version: 66.09
glider: 143
mission: 13
dive: 23
start: 10 9 111 8 19 33
data:
$ID,143
$MISSION,13
$DIVE,23
$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,-80446.797
$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,28
$R_STBD_OVSHOOT,20
$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
$GPS1,091011,081404,6632.261,-6018.825,43,0.9,43,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.7
$GPS2,091011,081900,6632.267,-6018.791,20,0.9,20,-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,69.4,162515,-18.3,-10.000
$D_GRID,504
$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,-146.0,0.0,0.0,0,116,0.00,0.00,-97.93,0.000,2,0.000,0.000,127,2525,2171,0,0,0,0,0,0
$GC,119,-0.77,-146.0,3.2,-2.4,15,169,8.93,1.25,-31.70,0.000,4,0.272,0.090,2164,1812,3083,0,0,0,0,0,0
$GC,186,-0.77,-146.0,13.5,-16.1,25,193,0.00,1.25,0.00,0.000,6,0.000,0.072,2161,2509,3083,0,0,0,0,0,0
$GC,394,-0.77,-146.0,45.9,-13.3,62,403,0.00,1.20,0.00,0.000,4,0.000,0.061,2161,1813,3084,0,0,0,0,0,0
$GC,410,-0.77,-146.0,48.0,-13.1,64,416,0.00,1.25,0.00,0.000,6,0.000,0.070,2156,2514,3084,0,0,0,0,0,0
$GC,614,-0.77,-146.0,76.6,-14.5,101,621,0.00,1.15,0.00,0.000,4,0.000,0.083,2151,3210,3084,0,0,0,0,0,0
$GC,651,-0.77,-146.0,81.5,-14.4,107,657,0.00,1.15,0.00,0.000,6,0.000,0.053,2151,2511,3085,0,0,0,0,0,0
$GC,859,-0.77,-146.0,110.5,-13.3,138,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2511,3085,0,0,0,0,0,0
$GC,1071,-0.77,-146.0,137.7,-12.4,158,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2511,3085,0,0,0,0,0,0
$GC,1284,-0.77,-146.0,163.4,-11.5,178,1288,0.00,1.23,0.00,0.000,4,0.000,0.082,2146,3221,3084,0,0,0,0,0,0
$GC,1334,-0.77,-146.0,169.0,-12.3,182,1343,0.00,1.17,0.00,0.000,6,0.000,0.054,2146,2505,3085,0,0,0,0,0,0
$GC,1555,-0.77,-146.0,195.4,-11.4,203,1559,0.00,1.23,0.00,0.000,4,0.000,0.082,2141,3217,3085,0,0,0,0,0,0
$GC,1582,-0.77,-146.0,198.3,-11.6,205,1589,0.00,1.15,0.00,0.000,6,0.000,0.054,2141,2509,3085,0,0,0,0,0,0
$GC,1803,-0.77,-146.0,223.7,-11.5,226,1806,0.00,1.20,0.00,0.000,4,0.000,0.081,2137,3210,3084,0,0,0,0,0,0
$GC,1840,-0.77,-146.0,228.0,-12.0,229,1848,0.00,1.15,0.00,0.000,6,0.000,0.053,2137,2506,3084,0,0,0,0,0,0
$GC,2060,-0.77,-146.0,254.0,-11.5,250,2064,0.12,1.20,0.00,0.000,4,0.181,0.083,2163,3207,3084,0,0,0,0,0,0
$GC,2127,-0.77,-146.0,261.0,-9.9,256,2131,0.00,1.12,0.00,0.000,6,0.000,0.053,2163,2512,3084,0,0,0,0,0,0
$GC,2354,-0.77,-146.0,283.5,-9.7,277,2357,0.00,1.20,0.00,0.000,4,0.000,0.081,2158,3214,3084,0,0,0,0,0,0
$GC,2403,-0.77,-146.0,288.2,-10.1,281,2410,0.00,1.15,0.00,0.000,6,0.000,0.051,2158,2510,3084,0,0,0,0,0,0
