version: 66.09
glider: 143
mission: 13
dive: 34
start: 10 10 111 13 52 4
data:
$ID,143
$MISSION,13
$DIVE,34
$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,-80495.578
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,101011,134600,6633.461,-6007.076,21,0.9,21,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-70.7
$GPS2,101011,135131,6633.407,-6007.166,18,0.9,18,-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,147.7,153916,-18.3,-10.000
$D_GRID,540
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,108,0.00,0.00,-88.82,0.000,2,0.000,0.000,128,2525,2037,0,0,0,0,0,0
$GC,111,-0.77,-146.0,3.0,-2.0,14,166,8.85,1.17,-39.40,0.000,4,0.276,0.112,2143,3212,3083,0,0,0,0,0,0
$GC,229,-0.77,-146.0,22.7,-20.7,33,235,0.00,1.17,0.00,0.000,6,0.000,0.051,2143,2496,3084,0,0,0,0,0,0
$GC,434,-0.77,-146.0,57.5,-16.1,70,441,0.00,1.12,0.00,0.000,4,0.000,0.060,2143,1806,3084,0,0,0,0,0,0
$GC,540,-0.77,-146.0,73.5,-14.5,89,547,0.00,1.25,0.00,0.000,6,0.000,0.072,2138,2511,3084,0,0,0,0,0,0
$GC,751,-0.77,-146.0,105.2,-15.2,124,755,0.00,1.15,0.00,0.000,4,0.000,0.082,2132,3213,3084,0,0,0,0,0,0
$GC,830,-0.77,-146.0,117.3,-15.3,131,834,0.00,1.15,0.00,0.000,6,0.000,0.050,2132,2506,3085,0,0,0,0,0,0
$GC,1056,-0.77,-146.0,152.6,-15.9,152,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2505,3084,0,0,0,0,0,0
$GC,1268,-0.77,-146.0,186.5,-15.3,172,1271,0.00,1.12,0.00,0.000,4,0.000,0.059,2132,1808,3084,0,0,0,0,0,0
$GC,1347,-0.77,-146.0,198.5,-15.0,179,1350,0.00,1.25,0.00,0.000,6,0.000,0.072,2127,2519,3084,0,0,0,0,0,0
$GC,1573,-0.77,-146.0,230.2,-14.0,200,1576,0.00,1.15,0.00,0.000,4,0.000,0.083,2122,3221,3085,0,0,0,0,0,0
$GC,1700,-0.77,-146.0,248.1,-13.9,211,1709,0.00,1.15,0.00,0.000,6,0.000,0.050,2122,2505,3084,0,0,0,0,0,0
$GC,1921,-0.77,-146.0,279.6,-14.1,232,1925,0.12,1.12,0.00,0.000,4,0.191,0.059,2150,1806,3084,0,0,0,0,0,0
$GC,1981,-0.77,-146.0,286.8,-12.2,237,1988,0.00,1.23,0.00,0.000,6,0.000,0.071,2148,2507,3084,0,0,0,0,0,0
$GC,2200,-0.77,-146.0,313.6,-12.4,258,2204,0.00,1.15,0.00,0.000,4,0.000,0.080,2142,3214,3084,0,0,0,0,0,0
$GC,2269,-0.77,-146.0,322.2,-12.9,264,2273,0.00,1.12,0.00,0.000,6,0.000,0.047,2142,2508,3084,0,0,0,0,0,0
$GC,2495,-0.77,-146.0,350.8,-12.5,285,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3084,0,0,0,0,0,0
$GC,2707,-0.77,-146.0,377.5,-12.7,305,2710,0.00,1.20,0.00,0.000,4,0.000,0.079,2137,3214,3084,0,0,0,0,0,0
$GC,2787,-0.77,-146.0,387.7,-12.6,312,2790,0.00,1.12,0.00,0.000,6,0.000,0.047,2137,2508,3084,0,0,0,0,0,0
$GC,3011,-0.77,-146.0,415.3,-11.7,333,3015,0.00,1.10,0.00,0.000,4,0.000,0.058,2137,1817,3084,0,0,0,0,0,0
