version: 66.09
glider: 143
mission: 13
dive: 24
start: 10 9 111 10 48 17
data:
$ID,143
$MISSION,13
$DIVE,24
$N_DIVES,32
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$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,250
$T_MISSION,300
$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,-80448.047
$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,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
$GPS1,091011,104302,6633.626,-6018.688,33,0.8,34,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-71.5
$GPS2,091011,104744,6633.613,-6018.591,15,1.8,15,-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,143.5,161523,-18.3,-10.000
$D_GRID,509
$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,-146.0,0.0,0.0,0,117,0.00,0.00,-97.43,0.000,2,0.000,0.000,122,2514,2170,0,0,0,0,0,0
$GC,120,-0.77,-146.0,3.2,-2.8,16,169,8.85,1.25,-30.90,0.000,4,0.275,0.091,2159,1808,3083,0,0,0,0,0,0
$GC,417,-0.77,-146.0,47.6,-13.8,68,424,0.00,1.25,0.00,0.000,6,0.000,0.073,2156,2513,3085,0,0,0,0,0,0
$GC,624,-0.77,-146.0,77.4,-14.2,105,633,0.00,1.15,0.00,0.000,4,0.000,0.085,2151,3210,3085,0,0,0,0,0,0
$GC,723,-0.77,-146.0,91.9,-14.8,122,730,0.00,1.15,0.00,0.000,6,0.000,0.054,2151,2509,3085,0,0,0,0,0,0
$GC,931,-0.77,-146.0,121.2,-14.1,146,935,0.00,1.15,0.00,0.000,4,0.000,0.063,2151,1804,3085,0,0,0,0,0,0
$GC,978,-0.77,-146.0,127.8,-13.7,150,982,0.00,1.25,0.00,0.000,6,0.000,0.073,2146,2513,3085,0,0,0,0,0,0
$GC,1204,-0.77,-146.0,159.1,-14.1,171,1208,0.00,1.15,0.00,0.000,4,0.000,0.085,2141,3213,3085,0,0,0,0,0,0
$GC,1366,-0.77,-146.0,182.2,-14.3,185,1375,0.00,1.15,0.00,0.000,6,0.000,0.055,2141,2510,3085,0,0,0,0,0,0
$GC,1586,-0.77,-146.0,213.7,-14.1,206,1590,0.00,1.20,0.00,0.000,4,0.000,0.083,2137,3210,3085,0,0,0,0,0,0
$GC,1658,-0.77,-146.0,223.0,-13.3,212,1665,0.00,1.15,0.00,0.000,6,0.000,0.054,2137,2506,3085,0,0,0,0,0,0
$GC,1877,-0.77,-146.0,251.6,-12.2,233,1881,0.12,1.12,0.00,0.000,4,0.177,0.063,2167,1812,3085,0,0,0,0,0,0
$GC,1922,-0.77,-146.0,256.5,-10.8,237,1926,0.00,1.23,0.00,0.000,6,0.000,0.073,2165,2510,3085,0,0,0,0,0,0
$GC,2150,-0.77,-146.0,278.8,-9.9,258,2153,0.00,1.15,0.00,0.000,4,0.000,0.083,2159,3214,3084,0,0,0,0,0,0
$GC,2319,-0.77,-146.0,296.2,-10.5,273,2323,0.00,1.15,0.00,0.000,6,0.000,0.052,2159,2505,3084,0,0,0,0,0,0
$GC,2545,-0.77,-146.0,320.0,-10.9,294,2549,0.00,1.12,0.00,0.000,4,0.000,0.063,2159,1808,3084,0,0,0,0,0,0
$GC,2613,-0.77,-146.0,327.3,-10.7,300,2616,0.00,1.23,0.00,0.000,6,0.000,0.071,2154,2509,3084,0,0,0,0,0,0
$GC,2837,-0.77,-146.0,351.8,-10.7,321,2841,0.00,1.15,0.00,0.000,4,0.000,0.081,2151,3217,3084,0,0,0,0,0,0
$GC,2920,-0.77,-146.0,360.4,-10.8,328,2927,0.00,1.15,0.00,0.000,6,0.000,0.050,2151,2501,3084,0,0,0,0,0,0
$GC,3139,-0.77,-146.0,385.1,-11.0,349,3143,0.00,1.23,0.00,0.000,4,0.000,0.080,2146,3223,3084,0,0,0,0,0,0
