version: 66.09
glider: 143
mission: 13
dive: 28
start: 10 9 111 21 37 38
data:
$ID,143
$MISSION,13
$DIVE,28
$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,-80453.062
$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,27
$R_STBD_OVSHOOT,16
$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
$GPS1,091011,213200,6632.888,-6014.592,35,0.7,35,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.4
$GPS2,091011,213705,6632.929,-6014.524,35,0.7,36,-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,97.2,159200,-18.3,-10.000
$D_GRID,518
$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,-146.0,0.0,0.0,0,115,0.00,0.00,-96.47,0.000,2,0.000,0.000,124,2522,2161,0,0,0,0,0,0
$GC,118,-0.77,-146.0,3.4,-3.1,16,166,8.90,1.20,-30.52,0.000,4,0.275,0.112,2142,3217,3083,0,0,0,0,0,0
$GC,414,-0.77,-146.0,53.9,-16.8,68,421,0.00,1.17,0.00,0.000,6,0.000,0.053,2142,2501,3084,0,0,0,0,0,0
$GC,620,-0.77,-146.0,85.2,-14.8,105,629,0.00,1.25,0.00,0.000,4,0.000,0.080,2138,3223,3085,0,0,0,0,0,0
$GC,879,-0.77,-146.0,124.5,-15.2,137,883,0.00,1.17,0.00,0.000,6,0.000,0.053,2137,2506,3085,0,0,0,0,0,0
$GC,1105,-0.77,-146.0,157.6,-14.2,158,1109,0.00,1.23,0.00,0.000,4,0.000,0.080,2132,3219,3085,0,0,0,0,0,0
$GC,1188,-0.77,-146.0,169.3,-14.4,165,1197,0.00,1.15,0.00,0.000,6,0.000,0.052,2133,2512,3085,0,0,0,0,0,0
$GC,1409,-0.77,-146.0,201.2,-13.9,186,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2512,3085,0,0,0,0,0,0
$GC,1621,-0.77,-146.0,230.1,-13.9,206,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2512,3085,0,0,0,0,0,0
$GC,1834,-0.77,-146.0,258.0,-12.9,226,1837,0.00,1.20,0.00,0.000,4,0.000,0.082,2128,3213,3085,0,0,0,0,0,0
$GC,1905,-0.77,-146.0,266.9,-12.7,232,1912,0.00,1.15,0.00,0.000,6,0.000,0.052,2127,2506,3085,0,0,0,0,0,0
$GC,2125,-0.77,-146.0,295.4,-12.5,253,2128,0.00,1.23,0.00,0.000,4,0.000,0.081,2123,3221,3085,0,0,0,0,0,0
$GC,2173,-0.77,-146.0,301.3,-12.8,257,2183,0.00,1.17,0.00,0.000,6,0.000,0.051,2123,2501,3085,0,0,0,0,0,0
$GC,2394,-0.77,-146.0,328.4,-12.1,278,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2501,3085,0,0,0,0,0,0
$GC,2606,-0.77,-146.0,353.2,-11.9,298,2609,0.00,1.23,0.00,0.000,4,0.000,0.078,2118,3222,3085,0,0,0,0,0,0
$GC,2675,-0.77,-146.0,361.5,-12.3,304,2679,0.10,1.15,0.00,0.000,6,0.168,0.049,2148,2504,3084,0,0,0,0,0,0
$GC,2900,-0.77,-146.0,385.1,-10.3,325,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2504,3085,0,0,0,0,0,0
$GC,3111,-0.77,-146.0,407.5,-10.5,345,3115,0.00,1.10,0.00,0.000,4,0.000,0.060,2148,1816,3085,0,0,0,0,0,0
$GC,3156,-0.77,-146.0,412.1,-10.4,349,3159,0.00,1.23,0.00,0.000,6,0.000,0.069,2145,2520,3085,0,0,0,0,0,0
