version: 66.09
glider: 143
mission: 13
dive: 22
start: 10 9 111 5 55 10
data:
$ID,143
$MISSION,13
$DIVE,22
$N_DIVES,25
$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,-80445.539
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,091011,054954,6632.117,-6018.766,39,1.7,39,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-71.6
$GPS2,091011,055437,6632.108,-6018.806,18,1.7,18,-33.6
$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,58.0,162628,-18.3,-10.000
$D_GRID,504
$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,17,-0.77,-146.0,0.0,0.0,0,118,0.00,0.00,-98.62,0.000,2,0.000,0.000,126,2513,2176,0,0,0,0,0,0
$GC,121,-0.77,-146.0,3.1,-2.8,16,170,8.93,1.27,-30.77,0.000,4,0.273,0.091,2158,1800,3083,0,0,0,0,0,0
$GC,271,-0.77,-146.0,28.5,-17.2,41,278,0.00,1.27,0.00,0.000,6,0.000,0.071,2155,2513,3085,0,0,0,0,0,0
$GC,477,-0.77,-146.0,60.0,-15.2,78,486,0.00,1.17,0.00,0.000,4,0.000,0.083,2150,3218,3085,0,0,0,0,0,0
$GC,608,-0.77,-146.0,79.0,-14.1,101,614,0.00,1.17,0.00,0.000,6,0.000,0.054,2150,2509,3085,0,0,0,0,0,0
$GC,812,-0.77,-146.0,107.7,-14.2,133,816,0.00,1.23,0.00,0.000,4,0.000,0.080,2145,3219,3085,0,0,0,0,0,0
$GC,837,-0.77,-146.0,111.2,-14.0,135,840,0.00,1.17,0.00,0.000,6,0.000,0.054,2145,2507,3085,0,0,0,0,0,0
$GC,1061,-0.77,-146.0,141.6,-13.0,156,1065,0.00,1.23,0.00,0.000,4,0.000,0.082,2140,3215,3085,0,0,0,0,0,0
$GC,1077,-0.77,-146.0,143.2,-12.9,157,1084,0.00,1.17,0.00,0.000,6,0.000,0.054,2140,2506,3085,0,0,0,0,0,0
$GC,1296,-0.77,-146.0,172.9,-13.1,178,1300,0.00,1.23,0.00,0.000,4,0.000,0.083,2137,3214,3085,0,0,0,0,0,0
$GC,1390,-0.77,-146.0,184.7,-13.3,186,1399,0.00,1.17,0.00,0.000,6,0.000,0.055,2137,2503,3085,0,0,0,0,0,0
$GC,1611,-0.77,-146.0,213.2,-12.7,207,1615,0.12,1.23,0.00,0.000,4,0.181,0.083,2163,3214,3085,0,0,0,0,0,0
$GC,1733,-0.77,-146.0,227.1,-10.7,218,1737,0.00,1.15,0.00,0.000,6,0.000,0.054,2163,2511,3085,0,0,0,0,0,0
$GC,1959,-0.77,-146.0,252.2,-10.9,239,1963,0.00,1.20,0.00,0.000,4,0.000,0.081,2158,3212,3085,0,0,0,0,0,0
$GC,1998,-0.77,-146.0,256.0,-10.7,242,2007,0.00,1.15,0.00,0.000,6,0.000,0.053,2158,2506,3085,0,0,0,0,0,0
$GC,2219,-0.77,-146.0,279.9,-11.1,263,2223,0.00,1.23,0.00,0.000,4,0.000,0.082,2153,3220,3084,0,0,0,0,0,0
$GC,2242,-0.77,-146.0,282.8,-11.2,265,2245,0.00,1.17,0.00,0.000,6,0.000,0.054,2153,2501,3084,0,0,0,0,0,0
$GC,2466,-0.77,-146.0,308.0,-11.1,286,2470,0.00,1.23,0.00,0.000,4,0.000,0.083,2149,3216,3084,0,0,0,0,0,0
