version: 66.09
glider: 143
mission: 13
dive: 20
start: 10 9 111 1 10 29
data:
$ID,143
$MISSION,13
$DIVE,20
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,180
$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,-80443.031
$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,25
$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,3
$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
$GPS1,091011,010529,6633.705,-6020.570,40,0.7,40,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.2
$GPS2,091011,010956,6633.667,-6020.662,16,0.7,17,-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,126.2,162898,-18.3,-10.000
$D_GRID,503
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-94.70,0.000,2,0.000,0.000,127,2526,2115,0,0,0,0,0,0
$GC,116,-0.77,-146.0,3.1,-3.4,17,166,9.07,1.20,-34.12,0.000,4,0.279,0.115,2162,3216,3082,0,0,0,0,0,0
$GC,416,-0.77,-146.0,49.8,-15.6,70,422,0.00,1.15,0.00,0.000,6,0.000,0.057,2160,2509,3083,0,0,0,0,0,0
$GC,622,-0.77,-146.0,79.4,-13.7,107,628,0.00,1.20,0.00,0.000,4,0.000,0.083,2155,3217,3084,0,0,0,0,0,0
$GC,877,-0.77,-146.0,113.1,-13.0,144,880,0.00,1.15,0.00,0.000,6,0.000,0.057,2155,2507,3084,0,0,0,0,0,0
$GC,1095,-0.77,-146.0,142.4,-13.4,164,1098,0.00,1.20,0.00,0.000,4,0.000,0.081,2151,3221,3084,0,0,0,0,0,0
$GC,1352,-0.77,-146.0,176.0,-13.3,186,1359,0.00,1.20,0.00,0.000,6,0.000,0.055,2151,2504,3084,0,0,0,0,0,0
$GC,1571,-0.77,-146.0,205.4,-12.9,207,1574,0.00,1.12,0.00,0.000,4,0.000,0.065,2151,1798,3083,0,0,0,0,0,0
$GC,1634,-0.77,-146.0,213.3,-12.5,212,1637,0.00,1.23,0.00,0.000,6,0.000,0.073,2146,2509,3084,0,0,0,0,0,0
$GC,1852,-0.77,-146.0,240.0,-12.0,232,1855,0.00,1.15,0.00,0.000,4,0.000,0.087,2141,3222,3084,0,0,0,0,0,0
$GC,1959,-0.77,-146.0,253.1,-12.2,241,1962,0.00,1.15,0.00,0.000,6,0.000,0.056,2141,2505,3083,0,0,0,0,0,0
$GC,2177,-0.77,-146.0,279.8,-12.0,261,2181,0.00,1.20,0.00,0.000,4,0.000,0.083,2137,3221,3083,0,0,0,0,0,0
$GC,2253,-0.77,-146.0,288.4,-12.2,267,2261,0.10,1.20,0.00,0.000,6,0.187,0.056,2161,2500,3083,0,0,0,0,0,0
$GC,2474,-0.77,-146.0,311.3,-10.6,288,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2500,3083,0,0,0,0,0,0
$GC,2685,-0.77,-146.0,333.4,-10.2,308,2688,0.00,1.20,0.00,0.000,4,0.000,0.083,2158,3217,3083,0,0,0,0,0,0
$GC,2760,-0.77,-146.0,341.1,-10.8,314,2763,0.00,1.15,0.00,0.000,6,0.000,0.057,2158,2498,3083,0,0,0,0,0,0
$GC,2979,-0.77,-146.0,364.3,-10.6,334,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2498,3083,0,0,0,0,0,0
$GC,3192,-0.77,-146.0,386.7,-10.4,354,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2498,3083,0,0,0,0,0,0
$GC,3404,-0.77,-146.0,409.0,-10.4,374,3407,0.00,1.20,0.00,0.000,4,0.000,0.082,2153,3217,3083,0,0,0,0,0,0
$GC,3488,-0.77,-146.0,418.0,-10.4,381,3491,0.00,1.12,0.00,0.000,6,0.000,0.054,2153,2508,3083,0,0,0,0,0,0
$GC,3707,-0.77,-146.0,440.8,-10.2,401,3710,0.00,1.17,0.00,0.000,4,0.000,0.080,2148,3217,3083,0,0,0,0,0,0
$STATE,3800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3800,begin apogee
$GC,3807,-0.16,0.0,450.7,-10.7,409,3930,0.65,0.00,117.22,1.170,6,0.148,0.000,2361,2189,2485,0,0,0,0,0,0
$STATE,3930,end apogee,CONTROL_FINISHED_OK
$STATE,3931,begin climb
$GC,3933,0.77,146.0,455.5,0.0,420,4065,0.85,1.27,124.53,1.118,4,0.063,0.070,2670,1495,1888,0,0,0,0,0,0
$GC,4100,0.79,160.4,451.5,9.3,435,4121,0.00,1.27,12.82,1.004,6,0.000,0.062,2670,2208,1832,0,0,0,0,0,0
