version: 66.09
glider: 143
mission: 13
dive: 26
start: 10 9 111 16 15 9
data:
$ID,143
$MISSION,13
$DIVE,26
$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,-80450.555
$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,18
$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
$GPS1,091011,160935,6633.281,-6016.389,39,0.9,39,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-70.7
$GPS2,091011,161436,6633.259,-6016.559,18,1.1,18,-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,115.0,160366,-18.3,-10.000
$D_GRID,513
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-93.70,0.000,2,0.000,0.000,122,2514,2106,0,0,0,0,0,0
$GC,115,-0.77,-146.0,3.0,-2.0,15,165,8.90,1.23,-35.53,0.000,4,0.275,0.111,2152,3224,3083,0,0,0,0,0,0
$GC,409,-0.77,-146.0,50.9,-15.8,66,415,0.00,1.17,0.00,0.000,6,0.000,0.053,2152,2510,3084,0,0,0,0,0,0
$GC,614,-0.77,-146.0,81.7,-14.6,103,621,0.00,1.23,0.00,0.000,4,0.000,0.080,2146,3220,3085,0,0,0,0,0,0
$GC,666,-0.77,-146.0,89.0,-13.7,112,674,0.00,1.17,0.00,0.000,6,0.000,0.052,2147,2504,3084,0,0,0,0,0,0
$GC,875,-0.77,-146.0,117.7,-13.4,138,878,0.00,1.23,0.00,0.000,4,0.000,0.080,2142,3214,3084,0,0,0,0,0,0
$GC,964,-0.77,-146.0,129.8,-13.5,146,968,0.00,1.15,0.00,0.000,6,0.000,0.053,2142,2511,3085,0,0,0,0,0,0
$GC,1188,-0.77,-146.0,159.8,-13.5,167,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2510,3085,0,0,0,0,0,0
$GC,1400,-0.77,-146.0,188.4,-13.6,187,1404,0.00,1.20,0.00,0.000,4,0.000,0.081,2138,3210,3085,0,0,0,0,0,0
$GC,1505,-0.77,-146.0,202.4,-14.1,196,1514,0.00,1.15,0.00,0.000,6,0.000,0.052,2138,2502,3085,0,0,0,0,0,0
$GC,1726,-0.77,-146.0,233.1,-13.6,217,1728,0.12,0.00,0.00,0.000,6,0.178,0.000,2166,2502,3085,0,0,0,0,0,0
$GC,1939,-0.77,-146.0,257.2,-11.1,237,1943,0.00,1.23,0.00,0.000,4,0.000,0.083,2164,3216,3084,0,0,0,0,0,0
$GC,2032,-0.77,-146.0,267.4,-11.1,245,2041,0.00,1.15,0.00,0.000,6,0.000,0.052,2164,2509,3084,0,0,0,0,0,0
$GC,2252,-0.77,-146.0,292.1,-11.1,266,2255,0.00,1.20,0.00,0.000,4,0.000,0.082,2159,3211,3084,0,0,0,0,0,0
$GC,2323,-0.77,-146.0,299.7,-11.3,272,2333,0.00,1.15,0.00,0.000,6,0.000,0.051,2159,2502,3083,0,0,0,0,0,0
$GC,2545,-0.77,-146.0,324.7,-10.8,293,2549,0.00,1.23,0.00,0.000,4,0.000,0.082,2154,3218,3084,0,0,0,0,0,0
$GC,2657,-0.77,-146.0,337.4,-10.8,303,2661,0.00,1.15,0.00,0.000,6,0.000,0.052,2155,2508,3084,0,0,0,0,0,0
$GC,2881,-0.77,-146.0,361.7,-10.4,324,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2508,3084,0,0,0,0,0,0
$GC,3094,-0.77,-146.0,384.3,-10.7,344,3098,0.00,1.23,0.00,0.000,4,0.000,0.082,2151,3220,3084,0,0,0,0,0,0
$GC,3184,-0.77,-146.0,394.1,-11.0,352,3188,0.00,1.15,0.00,0.000,6,0.000,0.050,2151,2508,3084,0,0,0,0,0,0
