version: 66.09
glider: 143
mission: 13
dive: 13
start: 10 8 111 9 31 8
data:
$ID,143
$MISSION,13
$DIVE,13
$N_DIVES,16
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,150
$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,0
$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,4
$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,-80434.273
$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,2415
$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,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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,1
$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
$GPS1,081011,092633,6634.621,-6031.058,20,0.8,21,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-67.4
$GPS2,081011,093037,6634.618,-6031.146,15,1.9,15,-33.7
$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,105.6,169500,-18.3,-10.000
$D_GRID,478
$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,-0.77,-146.0,0.0,0.0,0,105,0.00,0.00,-86.78,0.000,2,0.000,0.000,126,2416,2175,0,0,0,0,0,0
$GC,108,-0.77,-146.0,3.0,-3.8,15,151,9.05,1.25,-29.40,0.000,4,0.276,0.094,2158,1702,3082,0,0,0,0,0,0
$GC,405,-0.77,-146.0,48.5,-11.8,67,412,0.00,1.25,0.00,0.000,6,0.000,0.077,2156,2398,3085,0,0,0,0,0,0
$GC,615,-0.77,-146.0,76.2,-14.0,104,622,0.00,1.20,0.00,0.000,4,0.000,0.088,2150,3105,3085,0,0,0,0,0,0
$GC,662,-0.77,-146.0,82.8,-14.6,112,669,0.00,1.10,0.00,0.000,6,0.000,0.055,2150,2446,3085,0,0,0,0,0,0
$GC,875,-0.77,-146.0,112.0,-13.8,142,878,0.00,1.17,0.00,0.000,4,0.000,0.084,2146,3110,3085,0,0,0,0,0,0
$GC,920,-0.77,-146.0,118.4,-13.8,146,924,0.00,1.00,0.00,0.000,6,0.000,0.055,2146,2508,3085,0,0,0,0,0,0
$GC,1145,-0.77,-146.0,148.4,-13.0,167,1149,0.00,1.05,0.00,0.000,4,0.000,0.085,2142,3106,3085,0,0,0,0,0,0
$GC,1258,-0.77,-146.0,163.6,-13.6,177,1261,0.00,0.93,0.00,0.000,6,0.000,0.057,2142,2548,3085,0,0,0,0,0,0
$GC,1482,-0.77,-146.0,193.4,-13.6,198,1486,0.00,1.40,0.00,0.000,4,0.000,0.068,2142,1697,3085,0,0,0,0,0,0
$GC,1505,-0.77,-146.0,196.5,-13.7,200,1510,0.08,1.52,0.00,0.000,6,0.172,0.080,2157,2554,3085,0,0,0,0,0,0
$GC,1731,-0.77,-146.0,223.6,-11.5,221,1735,0.00,0.93,0.00,0.000,4,0.000,0.089,2155,3112,3084,0,0,0,0,0,0
$GC,1848,-0.77,-146.0,237.2,-11.8,231,1856,0.00,0.93,0.00,0.000,6,0.000,0.054,2156,2552,3084,0,0,0,0,0,0
$GC,2068,-0.77,-146.0,262.5,-11.4,252,2072,0.00,0.98,0.00,0.000,4,0.000,0.086,2152,3112,3084,0,0,0,0,0,0
$GC,2102,-0.77,-146.0,266.2,-10.9,255,2106,0.00,0.85,0.00,0.000,6,0.000,0.055,2152,2594,3084,0,0,0,0,0,0
$GC,2327,-0.77,-146.0,291.3,-11.2,276,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2594,3084,0,0,0,0,0,0
$GC,2539,-0.77,-146.0,315.5,-11.5,296,2543,0.00,0.90,0.00,0.000,4,0.000,0.087,2148,3107,3084,0,0,0,0,0,0
$GC,2551,-0.77,-146.0,316.8,-11.2,297,2555,0.00,0.82,0.00,0.000,6,0.000,0.054,2149,2605,3084,0,0,0,0,0,0
$GC,2776,-0.77,-146.0,342.4,-10.9,318,2780,0.00,1.48,0.00,0.000,4,0.000,0.066,2149,1699,3084,0,0,0,0,0,0
$GC,2792,-0.77,-146.0,343.8,-10.9,319,2799,0.00,1.60,0.00,0.000,6,0.000,0.076,2142,2614,3084,0,0,0,0,0,0
$STATE,2935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2935,begin apogee
$GC,2941,-0.16,0.0,361.0,-11.2,333,3065,0.70,0.00,116.88,1.126,4,0.151,0.000,2358,2291,2485,0,0,0,0,0,0
$STATE,3065,end apogee,CONTROL_FINISHED_OK
$STATE,3066,begin climb
