version: 66.09
glider: 143
mission: 13
dive: 18
start: 10 8 111 20 20 56
data:
$ID,143
$MISSION,13
$DIVE,18
$N_DIVES,20
$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,-80440.523
$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,21
$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
$GPS1,081011,201535,6633.046,-6023.665,39,0.8,39,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.0
$GPS2,081011,202025,6633.015,-6023.614,16,1.5,16,-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,104.1,165311,-18.3,-10.000
$D_GRID,496
$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,-146.0,0.0,0.0,0,116,0.00,0.00,-97.43,0.000,2,0.000,0.000,125,2514,2150,0,0,0,0,0,0
$GC,118,-0.77,-146.0,3.0,-2.3,17,167,9.00,1.20,-31.40,0.000,4,0.276,0.093,2160,1807,3081,0,0,0,0,0,0
$GC,420,-0.77,-146.0,48.8,-13.8,70,426,0.00,1.25,0.00,0.000,6,0.000,0.076,2157,2503,3083,0,0,0,0,0,0
$GC,629,-0.77,-146.0,77.7,-14.5,107,636,0.00,1.20,0.00,0.000,4,0.000,0.086,2151,3221,3082,0,0,0,0,0,0
$GC,676,-0.77,-146.0,84.4,-14.6,115,683,0.00,1.17,0.00,0.000,6,0.000,0.057,2151,2514,3083,0,0,0,0,0,0
$GC,882,-0.77,-146.0,112.1,-13.4,144,886,0.00,1.23,0.00,0.000,4,0.000,0.085,2147,3219,3083,0,0,0,0,0,0
$GC,917,-0.77,-146.0,117.0,-13.6,147,920,0.00,1.17,0.00,0.000,6,0.000,0.057,2147,2511,3083,0,0,0,0,0,0
$GC,1141,-0.77,-146.0,147.4,-13.6,168,1145,0.00,1.23,0.00,0.000,4,0.000,0.084,2142,3218,3083,0,0,0,0,0,0
$GC,1202,-0.77,-146.0,155.3,-13.9,173,1210,0.00,1.17,0.00,0.000,6,0.000,0.056,2142,2509,3083,0,0,0,0,0,0
$GC,1421,-0.77,-146.0,185.1,-13.6,194,1425,0.00,1.23,0.00,0.000,4,0.000,0.085,2137,3217,3083,0,0,0,0,0,0
$GC,1493,-0.77,-146.0,194.5,-13.9,200,1500,0.00,1.17,0.00,0.000,6,0.000,0.057,2138,2504,3083,0,0,0,0,0,0
$GC,1714,-0.77,-146.0,224.3,-12.7,221,1718,0.12,1.23,0.00,0.000,4,0.184,0.086,2162,3213,3083,0,0,0,0,0,0
$GC,1827,-0.77,-146.0,237.6,-11.3,231,1830,0.00,1.15,0.00,0.000,6,0.000,0.056,2163,2511,3083,0,0,0,0,0,0
$GC,2051,-0.77,-146.0,262.5,-10.8,252,2055,0.00,1.23,0.00,0.000,4,0.000,0.084,2158,3221,3082,0,0,0,0,0,0
$GC,2088,-0.77,-146.0,266.0,-10.6,255,2095,0.00,1.17,0.00,0.000,6,0.000,0.056,2158,2505,3082,0,0,0,0,0,0
$GC,2307,-0.77,-146.0,289.8,-10.7,276,2311,0.00,1.23,0.00,0.000,4,0.000,0.086,2153,3215,3082,0,0,0,0,0,0
$GC,2343,-0.77,-146.0,293.6,-10.8,279,2347,0.00,1.15,0.00,0.000,6,0.000,0.056,2153,2512,3082,0,0,0,0,0,0
$GC,2568,-0.77,-146.0,318.2,-10.8,300,2571,0.00,1.23,0.00,0.000,4,0.000,0.085,2149,3222,3082,0,0,0,0,0,0
$GC,2595,-0.77,-146.0,320.8,-10.8,302,2602,0.00,1.17,0.00,0.000,6,0.000,0.055,2149,2505,3082,0,0,0,0,0,0
