version: 66.09
glider: 143
mission: 13
dive: 19
start: 10 8 111 22 47 9
data:
$ID,143
$MISSION,13
$DIVE,19
$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,2
$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,-80441.773
$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,27
$R_STBD_OVSHOOT,25
$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,0
$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
$GPS1,081011,224154,6633.434,-6022.020,31,0.9,31,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.6
$GPS2,081011,224638,6633.393,-6022.041,21,1.0,21,-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,104.2,164007,-18.3,-10.000
$D_GRID,500
$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,-146.0,0.0,0.0,0,118,0.00,0.00,-99.57,0.000,2,0.000,0.000,126,2520,2174,0,0,0,0,0,0
$GC,121,-0.77,-146.0,3.0,-2.1,15,169,8.93,1.27,-30.92,0.000,4,0.275,0.094,2162,1809,3083,0,0,0,0,0,0
$GC,419,-0.77,-146.0,47.8,-13.0,67,426,0.00,1.25,0.00,0.000,6,0.000,0.074,2159,2508,3085,0,0,0,0,0,0
$GC,627,-0.77,-146.0,75.8,-13.9,104,634,0.00,1.20,0.00,0.000,4,0.000,0.063,2159,1812,3085,0,0,0,0,0,0
$GC,673,-0.77,-146.0,82.0,-13.0,112,680,0.00,1.25,0.00,0.000,6,0.000,0.074,2154,2513,3085,0,0,0,0,0,0
$GC,881,-0.77,-146.0,110.2,-13.5,143,885,0.00,1.15,0.00,0.000,4,0.000,0.086,2149,3209,3085,0,0,0,0,0,0
$GC,926,-0.77,-146.0,116.4,-13.8,147,930,0.00,1.15,0.00,0.000,6,0.000,0.057,2149,2513,3085,0,0,0,0,0,0
$GC,1151,-0.77,-146.0,146.8,-13.3,168,1154,0.00,1.20,0.00,0.000,4,0.000,0.083,2144,3210,3085,0,0,0,0,0,0
$GC,1244,-0.77,-146.0,158.6,-13.1,176,1251,0.00,1.15,0.00,0.000,6,0.000,0.056,2144,2511,3085,0,0,0,0,0,0
$GC,1464,-0.77,-146.0,187.1,-13.2,197,1467,0.00,1.20,0.00,0.000,4,0.000,0.083,2139,3208,3085,0,0,0,0,0,0
$GC,1501,-0.77,-146.0,191.4,-12.9,200,1509,0.00,1.15,0.00,0.000,6,0.000,0.055,2140,2511,3085,0,0,0,0,0,0
$GC,1721,-0.77,-146.0,221.5,-13.7,221,1724,0.00,1.15,0.00,0.000,4,0.000,0.067,2140,1809,3085,0,0,0,0,0,0
$GC,1743,-0.77,-146.0,224.5,-13.7,223,1747,0.10,1.23,0.00,0.000,6,0.159,0.075,2165,2501,3085,0,0,0,0,0,0
$GC,1970,-0.77,-146.0,250.5,-11.1,244,1973,0.00,1.17,0.00,0.000,4,0.000,0.088,2162,3214,3084,0,0,0,0,0,0
$GC,2093,-0.77,-146.0,264.6,-11.2,255,2097,0.00,1.17,0.00,0.000,6,0.000,0.057,2162,2499,3083,0,0,0,0,0,0
$GC,2319,-0.77,-146.0,288.8,-10.6,276,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2499,3084,0,0,0,0,0,0
$GC,2529,-0.77,-146.0,310.9,-10.5,296,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2499,3084,0,0,0,0,0,0
