version: 66.09
glider: 143
mission: 13
dive: 15
start: 10 8 111 13 5 36
data:
$ID,143
$MISSION,13
$DIVE,15
$N_DIVES,18
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,180
$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,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,-80436.773
$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,2510
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,15
$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,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
$GPS1,081011,130035,6634.871,-6028.841,42,0.9,42,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-63.4
$GPS2,081011,130505,6634.830,-6028.998,18,0.9,18,-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,105.6,167904,-18.3,-10.000
$D_GRID,482
$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,-0.77,-146.0,0.0,0.0,0,116,0.00,0.00,-97.57,0.000,2,0.000,0.000,125,2408,2129,0,0,0,0,0,0
$GC,119,-0.77,-146.0,3.0,-3.5,17,168,8.82,1.08,-33.83,0.000,4,0.272,0.099,2158,1806,3083,0,0,0,0,0,0
$GC,371,-0.77,-146.0,41.5,-12.3,61,377,0.00,1.27,0.00,0.000,6,0.000,0.078,2155,2516,3085,0,0,0,0,0,0
$GC,581,-0.77,-146.0,70.3,-14.3,98,587,0.00,1.17,0.00,0.000,4,0.000,0.088,2150,3220,3085,0,0,0,0,0,0
$GC,758,-0.77,-146.0,96.2,-14.5,129,765,0.00,1.17,0.00,0.000,6,0.000,0.057,2150,2509,3085,0,0,0,0,0,0
$GC,959,-0.77,-146.0,124.1,-14.1,150,963,0.00,1.23,0.00,0.000,4,0.000,0.085,2145,3216,3085,0,0,0,0,0,0
$GC,1042,-0.77,-146.0,135.2,-14.0,157,1049,0.00,1.17,0.00,0.000,6,0.000,0.056,2145,2505,3085,0,0,0,0,0,0
$GC,1261,-0.77,-146.0,165.3,-13.6,178,1265,0.00,1.15,0.00,0.000,4,0.000,0.065,2145,1802,3085,0,0,0,0,0,0
$GC,1277,-0.77,-146.0,166.9,-13.3,179,1284,0.00,1.27,0.00,0.000,6,0.000,0.076,2140,2516,3085,0,0,0,0,0,0
$GC,1496,-0.77,-146.0,197.0,-13.1,200,1500,0.00,1.15,0.00,0.000,4,0.000,0.089,2135,3211,3085,0,0,0,0,0,0
$GC,1576,-0.77,-146.0,207.9,-13.6,207,1580,0.10,1.15,0.00,0.000,6,0.166,0.056,2165,2511,3085,0,0,0,0,0,0
$GC,1801,-0.77,-146.0,233.2,-11.0,228,1805,0.00,1.23,0.00,0.000,4,0.000,0.086,2162,3220,3085,0,0,0,0,0,0
$GC,1836,-0.77,-146.0,237.2,-11.2,231,1839,0.00,1.17,0.00,0.000,6,0.000,0.057,2161,2507,3085,0,0,0,0,0,0
$GC,2060,-0.77,-146.0,262.4,-11.6,252,2064,0.00,1.23,0.00,0.000,4,0.000,0.088,2157,3214,3085,0,0,0,0,0,0
$GC,2084,-0.77,-146.0,265.1,-11.9,254,2087,0.00,1.15,0.00,0.000,6,0.000,0.057,2157,2513,3084,0,0,0,0,0,0
$GC,2308,-0.77,-146.0,290.2,-11.1,275,2312,0.00,1.23,0.00,0.000,4,0.000,0.086,2152,3222,3084,0,0,0,0,0,0
$GC,2343,-0.77,-146.0,294.2,-11.3,278,2346,0.00,1.17,0.00,0.000,6,0.000,0.054,2152,2502,3084,0,0,0,0,0,0
