version: 66.09
glider: 143
mission: 13
dive: 16
start: 10 8 111 15 29 31
data:
$ID,143
$MISSION,13
$DIVE,16
$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,-80438.023
$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,17
$R_STBD_OVSHOOT,19
$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
$GPS1,081011,152349,6634.325,-6027.195,27,1.0,27,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-66.4
$GPS2,081011,152900,6634.323,-6027.258,21,0.9,21,-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,105.2,167006,-18.3,-10.000
$D_GRID,486
$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,-146.0,0.0,0.0,0,122,0.00,0.00,-103.07,0.000,2,0.000,0.000,126,2509,2222,0,0,0,0,0,0
$GC,125,-0.77,-146.0,3.2,-2.8,18,168,8.95,1.23,-29.05,0.000,4,0.273,0.093,2162,1797,3083,0,0,0,0,0,0
$GC,422,-0.77,-146.0,48.9,-13.5,70,428,0.00,1.27,0.00,0.000,6,0.000,0.073,2159,2511,3085,0,0,0,0,0,0
$GC,631,-0.77,-146.0,77.7,-14.6,107,638,0.00,1.17,0.00,0.000,4,0.000,0.084,2154,3216,3085,0,0,0,0,0,0
$GC,746,-0.77,-146.0,94.1,-14.0,127,753,0.00,1.17,0.00,0.000,6,0.000,0.054,2154,2504,3085,0,0,0,0,0,0
$GC,947,-0.77,-146.0,121.8,-13.0,149,951,0.00,1.23,0.00,0.000,4,0.000,0.082,2149,3213,3085,0,0,0,0,0,0
$GC,1007,-0.77,-146.0,129.5,-13.5,154,1014,0.00,1.15,0.00,0.000,6,0.000,0.052,2149,2510,3085,0,0,0,0,0,0
$GC,1227,-0.77,-146.0,157.7,-12.4,175,1230,0.00,1.23,0.00,0.000,4,0.000,0.082,2144,3219,3085,0,0,0,0,0,0
$GC,1276,-0.77,-146.0,163.5,-12.8,179,1283,0.00,1.17,0.00,0.000,6,0.000,0.054,2144,2504,3085,0,0,0,0,0,0
$GC,1496,-0.77,-146.0,190.1,-11.5,200,1500,0.00,1.23,0.00,0.000,4,0.000,0.083,2139,3213,3085,0,0,0,0,0,0
$GC,1556,-0.77,-146.0,197.0,-12.0,205,1564,0.00,1.15,0.00,0.000,6,0.000,0.054,2139,2509,3085,0,0,0,0,0,0
$GC,1776,-0.77,-146.0,222.9,-11.4,226,1779,0.00,1.23,0.00,0.000,4,0.000,0.083,2134,3221,3085,0,0,0,0,0,0
$GC,1837,-0.77,-146.0,229.8,-12.2,231,1844,0.10,1.17,0.00,0.000,6,0.163,0.055,2164,2505,3085,0,0,0,0,0,0
$GC,2057,-0.77,-146.0,254.0,-11.2,252,2061,0.00,1.23,0.00,0.000,4,0.000,0.083,2160,3218,3085,0,0,0,0,0,0
$GC,2092,-0.77,-146.0,258.1,-11.5,255,2095,0.00,1.17,0.00,0.000,6,0.000,0.057,2161,2505,3084,0,0,0,0,0,0
$GC,2316,-0.77,-146.0,283.4,-10.5,276,2320,0.00,1.23,0.00,0.000,4,0.000,0.082,2156,3219,3084,0,0,0,0,0,0
$GC,2343,-0.77,-146.0,285.8,-10.7,278,2350,0.00,1.17,0.00,0.000,6,0.000,0.054,2156,2502,3084,0,0,0,0,0,0
$GC,2563,-0.77,-146.0,309.2,-10.4,299,2566,0.00,1.23,0.00,0.000,4,0.000,0.084,2151,3214,3084,0,0,0,0,0,0
$GC,2657,-0.77,-146.0,318.6,-10.3,307,2664,0.00,1.15,0.00,0.000,6,0.000,0.055,2151,2509,3084,0,0,0,0,0,0
