version: 66.09
glider: 143
mission: 13
dive: 124
start: 10 24 111 8 9 58
data:
$ID,143
$MISSION,13
$DIVE,124
$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,-80671.57
$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,30
$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
$GPS1,241011,080337,6649.877,-5833.917,27,1.3,27,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-71.5
$GPS2,241011,080857,6649.876,-5833.970,37,1.3,38,-33.6
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.170,0.188
$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,307.7,82676,-16.9,-9.167
$D_GRID,853
$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,16,-0.73,-146.0,0.0,0.0,0,71,0.00,0.00,-53.05,0.000,2,0.000,0.000,115,2502,1966,0,0,0,0,0,0
$GC,74,-0.73,-146.0,3.0,-0.8,8,137,8.62,1.17,-49.20,0.000,4,0.265,0.079,2158,1800,3082,0,0,0,0,0,0
$GC,389,-0.73,-146.0,52.4,-15.1,55,396,0.00,1.23,0.00,0.000,6,0.000,0.060,2154,2506,3084,0,0,0,0,0,0
$GC,728,-0.73,-146.0,102.4,-14.7,106,734,0.00,1.15,0.00,0.000,4,0.000,0.047,2154,1812,3085,0,0,0,0,0,0
$GC,861,-0.73,-146.0,121.6,-13.9,126,868,0.00,1.20,0.00,0.000,6,0.000,0.060,2150,2510,3085,0,0,0,0,0,0
$GC,1198,-0.73,-146.0,169.2,-13.3,177,1207,0.00,1.12,0.00,0.000,4,0.000,0.071,2144,3213,3085,0,0,0,0,0,0
$GC,1307,-0.73,-146.0,184.3,-13.6,193,1316,0.00,1.12,0.00,0.000,6,0.000,0.037,2144,2497,3085,0,0,0,0,0,0
$GC,1647,-0.73,-146.0,231.4,-13.1,244,1654,0.00,1.08,0.00,0.000,4,0.000,0.049,2144,1814,3085,0,0,0,0,0,0
$GC,1689,-0.73,-146.0,236.8,-13.7,250,1695,0.00,1.20,0.00,0.000,6,0.000,0.060,2140,2512,3085,0,0,0,0,0,0
$GC,2022,-0.73,-146.0,278.7,-12.0,284,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,2339,-0.73,-146.0,317.3,-12.6,309,2344,0.00,1.12,0.00,0.000,4,0.000,0.071,2134,3217,3084,0,0,0,0,0,0
$GC,2423,-0.73,-146.0,327.7,-13.2,315,2432,0.12,1.12,0.00,0.000,6,0.177,0.037,2163,2505,3084,0,0,0,0,0,0
$GC,2747,-0.73,-146.0,364.9,-11.4,341,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3084,0,0,0,0,0,0
$GC,3064,-0.73,-146.0,399.9,-10.8,366,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3084,0,0,0,0,0,0
$GC,3378,-0.73,-146.0,433.9,-10.7,391,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3084,0,0,0,0,0,0
$GC,3695,-0.73,-146.0,466.2,-10.2,416,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2505,3084,0,0,0,0,0,0
$GC,4011,-0.73,-146.0,497.9,-9.6,441,4014,0.00,1.17,0.00,0.000,4,0.000,0.070,2160,3211,3085,0,0,0,0,0,0
$GC,4048,-0.73,-146.0,501.2,-9.7,444,4053,0.00,1.10,0.00,0.000,6,0.000,0.034,2161,2508,3085,0,0,0,0,0,0
$GC,4382,-0.73,-146.0,534.8,-9.9,455,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2508,3085,0,0,0,0,0,0
$GC,4689,-0.73,-146.0,565.1,-9.7,465,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2508,3085,0,0,0,0,0,0
$GC,4994,-0.73,-146.0,593.6,-9.3,475,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2508,3086,0,0,0,0,0,0
$GC,5301,-0.73,-146.0,622.0,-9.2,485,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2508,3086,0,0,0,0,0,0
$GC,5608,-0.73,-146.0,651.4,-9.7,495,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2508,3086,0,0,0,0,0,0
