version: 66.09
glider: 143
mission: 13
dive: 25
start: 10 9 111 13 31 57
data:
$ID,143
$MISSION,13
$DIVE,25
$N_DIVES,32
$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,-80449.305
$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,26
$R_STBD_OVSHOOT,19
$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
$GPS1,091011,132435,6634.158,-6017.563,37,0.9,37,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-70.8
$GPS2,091011,133125,6634.114,-6017.690,19,1.1,19,-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,149.2,160599,-18.3,-10.000
$D_GRID,512
$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,-146.0,0.0,0.0,0,116,0.00,0.00,-97.60,0.000,2,0.000,0.000,128,2521,2170,0,0,0,0,0,0
$GC,119,-0.77,-146.0,3.3,-3.0,16,168,9.02,1.20,-30.62,0.000,4,0.278,0.111,2159,3217,3083,0,0,0,0,0,0
$GC,340,-0.77,-146.0,39.7,-14.8,54,347,0.00,1.17,0.00,0.000,6,0.000,0.054,2159,2507,3084,0,0,0,0,0,0
$GC,549,-0.77,-146.0,68.1,-13.4,91,555,0.00,1.15,0.00,0.000,4,0.000,0.063,2159,1807,3084,0,0,0,0,0,0
$GC,666,-0.77,-146.0,83.5,-12.2,112,673,0.00,1.25,0.00,0.000,6,0.000,0.072,2154,2513,3085,0,0,0,0,0,0
$GC,877,-0.77,-146.0,110.4,-13.7,143,881,0.00,1.15,0.00,0.000,4,0.000,0.084,2150,3210,3085,0,0,0,0,0,0
$GC,1039,-0.77,-146.0,132.2,-13.6,157,1048,0.00,1.15,0.00,0.000,6,0.000,0.054,2149,2509,3085,0,0,0,0,0,0
$GC,1259,-0.77,-146.0,162.6,-13.5,178,1263,0.00,1.20,0.00,0.000,4,0.000,0.081,2145,3208,3085,0,0,0,0,0,0
$GC,1315,-0.77,-146.0,170.7,-14.0,183,1319,0.00,1.15,0.00,0.000,6,0.000,0.054,2145,2507,3085,0,0,0,0,0,0
$GC,1540,-0.77,-146.0,200.9,-13.0,204,1543,0.00,1.12,0.00,0.000,4,0.000,0.063,2145,1813,3085,0,0,0,0,0,0
$GC,1596,-0.77,-146.0,208.2,-12.8,209,1600,0.00,1.23,0.00,0.000,6,0.000,0.071,2140,2509,3085,0,0,0,0,0,0
$GC,1822,-0.77,-146.0,238.2,-13.5,230,1826,0.00,1.15,0.00,0.000,4,0.000,0.084,2136,3213,3084,0,0,0,0,0,0
$GC,1938,-0.77,-146.0,253.1,-12.9,240,1946,0.08,1.15,0.00,0.000,6,0.166,0.052,2159,2506,3084,0,0,0,0,0,0
$GC,2158,-0.77,-146.0,278.8,-11.3,261,2162,0.00,1.12,0.00,0.000,4,0.000,0.063,2159,1810,3084,0,0,0,0,0,0
$GC,2216,-0.77,-146.0,285.1,-11.0,266,2219,0.00,1.23,0.00,0.000,6,0.000,0.070,2156,2511,3084,0,0,0,0,0,0
$GC,2440,-0.77,-146.0,310.6,-11.7,287,2444,0.00,1.15,0.00,0.000,4,0.000,0.083,2151,3215,3084,0,0,0,0,0,0
$GC,2575,-0.77,-146.0,325.7,-11.1,299,2578,0.00,1.15,0.00,0.000,6,0.000,0.052,2151,2505,3083,0,0,0,0,0,0
$GC,2799,-0.77,-146.0,349.8,-10.5,320,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2505,3084,0,0,0,0,0,0
$GC,3012,-0.77,-146.0,373.2,-11.3,340,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2505,3083,0,0,0,0,0,0
