version: 66.09
glider: 143
mission: 13
dive: 33
start: 10 10 111 11 8 9
data:
$ID,143
$MISSION,13
$DIVE,33
$N_DIVES,40
$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,-80494.328
$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,2400
$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,29
$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,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
$GPS1,101011,110200,6632.532,-6008.711,12,1.3,12,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.8
$GPS2,101011,110736,6632.559,-6008.578,19,0.8,19,-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,112.5,155432,-18.3,-10.000
$D_GRID,529
$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,-146.0,0.0,0.0,0,137,0.00,0.00,-118.60,0.000,2,0.000,0.000,124,2512,2193,0,0,0,0,0,0
$GC,140,-0.77,-146.0,3.2,-2.7,19,189,8.93,1.17,-29.40,0.000,4,0.279,0.107,2140,3214,3081,0,0,0,0,0,0
$GC,439,-0.77,-146.0,55.9,-15.7,71,446,0.00,1.15,0.00,0.000,6,0.000,0.051,2140,2507,3083,0,0,0,0,0,0
$GC,647,-0.77,-146.0,89.0,-16.4,108,654,0.00,1.23,0.00,0.000,4,0.000,0.080,2136,3217,3083,0,0,0,0,0,0
$GC,905,-0.77,-146.0,129.2,-14.8,137,908,0.00,1.15,0.00,0.000,6,0.000,0.051,2135,2509,3083,0,0,0,0,0,0
$GC,1132,-0.77,-146.0,163.0,-15.7,158,1136,0.00,1.20,0.00,0.000,4,0.000,0.080,2131,3211,3083,0,0,0,0,0,0
$GC,1233,-0.77,-146.0,178.9,-15.2,167,1237,0.00,1.15,0.00,0.000,6,0.000,0.051,2131,2503,3083,0,0,0,0,0,0
$GC,1457,-0.77,-146.0,213.1,-15.5,188,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2503,3083,0,0,0,0,0,0
$GC,1670,-0.77,-146.0,245.3,-14.7,208,1674,0.00,1.12,0.00,0.000,4,0.000,0.062,2131,1807,3083,0,0,0,0,0,0
$GC,1708,-0.77,-146.0,250.5,-15.0,211,1715,0.00,1.25,0.00,0.000,6,0.000,0.073,2126,2514,3082,0,0,0,0,0,0
$GC,1927,-0.77,-146.0,283.5,-14.0,232,1931,0.00,1.15,0.00,0.000,4,0.000,0.085,2120,3217,3082,0,0,0,0,0,0
$GC,2010,-0.77,-146.0,294.6,-13.9,239,2018,0.10,1.15,0.00,0.000,6,0.171,0.050,2150,2501,3082,0,0,0,0,0,0
$GC,2232,-0.77,-146.0,321.6,-11.9,260,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2501,3082,0,0,0,0,0,0
$GC,2451,-0.77,-146.0,347.9,-11.7,281,2455,0.00,1.23,0.00,0.000,4,0.000,0.081,2146,3220,3082,0,0,0,0,0,0
$GC,2511,-0.77,-146.0,354.6,-12.0,286,2519,0.00,1.15,0.00,0.000,6,0.000,0.051,2146,2505,3082,0,0,0,0,0,0
$GC,2731,-0.77,-146.0,381.5,-12.1,307,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2505,3082,0,0,0,0,0,0
$GC,2943,-0.77,-146.0,407.9,-12.5,327,2947,0.00,1.20,0.00,0.000,4,0.000,0.081,2142,3211,3082,0,0,0,0,0,0
$GC,2979,-0.77,-146.0,412.2,-12.4,330,2983,0.00,1.12,0.00,0.000,6,0.000,0.050,2141,2508,3082,0,0,0,0,0,0
$GC,3204,-0.77,-146.0,440.7,-12.5,351,3207,0.00,1.12,0.00,0.000,4,0.000,0.060,2142,1806,3082,0,0,0,0,0,0