$GC,5913,-0.73,-146.0,680.5,-9.3,505,5917,0.00,1.17,0.00,0.000,4,0.000,0.069,2156,3214,3086,0,0,0,0,0,0
$GC,5951,-0.73,-146.0,683.8,-9.4,506,5955,0.00,1.10,0.00,0.000,6,0.000,0.034,2156,2505,3086,0,0,0,0,0,0
$GC,6285,-0.73,-146.0,717.0,-9.8,517,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2505,3086,0,0,0,0,0,0
$GC,6591,-0.73,-146.0,746.3,-9.5,527,6594,0.00,1.17,0.00,0.000,4,0.000,0.068,2151,3214,3086,0,0,0,0,0,0
$GC,6623,-0.73,-146.0,749.4,-9.3,528,6627,0.00,1.08,0.00,0.000,6,0.000,0.034,2151,2512,3086,0,0,0,0,0,0
$GC,6963,-0.73,-146.0,781.6,-9.5,539,6966,0.00,1.17,0.00,0.000,4,0.000,0.069,2147,3220,3086,0,0,0,0,0,0
$GC,7000,-0.73,-146.0,784.9,-9.5,540,7005,0.00,1.12,0.00,0.000,6,0.000,0.034,2147,2499,3086,0,0,0,0,0,0
$GC,7334,-0.73,-146.0,819.8,-10.4,551,7338,0.00,1.17,0.00,0.000,4,0.000,0.066,2142,3213,3086,0,0,0,0,0,0
$GC,7367,-0.73,-146.0,823.0,-10.2,552,7371,0.00,1.08,0.00,0.000,6,0.000,0.033,2142,2506,3086,0,0,0,0,0,0
$STATE,7675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7675,begin apogee
$GC,7681,-0.16,0.0,855.8,-10.7,562,7810,0.62,0.00,123.05,1.428,6,0.135,0.000,2344,2192,2485,0,0,0,0,0,0
$STATE,7811,end apogee,CONTROL_FINISHED_OK
$STATE,7811,begin climb
$GC,7813,0.73,146.0,860.4,0.0,566,7957,0.85,1.23,131.40,1.377,4,0.067,0.054,2640,1509,1888,0,0,0,0,0,0
$GC,8156,0.73,146.0,829.8,12.3,577,8160,0.00,1.23,0.00,0.000,6,0.000,0.048,2640,2209,1880,0,0,0,0,0,0
$GC,8495,0.73,146.0,784.3,13.4,588,8499,0.00,1.17,0.00,0.000,4,0.000,0.057,2640,2909,1878,0,0,0,0,0,0
$GC,8566,0.73,146.0,775.4,13.4,590,8571,0.00,1.20,0.00,0.000,6,0.000,0.040,2645,2208,1877,0,0,0,0,0,0
$GC,8900,0.73,146.0,730.7,13.1,601,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2208,1876,0,0,0,0,0,0
$GC,9206,0.73,146.0,690.8,13.1,611,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2208,1876,0,0,0,0,0,0
$GC,9512,0.73,146.0,651.9,12.5,621,9516,0.00,1.20,0.00,0.000,4,0.000,0.054,2645,2910,1875,0,0,0,0,0,0
$GC,9583,0.73,146.0,643.5,12.5,623,9588,0.00,1.20,0.00,0.000,6,0.000,0.039,2650,2187,1875,0,0,0,0,0,0
$GC,9918,0.73,146.0,602.0,12.3,634,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2187,1875,0,0,0,0,0,0
$GC,10223,0.73,146.0,565.2,11.9,644,10227,0.00,1.23,0.00,0.000,4,0.000,0.055,2650,2910,1874,0,0,0,0,0,0
$GC,10314,0.73,146.0,557.0,12.1,646,10322,0.00,1.17,0.00,0.000,6,0.000,0.039,2655,2198,1874,0,0,0,0,0,0
$GC,10628,0.73,146.0,516.0,12.2,657,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2198,1874,0,0,0,0,0,0
$GC,10945,0.73,146.0,475.7,12.8,675,10949,0.00,1.20,0.00,0.000,4,0.000,0.055,2654,2908,1874,0,0,0,0,0,0
$GC,11077,0.73,146.0,458.2,13.2,685,11081,0.00,1.15,0.00,0.000,6,0.000,0.041,2659,2199,1874,0,0,0,0,0,0
$GC,11408,0.73,146.0,415.8,13.2,711,11411,0.00,1.08,0.00,0.000,4,0.000,0.054,2664,1497,1874,0,0,0,0,0,0
$GC,11460,0.73,146.0,408.9,12.7,715,11465,0.08,1.15,0.00,0.000,6,0.162,0.049,2642,2205,1873,0,0,0,0,0,0
$GC,11789,0.73,146.0,370.1,11.2,741,11792,0.00,1.12,0.00,0.000,4,0.000,0.058,2642,2907,1873,0,0,0,0,0,0
$GC,11868,0.73,146.0,361.1,11.3,747,11872,0.00,1.15,0.00,0.000,6,0.000,0.040,2645,2195,1873,0,0,0,0,0,0
$GC,12198,0.73,146.0,325.2,10.7,773,12199,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2194,1874,0,0,0,0,0,0