$GC,3206,-0.77,-146.0,392.7,-11.5,355,3210,0.00,1.15,0.00,0.000,6,0.000,0.050,2146,2510,3084,0,0,0,0,0,0
$GC,3432,-0.77,-146.0,417.5,-11.2,376,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2509,3084,0,0,0,0,0,0
$GC,3643,-0.77,-146.0,440.3,-10.9,396,3647,0.00,1.20,0.00,0.000,4,0.000,0.081,2141,3216,3084,0,0,0,0,0,0
$GC,3759,-0.77,-146.0,452.7,-11.2,406,3766,0.00,1.12,0.00,0.000,6,0.000,0.051,2141,2511,3084,0,0,0,0,0,0
$GC,3978,-0.77,-146.0,477.3,-10.9,427,3982,0.00,1.12,0.00,0.000,4,0.000,0.062,2141,1810,3084,0,0,0,0,0,0
$GC,4027,-0.77,-146.0,482.4,-11.3,431,4034,0.00,1.23,0.00,0.000,6,0.000,0.069,2138,2517,3084,0,0,0,0,0,0
$GC,4247,-0.77,-146.0,506.6,-11.0,452,4251,0.12,1.12,0.00,0.000,4,0.181,0.083,2164,3213,3084,0,0,0,0,0,0
$STATE,4269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4269,begin apogee
$GC,4276,-0.16,0.0,509.3,-11.5,454,4401,0.60,0.00,118.03,1.198,6,0.140,0.000,2357,2190,2484,0,0,0,0,0,0
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4404,0.77,146.0,515.1,0.0,465,4539,0.88,1.25,125.07,1.159,4,0.057,0.069,2669,1497,1887,0,0,0,0,0,0
$GC,4669,0.77,146.0,497.6,12.9,489,4672,0.00,1.25,0.00,0.000,6,0.000,0.061,2669,2201,1880,0,0,0,0,0,0
$GC,4895,0.77,146.0,468.5,13.0,510,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,1877,0,0,0,0,0,0
$GC,5105,0.77,146.0,441.0,12.7,530,5108,0.00,1.23,0.00,0.000,4,0.000,0.065,2674,1495,1876,0,0,0,0,0,0
$GC,5207,0.77,146.0,427.7,13.4,539,5211,0.00,1.23,0.00,0.000,6,0.000,0.062,2674,2205,1876,0,0,0,0,0,0
$GC,5433,0.77,146.0,399.6,12.0,560,5437,0.00,1.17,0.00,0.000,4,0.000,0.071,2674,2902,1875,0,0,0,0,0,0
$GC,5445,0.77,146.0,398.0,12.0,561,5448,0.00,1.20,0.00,0.000,6,0.000,0.056,2679,2205,1875,0,0,0,0,0,0
$GC,5671,0.77,146.0,370.6,12.2,582,5675,0.00,1.25,0.00,0.000,4,0.000,0.069,2679,2914,1875,0,0,0,0,0,0
$GC,5715,0.77,146.0,364.7,12.8,586,5719,0.00,1.23,0.00,0.000,6,0.000,0.058,2683,2200,1875,0,0,0,0,0,0
$GC,5941,0.77,146.0,336.6,12.0,607,5945,0.00,1.15,0.00,0.000,4,0.000,0.068,2689,1492,1874,0,0,0,0,0,0
$GC,6092,0.77,146.0,318.8,11.9,620,6098,0.00,1.20,0.00,0.000,6,0.000,0.063,2689,2199,1874,0,0,0,0,0,0
$GC,6311,0.77,146.0,292.6,10.9,641,6314,0.00,1.20,0.00,0.000,4,0.000,0.066,2693,1493,1875,0,0,0,0,0,0
$GC,6400,0.77,146.0,282.9,10.8,649,6404,0.10,1.20,0.00,0.000,6,0.181,0.063,2665,2203,1874,0,0,0,0,0,0
$GC,6626,0.78,154.2,261.1,9.6,670,6641,0.00,1.17,5.80,0.886,4,0.000,0.062,2669,1493,1855,0,0,0,0,0,0
$GC,6835,0.78,154.2,240.9,10.1,688,6842,0.00,1.20,0.00,0.000,6,0.000,0.063,2669,2203,1855,0,0,0,0,0,0
$GC,7055,0.78,154.2,216.7,11.3,709,7058,0.00,1.20,0.00,0.000,4,0.000,0.067,2674,1490,1855,0,0,0,0,0,0
$GC,7144,0.78,154.2,206.9,10.7,717,7148,0.00,1.20,0.00,0.000,6,0.000,0.064,2674,2201,1855,0,0,0,0,0,0