$GC,2814,-0.77,-146.0,345.9,-10.9,323,2818,0.00,1.23,0.00,0.000,4,0.000,0.085,2144,3217,3082,0,0,0,0,0,0
$GC,2882,-0.77,-146.0,353.6,-11.3,329,2885,0.00,1.15,0.00,0.000,6,0.000,0.056,2144,2509,3082,0,0,0,0,0,0
$GC,3106,-0.77,-146.0,379.4,-11.5,350,3110,0.00,1.15,0.00,0.000,4,0.000,0.066,2144,1802,3082,0,0,0,0,0,0
$GC,3130,-0.77,-146.0,382.1,-11.4,352,3133,0.00,1.25,0.00,0.000,6,0.000,0.074,2139,2513,3081,0,0,0,0,0,0
$GC,3357,-0.77,-146.0,407.7,-11.6,373,3360,0.00,1.15,0.00,0.000,4,0.000,0.086,2134,3214,3082,0,0,0,0,0,0
$GC,3542,-0.77,-146.0,428.7,-11.5,389,3549,0.10,1.15,0.00,0.000,6,0.162,0.054,2163,2505,3082,0,0,0,0,0,0
$STATE,3760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3760,begin apogee
$GC,3766,-0.16,0.0,450.2,-9.0,410,3891,0.60,0.00,116.97,1.171,6,0.143,0.000,2356,2186,2485,0,0,0,0,0,0
$STATE,3891,end apogee,CONTROL_FINISHED_OK
$STATE,3892,begin climb
$GC,3894,0.77,146.0,455.3,0.0,421,4026,0.90,1.25,124.10,1.114,4,0.067,0.070,2668,1502,1888,0,0,0,0,0,0
$GC,4278,0.77,146.0,424.7,12.2,455,4285,0.00,1.25,0.00,0.000,6,0.000,0.064,2668,2206,1879,0,0,0,0,0,0
$GC,4497,0.77,146.0,397.7,12.0,476,4501,0.00,1.25,0.00,0.000,4,0.000,0.069,2672,1495,1877,0,0,0,0,0,0
$GC,4536,0.77,146.0,393.6,11.8,479,4543,0.00,1.25,0.00,0.000,6,0.000,0.064,2672,2208,1877,0,0,0,0,0,0
$GC,4755,0.77,146.0,367.2,11.9,500,4759,0.00,1.20,0.00,0.000,4,0.000,0.073,2672,2913,1876,0,0,0,0,0,0
$GC,4771,0.77,146.0,365.8,12.1,501,4778,0.00,1.23,0.00,0.000,6,0.000,0.058,2677,2211,1875,0,0,0,0,0,0
$GC,4990,0.77,146.0,338.9,11.8,522,4994,0.00,1.17,0.00,0.000,4,0.000,0.070,2682,1496,1876,0,0,0,0,0,0
$GC,5104,0.77,146.0,325.5,11.7,532,5107,0.00,1.23,0.00,0.000,6,0.000,0.065,2682,2208,1875,0,0,0,0,0,0
$GC,5328,0.77,146.0,298.8,11.6,553,5332,0.00,1.23,0.00,0.000,4,0.000,0.068,2687,1496,1875,0,0,0,0,0,0
$GC,5352,0.77,146.0,296.2,11.8,555,5355,0.00,1.20,0.00,0.000,6,0.000,0.065,2687,2199,1875,0,0,0,0,0,0
$GC,5576,0.77,146.0,269.1,12.2,576,5580,0.00,1.20,0.00,0.000,4,0.000,0.068,2692,1497,1875,0,0,0,0,0,0
$GC,5756,0.77,146.0,247.6,12.1,592,5760,0.08,1.20,0.00,0.000,6,0.181,0.066,2671,2204,1875,0,0,0,0,0,0
$GC,5982,0.77,148.6,223.8,9.9,613,5985,0.00,1.17,0.00,0.000,4,0.000,0.075,2671,2911,1875,0,0,0,0,0,0
$GC,6084,0.78,156.9,213.6,9.6,622,6097,0.00,1.23,7.85,0.930,6,0.000,0.060,2674,2196,1845,0,0,0,0,0,0
$GC,6310,0.81,180.0,192.5,8.9,643,6335,0.00,1.17,20.95,0.993,4,0.000,0.070,2680,1491,1750,0,0,0,0,0,0
$GC,6448,0.81,180.0,178.7,10.4,655,6455,0.00,1.23,0.00,0.000,6,0.000,0.065,2679,2200,1748,0,0,0,0,0,0