$GC,4332,0.79,160.4,421.4,12.8,457,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2208,1826,0,0,0,0,0,0
$GC,4545,0.79,160.4,395.0,12.0,477,4548,0.00,1.20,0.00,0.000,4,0.000,0.067,2675,1497,1824,0,0,0,0,0,0
$GC,4674,0.79,160.4,379.2,12.2,488,4677,0.00,1.20,0.00,0.000,6,0.000,0.063,2675,2205,1823,0,0,0,0,0,0
$GC,4892,0.79,160.4,351.7,12.8,508,4895,0.00,1.20,0.00,0.000,4,0.000,0.067,2679,1492,1823,0,0,0,0,0,0
$GC,4942,0.79,160.4,345.2,13.1,512,4945,0.00,1.20,0.00,0.000,6,0.000,0.063,2680,2205,1823,0,0,0,0,0,0
$GC,5161,0.79,160.4,316.1,13.8,532,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2205,1823,0,0,0,0,0,0
$GC,5373,0.79,160.4,286.2,13.9,552,5376,0.00,1.15,0.00,0.000,4,0.000,0.073,2680,2913,1823,0,0,0,0,0,0
$GC,5391,0.79,160.4,283.8,14.0,553,5394,0.00,1.20,0.00,0.000,6,0.000,0.059,2685,2196,1822,0,0,0,0,0,0
$GC,5609,0.79,160.4,253.9,13.0,573,5612,0.00,1.23,0.00,0.000,4,0.000,0.070,2684,2908,1824,0,0,0,0,0,0
$GC,5719,0.79,160.4,240.1,12.7,582,5726,0.00,1.23,0.00,0.000,6,0.000,0.060,2690,2201,1822,0,0,0,0,0,0
$GC,5939,0.79,160.4,213.6,11.3,603,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2201,1822,0,0,0,0,0,0
$GC,6151,0.79,160.4,189.7,11.2,623,6154,0.00,1.12,0.00,0.000,4,0.000,0.073,2695,1493,1822,0,0,0,0,0,0
$GC,6403,0.79,163.1,163.9,9.9,645,6406,0.00,1.17,0.00,0.000,6,0.000,0.067,2694,2200,1822,0,0,0,0,0,0
$GC,6622,0.80,173.7,142.5,9.5,665,6637,0.00,1.23,11.18,0.951,4,0.000,0.069,2699,1499,1776,0,0,0,0,0,0
$GC,6784,0.81,180.7,126.8,9.7,679,6796,0.00,1.17,7.28,0.886,6,0.000,0.066,2699,2203,1748,0,0,0,0,0,0
$GC,7009,0.81,180.7,103.4,10.5,700,7012,0.00,1.15,0.00,0.000,4,0.000,0.076,2699,2908,1747,0,0,0,0,0,0
$GC,7177,0.81,180.7,85.2,10.7,726,7184,0.00,1.20,0.00,0.000,6,0.000,0.060,2704,2191,1746,0,0,0,0,0,0
$GC,7381,0.83,198.2,66.0,9.2,763,7401,0.00,1.17,15.07,0.934,4,0.000,0.071,2709,1495,1679,0,0,0,0,0,0
$GC,7650,0.83,198.2,34.5,12.5,811,7656,0.00,1.17,0.00,0.000,6,0.000,0.067,2709,2200,1676,0,0,0,0,0,0
$GC,7856,0.92,273.2,17.3,6.6,848,7898,0.00,1.23,38.47,0.118,4,0.000,0.076,2709,2906,1371,0,0,0,0,0,0
$GC,7984,0.92,273.2,2.6,14.3,870,7990,0.00,1.17,0.00,0.000,6,0.000,0.060,2714,2196,1364,0,0,0,0,0,0
$STATE,7995,end climb,SURFACE_DEPTH_REACHED
$STATE,7995,begin surface coast
$FINISH,1.3,1.025147
$STATE,8012,end surface coast,CONTROL_FINISHED_OK
$STATE,8013,begin surface
$SM_CCo,8029,67.07,0.086,0,0,771,420.20
$SM_GC,1.96,7.18,0.62,67.07,0.059,0.071,0.086,123,2516,771,-7.11,-0.45,420.20,0,0,0,0,0,0
$MAGERROR,18
$RAFOS_CLK,529
$RAFOS_FIX,6634.329102,-6014.838867,091011,000012,4,84,0.93
$IRIDIUM_FIX,6604.29,-6020.00,081011,222233
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.38
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,0.60
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,401.0,112.0
$24V_AH,23.2,3.868
$10V_AH,10.3,3.700
$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,17.850,46.275,326.575,67.075,0.000,0.000,0.000,163.300,5.500,0.000,18.678,2405.597,4188.643,590.405,1038.549,154.436,0.000,1467.396,0.000,8174.699,0.000,12.288,0.000
$DEVICE_MAMPS,279.225,114.750,1169.685,86.445,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.215,702.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150500
$DATA_FILE_SIZE,33372,875
$CAP_FILE_SIZE,103692,0
$CFSIZE,260165632,246710272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.1
$CURRENT,0.209,240.2,1
$GPS,091011,032637,6632.897,-6019.621,23,0.8,24,-33.7