$GC,3252,-0.77,-146.0,446.6,-12.7,355,3260,0.00,1.23,0.00,0.000,6,0.000,0.071,2137,2510,3082,0,0,0,0,0,0
$GC,3472,-0.77,-146.0,474.1,-12.0,376,3476,0.00,1.15,0.00,0.000,4,0.000,0.083,2132,3217,3082,0,0,0,0,0,0
$GC,3622,-0.77,-146.0,492.2,-12.1,389,3631,0.00,1.15,0.00,0.000,6,0.000,0.050,2131,2502,3082,0,0,0,0,0,0
$GC,3842,-0.77,-146.0,519.4,-12.2,410,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2502,3082,0,0,0,0,0,0
$STATE,3913,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3913,begin apogee
$GC,3919,-0.16,0.0,528.7,-12.9,417,4045,0.68,0.00,117.72,1.212,6,0.158,0.000,2339,2191,2485,0,0,0,0,0,0
$STATE,4046,end apogee,CONTROL_FINISHED_OK
$STATE,4046,begin climb
$GC,4048,0.77,146.0,533.8,0.0,428,4178,0.93,0.00,125.95,1.183,6,0.083,0.000,2641,2190,1889,0,0,0,0,0,0
$GC,4387,0.77,146.0,510.7,10.8,461,4391,0.00,1.30,0.00,0.000,4,0.000,0.069,2641,2902,1880,0,0,0,0,0,0
$GC,4469,0.77,146.0,501.4,12.0,468,4476,0.00,1.23,0.00,0.000,6,0.000,0.052,2646,2199,1879,0,0,0,0,0,0
$GC,4690,0.77,146.0,475.1,12.1,489,4693,0.00,1.27,0.00,0.000,4,0.000,0.068,2646,2908,1877,0,0,0,0,0,0
$GC,4801,0.77,146.0,461.0,12.2,499,4805,0.00,1.23,0.00,0.000,6,0.000,0.052,2651,2196,1877,0,0,0,0,0,0
$GC,5026,0.77,146.0,434.9,11.5,520,5029,0.00,1.12,0.00,0.000,4,0.000,0.065,2656,1499,1877,0,0,0,0,0,0
$GC,5052,0.77,146.0,432.2,11.6,522,5060,0.00,1.20,0.00,0.000,6,0.000,0.061,2656,2203,1876,0,0,0,0,0,0
$GC,5272,0.77,146.0,406.5,11.7,543,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2203,1875,0,0,0,0,0,0
$GC,5484,0.77,146.0,382.3,11.5,563,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2203,1875,0,0,0,0,0,0
$GC,5697,0.77,146.0,358.3,10.8,583,5700,0.00,1.20,0.00,0.000,4,0.000,0.061,2661,1493,1875,0,0,0,0,0,0
$GC,5958,0.77,146.0,330.6,10.6,606,5961,0.00,1.20,0.00,0.000,6,0.000,0.061,2661,2204,1875,0,0,0,0,0,0
$GC,6182,0.77,146.0,306.7,10.7,627,6186,0.00,1.20,0.00,0.000,4,0.000,0.061,2666,1491,1875,0,0,0,0,0,0
$GC,6399,0.77,146.0,284.1,10.3,646,6406,0.00,1.20,0.00,0.000,6,0.000,0.062,2666,2203,1875,0,0,0,0,0,0
$GC,6618,0.77,146.0,260.2,10.8,667,6622,0.00,1.20,0.00,0.000,4,0.000,0.063,2670,1491,1875,0,0,0,0,0,0
$GC,6743,0.77,146.0,246.9,10.6,678,6747,0.00,1.20,0.00,0.000,6,0.000,0.062,2670,2205,1875,0,0,0,0,0,0
$GC,6968,0.77,146.0,223.1,10.5,699,6972,0.00,1.17,0.00,0.000,4,0.000,0.061,2676,1497,1875,0,0,0,0,0,0
$GC,7095,0.77,146.0,210.3,10.4,710,7102,0.00,1.17,0.00,0.000,6,0.000,0.063,2676,2201,1875,0,0,0,0,0,0
$GC,7314,0.78,157.3,188.7,9.5,731,7328,0.00,1.17,8.25,0.932,4,0.000,0.071,2675,2905,1843,0,0,0,0,0,0
$GC,7350,0.80,170.6,185.7,9.4,734,7368,0.00,1.20,12.82,0.958,6,0.000,0.053,2680,2195,1789,0,0,0,0,0,0