$GC,6667,0.81,180.0,155.7,10.1,676,6670,0.00,1.20,0.00,0.000,4,0.000,0.068,2684,1498,1747,0,0,0,0,0,0
$GC,6750,0.81,180.0,147.6,10.2,683,6757,0.00,1.23,0.00,0.000,6,0.000,0.065,2684,2206,1746,0,0,0,0,0,0
$GC,6970,0.81,180.6,125.6,10.0,704,6973,0.00,1.15,0.00,0.000,4,0.000,0.071,2684,2902,1746,0,0,0,0,0,0
$GC,7053,0.81,180.6,117.2,10.6,711,7060,0.00,1.20,0.00,0.000,6,0.000,0.057,2689,2198,1745,0,0,0,0,0,0
$GC,7277,0.81,180.6,94.1,10.1,737,7283,0.00,1.12,0.00,0.000,4,0.000,0.070,2694,1497,1745,0,0,0,0,0,0
$GC,7537,0.82,186.5,69.1,9.7,783,7550,0.00,1.20,5.97,0.844,6,0.000,0.067,2695,2203,1725,0,0,0,0,0,0
$GC,7753,0.82,186.5,47.0,10.2,821,7760,0.00,1.17,0.00,0.000,4,0.000,0.075,2694,2910,1724,0,0,0,0,0,0
$GC,7778,0.83,193.2,44.6,9.7,825,7791,0.00,1.23,7.35,0.874,6,0.000,0.063,2699,2198,1696,0,0,0,0,0,0
$GC,7995,0.87,226.6,24.7,8.5,863,8020,0.00,1.20,19.58,0.890,4,0.000,0.072,2704,1492,1560,0,0,0,0,0,0
$STATE,8243,end climb,SURFACE_DEPTH_REACHED
$STATE,8244,begin surface coast
$FINISH,1.2,1.022346
$STATE,8261,end surface coast,CONTROL_FINISHED_OK
$STATE,8261,begin surface
$SM_CCo,8279,89.97,0.086,0,0,772,420.20
$SM_GC,1.86,7.25,1.77,89.97,0.064,0.063,0.086,127,2517,772,-7.11,-0.62,420.20,0,0,0,0,0,0
$RAFOS_CLK,535
$RAFOS,6,1318106945,20.833334,20.818056,56,54,52,0,0,0,130,118,195,0,0,0
$RAFOS,5,1318106463,20.700001,20.684166,91,59,55,0,0,0,995,202,144,0,0,0
$RAFOS,4,1318105983,20.566668,20.550833,59,55,54,0,0,0,771,218,128,0,0,0
$RAFOS,3,1318105506,20.433332,20.418333,83,65,63,0,0,0,739,203,215,0,0,0
$RAFOS,1,1318104545,20.166666,20.151388,72,69,59,0,0,0,195,175,149,0,0,0
$RAFOS_FIX,6636.551758,-6021.986328,081011,202032,3,88,27.29
$IRIDIUM_FIX,6609.62,-6029.40,081011,171740
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.01
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.10
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,400.4,117.6
$24V_AH,23.2,3.673
$10V_AH,10.3,3.559
$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,18.050,61.100,302.775,89.975,0.000,0.000,0.000,187.850,5.000,0.000,17.894,2184.501,4014.456,526.504,1782.237,174.319,0.000,1589.695,0.000,1574.282,1440.000,9.271,0.000
$DEVICE_MAMPS,276.165,92.565,1171.215,85.680,0.000,0.000,0.000,249.431,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.672,637.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150464
$DATA_FILE_SIZE,36687,910
$CAP_FILE_SIZE,111150,0
$CFSIZE,260165632,246816768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.4
$GPS,081011,224154,6633.434,-6022.020,31,0.9,31,-33.7