$GC,2876,-0.77,-146.0,343.0,-11.1,328,2880,0.00,1.15,0.00,0.000,4,0.000,0.066,2151,1804,3084,0,0,0,0,0,0
$GC,2937,-0.77,-146.0,349.4,-11.2,333,2950,0.00,1.25,0.00,0.000,6,0.000,0.075,2146,2516,3084,0,0,0,0,0,0
$GC,3159,-0.77,-146.0,375.2,-11.6,354,3163,0.00,1.15,0.00,0.000,4,0.000,0.087,2141,3215,3084,0,0,0,0,0,0
$GC,3254,-0.77,-146.0,385.8,-11.4,362,3261,0.00,1.15,0.00,0.000,6,0.000,0.054,2141,2506,3084,0,0,0,0,0,0
$GC,3473,-0.77,-146.0,411.7,-11.3,383,3477,0.00,1.23,0.00,0.000,4,0.000,0.084,2137,3221,3084,0,0,0,0,0,0
$GC,3564,-0.77,-146.0,422.2,-11.3,391,3568,0.08,1.15,0.00,0.000,6,0.166,0.054,2160,2511,3084,0,0,0,0,0,0
$GC,3791,-0.77,-146.0,444.5,-9.6,412,3795,0.00,1.12,0.00,0.000,4,0.000,0.063,2161,1812,3085,0,0,0,0,0,0
$GC,3818,-0.77,-146.0,447.2,-9.7,414,3821,0.00,1.23,0.00,0.000,6,0.000,0.073,2157,2512,3084,0,0,0,0,0,0
$STATE,3849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3849,begin apogee
$GC,3855,-0.16,0.0,450.8,-10.1,417,3978,0.62,0.00,117.80,1.164,6,0.145,0.000,2354,2194,2485,0,0,0,0,0,0
$STATE,3979,end apogee,CONTROL_FINISHED_OK
$STATE,3979,begin climb
$GC,3982,0.77,146.0,455.8,0.0,428,4119,0.90,1.27,124.30,1.110,4,0.068,0.071,2665,1499,1887,0,0,0,0,0,0
$GC,4358,0.77,146.0,427.0,11.3,462,4365,0.00,1.25,0.00,0.000,6,0.000,0.066,2665,2198,1879,0,0,0,0,0,0
$GC,4578,0.77,146.0,401.5,11.4,483,4581,0.00,1.23,0.00,0.000,4,0.000,0.075,2665,2907,1877,0,0,0,0,0,0
$GC,4694,0.77,146.0,388.0,12.4,493,4701,0.00,1.23,0.00,0.000,6,0.000,0.060,2670,2211,1876,0,0,0,0,0,0
$GC,4913,0.77,146.0,361.9,11.1,514,4917,0.00,1.17,0.00,0.000,4,0.000,0.071,2675,1497,1876,0,0,0,0,0,0
$GC,4970,0.77,146.0,355.5,11.3,519,4974,0.00,1.23,0.00,0.000,6,0.000,0.067,2675,2205,1875,0,0,0,0,0,0
$GC,5195,0.77,146.0,328.9,12.0,540,5198,0.00,1.23,0.00,0.000,4,0.000,0.069,2680,1496,1875,0,0,0,0,0,0
$GC,5267,0.77,146.0,320.9,11.8,546,5274,0.00,1.20,0.00,0.000,6,0.000,0.065,2680,2198,1875,0,0,0,0,0,0
$GC,5486,0.77,146.0,294.4,11.7,567,5490,0.00,1.20,0.00,0.000,4,0.000,0.075,2680,2908,1875,0,0,0,0,0,0
$GC,5704,0.77,146.0,268.3,12.3,586,5711,0.00,1.23,0.00,0.000,6,0.000,0.061,2685,2198,1874,0,0,0,0,0,0
$GC,5923,0.77,146.0,242.6,11.4,607,5927,0.00,1.15,0.00,0.000,4,0.000,0.072,2690,1493,1874,0,0,0,0,0,0
$GC,6130,0.77,146.0,220.5,10.4,625,6137,0.00,1.20,0.00,0.000,6,0.000,0.067,2690,2197,1874,0,0,0,0,0,0
$GC,6349,0.78,152.6,198.7,9.7,646,6362,0.00,1.20,4.43,0.783,4,0.000,0.075,2690,2902,1862,0,0,0,0,0,0
$GC,6476,0.78,152.6,185.7,11.1,657,6480,0.00,1.20,0.00,0.000,6,0.000,0.062,2695,2204,1862,0,0,0,0,0,0
$GC,6701,0.78,156.9,163.1,9.8,678,6712,0.00,1.27,5.10,0.822,4,0.000,0.073,2695,2909,1845,0,0,0,0,0,0
