version: 66.09
glider: 143
mission: 13
dive: 27
start: 10 9 111 18 56 45
data:
$ID,143
$MISSION,13
$DIVE,27
$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,-80451.805
$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
$GPS1,091011,185105,6632.371,-6015.003,32,1.0,32,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.3
$GPS2,091011,185612,6632.405,-6015.015,18,1.2,18,-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,74.8,159873,-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,-146.0,0.0,0.0,0,114,0.00,0.00,-95.75,0.000,2,0.000,0.000,125,2514,2155,0,0,0,0,0,0
$GC,117,-0.77,-146.0,3.3,-3.4,16,166,8.85,1.25,-30.85,0.000,4,0.276,0.090,2147,1806,3083,0,0,0,0,0,0
$GC,415,-0.77,-146.0,53.9,-14.7,68,422,0.00,1.25,0.00,0.000,6,0.000,0.072,2144,2511,3085,0,0,0,0,0,0
$GC,624,-0.77,-146.0,86.0,-15.5,105,630,0.00,1.20,0.00,0.000,4,0.000,0.059,2144,1807,3085,0,0,0,0,0,0
$GC,829,-0.77,-146.0,115.2,-14.2,132,836,0.00,1.25,0.00,0.000,6,0.000,0.072,2139,2514,3085,0,0,0,0,0,0
$GC,1048,-0.77,-146.0,147.1,-14.5,153,1052,0.00,1.15,0.00,0.000,4,0.000,0.084,2133,3216,3085,0,0,0,0,0,0
$GC,1118,-0.77,-146.0,156.7,-14.1,159,1122,0.00,1.15,0.00,0.000,6,0.000,0.053,2134,2508,3085,0,0,0,0,0,0
$GC,1343,-0.77,-146.0,188.7,-13.8,180,1347,0.00,1.23,0.00,0.000,4,0.000,0.080,2129,3218,3085,0,0,0,0,0,0
$GC,1400,-0.77,-146.0,196.9,-14.3,185,1403,0.00,1.15,0.00,0.000,6,0.000,0.052,2129,2509,3085,0,0,0,0,0,0
$GC,1626,-0.77,-146.0,228.3,-13.6,206,1629,0.00,1.20,0.00,0.000,4,0.000,0.081,2124,3211,3085,0,0,0,0,0,0
$GC,1660,-0.77,-146.0,233.3,-13.7,209,1663,0.00,1.15,0.00,0.000,6,0.000,0.052,2124,2502,3085,0,0,0,0,0,0
$GC,1884,-0.77,-146.0,265.4,-14.4,230,1888,0.00,1.23,0.00,0.000,4,0.000,0.081,2119,3219,3085,0,0,0,0,0,0
$GC,1955,-0.77,-146.0,275.3,-15.0,236,1963,0.10,1.15,0.00,0.000,6,0.170,0.051,2149,2508,3085,0,0,0,0,0,0
$GC,2177,-0.77,-146.0,303.2,-12.2,257,2180,0.00,1.20,0.00,0.000,4,0.000,0.080,2146,3212,3085,0,0,0,0,0,0
$GC,2234,-0.77,-146.0,310.6,-12.3,262,2237,0.00,1.12,0.00,0.000,6,0.000,0.051,2146,2513,3085,0,0,0,0,0,0
$GC,2459,-0.77,-146.0,337.6,-11.5,283,2463,0.00,1.20,0.00,0.000,4,0.000,0.081,2141,3216,3085,0,0,0,0,0,0
$GC,2497,-0.77,-146.0,341.8,-11.5,286,2507,0.00,1.15,0.00,0.000,6,0.000,0.051,2141,2504,3084,0,0,0,0,0,0
$GC,2718,-0.77,-146.0,366.9,-10.8,307,2722,0.00,1.12,0.00,0.000,4,0.000,0.062,2141,1804,3084,0,0,0,0,0,0
$GC,2745,-0.77,-146.0,369.7,-11.0,309,2752,0.00,1.25,0.00,0.000,6,0.000,0.071,2137,2516,3084,0,0,0,0,0,0
$GC,2964,-0.77,-146.0,394.6,-11.4,330,2968,0.00,1.12,0.00,0.000,4,0.000,0.084,2132,3210,3084,0,0,0,0,0,0