$GC,3382,-0.77,-146.0,436.3,-10.5,370,3385,0.00,1.12,0.00,0.000,4,0.000,0.082,2140,3214,3085,0,0,0,0,0,0
$GC,3464,-0.77,-146.0,444.8,-10.9,377,3474,0.00,1.12,0.00,0.000,6,0.000,0.049,2140,2511,3085,0,0,0,0,0,0
$GC,3687,-0.77,-146.0,470.3,-11.5,398,3690,0.00,1.20,0.00,0.000,4,0.000,0.080,2136,3219,3085,0,0,0,0,0,0
$GC,3778,-0.77,-146.0,480.7,-11.2,406,3782,0.00,1.12,0.00,0.000,6,0.000,0.050,2136,2514,3084,0,0,0,0,0,0
$GC,4002,-0.77,-146.0,505.4,-11.0,427,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2513,3085,0,0,0,0,0,0
$STATE,4096,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4096,begin apogee
$GC,4102,-0.16,0.0,516.3,-11.4,436,4227,0.65,0.00,118.15,1.206,6,0.154,0.000,2338,2188,2485,0,0,0,0,0,0
$STATE,4228,end apogee,CONTROL_FINISHED_OK
$STATE,4228,begin climb
$GC,4230,0.77,146.0,521.1,0.0,447,4366,0.93,1.20,125.12,1.164,4,0.076,0.065,2650,1509,1887,0,0,0,0,0,0
$GC,4416,0.77,146.0,514.2,10.5,463,4423,0.00,1.27,0.00,0.000,6,0.000,0.061,2650,2208,1882,0,0,0,0,0,0
$GC,4635,0.77,146.0,486.9,12.3,484,4639,0.00,1.23,0.00,0.000,4,0.000,0.070,2650,2915,1878,0,0,0,0,0,0
$GC,4739,0.77,146.0,473.9,12.6,493,4746,0.00,1.25,0.00,0.000,6,0.000,0.053,2655,2204,1877,0,0,0,0,0,0
$GC,4959,0.77,146.0,447.0,11.9,514,4962,0.00,1.27,0.00,0.000,4,0.000,0.070,2655,2915,1876,0,0,0,0,0,0
$GC,5142,0.77,146.0,424.7,12.7,530,5150,0.00,1.25,0.00,0.000,6,0.000,0.053,2660,2190,1875,0,0,0,0,0,0
$GC,5362,0.77,146.0,397.9,12.0,551,5366,0.00,1.12,0.00,0.000,4,0.000,0.065,2665,1496,1875,0,0,0,0,0,0
$GC,5462,0.77,146.0,386.1,11.8,560,5466,0.00,1.20,0.00,0.000,6,0.000,0.062,2665,2201,1874,0,0,0,0,0,0
$GC,5688,0.77,146.0,358.8,12.0,581,5692,0.00,1.20,0.00,0.000,4,0.000,0.063,2669,1495,1874,0,0,0,0,0,0
$GC,5735,0.77,146.0,353.1,12.2,585,5739,0.00,1.20,0.00,0.000,6,0.000,0.061,2669,2203,1874,0,0,0,0,0,0
$GC,5960,0.77,146.0,326.2,11.5,606,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2203,1874,0,0,0,0,0,0
$GC,6172,0.77,146.0,302.2,11.4,626,6176,0.00,1.20,0.00,0.000,4,0.000,0.062,2674,1493,1874,0,0,0,0,0,0
$GC,6232,0.77,146.0,296.0,10.9,631,6239,0.00,1.20,0.00,0.000,6,0.000,0.062,2674,2202,1874,0,0,0,0,0,0
$GC,6452,0.77,146.0,271.8,10.3,652,6456,0.00,1.17,0.00,0.000,4,0.000,0.071,2674,2909,1874,0,0,0,0,0,0
$GC,6497,0.77,146.0,266.8,11.0,656,6501,0.10,1.20,0.00,0.000,6,0.177,0.054,2651,2198,1873,0,0,0,0,0,0
$GC,6726,0.78,156.5,244.8,9.5,677,6738,0.00,1.17,7.47,0.938,4,0.000,0.066,2655,1487,1846,0,0,0,0,0,0
$GC,6788,0.79,163.7,238.7,9.7,682,6799,0.00,1.20,7.88,0.929,6,0.000,0.062,2655,2198,1817,0,0,0,0,0,0