$GC,3411,-0.77,-146.0,418.4,-11.4,373,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2508,3084,0,0,0,0,0,0
$GC,3629,-0.77,-146.0,442.7,-11.0,394,3633,0.00,1.20,0.00,0.000,4,0.000,0.080,2146,3214,3083,0,0,0,0,0,0
$GC,3723,-0.77,-146.0,452.7,-11.1,402,3730,0.00,1.15,0.00,0.000,6,0.000,0.049,2146,2499,3083,0,0,0,0,0,0
$GC,3942,-0.77,-146.0,477.0,-11.5,423,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3084,0,0,0,0,0,0
$GC,4155,-0.77,-146.0,500.1,-10.6,443,4158,0.00,1.10,0.00,0.000,4,0.000,0.062,2147,1811,3084,0,0,0,0,0,0
$GC,4200,-0.77,-146.0,505.0,-10.6,447,4204,0.00,1.20,0.00,0.000,6,0.000,0.068,2141,2505,3084,0,0,0,0,0,0
$STATE,4273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4273,begin apogee
$GC,4280,-0.16,0.0,513.9,-11.4,454,4405,0.68,0.00,117.72,1.203,6,0.140,0.000,2357,2186,2485,0,0,0,0,0,0
$STATE,4405,end apogee,CONTROL_FINISHED_OK
$STATE,4406,begin climb
$GC,4408,0.77,146.0,518.5,0.0,465,4546,0.88,1.17,124.88,1.151,4,0.051,0.065,2675,1496,1886,0,0,0,0,0,0
$GC,4795,0.77,146.0,484.8,13.1,499,4803,0.00,1.25,0.00,0.000,6,0.000,0.061,2675,2203,1878,0,0,0,0,0,0
$GC,5015,0.77,146.0,454.9,13.0,520,5018,0.00,1.23,0.00,0.000,4,0.000,0.064,2680,1497,1877,0,0,0,0,0,0
$GC,5064,0.77,146.0,448.5,14.1,524,5073,0.00,1.23,0.00,0.000,6,0.000,0.062,2680,2202,1876,0,0,0,0,0,0
$GC,5285,0.77,146.0,417.8,14.0,545,5288,0.00,1.20,0.00,0.000,4,0.000,0.064,2684,1502,1876,0,0,0,0,0,0
$GC,5386,0.77,146.0,403.9,13.9,554,5389,0.00,1.20,0.00,0.000,6,0.000,0.060,2684,2202,1876,0,0,0,0,0,0
$GC,5612,0.77,146.0,373.6,13.3,575,5615,0.00,1.17,0.00,0.000,4,0.000,0.070,2684,2902,1875,0,0,0,0,0,0
$GC,5668,0.77,146.0,365.6,13.6,580,5672,0.00,1.20,0.00,0.000,6,0.000,0.054,2689,2198,1875,0,0,0,0,0,0
$GC,5894,0.77,146.0,336.7,12.4,601,5898,0.00,1.12,0.00,0.000,4,0.000,0.067,2694,1499,1875,0,0,0,0,0,0
$GC,5917,0.77,146.0,333.6,12.2,603,5921,0.10,1.20,0.00,0.000,6,0.182,0.062,2666,2205,1875,0,0,0,0,0,0
$GC,6141,0.77,146.0,309.5,10.2,624,6145,0.00,1.17,0.00,0.000,4,0.000,0.073,2666,2906,1875,0,0,0,0,0,0
$GC,6190,0.77,146.0,304.8,10.7,628,6199,0.00,1.20,0.00,0.000,6,0.000,0.054,2670,2201,1874,0,0,0,0,0,0
$GC,6411,0.77,146.0,281.1,10.5,649,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2201,1874,0,0,0,0,0,0
$GC,6623,0.77,146.0,258.7,10.8,669,6626,0.00,1.23,0.00,0.000,4,0.000,0.068,2670,2905,1875,0,0,0,0,0,0
$GC,6694,0.77,146.0,251.2,11.0,675,6701,0.00,1.20,0.00,0.000,6,0.000,0.055,2674,2195,1874,0,0,0,0,0,0
$GC,6914,0.77,146.0,227.6,10.4,696,6917,0.00,1.25,0.00,0.000,4,0.000,0.070,2675,2913,1874,0,0,0,0,0,0
$GC,6949,0.77,146.0,224.0,10.5,699,6953,0.00,1.20,0.00,0.000,6,0.000,0.055,2680,2198,1874,0,0,0,0,0,0