$GC,2524,-0.77,-146.0,314.4,-11.4,291,2528,0.00,1.15,0.00,0.000,6,0.000,0.054,2150,2511,3084,0,0,0,0,0,0
$GC,2749,-0.77,-146.0,338.9,-10.9,312,2752,0.00,1.20,0.00,0.000,4,0.000,0.081,2144,3214,3084,0,0,0,0,0,0
$GC,2820,-0.77,-146.0,346.3,-10.8,318,2830,0.00,1.15,0.00,0.000,6,0.000,0.052,2145,2506,3084,0,0,0,0,0,0
$GC,3044,-0.77,-146.0,370.8,-10.7,339,3048,0.00,1.20,0.00,0.000,4,0.000,0.082,2140,3210,3084,0,0,0,0,0,0
$GC,3093,-0.77,-146.0,376.3,-11.1,343,3100,0.00,1.15,0.00,0.000,6,0.000,0.052,2140,2502,3084,0,0,0,0,0,0
$GC,3313,-0.77,-146.0,401.2,-11.3,364,3316,0.00,1.23,0.00,0.000,4,0.000,0.082,2137,3219,3084,0,0,0,0,0,0
$GC,3426,-0.77,-146.0,413.6,-11.0,374,3430,0.00,1.15,0.00,0.000,6,0.000,0.053,2137,2508,3084,0,0,0,0,0,0
$GC,3652,-0.77,-146.0,438.3,-10.9,395,3656,0.12,1.12,0.00,0.000,4,0.178,0.061,2166,1809,3084,0,0,0,0,0,0
$GC,3663,-0.77,-146.0,439.6,-10.4,396,3667,0.00,1.23,0.00,0.000,6,0.000,0.069,2164,2514,3084,0,0,0,0,0,0
$STATE,3780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3780,begin apogee
$GC,3786,-0.16,0.0,450.4,-9.2,407,3910,0.60,0.00,117.53,1.164,6,0.145,0.000,2355,2192,2485,0,0,0,0,0,0
$STATE,3911,end apogee,CONTROL_FINISHED_OK
$STATE,3911,begin climb
$GC,3913,0.77,146.0,455.8,0.0,418,4046,0.90,1.25,124.03,1.114,4,0.063,0.069,2670,1504,1888,0,0,0,0,0,0
$GC,4295,0.77,146.0,424.4,13.0,452,4302,0.00,1.23,0.00,0.000,6,0.000,0.061,2670,2201,1879,0,0,0,0,0,0
$GC,4515,0.77,146.0,395.7,12.3,473,4518,0.00,1.20,0.00,0.000,4,0.000,0.072,2670,2901,1877,0,0,0,0,0,0
$GC,4717,0.77,146.0,369.9,13.1,491,4721,0.00,1.20,0.00,0.000,6,0.000,0.057,2675,2208,1876,0,0,0,0,0,0
$GC,4945,0.77,146.0,342.2,12.1,512,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2208,1876,0,0,0,0,0,0
$GC,5163,0.77,146.0,315.3,11.8,533,5167,0.00,1.17,0.00,0.000,4,0.000,0.069,2680,1492,1876,0,0,0,0,0,0
$GC,5257,0.77,146.0,304.3,12.1,541,5264,0.00,1.23,0.00,0.000,6,0.000,0.063,2680,2208,1875,0,0,0,0,0,0
$GC,5476,0.77,146.0,277.4,12.3,562,5480,0.00,1.17,0.00,0.000,4,0.000,0.071,2680,2912,1876,0,0,0,0,0,0
$GC,5614,0.77,146.0,260.4,12.7,574,5622,0.00,1.23,0.00,0.000,6,0.000,0.059,2685,2193,1875,0,0,0,0,0,0
$GC,5833,0.77,146.0,233.2,11.8,595,5837,0.00,1.12,0.00,0.000,4,0.000,0.067,2690,1493,1875,0,0,0,0,0,0
$GC,5982,0.77,146.0,216.9,11.1,608,5986,0.00,1.20,0.00,0.000,6,0.000,0.063,2691,2203,1874,0,0,0,0,0,0
