version: 66.09
glider: 143
mission: 13
dive: 123
start: 10 24 111 3 43 10
data:
$ID,143
$MISSION,13
$DIVE,123
$N_DIVES,0
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$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,1
$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,300
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80670.32
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,241011,033735,6650.135,-5830.736,27,0.9,28,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-70.1
$GPS2,241011,034237,6650.120,-5830.628,18,1.0,19,-33.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,306.0,85159,-16.9,-9.167
$D_GRID,832
$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,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,91,0.00,0.00,-73.38,0.000,2,0.000,0.000,116,2499,2059,0,0,0,0,0,0
$GC,94,-0.73,-146.0,3.2,-1.3,11,151,8.57,1.15,-42.92,0.000,4,0.262,0.081,2158,1808,3083,0,0,0,0,0,0
$GC,402,-0.73,-146.0,51.9,-14.9,57,409,0.00,1.20,0.00,0.000,6,0.000,0.059,2155,2502,3085,0,0,0,0,0,0
$GC,741,-0.73,-146.0,101.4,-13.7,108,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2502,3085,0,0,0,0,0,0
$GC,1080,-0.73,-146.0,146.7,-12.5,159,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2503,3085,0,0,0,0,0,0
$GC,1419,-0.73,-146.0,191.6,-13.1,210,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2502,3085,0,0,0,0,0,0
$GC,1755,-0.73,-146.0,235.1,-12.9,261,1762,0.00,1.15,0.00,0.000,4,0.000,0.074,2150,3217,3084,0,0,0,0,0,0
$GC,1830,-0.73,-146.0,244.3,-12.4,272,1837,0.00,1.12,0.00,0.000,6,0.000,0.040,2150,2501,3084,0,0,0,0,0,0
$GC,2153,-0.73,-146.0,282.9,-11.6,301,2157,0.00,1.08,0.00,0.000,4,0.000,0.050,2150,1815,3084,0,0,0,0,0,0
$GC,2186,-0.73,-146.0,286.1,-11.9,303,2195,0.00,1.20,0.00,0.000,6,0.000,0.060,2145,2515,3084,0,0,0,0,0,0
$GC,2508,-0.73,-146.0,324.3,-11.4,329,2513,0.00,1.12,0.00,0.000,4,0.000,0.072,2140,3219,3084,0,0,0,0,0,0
$GC,2525,-0.73,-146.0,325.6,-11.2,330,2533,0.00,1.15,0.00,0.000,6,0.000,0.037,2140,2498,3084,0,0,0,0,0,0
$GC,2851,-0.73,-146.0,364.0,-11.7,356,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2497,3084,0,0,0,0,0,0
$GC,3165,-0.73,-146.0,401.9,-11.8,381,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2498,3084,0,0,0,0,0,0
$GC,3484,-0.73,-146.0,438.5,-11.9,406,3487,0.00,1.20,0.00,0.000,4,0.000,0.067,2135,3218,3084,0,0,0,0,0,0
$GC,3502,-0.73,-146.0,440.5,-11.6,407,3512,0.12,1.12,0.00,0.000,6,0.177,0.035,2164,2504,3084,0,0,0,0,0,0
$GC,3825,-0.73,-146.0,472.3,-9.2,433,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3085,0,0,0,0,0,0
$GC,4145,-0.73,-146.0,501.2,-9.1,458,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3085,0,0,0,0,0,0
$GC,4449,-0.73,-146.0,529.4,-9.1,468,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3086,0,0,0,0,0,0
$GC,4753,-0.73,-146.0,558.7,-9.8,478,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3086,0,0,0,0,0,0
$GC,5060,-0.73,-146.0,589.0,-10.0,488,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3086,0,0,0,0,0,0
