version: 66.09
glider: 143
mission: 13
dive: 17
start: 10 8 111 17 57 53
data:
$ID,143
$MISSION,13
$DIVE,17
$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,-80439.273
$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,2510
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,22
$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
$GPS1,081011,175158,6633.369,-6025.434,44,1.3,47,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.0
$GPS2,081011,175722,6633.349,-6025.368,22,1.1,22,-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,104.4,166300,-18.3,-10.000
$D_GRID,492
$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,-146.0,0.0,0.0,0,121,0.00,0.00,-102.88,0.000,2,0.000,0.000,127,2520,2238,0,0,0,0,0,0
$GC,124,-0.77,-146.0,3.4,-4.1,18,167,8.93,1.20,-26.90,0.000,4,0.275,0.090,2163,1804,3082,0,0,0,0,0,0
$GC,421,-0.77,-146.0,51.4,-14.5,70,427,0.00,1.25,0.00,0.000,6,0.000,0.075,2160,2504,3083,0,0,0,0,0,0
$GC,630,-0.77,-146.0,79.9,-12.9,107,637,0.00,1.23,0.00,0.000,4,0.000,0.063,2160,1793,3083,0,0,0,0,0,0
$GC,678,-0.77,-146.0,86.1,-13.4,115,684,0.00,1.27,0.00,0.000,6,0.000,0.073,2155,2510,3083,0,0,0,0,0,0
$GC,888,-0.77,-146.0,114.4,-12.9,143,892,0.00,1.17,0.00,0.000,4,0.000,0.086,2150,3217,3084,0,0,0,0,0,0
$GC,1024,-0.77,-146.0,131.9,-12.4,155,1028,0.00,1.17,0.00,0.000,6,0.000,0.057,2150,2506,3083,0,0,0,0,0,0
$GC,1249,-0.77,-146.0,159.7,-12.5,176,1253,0.00,1.23,0.00,0.000,4,0.000,0.085,2145,3216,3083,0,0,0,0,0,0
$GC,1343,-0.77,-146.0,171.9,-13.6,184,1350,0.00,1.17,0.00,0.000,6,0.000,0.057,2145,2506,3083,0,0,0,0,0,0
$GC,1563,-0.77,-146.0,201.3,-12.6,205,1566,0.00,1.23,0.00,0.000,4,0.000,0.085,2140,3215,3083,0,0,0,0,0,0
$GC,1612,-0.77,-146.0,207.1,-13.0,209,1619,0.00,1.17,0.00,0.000,6,0.000,0.057,2140,2508,3083,0,0,0,0,0,0
$GC,1832,-0.77,-146.0,234.2,-11.8,230,1835,0.00,1.23,0.00,0.000,4,0.000,0.086,2136,3218,3083,0,0,0,0,0,0
$GC,1900,-0.77,-146.0,242.5,-11.9,236,1904,0.08,1.17,0.00,0.000,6,0.164,0.057,2158,2505,3083,0,0,0,0,0,0
$GC,2125,-0.77,-146.0,268.1,-11.3,257,2129,0.00,1.15,0.00,0.000,4,0.000,0.067,2159,1804,3083,0,0,0,0,0,0
$GC,2152,-0.77,-146.0,271.0,-11.6,259,2159,0.00,1.25,0.00,0.000,6,0.000,0.074,2156,2513,3083,0,0,0,0,0,0
$GC,2372,-0.77,-146.0,297.1,-11.9,280,2375,0.00,1.15,0.00,0.000,4,0.000,0.087,2151,3213,3083,0,0,0,0,0,0
$GC,2488,-0.77,-146.0,310.6,-11.7,290,2495,0.00,1.15,0.00,0.000,6,0.000,0.054,2151,2509,3083,0,0,0,0,0,0
