version: 66.09
glider: 143
mission: 13
dive: 6
start: 10 8 111 0 6 51
data:
$ID,143
$MISSION,13
$DIVE,6
$N_DIVES,8
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,150
$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,0
$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,4
$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,4
$CALL_WAIT,20
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80425.5
$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,2456
$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,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2748
$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
$GPS1,081011,000034,6638.460,-6038.600,31,0.9,33,-33.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-69.5
$GPS2,081011,000618,6638.431,-6038.735,19,1.3,19,-33.8
$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,108.5,172725,-18.3,-10.000
$D_GRID,472
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.77,-146.0,0.0,0.0,0,116,0.00,0.00,-98.47,0.000,2,0.000,0.000,120,2416,2379,0,0,0,0,0,0
$GC,119,-0.77,-146.0,3.5,-5.5,17,163,9.07,2.40,-26.45,0.000,4,0.272,0.088,2200,990,3346,0,0,0,0,0,0
$GC,270,-0.77,-146.0,30.0,-15.0,43,277,0.00,2.45,0.00,0.000,6,0.000,0.077,2191,2407,3347,0,0,0,0,0,0
$GC,480,-0.77,-146.0,57.1,-12.6,80,487,0.00,2.42,0.00,0.000,4,0.000,0.090,2181,3818,3347,0,0,0,0,0,0
$GC,572,-0.77,-146.0,68.6,-12.9,96,579,0.00,2.30,0.00,0.000,6,0.000,0.047,2181,2408,3347,0,0,0,0,0,0
$GC,782,-0.77,-146.0,95.6,-12.9,133,788,0.00,2.47,0.00,0.000,4,0.000,0.089,2171,3818,3347,0,0,0,0,0,0
$GC,832,-0.77,-146.0,101.8,-13.5,140,840,0.15,2.30,0.00,0.000,6,0.166,0.047,2209,2419,3347,0,0,0,0,0,0
$GC,1054,-0.77,-146.0,126.8,-11.3,161,1058,0.00,2.45,0.00,0.000,4,0.000,0.089,2201,3819,3347,0,0,0,0,0,0
$GC,1130,-0.77,-146.0,135.3,-11.5,167,1137,0.00,2.28,0.00,0.000,6,0.000,0.043,2201,2424,3347,0,0,0,0,0,0
$GC,1350,-0.77,-146.0,160.0,-10.4,188,1354,0.00,2.40,0.00,0.000,4,0.000,0.086,2192,3811,3348,0,0,0,0,0,0
$GC,1393,-0.77,-146.0,164.3,-11.0,191,1400,0.00,2.17,0.00,0.000,6,0.000,0.043,2192,2449,3348,0,0,0,0,0,0
$GC,1614,-0.77,-146.0,189.2,-11.2,212,1618,0.00,2.38,0.00,0.000,4,0.000,0.086,2183,3820,3347,0,0,0,0,0,0
$GC,1687,-0.77,-146.0,197.6,-11.4,218,1691,0.00,2.12,0.00,0.000,6,0.000,0.045,2182,2497,3347,0,0,0,0,0,0
$GC,1906,-0.77,-146.0,222.7,-11.6,238,1910,0.00,2.28,0.00,0.000,4,0.000,0.087,2174,3813,3347,0,0,0,0,0,0
$GC,1994,-0.77,-146.0,232.8,-11.9,245,2002,0.12,2.10,0.00,0.000,6,0.171,0.044,2204,2515,3346,0,0,0,0,0,0
$GC,2215,-0.77,-146.0,254.8,-9.8,266,2219,0.00,2.25,0.00,0.000,4,0.000,0.086,2196,3819,3346,0,0,0,0,0,0
$GC,2267,-0.77,-146.0,259.9,-9.7,270,2271,0.00,2.03,0.00,0.000,6,0.000,0.043,2196,2544,3347,0,0,0,0,0,0
$GC,2488,-0.77,-146.0,281.0,-9.7,290,2492,0.00,2.53,0.00,0.000,4,0.000,0.070,2196,993,3347,0,0,0,0,0,0
$GC,2517,-0.77,-146.0,284.1,-10.0,292,2521,0.00,2.65,0.00,0.000,6,0.000,0.073,2188,2557,3346,0,0,0,0,0,0
$GC,2737,-0.77,-146.0,306.3,-9.8,312,2741,0.00,2.08,0.00,0.000,4,0.000,0.088,2179,3810,3347,0,0,0,0,0,0
$GC,2787,-0.77,-146.0,311.1,-10.2,316,2794,0.00,2.00,0.00,0.000,6,0.000,0.043,2179,2565,3346,0,0,0,0,0,0
$GC,3006,-0.77,-146.0,333.6,-10.3,337,3011,0.12,2.55,0.00,0.000,4,0.168,0.070,2210,996,3346,0,0,0,0,0,0
$GC,3035,-0.77,-146.0,336.3,-9.8,339,3040,0.00,2.67,0.00,0.000,6,0.000,0.076,2205,2568,3346,0,0,0,0,0,0
$GC,3256,-0.77,-146.0,356.2,-9.1,359,3260,0.00,2.08,0.00,0.000,4,0.000,0.089,2195,3810,3346,0,0,0,0,0,0