$GC,3079,-0.77,-146.0,408.2,-12.3,340,3082,0.00,1.12,0.00,0.000,6,0.000,0.050,2131,2509,3084,0,0,0,0,0,0
$GC,3303,-0.77,-146.0,434.4,-11.6,361,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2509,3084,0,0,0,0,0,0
$GC,3516,-0.77,-146.0,459.5,-12.7,381,3519,0.00,1.20,0.00,0.000,4,0.000,0.080,2127,3216,3084,0,0,0,0,0,0
$GC,3617,-0.77,-146.0,471.7,-12.1,390,3620,0.00,1.12,0.00,0.000,6,0.000,0.049,2126,2509,3084,0,0,0,0,0,0
$GC,3843,-0.77,-146.0,499.2,-12.2,411,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2508,3084,0,0,0,0,0,0
$STATE,3946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3946,begin apogee
$GC,3952,-0.16,0.0,512.2,-12.2,421,4077,0.70,0.00,117.95,1.203,6,0.153,0.000,2344,2196,2485,0,0,0,0,0,0
$STATE,4078,end apogee,CONTROL_FINISHED_OK
$STATE,4078,begin climb
$GC,4080,0.77,146.0,517.6,0.0,432,4217,0.88,1.23,125.07,1.160,4,0.067,0.065,2649,1510,1887,0,0,0,0,0,0
$GC,4469,0.77,146.0,487.5,11.5,466,4479,0.00,1.23,0.00,0.000,6,0.000,0.062,2649,2205,1879,0,0,0,0,0,0
$GC,4690,0.77,146.0,461.7,11.7,487,4694,0.00,1.23,0.00,0.000,4,0.000,0.063,2653,1497,1877,0,0,0,0,0,0
$GC,4790,0.77,146.0,449.4,12.4,496,4794,0.00,1.23,0.00,0.000,6,0.000,0.063,2653,2204,1877,0,0,0,0,0,0
$GC,5015,0.77,146.0,421.2,12.7,517,5019,0.00,1.17,0.00,0.000,4,0.000,0.069,2653,2904,1876,0,0,0,0,0,0
$GC,5237,0.77,146.0,393.1,12.1,537,5240,0.00,1.17,0.00,0.000,6,0.000,0.051,2658,2208,1875,0,0,0,0,0,0
$GC,5461,0.77,146.0,366.2,12.1,558,5465,0.00,1.15,0.00,0.000,4,0.000,0.065,2663,1496,1875,0,0,0,0,0,0
$GC,5662,0.77,146.0,343.7,11.1,576,5665,0.00,1.20,0.00,0.000,6,0.000,0.063,2663,2202,1875,0,0,0,0,0,0
$GC,5888,0.77,146.1,320.1,10.0,597,5891,0.00,1.17,0.00,0.000,4,0.000,0.071,2663,2907,1874,0,0,0,0,0,0
$GC,5957,0.77,146.1,312.8,10.5,603,5961,0.00,1.20,0.00,0.000,6,0.000,0.054,2668,2198,1874,0,0,0,0,0,0
$GC,6181,0.77,146.1,290.3,10.3,624,6185,0.00,1.23,0.00,0.000,4,0.000,0.067,2668,2902,1874,0,0,0,0,0,0
$GC,6283,0.77,146.1,279.6,10.7,633,6287,0.00,1.20,0.00,0.000,6,0.000,0.054,2673,2188,1874,0,0,0,0,0,0
$GC,6508,0.77,149.0,256.6,9.9,654,6512,0.00,1.10,0.00,0.000,4,0.000,0.063,2678,1492,1874,0,0,0,0,0,0
$GC,6576,0.78,151.9,249.9,9.9,660,6588,0.00,1.20,4.03,0.754,6,0.000,0.062,2678,2207,1864,0,0,0,0,0,0
$GC,6800,0.79,160.3,227.9,9.6,681,6813,0.00,1.20,8.70,0.954,4,0.000,0.068,2678,2913,1831,0,0,0,0,0,0
$GC,6862,0.79,160.3,221.7,10.8,686,6872,0.00,1.20,0.00,0.000,6,0.000,0.054,2683,2203,1830,0,0,0,0,0,0
$GC,7083,0.79,160.7,198.3,10.0,707,7086,0.00,1.12,0.00,0.000,4,0.000,0.067,2688,1495,1830,0,0,0,0,0,0
$GC,7229,0.79,160.7,183.7,10.0,720,7233,0.10,1.20,0.00,0.000,6,0.177,0.064,2660,2204,1830,0,0,0,0,0,0