$GC,7015,0.80,168.9,215.6,9.8,703,7027,0.00,1.17,6.15,0.879,4,0.000,0.061,2659,1493,1795,0,0,0,0,0,0
$GC,7133,0.80,171.1,204.1,9.9,713,7140,0.00,1.20,0.00,0.000,6,0.000,0.063,2659,2198,1794,0,0,0,0,0,0
$GC,7353,0.81,176.7,182.1,9.7,734,7365,0.00,1.23,8.05,0.922,4,0.000,0.063,2663,1496,1764,0,0,0,0,0,0
$GC,7437,0.82,185.5,174.3,9.6,741,7455,0.00,1.20,9.07,0.920,6,0.000,0.063,2663,2199,1727,0,0,0,0,0,0
$GC,7668,0.82,185.5,150.2,10.2,763,7672,0.00,1.17,0.00,0.000,4,0.000,0.071,2663,2904,1725,0,0,0,0,0,0
$GC,7693,0.82,185.5,147.5,10.6,765,7696,0.00,1.20,0.00,0.000,6,0.000,0.054,2668,2201,1726,0,0,0,0,0,0
$GC,7917,0.82,185.5,123.3,10.5,786,7921,0.00,1.12,0.00,0.000,4,0.000,0.066,2674,1495,1725,0,0,0,0,0,0
$GC,7974,0.82,185.5,117.3,10.5,791,7977,0.00,1.20,0.00,0.000,6,0.000,0.064,2674,2200,1725,0,0,0,0,0,0
$GC,8196,0.84,201.7,95.6,9.3,815,8217,0.00,1.17,14.93,0.940,4,0.000,0.062,2678,1497,1660,0,0,0,0,0,0
$GC,8420,0.84,201.7,72.6,10.7,855,8427,0.00,1.20,0.00,0.000,6,0.000,0.063,2678,2201,1658,0,0,0,0,0,0
$GC,8627,0.84,201.7,50.9,10.5,892,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2201,1657,0,0,0,0,0,0
$GC,8835,0.88,239.8,31.1,8.2,929,8873,0.00,1.25,30.38,0.916,4,0.000,0.066,2683,1493,1506,0,0,0,0,0,0
$GC,9120,0.90,256.0,8.6,9.3,980,9136,0.00,1.23,7.75,0.098,6,0.000,0.063,2683,2205,1439,0,0,0,0,0,0
$STATE,9190,end climb,SURFACE_DEPTH_REACHED
$STATE,9190,begin surface coast
$FINISH,1.2,1.012569
$STATE,9215,end surface coast,CONTROL_FINISHED_OK
$STATE,9215,begin surface
$SM_CCo,9232,76.88,0.086,0,0,770,420.20
$SM_GC,2.26,7.18,0.55,76.88,0.060,0.067,0.086,119,2521,770,-7.08,-0.42,420.20,0,0,0,0,0,0
$RAFOS_CLK,597
$RAFOS,0,1318204865,0.033333,0.018056,68,65,58,0,0,0,614,170,214,0,0,0
$RAFOS_FIX,6633.971191,-6010.752930,091011,202055,5,83,0.73
$IRIDIUM_FIX,6604.29,-6020.00,091011,181846
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.67
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,450.6,80.3
$24V_AH,23.2,4.690
$10V_AH,10.3,4.281
$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,17.850,55.975,334.950,76.875,0.000,0.000,0.000,179.800,5.250,0.000,36.484,2683.331,4294.392,559.303,1902.301,183.949,0.000,1664.890,0.000,1685.444,720.000,16.968,0.000
$DEVICE_MAMPS,275.400,111.690,1206.405,85.680,0.000,0.000,0.000,253.176,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.199,703.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150492
$DATA_FILE_SIZE,40063,996
$CAP_FILE_SIZE,117157,0
$CFSIZE,260165632,246214656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.1
$CURRENT,0.210,308.2,1
$GPS,101011,001402,6633.900,-6013.296,29,0.8,30,-33.7