$GC,2622,-0.77,-146.0,310.6,-10.0,302,2626,0.00,1.20,0.00,0.000,4,0.000,0.081,2153,3213,3084,0,0,0,0,0,0
$GC,2667,-0.77,-146.0,315.4,-10.7,306,2671,0.00,1.15,0.00,0.000,6,0.000,0.051,2154,2504,3083,0,0,0,0,0,0
$GC,2893,-0.77,-146.0,339.2,-11.0,327,2897,0.00,1.23,0.00,0.000,4,0.000,0.082,2150,3220,3084,0,0,0,0,0,0
$GC,2940,-0.77,-146.0,344.4,-10.8,331,2944,0.00,1.15,0.00,0.000,6,0.000,0.052,2151,2509,3084,0,0,0,0,0,0
$GC,3165,-0.77,-146.0,368.3,-10.4,352,3169,0.00,1.20,0.00,0.000,4,0.000,0.080,2146,3213,3084,0,0,0,0,0,0
$GC,3214,-0.77,-146.0,373.4,-11.2,356,3221,0.00,1.15,0.00,0.000,6,0.000,0.050,2145,2504,3084,0,0,0,0,0,0
$GC,3433,-0.77,-146.0,398.0,-10.8,377,3437,0.00,1.23,0.00,0.000,4,0.000,0.081,2141,3221,3083,0,0,0,0,0,0
$GC,3551,-0.77,-146.0,410.9,-10.8,387,3555,0.00,1.15,0.00,0.000,6,0.000,0.052,2141,2509,3083,0,0,0,0,0,0
$GC,3776,-0.77,-146.0,437.0,-11.6,408,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2509,3084,0,0,0,0,0,0
$STATE,3880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3880,begin apogee
$GC,3886,-0.16,0.0,450.1,-12.3,418,4011,0.68,0.00,117.40,1.168,6,0.148,0.000,2354,2191,2484,0,0,0,0,0,0
$STATE,4012,end apogee,CONTROL_FINISHED_OK
$STATE,4012,begin climb
$GC,4014,0.77,146.0,456.1,0.0,429,4152,0.90,1.27,123.90,1.119,4,0.066,0.069,2667,1495,1887,0,0,0,0,0,0
$GC,4400,0.77,146.0,430.5,11.6,463,4407,0.00,1.25,0.00,0.000,6,0.000,0.063,2667,2201,1878,0,0,0,0,0,0
$GC,4620,0.77,146.0,404.5,11.8,484,4623,0.00,1.23,0.00,0.000,4,0.000,0.067,2671,1499,1877,0,0,0,0,0,0
$GC,4687,0.77,146.0,396.7,11.6,490,4691,0.00,1.23,0.00,0.000,6,0.000,0.063,2671,2203,1876,0,0,0,0,0,0
$GC,4915,0.77,146.0,371.4,11.4,511,4918,0.00,1.20,0.00,0.000,4,0.000,0.071,2671,2910,1876,0,0,0,0,0,0
$GC,5119,0.77,146.0,346.8,11.8,529,5126,0.00,1.23,0.00,0.000,6,0.000,0.057,2676,2203,1875,0,0,0,0,0,0
$GC,5338,0.77,146.0,321.6,11.7,550,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2203,1875,0,0,0,0,0,0
$GC,5551,0.77,146.0,297.3,11.5,570,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2203,1875,0,0,0,0,0,0
$GC,5763,0.77,146.0,273.3,11.0,590,5767,0.00,1.23,0.00,0.000,4,0.000,0.070,2676,2902,1875,0,0,0,0,0,0
$GC,5875,0.77,146.0,260.3,11.8,600,5879,0.00,1.20,0.00,0.000,6,0.000,0.057,2681,2198,1874,0,0,0,0,0,0
$GC,6100,0.77,146.0,235.9,10.7,621,6103,0.00,1.12,0.00,0.000,4,0.000,0.070,2686,1497,1874,0,0,0,0,0,0
$GC,6278,0.77,146.0,217.2,10.7,637,6281,0.00,1.20,0.00,0.000,6,0.000,0.065,2686,2205,1874,0,0,0,0,0,0
$GC,6502,0.77,146.0,194.1,10.1,658,6506,0.00,1.20,0.00,0.000,4,0.000,0.067,2691,1496,1874,0,0,0,0,0,0