$GC,7454,0.79,165.8,161.5,9.8,741,7463,0.00,0.00,6.10,0.871,6,0.000,0.000,2660,2204,1809,0,0,0,0,0,0
$GC,7675,0.79,165.8,138.4,10.5,762,7679,0.00,1.17,0.00,0.000,4,0.000,0.064,2663,1497,1808,0,0,0,0,0,0
$GC,7757,0.79,165.8,130.3,10.1,769,7765,0.00,1.20,0.00,0.000,6,0.000,0.062,2664,2205,1808,0,0,0,0,0,0
$GC,7977,0.80,174.7,108.2,9.6,790,7990,0.00,0.00,9.00,0.920,6,0.000,0.000,2663,2205,1772,0,0,0,0,0,0
$GC,8203,0.85,215.2,87.4,8.1,824,8242,0.00,1.27,34.45,0.948,4,0.000,0.064,2668,1492,1607,0,0,0,0,0,0
$GC,8361,0.85,215.2,71.6,10.8,851,8368,0.00,1.23,0.00,0.000,6,0.000,0.063,2668,2199,1602,0,0,0,0,0,0
$GC,8566,0.86,218.5,50.7,9.8,888,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2199,1600,0,0,0,0,0,0
$GC,8773,0.90,251.2,31.0,8.5,925,8806,0.00,0.00,28.67,0.908,6,0.000,0.000,2668,2199,1460,0,0,0,0,0,0
$GC,9004,0.91,260.5,10.7,9.6,966,9014,0.00,0.00,4.00,0.105,6,0.000,0.000,2668,2199,1422,0,0,0,0,0,0
$STATE,9102,end climb,SURFACE_DEPTH_REACHED
$STATE,9102,begin surface coast
$FINISH,1.3,1.007534
$STATE,9127,end surface coast,CONTROL_FINISHED_OK
$STATE,9127,begin surface
$SM_CCo,9143,75.10,0.086,0,0,771,420.20
$SM_GC,2.20,7.15,0.57,75.10,0.060,0.076,0.086,124,2517,771,-7.07,-0.40,420.20,0,0,0,0,0,0
$RAFOS_CLK,595
$RAFOS,6,1318193349,20.833334,20.819166,83,64,63,0,0,0,853,862,111,0,0,0
$RAFOS,5,1318192863,20.700001,20.684166,83,59,59,0,0,0,980,213,152,0,0,0
$RAFOS,4,1318192383,20.566668,20.550833,87,62,62,0,0,0,759,221,204,0,0,0
$RAFOS,3,1318191905,20.433332,20.418056,88,71,58,0,0,0,722,206,176,0,0,0
$RAFOS,2,1318191426,20.299999,20.285000,59,56,55,0,0,0,196,210,151,0,0,0
$RAFOS,1,1318190944,20.166666,20.151112,74,54,54,0,0,0,616,158,215,0,0,0
$RAFOS,0,1318190465,20.033333,20.018055,64,60,55,0,0,0,192,214,146,0,0,0
$RAFOS_FIX,6633.971191,-6010.752930,091011,202055,5,83,0.73
$IRIDIUM_FIX,6604.29,-6015.31,091011,161609
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.40
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,400.0,129.1
$24V_AH,23.2,4.584
$10V_AH,10.3,4.208
$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,17.775,53.350,337.975,75.100,0.000,0.000,0.000,198.050,6.000,0.000,20.194,2704.095,4185.438,540.151,1938.006,182.948,0.000,1677.253,0.000,1722.547,2520.000,9.299,0.000
$DEVICE_MAMPS,276.165,89.505,1203.345,85.680,0.000,0.000,0.000,250.180,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.614,695.564,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,36736,987
$CAP_FILE_SIZE,116861,0
$CFSIZE,260165632,246284288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1452.7
$CURRENT,0.177,240.9,1
$GPS,091011,213200,6632.888,-6014.592,35,0.7,35,-33.6