$GC,3068,0.77,146.0,366.1,0.0,344,3199,0.85,1.23,123.43,1.069,4,0.060,0.069,2665,1607,1889,0,0,0,0,0,0
$GC,3451,0.77,146.0,339.1,12.1,378,3459,0.00,1.27,0.00,0.000,6,0.000,0.070,2665,2311,1879,0,0,0,0,0,0
$GC,3671,0.77,146.0,312.5,11.4,399,3674,0.00,1.25,0.00,0.000,4,0.000,0.067,2670,1609,1877,0,0,0,0,0,0
$GC,3808,0.77,146.0,297.4,11.4,411,3812,0.00,1.17,0.00,0.000,6,0.000,0.070,2670,2266,1877,0,0,0,0,0,0
$GC,4032,0.77,146.0,273.0,10.1,432,4036,0.00,1.27,0.00,0.000,4,0.000,0.077,2670,3012,1877,0,0,0,0,0,0
$GC,4071,0.77,146.0,269.4,10.4,435,4078,0.00,1.27,0.00,0.000,6,0.000,0.059,2675,2270,1875,0,0,0,0,0,0
$GC,4290,0.77,146.0,245.7,10.1,456,4294,0.00,1.12,0.00,0.000,4,0.000,0.070,2681,1596,1875,0,0,0,0,0,0
$GC,4369,0.77,147.2,237.6,9.9,463,4373,0.00,1.17,0.00,0.000,6,0.000,0.070,2680,2264,1875,0,0,0,0,0,0
$GC,4594,0.79,167.4,216.3,9.1,484,4615,0.00,1.20,16.70,0.995,4,0.000,0.067,2684,1602,1802,0,0,0,0,0,0
$GC,4684,0.79,167.4,207.5,10.1,492,4687,0.00,1.17,0.00,0.000,6,0.000,0.068,2685,2264,1800,0,0,0,0,0,0
$GC,4909,0.79,167.4,183.3,10.7,513,4912,0.00,1.15,0.00,0.000,4,0.000,0.065,2689,1601,1799,0,0,0,0,0,0
$GC,4969,0.79,167.4,177.2,10.7,518,4977,0.00,1.15,0.00,0.000,6,0.000,0.069,2689,2251,1799,0,0,0,0,0,0
$GC,5189,0.80,170.5,154.0,9.9,539,5193,0.00,1.12,0.00,0.000,4,0.000,0.069,2694,1602,1798,0,0,0,0,0,0
$GC,5385,0.80,171.5,135.6,10.0,556,5393,0.00,1.12,4.45,0.771,6,0.000,0.071,2694,2241,1785,0,0,0,0,0,0
$GC,5606,0.80,173.2,113.5,9.9,577,5610,0.00,1.10,0.00,0.000,4,0.000,0.069,2697,1603,1785,0,0,0,0,0,0
$GC,5618,0.80,173.7,112.1,10.0,578,5630,0.00,1.08,3.62,0.679,6,0.000,0.070,2697,2217,1776,0,0,0,0,0,0
$GC,5847,0.80,175.2,89.5,9.9,608,5854,0.00,1.33,0.00,0.000,4,0.000,0.078,2697,3007,1775,0,0,0,0,0,0
$GC,5962,0.83,199.1,78.2,8.9,628,5992,0.00,1.35,22.62,0.952,6,0.000,0.060,2703,2213,1672,0,0,0,0,0,0
$GC,6196,0.83,199.1,52.7,10.9,669,6203,0.00,1.40,0.00,0.000,4,0.000,0.076,2704,3006,1669,0,0,0,0,0,0
$GC,6249,0.83,199.1,46.3,12.2,678,6255,0.00,1.38,0.00,0.000,6,0.000,0.061,2708,2210,1669,0,0,0,0,0,0
$GC,6459,0.90,256.8,25.9,7.3,715,6501,0.00,1.02,35.33,0.894,4,0.000,0.072,2713,1592,1435,0,0,0,0,0,0
$STATE,6703,end climb,SURFACE_DEPTH_REACHED
$STATE,6704,begin surface coast
$FINISH,1.0,1.024868
$STATE,6720,end surface coast,CONTROL_FINISHED_OK
$STATE,6720,begin surface
$SM_CCo,6738,75.88,0.085,0,0,771,420.20
$SM_GC,1.71,7.43,1.48,75.88,0.067,0.070,0.085,119,2411,771,-7.13,-0.31,420.20,0,0,0,0,0,0
$RAFOS_CLK,437
$RAFOS_FIX,6635.218750,-6026.218750,081011,080856,4,74,9.44
$IRIDIUM_FIX,6609.62,-6041.48,081011,080839
$TT8_MAMPS,0.026215,0.026215
$HUMID,61.45
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,17
$24V_AH,23.2,3.154
$10V_AH,10.2,3.235
$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,18.100,47.750,323.025,75.875,0.000,0.000,0.000,153.825,5.000,0.000,16.651,1824.737,3151.543,499.564,1457.728,144.662,0.000,1384.958,0.000,1298.144,0.000,7.529,0.000
$DEVICE_MAMPS,276.165,94.095,1126.080,84.915,0.000,0.000,0.000,232.204,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.377,530.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150412
$DATA_FILE_SIZE,30071,761
$CAP_FILE_SIZE,93141,0
$CFSIZE,260165632,247103488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.3
$GPS,081011,112604,6634.854,-6030.079,24,1.0,37,-33.7