$GC,2568,-0.77,-146.0,320.3,-11.7,299,2572,0.00,1.23,0.00,0.000,4,0.000,0.083,2146,3217,3084,0,0,0,0,0,0
$GC,2641,-0.77,-146.0,328.4,-11.6,305,2648,0.00,1.15,0.00,0.000,6,0.000,0.054,2147,2508,3084,0,0,0,0,0,0
$GC,2860,-0.77,-146.0,354.4,-11.6,326,2863,0.00,1.23,0.00,0.000,4,0.000,0.082,2142,3224,3084,0,0,0,0,0,0
$GC,2888,-0.77,-146.0,357.2,-11.7,328,2895,0.00,1.17,0.00,0.000,6,0.000,0.051,2142,2501,3084,0,0,0,0,0,0
$GC,3107,-0.77,-146.0,383.3,-11.4,349,3111,0.00,1.23,0.00,0.000,4,0.000,0.083,2138,3216,3084,0,0,0,0,0,0
$GC,3179,-0.77,-146.0,391.4,-11.7,355,3186,0.00,1.15,0.00,0.000,6,0.000,0.051,2138,2505,3084,0,0,0,0,0,0
$GC,3399,-0.77,-146.0,418.2,-11.9,376,3402,0.00,1.23,0.00,0.000,4,0.000,0.083,2132,3221,3084,0,0,0,0,0,0
$GC,3422,-0.77,-146.0,421.1,-12.1,378,3426,0.10,1.15,0.00,0.000,6,0.160,0.055,2163,2511,3084,0,0,0,0,0,0
$GC,3647,-0.77,-146.0,443.0,-9.5,399,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2511,3084,0,0,0,0,0,0
$STATE,3728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3728,begin apogee
$GC,3734,-0.16,0.0,450.8,-9.1,407,3858,0.60,0.00,117.85,1.164,6,0.142,0.000,2356,2193,2484,0,0,0,0,0,0
$STATE,3859,end apogee,CONTROL_FINISHED_OK
$STATE,3859,begin climb
$GC,3861,0.77,146.0,455.7,0.0,418,3991,0.90,0.00,124.00,1.111,6,0.068,0.000,2663,2193,1889,0,0,0,0,0,0
$GC,4200,0.77,146.0,431.5,11.7,450,4204,0.00,1.17,0.00,0.000,4,0.000,0.070,2668,1502,1879,0,0,0,0,0,0
$GC,4279,0.77,146.0,422.0,12.0,457,4283,0.00,1.25,0.00,0.000,6,0.000,0.067,2667,2205,1878,0,0,0,0,0,0
$GC,4504,0.77,146.0,393.7,12.8,478,4507,0.00,1.23,0.00,0.000,4,0.000,0.076,2668,2913,1877,0,0,0,0,0,0
$GC,4516,0.77,146.0,392.1,12.8,479,4520,0.00,1.25,0.00,0.000,6,0.000,0.061,2672,2203,1876,0,0,0,0,0,0
$GC,4740,0.77,146.0,364.6,12.3,500,4744,0.00,1.27,0.00,0.000,4,0.000,0.073,2673,2911,1876,0,0,0,0,0,0
$GC,4778,0.77,146.0,360.1,12.7,503,4786,0.00,1.25,0.00,0.000,6,0.000,0.060,2678,2195,1875,0,0,0,0,0,0
$GC,4998,0.77,146.0,332.8,11.8,524,5002,0.00,1.15,0.00,0.000,4,0.000,0.073,2683,1497,1875,0,0,0,0,0,0
$GC,5126,0.77,146.0,318.1,11.7,535,5134,0.00,1.23,0.00,0.000,6,0.000,0.067,2683,2204,1874,0,0,0,0,0,0
$GC,5346,0.77,146.0,292.1,12.0,556,5349,0.00,1.20,0.00,0.000,4,0.000,0.077,2683,2911,1874,0,0,0,0,0,0
$GC,5414,0.77,146.0,283.9,11.7,562,5418,0.00,1.23,0.00,0.000,6,0.000,0.063,2688,2201,1874,0,0,0,0,0,0
$GC,5638,0.77,146.0,256.3,12.3,583,5642,0.00,1.25,0.00,0.000,4,0.000,0.075,2688,2906,1874,0,0,0,0,0,0
$GC,5688,0.77,146.0,251.1,11.5,587,5696,0.10,1.23,0.00,0.000,6,0.181,0.061,2665,2195,1874,0,0,0,0,0,0