$GC,7174,0.77,146.0,199.8,10.8,720,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2198,1874,0,0,0,0,0,0
$GC,7386,0.77,146.0,178.1,10.6,740,7390,0.00,1.23,0.00,0.000,4,0.000,0.069,2679,2904,1874,0,0,0,0,0,0
$GC,7421,0.77,146.0,174.3,10.6,743,7424,0.00,1.17,0.00,0.000,6,0.000,0.055,2684,2203,1874,0,0,0,0,0,0
$GC,7645,0.77,146.0,150.7,10.3,764,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2202,1874,0,0,0,0,0,0
$GC,7858,0.79,166.5,130.1,9.1,784,7878,0.00,0.00,15.60,0.962,6,0.000,0.000,2684,2203,1806,0,0,0,0,0,0
$GC,8091,0.85,212.8,109.9,7.9,806,8132,0.00,0.00,39.08,0.951,6,0.000,0.000,2684,2202,1616,0,0,0,0,0,0
$GC,8347,0.85,212.8,82.2,12.2,844,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2203,1611,0,0,0,0,0,0
$GC,8556,0.85,212.8,57.2,11.4,881,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2202,1610,0,0,0,0,0,0
$GC,8760,0.85,212.8,34.3,11.2,918,8766,0.00,1.25,0.00,0.000,4,0.000,0.071,2684,2910,1609,0,0,0,0,0,0
$GC,9015,0.92,271.9,12.0,7.3,964,9050,0.00,1.20,28.88,0.105,6,0.000,0.056,2689,2203,1375,0,0,0,0,0,0
$STATE,9131,end climb,SURFACE_DEPTH_REACHED
$STATE,9133,begin surface coast
$FINISH,1.2,1.014318
$STATE,9155,end surface coast,CONTROL_FINISHED_OK
$STATE,9155,begin surface
$SM_CCo,9172,67.80,0.086,0,0,771,420.20
$SM_GC,1.97,7.12,0.60,67.80,0.061,0.070,0.086,125,2512,771,-7.10,-0.68,420.20,0,0,0,0,0,0
$RAFOS_CLK,595
$RAFOS,6,1318178947,16.833334,16.818611,63,59,56,0,0,0,177,880,162,0,0,0
$RAFOS,5,1318178472,16.700001,16.686666,62,57,57,0,0,0,222,206,924,0,0,0
$RAFOS,4,1318177989,16.566668,16.552500,63,59,59,0,0,0,199,172,725,0,0,0
$RAFOS,3,1318177505,16.433332,16.418056,138,57,56,0,0,0,723,194,168,0,0,0
$RAFOS,2,1318177029,16.299999,16.285833,74,68,54,0,0,0,556,215,233,0,0,0
$RAFOS,0,1318176069,16.033333,16.019167,86,62,56,0,0,0,581,213,223,0,0,0
$RAFOS_FIX,6637.641113,-6005.415527,091011,161604,3,99,79.50
$IRIDIUM_FIX,6604.29,-6024.69,091011,131325
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.32
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,400.1,134.4
$24V_AH,23.2,4.477
$10V_AH,10.2,4.133
$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,17.800,48.900,326.150,67.800,0.000,0.000,0.000,192.975,6.000,0.000,19.513,2701.078,4318.586,544.267,1851.887,172.592,0.000,1638.336,0.000,1643.249,1800.000,9.304,0.000
$DEVICE_MAMPS,274.635,110.925,1202.580,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,715.241,698.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150368
$DATA_FILE_SIZE,36740,988
$CAP_FILE_SIZE,112697,0
$CFSIZE,260165632,246349824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.8
$CURRENT,0.268,222.2,1
$GPS,091011,185105,6632.371,-6015.003,32,1.0,32,-33.6