$GC,5365,-0.73,-146.0,618.9,-9.6,498,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3086,0,0,0,0,0,0
$GC,5673,-0.73,-146.0,647.3,-9.2,508,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3086,0,0,0,0,0,0
$GC,5978,-0.73,-146.0,675.7,-9.2,518,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2503,3086,0,0,0,0,0,0
$GC,6286,-0.73,-146.0,703.4,-9.0,528,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3086,0,0,0,0,0,0
$GC,6591,-0.73,-146.0,731.3,-9.1,538,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2503,3087,0,0,0,0,0,0
$GC,6898,-0.73,-146.0,758.9,-8.9,548,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3087,0,0,0,0,0,0
$GC,7203,-0.73,-146.0,786.0,-8.9,558,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3087,0,0,0,0,0,0
$GC,7511,-0.73,-146.0,812.9,-8.5,568,7515,0.00,1.17,0.00,0.000,4,0.000,0.067,2161,3215,3087,0,0,0,0,0,0
$GC,7536,-0.73,-146.0,812.9,-8.5,568,7544,0.00,1.10,0.00,0.000,6,0.000,0.032,2161,2505,3087,0,0,0,0,0,0
$STATE,7757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7757,begin apogee
$GC,7763,-0.16,0.0,834.3,-8.9,576,7891,0.55,0.00,122.15,1.400,6,0.132,0.000,2341,2189,2485,0,0,0,0,0,0
$STATE,7892,end apogee,CONTROL_FINISHED_OK
$STATE,7892,begin climb
$GC,7894,0.73,146.0,839.0,0.0,580,8033,0.88,1.23,130.38,1.346,4,0.076,0.054,2638,1506,1888,0,0,0,0,0,0
$GC,8283,0.73,146.0,804.0,12.3,591,8288,0.00,1.23,0.00,0.000,6,0.000,0.047,2638,2208,1880,0,0,0,0,0,0
$GC,8604,0.73,146.0,762.4,12.2,602,8607,0.00,1.15,0.00,0.000,4,0.000,0.057,2638,2897,1878,0,0,0,0,0,0
$GC,8807,0.73,146.0,736.5,13.2,608,8812,0.00,1.17,0.00,0.000,6,0.000,0.041,2644,2206,1877,0,0,0,0,0,0
$GC,9141,0.73,146.0,693.4,12.7,619,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2206,1876,0,0,0,0,0,0
$GC,9447,0.73,146.0,653.9,12.9,629,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1875,0,0,0,0,0,0
$GC,9753,0.73,146.0,614.0,12.9,639,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2206,1874,0,0,0,0,0,0
$GC,10059,0.73,146.0,575.4,12.4,649,10063,0.00,1.20,0.00,0.000,4,0.000,0.054,2644,2913,1874,0,0,0,0,0,0
$GC,10131,0.73,146.0,567.0,12.6,651,10135,0.00,1.15,0.00,0.000,6,0.000,0.039,2648,2202,1874,0,0,0,0,0,0
$GC,10464,0.73,146.0,525.0,12.4,662,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2202,1873,0,0,0,0,0,0
$GC,10779,0.73,146.0,486.1,12.5,677,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2202,1873,0,0,0,0,0,0
$GC,11097,0.73,146.0,447.7,11.7,702,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2202,1874,0,0,0,0,0,0
$GC,11410,0.73,146.0,410.6,11.8,727,11414,0.00,1.17,0.00,0.000,4,0.000,0.054,2648,2903,1873,0,0,0,0,0,0
$GC,11494,0.73,146.0,401.0,12.3,733,11502,0.00,1.17,0.00,0.000,6,0.000,0.040,2653,2186,1873,0,0,0,0,0,0
$GC,11819,0.73,146.0,361.6,12.2,759,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2185,1873,0,0,0,0,0,0
$GC,12135,0.73,146.0,324.3,11.9,784,12138,0.00,1.20,0.00,0.000,4,0.000,0.055,2653,2903,1873,0,0,0,0,0,0