$GC,6651,0.78,159.3,180.2,9.4,671,6666,0.00,1.20,10.02,0.954,6,0.000,0.063,2691,2208,1834,0,0,0,0,0,0
$GC,6889,0.81,182.1,157.1,9.0,693,6913,0.00,1.20,20.27,0.978,4,0.000,0.065,2696,1497,1741,0,0,0,0,0,0
$GC,6970,0.81,182.1,148.6,10.7,700,6974,0.00,1.20,0.00,0.000,6,0.000,0.063,2696,2197,1740,0,0,0,0,0,0
$GC,7195,0.81,182.1,124.6,10.9,721,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2197,1738,0,0,0,0,0,0
$GC,7407,0.81,182.1,101.1,11.2,741,7411,0.00,1.17,0.00,0.000,4,0.000,0.067,2700,1499,1738,0,0,0,0,0,0
$GC,7595,0.83,193.2,82.5,9.5,774,7611,0.00,1.20,10.12,0.915,6,0.000,0.064,2700,2204,1696,0,0,0,0,0,0
$GC,7809,0.83,193.2,58.9,10.6,812,7816,0.00,1.20,0.00,0.000,4,0.000,0.067,2705,1497,1694,0,0,0,0,0,0
$GC,8064,0.83,196.4,31.4,9.9,858,8074,0.00,1.20,2.85,0.524,6,0.000,0.064,2705,2202,1684,0,0,0,0,0,0
$GC,8275,0.91,264.9,15.2,6.9,895,8314,0.00,1.25,35.08,0.114,4,0.000,0.067,2710,1490,1404,0,0,0,0,0,0
$GC,8375,0.91,264.9,6.0,11.1,912,8382,0.00,1.20,0.00,0.000,6,0.000,0.064,2709,2198,1398,0,0,0,0,0,0
$STATE,8409,end climb,SURFACE_DEPTH_REACHED
$STATE,8409,begin surface coast
$FINISH,1.1,1.013303
$STATE,8426,end surface coast,CONTROL_FINISHED_OK
$STATE,8426,begin surface
$SM_CCo,8444,70.70,0.086,0,0,771,420.20
$SM_GC,2.14,7.25,0.55,70.70,0.067,0.076,0.086,122,2510,771,-7.11,-0.68,420.20,0,0,0,0,0,0
$RAFOS_CLK,553
$RAFOS,6,1318150151,8.833333,8.819722,62,59,59,0,0,0,183,204,216,0,0,0
$RAFOS,5,1318149667,8.700000,8.685278,82,60,60,0,0,0,969,213,149,0,0,0
$RAFOS,4,1318149187,8.566667,8.551945,75,67,59,0,0,0,746,734,189,0,0,0
$RAFOS,3,1318148702,8.433333,8.417222,75,60,58,0,0,0,743,176,203,0,0,0
$RAFOS,1,1318147746,8.166667,8.151667,67,59,59,0,0,0,596,213,193,0,0,0
$RAFOS_FIX,6634.451172,-6016.349609,091011,080819,5,78,14.01
$IRIDIUM_FIX,6604.29,-6027.36,091011,050531
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.87
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,400.5,121.4
$24V_AH,23.2,4.168
$10V_AH,10.2,3.907
$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,17.875,53.750,319.650,70.700,0.000,0.000,0.000,188.775,6.000,0.000,22.292,2531.198,3825.588,529.806,1773.259,177.750,0.000,1584.354,0.000,1568.552,1440.000,12.316,0.000
$DEVICE_MAMPS,272.340,90.270,1168.155,86.445,0.000,0.000,0.000,254.674,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.563,646.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150448
$DATA_FILE_SIZE,36692,921
$CAP_FILE_SIZE,109703,0
$CFSIZE,260165632,246542336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.4
$CURRENT,0.212,301.8,1
$GPS,091011,104302,6633.626,-6018.688,33,0.8,34,-33.7