$GC,3093,-0.77,-146.0,424.5,-11.6,340,3101,0.00,1.23,0.00,0.000,6,0.000,0.070,2133,2516,3084,0,0,0,0,0,0
$GC,3313,-0.77,-146.0,451.4,-12.2,361,3316,0.00,1.12,0.00,0.000,4,0.000,0.083,2127,3213,3084,0,0,0,0,0,0
$GC,3507,-0.77,-146.0,475.0,-12.2,378,3515,0.00,1.12,0.00,0.000,6,0.000,0.047,2127,2510,3084,0,0,0,0,0,0
$GC,3729,-0.77,-146.0,502.6,-12.7,399,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2510,3084,0,0,0,0,0,0
$GC,3939,-0.77,-146.0,528.7,-11.3,419,3943,0.00,1.20,0.00,0.000,4,0.000,0.080,2123,3217,3084,0,0,0,0,0,0
$GC,4007,-0.77,-146.0,536.5,-11.7,425,4010,0.00,1.12,0.00,0.000,6,0.000,0.050,2122,2511,3085,0,0,0,0,0,0
$STATE,4039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4039,begin apogee
$GC,4045,-0.16,0.0,540.3,-11.4,428,4171,0.70,0.00,118.40,1.220,6,0.155,0.000,2340,2197,2485,0,0,0,0,0,0
$STATE,4172,end apogee,CONTROL_FINISHED_OK
$STATE,4172,begin climb
$GC,4174,0.77,146.0,545.4,0.0,439,4311,0.93,1.23,125.43,1.180,4,0.078,0.065,2652,1507,1887,0,0,0,0,0,0
$GC,4324,0.82,185.0,541.8,8.2,452,4363,0.00,1.27,34.83,1.112,6,0.000,0.061,2651,2203,1730,0,0,0,0,0,0
$GC,4584,0.82,185.0,504.9,13.3,476,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2202,1723,0,0,0,0,0,0
$GC,4794,0.82,185.0,473.1,14.7,496,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2202,1721,0,0,0,0,0,0
$GC,5007,0.82,185.0,442.8,14.1,516,5011,0.00,1.20,0.00,0.000,4,0.000,0.068,2651,2911,1720,0,0,0,0,0,0
$GC,5033,0.82,185.0,439.5,14.4,518,5041,0.00,1.20,0.00,0.000,6,0.000,0.049,2655,2209,1720,0,0,0,0,0,0
$GC,5253,0.82,185.0,408.6,13.6,539,5257,0.00,1.15,0.00,0.000,4,0.000,0.063,2661,1497,1719,0,0,0,0,0,0
$GC,5313,0.82,185.0,401.1,13.4,544,5323,0.00,1.20,0.00,0.000,6,0.000,0.061,2661,2198,1719,0,0,0,0,0,0
$GC,5534,0.82,185.0,371.6,13.0,565,5538,0.00,1.20,0.00,0.000,4,0.000,0.061,2666,1492,1718,0,0,0,0,0,0
$GC,5616,0.82,185.0,361.2,12.8,572,5625,0.00,1.20,0.00,0.000,6,0.000,0.060,2666,2200,1718,0,0,0,0,0,0
$GC,5837,0.82,185.0,331.2,13.5,593,5841,0.00,1.17,0.00,0.000,4,0.000,0.070,2666,2904,1718,0,0,0,0,0,0
$GC,5852,0.82,185.0,329.5,13.4,594,5860,0.00,1.20,0.00,0.000,6,0.000,0.054,2670,2200,1718,0,0,0,0,0,0
$GC,6072,0.82,185.0,299.7,13.3,615,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,1718,0,0,0,0,0,0
$GC,6284,0.82,185.0,272.2,12.7,635,6288,0.00,1.12,0.00,0.000,4,0.000,0.065,2676,1496,1718,0,0,0,0,0,0
$GC,6385,0.82,185.0,259.7,12.3,644,6389,0.00,1.20,0.00,0.000,6,0.000,0.061,2676,2208,1718,0,0,0,0,0,0
$GC,6611,0.82,185.0,231.9,12.3,665,6615,0.00,1.20,0.00,0.000,4,0.000,0.062,2681,1494,1718,0,0,0,0,0,0
