,0,0,0
$GC,10263,0.77,146.0,276.3,11.3,826,10267,0.00,1.10,0.00,0.000,4,0.000,0.060,2678,1492,1873,0,0,0,0,0,0
$GC,10422,0.77,146.0,258.8,11.2,840,10426,0.08,1.17,0.00,0.000,6,0.162,0.058,2655,2206,1873,0,0,0,0,0,0
$GC,10648,0.78,158.5,236.2,9.4,861,10663,0.00,1.20,8.80,0.960,4,0.000,0.057,2658,1495,1838,0,0,0,0,0,0
$GC,10746,0.78,158.5,226.4,10.5,869,10756,0.00,1.17,0.00,0.000,6,0.000,0.057,2658,2199,1838,0,0,0,0,0,0
$GC,10967,0.78,158.5,202.6,10.8,890,10971,0.00,1.15,0.00,0.000,4,0.000,0.067,2658,2910,1837,0,0,0,0,0,0
$GC,11072,0.78,158.5,191.5,10.6,899,11079,0.00,1.17,0.00,0.000,6,0.000,0.047,2663,2197,1837,0,0,0,0,0,0
$GC,11292,0.78,158.5,169.0,10.1,920,11295,0.00,1.10,0.00,0.000,4,0.000,0.060,2668,1494,1837,0,0,0,0,0,0
$GC,11443,0.78,158.7,154.6,10.0,933,11452,0.00,1.17,0.00,0.000,6,0.000,0.059,2668,2202,1837,0,0,0,0,0,0
$GC,11664,0.81,178.2,132.7,9.1,954,11687,0.00,1.20,17.90,0.962,4,0.000,0.067,2668,2911,1758,0,0,0,0,0,0
$GC,11838,0.81,178.2,114.9,10.2,969,11847,0.00,1.20,0.00,0.000,6,0.000,0.050,2673,2193,1754,0,0,0,0,0,0
$GC,12061,0.84,204.1,93.4,8.8,996,12088,0.00,1.15,22.25,0.941,4,0.000,0.061,2678,1497,1653,0,0,0,0,0,0
$GC,12179,0.84,204.1,80.8,11.4,1016,12186,0.00,1.20,0.00,0.000,6,0.000,0.058,2678,2205,1650,0,0,0,0,0,0
$GC,12385,0.84,204.1,57.7,10.9,1053,12394,0.00,1.17,0.00,0.000,4,0.000,0.059,2684,1497,1649,0,0,0,0,0,0
$GC,12456,0.84,204.1,50.3,10.3,1065,12465,0.00,1.17,0.00,0.000,6,0.000,0.057,2683,2198,1648,0,0,0,0,0,0
$GC,12665,0.84,206.4,30.6,9.9,1102,12672,0.00,1.15,0.00,0.000,4,0.000,0.058,2687,1497,1647,0,0,0,0,0,0
$GC,12921,0.91,263.5,13.8,7.4,1148,12955,0.00,1.17,29.67,0.109,6,0.000,0.059,2688,2200,1409,0,0,0,0,0,0
$STATE,13043,end climb,SURFACE_DEPTH_REACHED
$STATE,13043,begin surface coast
$FINISH,1.6,1.010498
$STATE,13060,end surface coast,CONTROL_FINISHED_OK
$STATE,13060,begin surface
$SM_CCo,13077,71.65,0.086,0,0,771,420.20
$SM_GC,2.42,7.03,0.52,71.65,0.054,0.063,0.086,119,2514,771,-7.08,-0.79,420.20,0,0,0,0,0,0
$RAFOS_CLK,857
$RAFOS,6,1318380542,0.833333,0.817222,67,58,56,0,0,0,823,131,187,0,0,0
$RAFOS,5,1318380063,0.700000,0.684167,62,61,58,0,0,0,216,182,203,0,0,0
$RAFOS,4,1318379589,0.566667,0.552500,112,62,57,0,0,0,630,152,191,0,0,0
$RAFOS,3,1318379102,0.433333,0.417222,64,60,55,0,0,0,211,667,129,0,0,0
$RAFOS,2,1318378625,0.300000,0.284722,112,61,59,0,0,0,575,187,176,0,0,0
$RAFOS_FIX,6634.477539,-5941.336914,121011,000033,3,97,0.74
$IRIDIUM_FIX,6604.29,-5943.84,111011,202016
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.12
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,700.3,104.1
$24V_AH,23.1,6.539
$10V_AH,10.3,5.653
$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,17.500,66.450,327.725,71.650,0.000,0.000,0.000,179.625,7.500,0.000,24.854,3336.870,7083.722,569.061,2270.735,225.319,0.000,1867.546,0.000,2061.759,1800.000,19.825,0.000
$DEVICE_MAMPS,266.220,110.160,1351.755,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.201,843.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46718,1172
$CAP_FILE_SIZE,145208,0
$CFSIZE,260165632,245047296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.6
$CURRENT,0.111,314.1,1
$GPS,121011,035106,6636.414,-5936.430,31,1.7,32,-33.6