$GC,3224,-0.77,-146.0,396.3,-10.6,360,3228,0.00,1.20,0.00,0.000,4,0.000,0.080,2147,3211,3084,0,0,0,0,0,0
$GC,3339,-0.77,-146.0,408.1,-10.6,370,3346,0.00,1.15,0.00,0.000,6,0.000,0.052,2147,2501,3083,0,0,0,0,0,0
$GC,3559,-0.77,-146.0,431.4,-10.6,391,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2501,3083,0,0,0,0,0,0
$GC,3771,-0.77,-146.0,454.0,-10.9,411,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2501,3083,0,0,0,0,0,0
$GC,3984,-0.77,-146.0,476.6,-10.7,431,3987,0.00,1.23,0.00,0.000,4,0.000,0.080,2141,3223,3084,0,0,0,0,0,0
$GC,4129,-0.77,-146.0,492.5,-10.7,444,4133,0.00,1.15,0.00,0.000,6,0.000,0.050,2142,2507,3084,0,0,0,0,0,0
$STATE,4309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4309,begin apogee
$GC,4315,-0.16,0.0,512.1,-10.5,461,4442,0.68,0.00,117.85,1.205,6,0.144,0.000,2356,2182,2484,0,0,0,0,0,0
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4445,0.77,146.0,518.8,0.0,472,4574,0.88,0.00,125.32,1.157,6,0.060,0.000,2661,2181,1889,0,0,0,0,0,0
$GC,4785,0.77,146.0,494.4,12.3,505,4789,0.00,1.33,0.00,0.000,4,0.000,0.069,2661,2906,1880,0,0,0,0,0,0
$GC,4812,0.77,146.0,491.4,12.7,507,4819,0.00,1.25,0.00,0.000,6,0.000,0.054,2665,2201,1879,0,0,0,0,0,0
$GC,5031,0.77,146.0,462.5,12.9,528,5035,0.00,1.27,0.00,0.000,4,0.000,0.068,2666,2911,1877,0,0,0,0,0,0
$GC,5177,0.77,146.0,443.1,13.0,541,5180,0.00,1.23,0.00,0.000,6,0.000,0.055,2670,2202,1877,0,0,0,0,0,0
$GC,5402,0.77,146.0,414.6,12.4,562,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2202,1876,0,0,0,0,0,0
$GC,5615,0.77,146.0,387.8,12.4,582,5619,0.00,1.15,0.00,0.000,4,0.000,0.067,2676,1496,1876,0,0,0,0,0,0
$GC,5672,0.77,146.0,380.5,12.6,587,5676,0.00,1.23,0.00,0.000,6,0.000,0.063,2676,2210,1876,0,0,0,0,0,0
$GC,5896,0.77,146.0,352.6,12.1,608,5900,0.00,1.23,0.00,0.000,4,0.000,0.065,2681,1493,1876,0,0,0,0,0,0
$GC,6032,0.77,146.0,336.6,12.0,620,6035,0.00,1.20,0.00,0.000,6,0.000,0.063,2680,2201,1875,0,0,0,0,0,0
$GC,6256,0.77,146.0,310.4,11.2,641,6260,0.00,1.17,0.00,0.000,4,0.000,0.072,2680,2905,1875,0,0,0,0,0,0
$GC,6390,0.77,146.0,295.3,11.3,653,6394,0.00,1.20,0.00,0.000,6,0.000,0.056,2685,2198,1875,0,0,0,0,0,0
$GC,6616,0.77,146.0,270.8,10.5,674,6620,0.00,1.12,0.00,0.000,4,0.000,0.067,2690,1496,1875,0,0,0,0,0,0
$GC,6717,0.77,146.0,260.1,10.3,683,6721,0.00,1.20,0.00,0.000,6,0.000,0.063,2690,2206,1875,0,0,0,0,0,0
$GC,6942,0.77,146.0,237.1,10.4,704,6945,0.00,1.20,0.00,0.000,4,0.000,0.066,2695,1496,1875,0,0,0,0,0,0
$GC,7125,0.77,146.0,218.6,10.5,720,7133,0.10,1.20,0.00,0.000,6,0.177,0.064,2666,2205,1875,0,0,0,0,0,0