$GC,5909,0.77,147.9,228.6,9.9,608,5913,0.00,1.15,0.00,0.000,4,0.000,0.073,2669,1492,1874,0,0,0,0,0,0
$GC,5999,0.77,150.3,219.9,9.9,616,6003,0.00,1.23,0.00,0.000,6,0.000,0.069,2669,2207,1874,0,0,0,0,0,0
$GC,6224,0.78,151.8,197.1,9.9,637,6228,0.00,1.17,0.00,0.000,4,0.000,0.077,2668,2914,1874,0,0,0,0,0,0
$GC,6319,0.79,162.6,188.0,9.5,645,6338,0.00,1.23,12.48,0.975,6,0.000,0.062,2674,2196,1821,0,0,0,0,0,0
$GC,6550,0.80,171.9,164.6,9.6,667,6563,0.00,1.17,9.25,0.935,4,0.000,0.073,2679,1497,1784,0,0,0,0,0,0
$GC,6636,0.81,177.0,156.2,9.8,674,6646,0.00,1.23,6.07,0.858,6,0.000,0.068,2679,2203,1762,0,0,0,0,0,0
$GC,6869,0.81,178.7,131.7,9.9,696,6873,0.00,1.17,0.00,0.000,4,0.000,0.076,2679,2904,1761,0,0,0,0,0,0
$GC,6893,0.81,178.8,129.1,10.0,698,6896,0.00,1.23,0.00,0.000,6,0.000,0.062,2684,2196,1761,0,0,0,0,0,0
$GC,7117,0.84,206.3,107.8,8.7,719,7151,0.00,1.17,25.45,0.957,4,0.000,0.073,2689,1497,1642,0,0,0,0,0,0
$GC,7292,0.84,206.3,89.8,10.3,743,7299,0.00,1.23,0.00,0.000,6,0.000,0.067,2689,2202,1639,0,0,0,0,0,0
$GC,7502,0.84,206.3,66.1,10.5,780,7509,0.00,1.20,0.00,0.000,4,0.000,0.076,2689,2912,1638,0,0,0,0,0,0
$GC,7684,0.85,213.2,47.2,9.7,812,7697,0.00,1.25,6.28,0.835,6,0.000,0.063,2694,2193,1615,0,0,0,0,0,0
$GC,7900,0.93,277.0,27.7,7.1,850,7948,0.00,1.27,40.33,0.895,4,0.000,0.073,2694,2912,1353,0,0,0,0,0,0
$STATE,8126,end climb,SURFACE_DEPTH_REACHED
$STATE,8126,begin surface coast
$FINISH,1.2,1.025229
$STATE,8138,end surface coast,CONTROL_FINISHED_OK
$STATE,8138,begin surface
$SM_CCo,8155,66.20,0.086,0,0,772,420.20
$SM_GC,1.77,7.43,0.75,66.20,0.070,0.073,0.086,128,2510,772,-7.11,0.59,420.20,0,0,0,0,0,0
$RAFOS_CLK,529
$RAFOS_FIX,6638.015625,-6029.224121,081011,121236,4,77,1.83
$IRIDIUM_FIX,6604.29,-6024.69,081011,111139
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.72
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,300.6,202.0
$24V_AH,23.2,3.372
$10V_AH,10.3,3.351
$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,18.050,60.200,341.700,66.200,0.000,0.000,0.000,170.850,4.750,0.000,20.124,2129.544,4007.509,527.728,1673.777,169.447,0.000,1544.979,0.000,1492.547,0.000,5.960,0.000
$DEVICE_MAMPS,272.340,98.685,1163.565,85.680,0.000,0.000,0.000,247.184,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.006,627.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150448
$DATA_FILE_SIZE,33386,892
$CAP_FILE_SIZE,108815,0
$CFSIZE,260165632,246992896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.4
$GPS,081011,152349,6634.325,-6027.195,27,1.0,27,-33.7