$STATE,3300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3300,begin apogee
$GC,3308,-0.16,0.0,360.7,-9.3,363,3430,0.62,0.00,115.20,1.132,4,0.130,0.000,2398,2289,2748,0,0,0,0,0,0
$STATE,3431,end apogee,CONTROL_FINISHED_OK
$STATE,3431,begin climb
$GC,3433,0.77,146.0,369.2,0.0,374,3566,0.90,2.67,121.22,1.074,4,0.059,0.080,2708,3712,2151,0,0,0,0,0,0
$GC,3819,0.87,225.6,371.3,6.3,408,3892,0.00,2.40,65.38,1.060,6,0.000,0.053,2719,2304,1828,0,0,0,0,0,0
$GC,4103,0.87,225.6,335.6,14.5,435,4108,0.00,2.55,0.00,0.000,4,0.000,0.078,2719,3719,1820,0,0,0,0,0,0
$GC,4360,0.87,225.6,295.6,15.2,457,4368,0.00,2.38,0.00,0.000,6,0.000,0.053,2729,2293,1817,0,0,0,0,0,0
$GC,4580,0.87,225.6,263.6,14.1,478,4584,0.00,2.50,0.00,0.000,4,0.000,0.079,2729,3710,1817,0,0,0,0,0,0
$GC,4676,0.87,225.6,249.3,14.8,486,4680,0.00,2.40,0.00,0.000,6,0.000,0.054,2740,2275,1816,0,0,0,0,0,0
$GC,4895,0.87,225.6,220.5,12.9,506,4899,0.00,2.50,0.00,0.000,4,0.000,0.080,2740,3711,1816,0,0,0,0,0,0
$GC,5151,0.87,225.6,185.2,13.7,528,5159,0.00,2.38,0.00,0.000,6,0.000,0.054,2751,2282,1816,0,0,0,0,0,0
$GC,5371,0.87,225.6,157.6,11.9,549,5375,0.00,2.50,0.00,0.000,4,0.000,0.081,2750,3712,1816,0,0,0,0,0,0
$GC,5393,0.87,225.6,155.3,12.6,550,5400,0.00,2.33,0.00,0.000,6,0.000,0.053,2760,2290,1816,0,0,0,0,0,0
$GC,5612,0.87,225.6,126.5,13.2,571,5616,0.00,2.33,0.00,0.000,4,0.000,0.074,2771,887,1816,0,0,0,0,0,0
$GC,5813,0.87,225.6,103.0,11.6,588,5821,0.10,2.38,0.00,0.000,6,0.184,0.070,2743,2275,1815,0,0,0,0,0,0
$GC,6043,0.90,253.5,80.2,8.7,627,6074,0.00,2.40,22.30,0.953,4,0.000,0.073,2751,894,1714,0,0,0,0,0,0
$GC,6087,0.92,266.4,76.3,9.4,634,6106,0.00,2.38,12.05,0.899,6,0.000,0.068,2751,2279,1662,0,0,0,0,0,0
$GC,6309,0.92,266.4,49.0,12.5,673,6316,0.00,2.47,0.00,0.000,4,0.000,0.083,2751,3714,1659,0,0,0,0,0,0
$GC,6570,0.93,275.9,22.6,9.6,719,6583,0.00,2.40,4.95,0.738,6,0.000,0.057,2761,2269,1622,0,0,0,0,0,0
$STATE,6756,end climb,SURFACE_DEPTH_REACHED
$STATE,6756,begin surface coast
$FINISH,0.9,1.002728
$STATE,6769,end surface coast,CONTROL_FINISHED_OK
$STATE,6769,begin surface
$SM_CCo,6785,67.28,0.084,0,0,1035,420.20
$SM_GC,1.87,7.43,0.30,67.28,0.067,0.083,0.084,124,2400,1035,-7.24,-0.57,420.20,0,0,0,0,0,0
$RAFOS_CLK,441
$RAFOS,6,1318034942,0.833333,0.817222,74,67,67,0,0,0,915,200,183,0,0,0
$RAFOS,5,1318034463,0.700000,0.684167,60,58,55,0,0,0,204,216,156,0,0,0
$RAFOS,4,1318033989,0.566667,0.552500,59,59,56,0,0,0,191,213,118,0,0,0
$RAFOS,3,1318033502,0.433333,0.417222,83,61,60,0,0,0,809,206,168,0,0,0
$RAFOS,2,1318033023,0.300000,0.284167,115,62,60,0,0,0,655,139,122,0,0,0
$RAFOS,1,1318032541,0.166667,0.150278,122,66,57,0,0,0,638,196,178,0,0,0
$RAFOS_FIX,6638.386719,-6032.025391,081011,000012,4,98,3.94
$IRIDIUM_FIX,6609.62,-6043.56,071011,222236
$TT8_MAMPS,0.026964,0.026964
$HUMID,65.55
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.20
$XPDR_PINGS,18
$24V_AH,23.4,2.317
$10V_AH,10.2,2.911
$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,18.525,95.075,341.100,67.275,0.000,0.000,0.000,226.825,5.250,0.000,21.204,1836.889,3105.139,541.040,1592.468,155.330,0.000,1530.679,0.000,1350.414,2160.000,7.608,0.000
$DEVICE_MAMPS,271.575,89.505,1132.200,84.150,0.000,0.000,0.000,243.439,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.607,519.603,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,30108,754
$CAP_FILE_SIZE,98535,0
$CFSIZE,260165632,247353344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1447.4
$GPS,081011,020230,6638.104,-6037.591,26,1.0,26,-33.8