$GC,7346,0.78,154.0,196.9,9.6,741,7357,0.00,0.00,5.43,0.852,6,0.000,0.000,2666,2205,1857,0,0,0,0,0,0
$GC,7568,0.80,175.6,176.4,9.0,762,7592,0.00,1.25,19.58,0.986,4,0.000,0.066,2670,1495,1769,0,0,0,0,0,0
$GC,7705,0.80,175.6,162.7,10.3,774,7709,0.00,1.20,0.00,0.000,6,0.000,0.063,2670,2199,1766,0,0,0,0,0,0
$GC,7930,0.80,175.6,139.1,10.7,795,7934,0.00,1.17,0.00,0.000,4,0.000,0.065,2675,1499,1766,0,0,0,0,0,0
$GC,7944,0.80,175.6,137.7,10.8,796,7947,0.00,1.20,0.00,0.000,6,0.000,0.063,2675,2203,1766,0,0,0,0,0,0
$GC,8168,0.80,175.6,113.2,10.8,817,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2203,1766,0,0,0,0,0,0
$GC,8383,0.80,175.6,90.9,10.1,844,8390,0.00,1.17,0.00,0.000,4,0.000,0.073,2674,2913,1765,0,0,0,0,0,0
$GC,8451,0.80,175.6,83.7,10.7,856,8458,0.00,1.23,0.00,0.000,6,0.000,0.056,2680,2191,1765,0,0,0,0,0,0
$GC,8658,0.85,215.8,64.7,8.1,893,8699,0.00,1.17,33.55,0.941,4,0.000,0.071,2684,1492,1604,0,0,0,0,0,0
$GC,8719,0.87,231.7,59.5,9.3,902,8738,0.00,1.23,14.52,0.887,6,0.000,0.063,2684,2199,1540,0,0,0,0,0,0
$GC,8939,0.87,231.7,34.2,11.5,941,8947,0.00,1.20,0.00,0.000,4,0.000,0.073,2684,2908,1534,0,0,0,0,0,0
$GC,9025,0.87,231.7,24.4,10.7,956,9032,0.00,1.23,0.00,0.000,6,0.000,0.057,2689,2200,1533,0,0,0,0,0,0
$GC,9232,0.91,261.4,5.4,8.6,993,9254,0.00,1.15,13.82,0.091,4,0.000,0.067,2694,1497,1418,0,0,0,0,0,0
$STATE,9269,end climb,SURFACE_DEPTH_REACHED
$STATE,9270,begin surface coast
$FINISH,1.2,1.009735
$STATE,9281,end surface coast,CONTROL_FINISHED_OK
$STATE,9281,begin surface
$SM_CCo,9300,73.80,0.086,0,0,771,420.20
$SM_GC,2.22,7.03,1.77,73.80,0.047,0.064,0.086,123,2510,771,-7.11,-0.62,420.20,0,0,0,0,0,0
$RAFOS_CLK,604
$RAFOS_FIX,6634.957520,-6012.986816,091011,121255,5,78,0.76
$IRIDIUM_FIX,6609.62,-6022.02,091011,131316
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.60
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,16.10
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,351.0,177.2
$24V_AH,23.2,4.378
$10V_AH,10.2,4.059
$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,17.775,55.925,330.075,73.800,0.000,0.000,0.000,242.250,5.500,0.000,21.077,2723.123,4385.120,551.988,1953.220,178.578,0.000,1709.592,0.000,1695.575,360.000,7.662,0.000
$DEVICE_MAMPS,277.695,110.925,1204.875,85.680,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.396,707.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150416
$DATA_FILE_SIZE,40013,1001
$CAP_FILE_SIZE,116469,0
$CFSIZE,260165632,246407168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.5
$CURRENT,0.153,269.7,1
$GPS,091011,160935,6633.281,-6016.389,39,0.9,39,-33.7