$GC,2741,-0.77,-146.0,334.8,-11.1,316,2745,0.00,1.23,0.00,0.000,4,0.000,0.086,2157,3213,3084,0,0,0,0,0,0
$GC,2768,-0.77,-146.0,337.4,-11.3,318,2775,0.00,1.17,0.00,0.000,6,0.000,0.057,2157,2502,3083,0,0,0,0,0,0
$GC,2987,-0.77,-146.0,362.5,-11.4,339,2991,0.00,1.23,0.00,0.000,4,0.000,0.085,2152,3217,3083,0,0,0,0,0,0
$GC,3058,-0.77,-146.0,370.5,-11.9,345,3068,0.00,1.17,0.00,0.000,6,0.000,0.056,2152,2499,3083,0,0,0,0,0,0
$GC,3279,-0.77,-146.0,396.9,-11.7,366,3283,0.00,1.12,0.00,0.000,4,0.000,0.064,2152,1802,3083,0,0,0,0,0,0
$GC,3306,-0.77,-146.0,399.7,-11.7,368,3319,0.00,1.25,0.00,0.000,6,0.000,0.073,2147,2514,3083,0,0,0,0,0,0
$GC,3527,-0.77,-146.0,424.9,-10.9,389,3531,0.00,1.15,0.00,0.000,4,0.000,0.086,2142,3217,3084,0,0,0,0,0,0
$GC,3598,-0.77,-146.0,432.3,-11.0,395,3605,0.00,1.15,0.00,0.000,6,0.000,0.054,2142,2509,3083,0,0,0,0,0,0
$STATE,3765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3765,begin apogee
$GC,3771,-0.16,0.0,450.5,-10.7,411,3896,0.68,0.00,117.45,1.164,6,0.147,0.000,2354,2191,2485,0,0,0,0,0,0
$STATE,3896,end apogee,CONTROL_FINISHED_OK
$STATE,3897,begin climb
$GC,3899,0.77,146.0,455.9,0.0,422,4036,0.88,1.20,124.40,1.111,4,0.057,0.067,2669,1502,1886,0,0,0,0,0,0
$GC,4285,0.77,146.0,422.4,12.6,456,4293,0.00,1.25,0.00,0.000,6,0.000,0.063,2668,2206,1878,0,0,0,0,0,0
$GC,4505,0.77,146.0,392.9,13.0,477,4508,0.00,1.23,0.00,0.000,4,0.000,0.069,2674,1503,1877,0,0,0,0,0,0
$GC,4686,0.77,146.0,370.6,12.4,493,4696,0.00,1.20,0.00,0.000,6,0.000,0.064,2674,2197,1876,0,0,0,0,0,0
$GC,4907,0.77,146.0,343.5,11.9,514,4911,0.00,1.20,0.00,0.000,4,0.000,0.073,2673,2906,1875,0,0,0,0,0,0
$GC,4945,0.77,146.0,339.0,12.6,517,4954,0.00,1.20,0.00,0.000,6,0.000,0.058,2678,2210,1875,0,0,0,0,0,0
$GC,5166,0.77,146.0,311.6,12.7,538,5169,0.00,1.17,0.00,0.000,4,0.000,0.071,2683,1495,1875,0,0,0,0,0,0
$GC,5237,0.77,146.0,303.1,12.4,544,5244,0.00,1.20,0.00,0.000,6,0.000,0.065,2684,2199,1874,0,0,0,0,0,0
$GC,5456,0.77,146.0,276.2,11.5,565,5460,0.00,1.20,0.00,0.000,4,0.000,0.068,2688,1496,1874,0,0,0,0,0,0
$GC,5558,0.77,146.0,264.6,11.2,574,5562,0.00,1.20,0.00,0.000,6,0.000,0.066,2688,2201,1874,0,0,0,0,0,0
$GC,5783,0.77,146.0,240.5,10.3,595,5787,0.00,1.17,0.00,0.000,4,0.000,0.075,2688,2901,1874,0,0,0,0,0,0
$GC,5999,0.77,150.6,219.3,9.8,614,6006,0.00,1.23,0.00,0.000,6,0.000,0.062,2693,2191,1874,0,0,0,0,0,0
$GC,6218,0.80,174.1,198.8,8.9,635,6244,0.00,1.10,21.65,1.000,4,0.000,0.070,2698,1496,1776,0,0,0,0,0,0
$GC,6406,0.80,174.1,178.9,11.0,652,6410,0.00,1.23,0.00,0.000,6,0.000,0.067,2698,2206,1774,0,0,0,0,0,0