$GC,6206,0.77,146.0,192.2,10.5,629,6210,0.00,1.17,0.00,0.000,4,0.000,0.073,2691,2908,1875,0,0,0,0,0,0
$GC,6288,0.77,146.0,183.5,11.1,636,6296,0.10,1.23,0.00,0.000,6,0.181,0.057,2667,2192,1875,0,0,0,0,0,0
$GC,6510,0.80,167.8,163.1,9.0,657,6534,0.00,1.17,17.25,0.975,4,0.000,0.070,2671,1491,1799,0,0,0,0,0,0
$GC,6616,0.80,167.8,153.1,10.1,666,6624,0.00,1.23,0.00,0.000,6,0.000,0.063,2670,2206,1797,0,0,0,0,0,0
$GC,6836,0.81,180.0,131.3,9.4,687,6852,0.00,1.20,11.20,0.936,4,0.000,0.069,2671,2905,1750,0,0,0,0,0,0
$GC,6931,0.81,180.0,121.3,10.6,695,6935,0.00,1.20,0.00,0.000,6,0.000,0.053,2676,2200,1749,0,0,0,0,0,0
$GC,7152,0.81,180.0,99.1,10.2,716,7158,0.00,1.12,0.00,0.000,4,0.000,0.068,2681,1499,1748,0,0,0,0,0,0
$GC,7385,0.81,182.7,75.7,9.9,758,7392,0.00,1.20,0.00,0.000,6,0.000,0.065,2681,2202,1747,0,0,0,0,0,0
$GC,7590,0.82,187.5,54.4,9.8,795,7600,0.00,0.00,7.45,0.873,6,0.000,0.000,2681,2202,1720,0,0,0,0,0,0
$GC,7800,0.87,231.3,34.4,8.0,832,7844,0.00,1.25,36.28,0.919,4,0.000,0.070,2685,1498,1541,0,0,0,0,0,0
$GC,7950,0.92,266.3,21.6,8.4,858,7977,0.00,1.23,19.02,0.835,6,0.000,0.064,2685,2201,1398,0,0,0,0,0,0
$STATE,8141,end climb,SURFACE_DEPTH_REACHED
$STATE,8141,begin surface coast
$FINISH,1.1,1.014823
$STATE,8158,end surface coast,CONTROL_FINISHED_OK
$STATE,8158,begin surface
$SM_CCo,8175,71.60,0.085,0,0,771,420.20
$SM_GC,2.21,7.28,0.57,71.60,0.063,0.075,0.085,127,2521,771,-7.11,-0.40,420.20,0,0,0,0,0,0
$RAFOS_CLK,531
$RAFOS,0,1318147265,8.033334,8.018056,91,66,60,0,0,0,600,162,192,0,0,0
$RAFOS_FIX,6634.555664,-6016.328613,091011,040432,3,80,1.27
$IRIDIUM_FIX,6604.29,-6015.31,091011,030315
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.75
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,351.1,162.4
$24V_AH,23.2,4.075
$10V_AH,10.3,3.836
$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,18.050,56.175,332.750,71.600,0.000,0.000,0.000,178.275,5.000,0.000,19.553,2438.766,3633.543,552.135,1747.819,168.978,0.000,1591.756,0.000,1555.992,720.000,7.621,0.000
$DEVICE_MAMPS,273.105,91.035,1164.330,84.915,0.000,0.000,0.000,249.431,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.530,628.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150400
$DATA_FILE_SIZE,33410,895
$CAP_FILE_SIZE,107482,0
$CFSIZE,260165632,246595584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.5
$CURRENT,0.280,218.4,1
$GPS,091011,081404,6632.261,-6018.825,43,0.9,43,-33.6