$GC,12514,0.73,146.0,291.5,10.8,798,12515,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2195,1873,0,0,0,0,0,0
$GC,12828,0.73,146.0,257.7,10.5,823,12832,0.00,1.20,0.00,0.000,4,0.000,0.055,2645,2909,1874,0,0,0,0,0,0
$GC,13047,0.73,146.0,234.5,10.0,850,13054,0.00,1.15,0.00,0.000,6,0.000,0.039,2650,2193,1874,0,0,0,0,0,0
$GC,13384,0.73,146.0,198.8,10.5,901,13393,0.00,1.05,0.00,0.000,4,0.000,0.052,2655,1499,1874,0,0,0,0,0,0
$GC,13474,0.73,146.0,189.0,10.3,914,13481,0.00,1.12,0.00,0.000,6,0.000,0.047,2655,2199,1873,0,0,0,0,0,0
$GC,13812,0.73,150.7,155.8,9.0,965,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2199,1874,0,0,0,0,0,0
$GC,14152,0.78,187.8,127.9,7.6,1016,14193,0.00,0.00,33.62,0.965,6,0.000,0.000,2655,2199,1717,0,0,0,0,0,0
$GC,14524,0.78,187.8,92.8,10.2,1072,14530,0.00,1.15,0.00,0.000,4,0.000,0.058,2655,2908,1712,0,0,0,0,0,0
$GC,14662,0.78,187.8,78.8,9.9,1093,14671,0.00,1.15,0.00,0.000,6,0.000,0.040,2660,2205,1712,0,0,0,0,0,0
$GC,15001,0.83,232.6,49.4,7.3,1144,15044,0.00,1.25,37.15,0.923,4,0.000,0.054,2660,2905,1536,0,0,0,0,0,0
$GC,15064,0.85,250.7,44.2,8.4,1153,15086,0.00,1.17,16.62,0.880,6,0.000,0.041,2664,2205,1462,0,0,0,0,0,0
$GC,15418,0.85,250.7,11.4,9.9,1206,15425,0.00,1.10,0.00,0.000,4,0.000,0.054,2670,1498,1456,0,0,0,0,0,0
$STATE,15516,end climb,SURFACE_DEPTH_REACHED
$STATE,15516,begin surface coast
$FINISH,1.6,1.024779
$STATE,15530,end surface coast,CONTROL_FINISHED_OK
$STATE,15530,begin surface
$SM_CCo,15548,22.60,0.086,0,0,1262,300.00
$SM_GC,2.36,6.95,1.73,22.60,0.049,0.049,0.086,126,2512,1262,-7.06,-0.74,300.00,0,0,0,0,0,0
$RAFOS_CLK,1024
$RAFOS,2,1319458625,12.300000,12.284722,69,59,58,0,0,0,761,745,175,0,0,0
$RAFOS,1,1319458148,12.166667,12.152223,80,64,62,0,0,0,724,195,209,0,0,0
$RAFOS,0,1319457662,12.033333,12.017222,65,65,59,0,0,0,193,880,121,0,0,0
$RAFOS,6,1319446141,8.833333,8.816944,67,58,54,0,0,0,686,185,170,0,0,0
$RAFOS,5,1319445666,8.700000,8.685000,91,56,54,0,0,0,657,218,179,0,0,0
$RAFOS,4,1319445185,8.566667,8.551389,122,60,58,0,0,0,578,190,212,0,0,0
$RAFOS,3,1319444703,8.433333,8.417500,75,67,59,0,0,0,741,181,163,0,0,0
$RAFOS,2,1319444225,8.300000,8.284722,90,60,59,0,0,0,756,185,199,0,0,0
$RAFOS,0,1319443266,8.033334,8.018333,58,54,53,0,0,0,170,132,190,0,0,0
$RAFOS_FIX,6651.289062,-5839.125977,241011,080824,5,89,2.89
$IRIDIUM_FIX,6620.33,-5827.49,241011,030320
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.56
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,852.5,77.4
$24V_AH,22.6,15.658
$10V_AH,10.3,12.740
$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,17.250,51.900,341.850,22.600,0.000,0.000,0.000,188.325,7.500,0.000,39.040,3391.675,9575.393,504.922,2233.862,212.599,29.118,1751.970,0.000,1995.123,3240.000,25.066,0.000
$DEVICE_MAMPS,265.455,78.795,1428.255,85.680,0.000,0.000,0.000,265.160,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.024,668.749,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46662,1223
$CAP_FILE_SIZE,135418,0
$CFSIZE,260165632,239460352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.0
$CURRENT,0.274, 14.3,1
$GPS,241011,123129,6652.422,-5839.322,48,0.9,49,-33.7