$GC,6632,0.80,174.1,153.3,11.8,673,6636,0.00,1.23,0.00,0.000,4,0.000,0.070,2703,1492,1773,0,0,0,0,0,0
$GC,6759,0.80,174.1,138.5,11.8,684,6767,0.08,1.20,0.00,0.000,6,0.184,0.067,2682,2198,1773,0,0,0,0,0,0
$GC,6980,0.82,191.4,115.1,9.2,705,7004,0.00,1.25,15.75,0.954,4,0.000,0.075,2682,2914,1703,0,0,0,0,0,0
$GC,7160,0.83,192.6,96.5,9.9,724,7167,0.00,1.25,0.00,0.000,6,0.000,0.063,2686,2194,1700,0,0,0,0,0,0
$GC,7365,0.88,237.4,78.5,7.9,761,7412,0.00,1.17,38.55,0.941,4,0.000,0.070,2691,1500,1516,0,0,0,0,0,0
$GC,7624,0.88,237.4,51.3,11.7,806,7631,0.00,1.23,0.00,0.000,6,0.000,0.066,2691,2202,1510,0,0,0,0,0,0
$GC,7829,0.88,237.4,25.7,12.8,843,7836,0.00,1.23,0.00,0.000,4,0.000,0.070,2696,1494,1509,0,0,0,0,0,0
$GC,8029,0.88,237.4,6.4,10.2,879,8036,0.00,1.23,0.00,0.000,6,0.000,0.065,2695,2208,1507,0,0,0,0,0,0
$STATE,8079,end climb,SURFACE_DEPTH_REACHED
$STATE,8079,begin surface coast
$FINISH,1.1,1.011859
$STATE,8097,end surface coast,CONTROL_FINISHED_OK
$STATE,8097,begin surface
$SM_CCo,8113,84.85,0.086,0,0,772,420.20
$SM_GC,1.93,7.22,0.55,84.85,0.066,0.074,0.086,128,2520,772,-7.11,-0.42,420.20,0,0,0,0,0,0
$RAFOS_CLK,525
$RAFOS,6,1318121343,0.833333,0.817500,75,67,55,0,0,0,897,229,180,0,0,0
$RAFOS,5,1318120867,0.700000,0.685278,56,56,54,0,0,0,141,219,170,0,0,0
$RAFOS,4,1318120382,0.566667,0.550556,59,58,56,0,0,0,161,193,113,0,0,0
$RAFOS,3,1318119904,0.433333,0.417778,75,63,62,0,0,0,742,157,214,0,0,0
$RAFOS,2,1318119430,0.300000,0.286111,105,65,64,0,0,0,560,152,206,0,0,0
$RAFOS,1,1318118946,0.166667,0.151667,83,65,56,0,0,0,594,205,238,0,0,0
$RAFOS,0,1318118468,0.033333,0.018889,67,67,66,0,0,0,214,581,205,0,0,0
$RAFOS_FIX,6634.329102,-6014.838867,091011,000012,4,84,0.93
$IRIDIUM_FIX,6604.29,-6017.32,081011,202009
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.58
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,450.5,66.2
$24V_AH,23.2,3.774
$10V_AH,10.3,3.628
$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,17.875,53.800,317.800,84.850,0.000,0.000,0.000,175.650,5.750,0.000,22.685,2432.724,3584.583,562.721,1762.708,164.827,0.000,1601.405,0.000,1563.282,2520.000,16.938,0.000
$DEVICE_MAMPS,275.400,94.095,1164.330,85.680,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.314,624.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150404
$DATA_FILE_SIZE,33375,891
$CAP_FILE_SIZE,107618,0
$CFSIZE,260165632,246763520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.2
$CURRENT,0.117, 14.1,1
$GPS,091011,010529,6633.705,-6020.570,40,0.7,40,-33.7