$GC,2707,-0.77,-146.0,336.0,-10.9,311,2711,0.00,1.23,0.00,0.000,4,0.000,0.084,2146,3222,3082,0,0,0,0,0,0
$GC,2731,-0.77,-146.0,338.6,-10.9,313,2734,0.00,1.17,0.00,0.000,6,0.000,0.057,2146,2505,3082,0,0,0,0,0,0
$GC,2955,-0.77,-146.0,364.1,-11.6,334,2959,0.00,1.23,0.00,0.000,4,0.000,0.085,2141,3219,3082,0,0,0,0,0,0
$GC,3004,-0.77,-146.0,369.4,-11.5,338,3012,0.00,1.17,0.00,0.000,6,0.000,0.056,2141,2505,3082,0,0,0,0,0,0
$GC,3224,-0.77,-146.0,393.8,-10.7,359,3228,0.00,1.23,0.00,0.000,4,0.000,0.083,2137,3220,3083,0,0,0,0,0,0
$GC,3294,-0.77,-146.0,401.5,-10.9,365,3298,0.08,1.15,0.00,0.000,6,0.164,0.055,2160,2512,3082,0,0,0,0,0,0
$GC,3519,-0.77,-146.0,422.8,-9.1,386,3523,0.00,1.20,0.00,0.000,4,0.000,0.083,2156,3214,3082,0,0,0,0,0,0
$GC,3554,-0.77,-146.0,426.3,-9.8,389,3558,0.00,1.15,0.00,0.000,6,0.000,0.054,2157,2506,3083,0,0,0,0,0,0
$GC,3779,-0.77,-146.0,447.6,-9.4,410,3783,0.00,1.20,0.00,0.000,4,0.000,0.083,2153,3212,3083,0,0,0,0,0,0
$STATE,3801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3801,begin apogee
$GC,3808,-0.16,0.0,450.1,-9.9,412,3932,0.65,0.00,117.38,1.163,6,0.145,0.000,2357,2196,2484,0,0,0,0,0,0
$STATE,3932,end apogee,CONTROL_FINISHED_OK
$STATE,3932,begin climb
$GC,3935,0.77,146.0,454.5,0.0,423,4071,0.90,1.27,124.15,1.106,4,0.063,0.072,2672,1500,1887,0,0,0,0,0,0
$GC,4290,0.77,146.0,425.9,13.4,455,4297,0.00,1.25,0.00,0.000,6,0.000,0.064,2671,2202,1879,0,0,0,0,0,0
$GC,4510,0.77,146.0,396.4,13.0,476,4513,0.00,1.23,0.00,0.000,4,0.000,0.069,2677,1500,1877,0,0,0,0,0,0
$GC,4544,0.77,146.0,391.8,13.0,479,4548,0.00,1.23,0.00,0.000,6,0.000,0.065,2677,2200,1877,0,0,0,0,0,0
$GC,4769,0.77,146.0,363.0,12.3,500,4772,0.00,1.20,0.00,0.000,4,0.000,0.073,2677,2904,1876,0,0,0,0,0,0
$GC,4971,0.77,146.0,336.2,13.0,518,4975,0.00,1.23,0.00,0.000,6,0.000,0.060,2682,2201,1875,0,0,0,0,0,0
$GC,5196,0.77,146.0,308.3,12.6,539,5199,0.00,1.17,0.00,0.000,4,0.000,0.073,2686,1489,1875,0,0,0,0,0,0
$GC,5245,0.77,146.0,302.6,12.4,543,5252,0.00,1.23,0.00,0.000,6,0.000,0.066,2687,2200,1875,0,0,0,0,0,0
$GC,5465,0.77,146.0,274.5,11.9,564,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2200,1875,0,0,0,0,0,0
$GC,5677,0.77,146.0,248.7,11.9,584,5681,0.00,1.20,0.00,0.000,4,0.000,0.069,2691,1497,1875,0,0,0,0,0,0
$GC,5779,0.77,146.0,236.9,11.6,593,5783,0.00,1.20,0.00,0.000,6,0.000,0.064,2691,2203,1875,0,0,0,0,0,0
$GC,6004,0.77,146.0,212.6,10.4,614,6008,0.00,1.17,0.00,0.000,4,0.000,0.071,2691,2911,1875,0,0,0,0,0,0