$GC,6638,0.82,185.0,228.8,12.3,667,6645,0.00,1.17,0.00,0.000,6,0.000,0.061,2681,2196,1718,0,0,0,0,0,0
$GC,6858,0.82,185.0,201.7,12.4,688,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2196,1718,0,0,0,0,0,0
$GC,7070,0.82,185.0,174.6,12.9,708,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2196,1718,0,0,0,0,0,0
$GC,7283,0.82,185.0,148.3,12.0,728,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2196,1718,0,0,0,0,0,0
$GC,7495,0.82,185.0,124.7,10.6,748,7499,0.00,1.17,0.00,0.000,4,0.000,0.064,2685,1496,1718,0,0,0,0,0,0
$GC,7751,0.82,187.1,99.5,9.9,771,7757,0.00,1.17,0.00,0.000,6,0.000,0.063,2685,2200,1718,0,0,0,0,0,0
$GC,7957,0.83,194.3,79.4,9.7,808,7967,0.00,0.00,6.75,0.868,6,0.000,0.000,2685,2199,1693,0,0,0,0,0,0
$GC,8168,0.83,197.8,57.8,9.8,845,8176,0.00,0.00,4.72,0.774,6,0.000,0.000,2685,2200,1678,0,0,0,0,0,0
$GC,8374,0.85,211.2,37.8,9.4,882,8395,0.00,1.17,12.68,0.911,4,0.000,0.070,2685,2918,1623,0,0,0,0,0,0
$GC,8413,0.85,211.2,33.8,10.3,888,8422,0.00,1.23,0.00,0.000,6,0.000,0.054,2690,2196,1622,0,0,0,0,0,0
$GC,8623,0.94,284.0,15.4,6.7,925,8668,0.00,1.10,37.20,0.114,4,0.000,0.063,2695,1495,1325,0,0,0,0,0,0
$STATE,8763,end climb,SURFACE_DEPTH_REACHED
$STATE,8763,begin surface coast
$FINISH,1.3,1.012522
$STATE,8779,end surface coast,CONTROL_FINISHED_OK
$STATE,8779,begin surface
$SM_CCo,8798,62.08,0.086,0,0,771,420.20
$SM_GC,2.12,7.15,1.77,62.08,0.061,0.064,0.086,121,2518,771,-7.08,-0.42,420.20,0,0,0,0,0,0
$RAFOS_CLK,574
$RAFOS,1,1318262942,16.166666,16.150555,131,65,64,0,0,0,617,225,192,0,0,0
$RAFOS,0,1318262461,16.033333,16.016945,104,61,60,0,0,0,658,179,209,0,0,0
$RAFOS_FIX,6635.309082,-6007.772461,101011,161624,2,118,0.44
$IRIDIUM_FIX,6604.29,-6010.62,101011,111143
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.85
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.10
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,501.3,52.9
$24V_AH,23.2,5.322
$10V_AH,10.2,4.737
$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,17.750,50.400,340.000,62.075,0.000,0.000,0.000,221.400,7.000,0.000,19.986,2587.265,4056.819,540.632,1839.052,180.707,0.000,1644.603,0.000,1600.050,1080.000,18.591,0.000
$DEVICE_MAMPS,276.165,112.455,1220.175,86.445,0.000,0.000,0.000,249.431,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.056,673.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36680,952
$CAP_FILE_SIZE,112355,0
$CFSIZE,260165632,245837824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.0
$CURRENT,0.101,264.4,1
$GPS,101011,162106,6632.628,-6005.082,32,0.8,32,-33.6