$GC,12337,0.73,146.0,300.4,12.2,799,12347,0.00,1.15,0.00,0.000,6,0.000,0.040,2658,2199,1874,0,0,0,0,0,0
$GC,12662,0.73,146.0,262.3,11.1,825,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,1873,0,0,0,0,0,0
$GC,12986,0.73,146.0,226.4,10.7,866,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2199,1874,0,0,0,0,0,0
$GC,13323,0.73,146.0,191.6,10.6,917,13330,0.00,1.08,0.00,0.000,4,0.000,0.054,2664,1494,1874,0,0,0,0,0,0
$GC,13398,0.73,146.0,183.6,10.6,928,13405,0.08,1.15,0.00,0.000,6,0.154,0.049,2640,2208,1874,0,0,0,0,0,0
$GC,13737,0.73,152.9,151.3,8.9,979,13747,0.00,1.15,4.62,0.789,4,0.000,0.057,2640,2911,1861,0,0,0,0,0,0
$GC,13999,0.76,174.2,128.1,8.3,1018,14027,0.00,1.15,19.20,0.959,6,0.000,0.040,2643,2195,1775,0,0,0,0,0,0
$GC,14359,0.79,201.4,97.6,8.0,1072,14388,0.00,1.25,24.23,0.948,4,0.000,0.054,2643,2901,1663,0,0,0,0,0,0
$GC,14474,0.79,201.4,87.1,9.2,1089,14481,0.00,1.15,0.00,0.000,6,0.000,0.041,2648,2205,1660,0,0,0,0,0,0
$GC,14813,0.79,201.4,54.9,9.4,1140,14820,0.00,1.10,0.00,0.000,4,0.000,0.052,2653,1494,1658,0,0,0,0,0,0
$GC,14939,0.81,215.5,43.2,8.6,1159,14955,0.00,1.15,12.27,0.903,6,0.000,0.049,2653,2196,1606,0,0,0,0,0,0
$GC,15285,0.86,251.9,18.1,7.6,1211,15312,0.00,1.17,19.05,0.121,4,0.000,0.057,2653,2902,1458,0,0,0,0,0,0
$STATE,15483,end climb,SURFACE_DEPTH_REACHED
$STATE,15483,begin surface coast
$FINISH,1.6,1.014127
$STATE,15504,end surface coast,CONTROL_FINISHED_OK
$STATE,15504,begin surface
$SM_CCo,15520,22.17,0.086,0,0,1262,300.00
$SM_GC,2.40,6.82,0.65,22.17,0.045,0.043,0.086,116,2515,1262,-7.08,1.16,300.00,0,0,0,0,0,0
$RAFOS_CLK,1019
$RAFOS,6,1319431752,4.833333,4.820000,59,57,56,0,0,0,655,203,221,0,0,0
$RAFOS,5,1319431267,4.700000,4.685278,73,64,64,0,0,0,203,152,653,0,0,0
$RAFOS,4,1319430787,4.566667,4.551944,99,57,57,0,0,0,581,171,124,0,0,0
$RAFOS,3,1319430302,4.433333,4.417222,106,61,58,0,0,0,759,207,190,0,0,0
$RAFOS,2,1319429828,4.300000,4.285555,73,67,62,0,0,0,765,162,212,0,0,0
$RAFOS,1,1319429345,4.166667,4.151389,62,59,57,0,0,0,210,773,196,0,0,0
$RAFOS,0,1319428864,4.033333,4.017778,62,60,57,0,0,0,224,171,204,0,0,0
$RAFOS_FIX,6650.128418,-5836.035645,241011,040422,3,93,1.47
$IRIDIUM_FIX,6625.71,-5833.97,231011,232355
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.56
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,802.4,64.7
$24V_AH,22.7,15.534
$10V_AH,10.3,12.651
$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,17.025,37.075,331.900,22.175,0.000,0.000,0.000,189.400,7.500,0.000,20.043,3429.990,9511.827,505.515,2193.607,220.177,0.000,1730.330,0.000,1979.883,2880.000,23.260,0.000
$DEVICE_MAMPS,261.630,81.090,1399.950,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.205,686.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150248
$DATA_FILE_SIZE,46677,1244
$CAP_FILE_SIZE,130348,0
$CFSIZE,260165632,239542272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.9
$CURRENT,0.169,100.1,1
$GPS,241011,080337,6649.877,-5833.917,27,1.3,27,-33.6