$GC,7368,0.78,154.2,183.2,10.5,738,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2201,1854,0,0,0,0,0,0
$GC,7581,0.78,154.2,160.8,10.1,758,7585,0.00,1.17,0.00,0.000,4,0.000,0.067,2679,1497,1854,0,0,0,0,0,0
$GC,7630,0.78,154.2,156.3,10.0,762,7639,0.00,1.20,0.00,0.000,6,0.000,0.063,2678,2205,1855,0,0,0,0,0,0
$GC,7851,0.80,169.2,134.3,9.3,783,7874,0.00,1.25,13.93,0.964,4,0.000,0.067,2683,1492,1795,0,0,0,0,0,0
$GC,7958,0.80,171.0,124.3,9.9,792,7965,0.00,1.20,0.00,0.000,6,0.000,0.063,2683,2199,1793,0,0,0,0,0,0
$GC,8178,0.83,196.0,102.9,8.9,813,8206,0.00,1.23,23.10,0.955,4,0.000,0.067,2688,1497,1686,0,0,0,0,0,0
$GC,8298,0.83,196.0,91.3,10.2,831,8305,0.00,1.20,0.00,0.000,6,0.000,0.063,2688,2197,1682,0,0,0,0,0,0
$GC,8503,0.83,196.0,68.9,11.6,868,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2197,1681,0,0,0,0,0,0
$GC,8707,0.86,223.6,45.6,8.7,905,8735,0.00,1.17,23.48,0.923,4,0.000,0.065,2692,1497,1572,0,0,0,0,0,0
$GC,8969,0.92,267.2,21.6,8.0,951,8996,0.00,1.20,24.08,0.855,6,0.000,0.064,2692,2196,1395,0,0,0,0,0,0
$STATE,9173,end climb,SURFACE_DEPTH_REACHED
$STATE,9173,begin surface coast
$FINISH,1.2,1.023647
$STATE,9190,end surface coast,CONTROL_FINISHED_OK
$STATE,9190,begin surface
$SM_CCo,9206,70.90,0.086,0,0,772,420.20
$SM_GC,2.21,7.28,0.57,70.90,0.063,0.075,0.086,129,2517,772,-7.10,-0.45,420.20,0,0,0,0,0,0
$RAFOS_CLK,595
$RAFOS,6,1318164546,12.833333,12.818334,67,56,55,0,0,0,869,131,193,0,0,0
$RAFOS,5,1318164064,12.700000,12.684444,97,61,55,0,0,0,976,209,145,0,0,0
$RAFOS,4,1318163584,12.566667,12.551111,91,65,61,0,0,0,746,192,177,0,0,0
$RAFOS,3,1318163107,12.433333,12.418612,73,65,60,0,0,0,718,189,145,0,0,0
$RAFOS,2,1318162631,12.300000,12.286389,57,57,54,0,0,0,134,197,145,0,0,0
$RAFOS,1,1318162145,12.166667,12.151389,62,59,59,0,0,0,587,211,158,0,0,0
$RAFOS,0,1318161663,12.033333,12.017500,65,62,54,0,0,0,210,194,175,0,0,0
$RAFOS_FIX,6634.957520,-6012.986816,091011,121255,5,78,0.76
$IRIDIUM_FIX,6604.29,-6012.63,091011,080838
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.99
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,401.2,123.3
$24V_AH,23.2,4.275
$10V_AH,10.3,3.981
$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,17.950,60.525,333.475,70.900,0.000,0.000,0.000,178.775,5.250,0.000,17.051,2732.453,4214.539,540.684,1913.720,186.827,0.000,1662.532,0.000,1717.433,2520.000,12.329,0.000
$DEVICE_MAMPS,274.635,91.035,1197.990,85.680,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.926,699.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150408
$DATA_FILE_SIZE,36759,990
$CAP_FILE_SIZE,119030,0
$CFSIZE,260165632,246472704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.2
$CURRENT,0.307,324.9,1
$GPS,091011,132435,6634.158,-6017.563,37,0.9,37,-33.7