version: 66.09
glider: 143
mission: 13
dive: 29
start: 10 10 111 0 19 10
data:
$ID,143
$MISSION,13
$DIVE,29
$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,-80454.312
$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,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
$GPS1,101011,001402,6633.900,-6013.296,29,0.8,30,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-70.8
$GPS2,101011,001837,6633.869,-6013.270,18,1.4,18,-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,147.1,157747,-18.3,-10.000
$D_GRID,523
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.12,0.000,2,0.000,0.000,119,2525,2140,0,0,0,0,0,0
$GC,116,-0.77,-146.0,3.3,-3.2,15,166,8.90,1.17,-31.45,0.000,4,0.275,0.109,2140,3217,3083,0,0,0,0,0,0
$GC,370,-0.77,-146.0,49.2,-17.1,59,376,0.00,1.15,0.00,0.000,6,0.000,0.050,2140,2509,3084,0,0,0,0,0,0
$GC,576,-0.77,-146.0,81.3,-15.1,96,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2510,3084,0,0,0,0,0,0
$GC,787,-0.77,-146.0,112.7,-14.7,126,790,0.00,1.12,0.00,0.000,4,0.000,0.058,2140,1815,3084,0,0,0,0,0,0
$GC,869,-0.77,-146.0,124.5,-14.3,133,876,0.00,1.23,0.00,0.000,6,0.000,0.071,2135,2510,3084,0,0,0,0,0,0
$GC,1088,-0.77,-146.0,157.8,-15.0,154,1092,0.00,1.15,0.00,0.000,4,0.000,0.080,2130,3214,3084,0,0,0,0,0,0
$GC,1257,-0.77,-146.0,182.7,-14.5,169,1261,0.00,1.15,0.00,0.000,6,0.000,0.050,2130,2502,3084,0,0,0,0,0,0
$GC,1482,-0.77,-146.0,215.8,-14.0,190,1485,0.00,1.12,0.00,0.000,4,0.000,0.060,2130,1806,3084,0,0,0,0,0,0
$GC,1562,-0.77,-146.0,227.1,-14.3,197,1566,0.00,1.25,0.00,0.000,6,0.000,0.072,2125,2516,3084,0,0,0,0,0,0
$GC,1787,-0.77,-146.0,260.9,-15.7,218,1790,0.00,1.15,0.00,0.000,4,0.000,0.083,2119,3220,3084,0,0,0,0,0,0
$GC,1950,-0.77,-146.0,285.6,-15.7,232,1959,0.10,1.15,0.00,0.000,6,0.168,0.049,2149,2509,3084,0,0,0,0,0,0
$GC,2172,-0.77,-146.0,316.3,-13.4,253,2175,0.00,1.12,0.00,0.000,4,0.000,0.061,2149,1813,3084,0,0,0,0,0,0
$GC,2232,-0.77,-146.0,324.2,-12.7,258,2239,0.00,1.23,0.00,0.000,6,0.000,0.071,2146,2515,3084,0,0,0,0,0,0
$GC,2451,-0.77,-146.0,353.0,-12.8,279,2455,0.00,1.15,0.00,0.000,4,0.000,0.083,2141,3220,3084,0,0,0,0,0,0
$GC,2541,-0.77,-146.0,364.3,-12.6,287,2545,0.00,1.15,0.00,0.000,6,0.000,0.051,2141,2509,3084,0,0,0,0,0,0
$GC,2767,-0.77,-146.0,391.6,-11.5,308,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2508,3084,0,0,0,0,0,0
$GC,2978,-0.77,-146.0,416.0,-11.3,328,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2508,3084,0,0,0,0,0,0
$GC,3191,-0.77,-146.0,440.8,-11.7,348,3195,0.00,1.12,0.00,0.000,4,0.000,0.060,2141,1806,3084,0,0,0,0,0,0
$GC,3251,-0.77,-146.0,447.5,-11.8,353,3258,0.00,1.23,0.00,0.000,6,0.000,0.070,2137,2509,3084,0,0,0,0,0,0
$GC,3472,-0.77,-146.0,473.0,-11.9,374,3475,0.00,1.15,0.00,0.000,4,0.000,0.080,2131,3221,3084,0,0,0,0,0,0
$GC,3622,-0.77,-146.0,490.6,-11.8,387,3629,0.00,1.15,0.00,0.000,6,0.000,0.047,2131,2504,3084,0,0,0,0,0,0
$GC,3841,-0.77,-146.0,518.1,-11.9,408,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2503,3084,0,0,0,0,0,0