$GC,6200,0.78,155.3,193.2,9.6,631,6212,0.10,1.23,6.53,0.893,6,0.190,0.060,2669,2196,1851,0,0,0,0,0,0
$GC,6426,0.84,201.4,174.5,7.9,652,6468,0.00,0.00,39.72,0.988,6,0.000,0.000,2669,2195,1662,0,0,0,0,0,0
$GC,6680,0.84,201.4,148.2,10.8,676,6684,0.00,1.15,0.00,0.000,4,0.000,0.073,2673,1496,1657,0,0,0,0,0,0
$GC,6714,0.84,201.4,144.5,10.8,679,6718,0.00,1.23,0.00,0.000,6,0.000,0.066,2673,2200,1657,0,0,0,0,0,0
$GC,6938,0.84,201.4,119.0,11.8,700,6942,0.00,1.20,0.00,0.000,4,0.000,0.074,2673,2913,1656,0,0,0,0,0,0
$GC,7022,0.84,201.4,109.3,12.4,707,7029,0.00,1.25,0.00,0.000,6,0.000,0.060,2678,2193,1656,0,0,0,0,0,0
$GC,7248,0.84,201.4,82.9,11.0,741,7255,0.00,1.15,0.00,0.000,4,0.000,0.074,2683,1494,1655,0,0,0,0,0,0
$GC,7279,0.84,201.4,79.7,11.0,746,7286,0.00,1.23,0.00,0.000,6,0.000,0.067,2683,2208,1655,0,0,0,0,0,0
$GC,7488,0.84,201.4,56.7,11.4,783,7495,0.00,1.17,0.00,0.000,4,0.000,0.076,2683,2904,1654,0,0,0,0,0,0
$GC,7608,0.84,201.4,43.3,11.2,804,7615,0.00,1.23,0.00,0.000,6,0.000,0.062,2688,2193,1654,0,0,0,0,0,0
$GC,7820,0.91,264.3,24.8,7.1,841,7862,0.00,1.15,35.42,0.890,4,0.000,0.071,2693,1493,1404,0,0,0,0,0,0
$GC,8020,0.91,264.4,6.7,10.0,876,8026,0.00,1.23,0.00,0.000,6,0.000,0.066,2693,2202,1398,0,0,0,0,0,0
$STATE,8065,end climb,SURFACE_DEPTH_REACHED
$STATE,8065,begin surface coast
$FINISH,1.2,1.022193
$STATE,8088,end surface coast,CONTROL_FINISHED_OK
$STATE,8089,begin surface
$SM_CCo,8105,71.90,0.085,0,0,771,420.20
$SM_GC,1.93,7.22,0.55,71.90,0.061,0.076,0.085,126,2510,771,-7.11,-0.71,420.20,0,0,0,0,0,0
$RAFOS_CLK,523
$RAFOS,0,1318104064,20.033333,20.017778,89,60,58,0,0,0,590,191,174,0,0,0
$RAFOS_FIX,6638.015625,-6029.224121,081011,121236,4,77,1.83
$IRIDIUM_FIX,6604.29,-6024.69,081011,151536
$TT8_MAMPS,0.029211,0.029211
$HUMID,59.45
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,400.2,114.8
$24V_AH,23.2,3.576
$10V_AH,10.3,3.491
$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,17.950,58.725,323.200,71.900,0.000,0.000,0.000,214.400,6.250,0.000,23.942,2117.158,3925.177,521.868,1776.603,170.504,0.000,1596.667,0.000,1537.544,720.000,12.288,0.000
$DEVICE_MAMPS,274.635,89.505,1162.800,84.915,0.000,0.000,0.000,247.184,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.885,624.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150460
$DATA_FILE_SIZE,33405,888
$CAP_FILE_SIZE,108467,0
$CFSIZE,260165632,246874112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.8
$GPS,081011,201535,6633.046,-6023.665,39,0.8,39,-33.7