$GC,7583,0.80,173.6,162.2,9.9,756,7595,0.00,1.15,3.78,0.701,4,0.000,0.065,2685,1496,1777,0,0,0,0,0,0
$GC,7734,0.81,176.6,147.5,9.9,769,7744,0.00,1.20,4.22,0.745,6,0.000,0.061,2685,2205,1765,0,0,0,0,0,0
$GC,7954,0.81,176.6,124.8,10.4,790,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2205,1764,0,0,0,0,0,0
$GC,8166,0.81,176.6,103.1,10.7,810,8170,0.00,1.17,0.00,0.000,4,0.000,0.061,2690,1497,1763,0,0,0,0,0,0
$GC,8222,0.82,184.7,97.4,9.6,817,8238,0.00,1.20,8.62,0.907,6,0.000,0.061,2690,2208,1731,0,0,0,0,0,0
$GC,8439,0.82,184.7,74.7,10.4,855,8445,0.00,1.20,0.00,0.000,4,0.000,0.062,2695,1492,1729,0,0,0,0,0,0
$GC,8693,0.82,184.7,48.2,10.2,901,8703,0.10,1.20,0.00,0.000,6,0.174,0.062,2666,2202,1727,0,0,0,0,0,0
$GC,8904,0.85,209.4,30.2,8.9,938,8931,0.00,1.25,19.95,0.925,4,0.000,0.063,2669,1489,1630,0,0,0,0,0,0
$GC,9179,0.97,306.4,14.0,5.5,987,9234,0.10,1.23,48.50,0.109,6,0.069,0.063,2716,2206,1235,0,0,0,0,0,0
$STATE,9299,end climb,SURFACE_DEPTH_REACHED
$STATE,9299,begin surface coast
$FINISH,1.4,1.024843
$STATE,9317,end surface coast,CONTROL_FINISHED_OK
$STATE,9317,begin surface
$SM_CCo,9334,51.38,0.086,0,0,771,420.20
$SM_GC,2.19,7.15,0.55,51.38,0.054,0.072,0.086,128,2522,771,-7.06,-0.40,420.20,0,0,0,0,0,0
$RAFOS_CLK,606
$RAFOS,6,1318250941,12.833333,12.816944,67,59,58,0,0,0,881,206,127,0,0,0
$RAFOS,5,1318250466,12.700000,12.685000,61,59,58,0,0,0,187,925,934,0,0,0
$RAFOS,4,1318249988,12.566667,12.552222,83,68,55,0,0,0,699,201,218,0,0,0
$RAFOS,3,1318249511,12.433333,12.419723,82,57,56,0,0,0,669,193,206,0,0,0
$RAFOS,2,1318249022,12.300000,12.283889,83,59,58,0,0,0,570,208,179,0,0,0
$RAFOS,1,1318248547,12.166667,12.151944,66,64,58,0,0,0,578,197,214,0,0,0
$RAFOS,0,1318248069,12.033333,12.019167,94,57,55,0,0,0,610,206,220,0,0,0
$RAFOS_FIX,6634.433594,-6003.793945,101011,121210,6,79,1.08
$IRIDIUM_FIX,6604.29,-6003.26,101011,101037
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.93
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,401.4,141.6
$24V_AH,23.2,5.219
$10V_AH,10.3,4.663
$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,17.975,51.000,349.825,51.375,0.000,0.000,0.000,0.000,9.250,0.000,20.624,2744.250,4286.424,569.388,1749.300,151.588,0.000,1492.046,0.000,1717.027,2520.000,9.337,0.000
$DEVICE_MAMPS,279.225,107.100,1211.760,86.445,0.000,0.000,0.000,0.000,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.080,717.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150372
$DATA_FILE_SIZE,40088,1010
$CAP_FILE_SIZE,125897,0
$CFSIZE,260165632,245886976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.7
$CURRENT,0.225,336.5,1
$GPS,101011,134600,6633.461,-6007.076,21,0.9,21,-33.6