$GC,6762,0.78,156.9,157.1,10.5,683,6770,0.10,1.23,0.00,0.000,6,0.190,0.062,2672,2198,1845,0,0,0,0,0,0
$GC,6983,0.83,199.5,137.4,8.0,704,7022,0.00,0.00,36.90,0.972,6,0.000,0.000,2672,2198,1671,0,0,0,0,0,0
$GC,7235,0.83,199.5,111.9,10.3,728,7239,0.00,1.15,0.00,0.000,4,0.000,0.073,2677,1497,1666,0,0,0,0,0,0
$GC,7384,0.84,200.9,96.9,9.9,743,7390,0.00,1.23,0.00,0.000,6,0.000,0.069,2676,2201,1665,0,0,0,0,0,0
$GC,7593,0.84,200.9,75.4,11.4,780,7600,0.00,1.20,0.00,0.000,4,0.000,0.076,2676,2915,1665,0,0,0,0,0,0
$GC,7708,0.84,200.9,62.0,12.1,800,7715,0.00,1.25,0.00,0.000,6,0.000,0.063,2681,2193,1664,0,0,0,0,0,0
$GC,7918,0.88,232.9,42.7,8.5,837,7954,0.00,1.30,27.33,0.926,4,0.000,0.073,2681,2905,1534,0,0,0,0,0,0
$GC,7972,0.88,238.3,37.6,9.8,846,7985,0.00,1.25,5.57,0.765,6,0.000,0.063,2686,2197,1512,0,0,0,0,0,0
$GC,8189,0.92,272.9,17.6,8.4,884,8213,0.00,1.25,18.08,0.121,4,0.000,0.071,2686,2920,1371,0,0,0,0,0,0
$GC,8332,0.92,272.9,2.2,11.1,909,8339,0.00,1.27,0.00,0.000,6,0.000,0.063,2691,2197,1366,0,0,0,0,0,0
$STATE,8344,end climb,SURFACE_DEPTH_REACHED
$STATE,8344,begin surface coast
$FINISH,1.0,1.003186
$STATE,8368,end surface coast,CONTROL_FINISHED_OK
$STATE,8368,begin surface
$SM_CCo,8384,68.15,0.085,0,0,771,420.20
$SM_GC,1.94,7.28,0.62,68.15,0.067,0.073,0.085,128,2516,771,-7.10,-0.57,420.20,0,0,0,0,0,0
$RAFOS_CLK,539
$RAFOS,6,1318092544,16.833334,16.817778,59,59,58,0,0,0,226,905,211,0,0,0
$RAFOS,5,1318092068,16.700001,16.685556,60,60,57,0,0,0,134,218,193,0,0,0
$RAFOS,4,1318091583,16.566668,16.550833,56,56,55,0,0,0,193,203,131,0,0,0
$RAFOS,3,1318091104,16.433332,16.417778,67,61,60,0,0,0,213,144,188,0,0,0
$RAFOS,2,1318090624,16.299999,16.284445,67,63,60,0,0,0,201,154,187,0,0,0
$RAFOS,1,1318090151,16.166666,16.153055,73,66,59,0,0,0,209,170,588,0,0,0
$RAFOS,0,1318089665,16.033333,16.018055,58,58,58,0,0,0,190,206,579,0,0,0
$RAFOS_FIX,6638.015625,-6029.224121,081011,121236,4,77,1.83
$IRIDIUM_FIX,6604.29,-6027.36,081011,131359
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.56
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,350.4,155.8
$24V_AH,23.2,3.474
$10V_AH,10.3,3.422
$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,18.025,61.575,339.500,68.150,0.000,0.000,0.000,204.475,6.000,0.000,22.298,2183.463,4020.398,567.713,1829.765,174.360,0.000,1668.724,0.000,1601.148,2520.000,10.678,0.000
$DEVICE_MAMPS,273.105,93.330,1163.565,84.915,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.983,641.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,36758,915
$CAP_FILE_SIZE,113978,0
$CFSIZE,260165632,246931456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.6
$GPS,081011,175158,6633.369,-6025.434,44,1.3,47,-33.7