$STATE,3871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3871,begin apogee
$GC,3877,-0.16,0.0,521.6,-11.2,411,4003,0.68,0.00,117.93,1.211,6,0.148,0.000,2344,2194,2485,0,0,0,0,0,0
$STATE,4004,end apogee,CONTROL_FINISHED_OK
$STATE,4004,begin climb
$GC,4006,0.77,146.0,526.2,0.0,422,4144,0.90,1.25,125.03,1.165,4,0.070,0.064,2652,1502,1888,0,0,0,0,0,0
$GC,4180,0.77,146.0,519.0,10.2,437,4184,0.00,1.27,0.00,0.000,6,0.000,0.060,2652,2205,1884,0,0,0,0,0,0
$GC,4406,0.77,146.0,491.6,11.7,458,4410,0.00,1.23,0.00,0.000,4,0.000,0.068,2651,2915,1879,0,0,0,0,0,0
$GC,4418,0.77,146.0,490.1,11.7,459,4422,0.00,1.25,0.00,0.000,6,0.000,0.052,2656,2201,1879,0,0,0,0,0,0
$GC,4643,0.77,146.0,460.6,13.9,480,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2201,1878,0,0,0,0,0,0
$GC,4855,0.77,146.0,433.5,11.7,500,4859,0.00,1.27,0.00,0.000,4,0.000,0.069,2656,2917,1877,0,0,0,0,0,0
$GC,4868,0.77,146.0,432.0,12.0,501,4872,0.00,1.23,0.00,0.000,6,0.000,0.053,2661,2200,1876,0,0,0,0,0,0
$GC,5093,0.77,146.0,405.2,11.6,522,5097,0.00,1.15,0.00,0.000,4,0.000,0.064,2667,1493,1876,0,0,0,0,0,0
$GC,5308,0.77,146.0,381.0,10.8,541,5312,0.00,1.23,0.00,0.000,6,0.000,0.063,2667,2209,1876,0,0,0,0,0,0
$GC,5533,0.77,146.0,356.9,10.5,562,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2209,1876,0,0,0,0,0,0
$GC,5745,0.77,146.0,335.4,10.2,582,5749,0.00,1.20,0.00,0.000,4,0.000,0.063,2671,1497,1876,0,0,0,0,0,0
$GC,5850,0.77,146.0,324.8,10.3,591,5857,0.00,1.20,0.00,0.000,6,0.000,0.062,2671,2205,1876,0,0,0,0,0,0
$GC,6069,0.77,146.0,301.3,10.8,612,6073,0.00,1.20,0.00,0.000,4,0.000,0.063,2676,1494,1876,0,0,0,0,0,0
$GC,6174,0.77,146.0,290.8,10.5,621,6181,0.00,1.20,0.00,0.000,6,0.000,0.063,2676,2206,1876,0,0,0,0,0,0
$GC,6393,0.77,146.0,267.2,10.6,642,6396,0.00,1.20,0.00,0.000,4,0.000,0.064,2681,1495,1876,0,0,0,0,0,0
$GC,6453,0.77,146.0,261.5,10.3,647,6461,0.12,1.20,0.00,0.000,6,0.174,0.062,2645,2208,1876,0,0,0,0,0,0
$GC,6674,0.78,156.9,240.2,9.5,668,6689,0.00,1.23,7.95,0.948,4,0.000,0.062,2649,1496,1845,0,0,0,0,0,0
$GC,6746,0.78,156.9,232.8,10.3,674,6750,0.00,1.20,0.00,0.000,6,0.000,0.063,2648,2205,1845,0,0,0,0,0,0
$GC,6971,0.78,156.9,209.3,10.6,695,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2205,1844,0,0,0,0,0,0
$GC,7183,0.78,156.9,186.7,10.3,715,7187,0.00,1.17,0.00,0.000,4,0.000,0.064,2653,1499,1844,0,0,0,0,0,0
$GC,7199,0.78,156.9,185.4,10.5,716,7208,0.00,1.20,0.00,0.000,6,0.000,0.062,2653,2208,1844,0,0,0,0,0,0
$GC,7420,0.78,156.9,162.6,10.3,737,7424,0.00,1.17,0.00,0.000,4,0.000,0.064,2657,1499,1844,0,0,0,0,0,0
$GC,7592,0.81,179.9,146.5,8.9,752,7617,0.00,1.17,20.60,0.978,6,0.000,0.063,2657,2199,1751,0,0,0,0,0,0
$GC,7831,0.82,186.1,122.8,9.7,774,7841,0.00,0.00,6.35,0.856,6,0.000,0.000,2658,2199,1726,0,0,0,0,0,0
$GC,8053,0.84,206.7,102.1,9.1,795,8079,0.00,1.25,18.52,0.944,4,0.000,0.063,2662,1491,1641,0,0,0,0,0,0
$GC,8279,0.85,212.9,79.0,9.7,832,8289,0.00,1.23,6.10,0.825,6,0.000,0.063,2662,2203,1616,0,0,0,0,0,0
$GC,8492,0.88,236.6,59.2,8.9,869,8520,0.00,1.25,21.00,0.922,4,0.000,0.070,2662,2920,1519,0,0,0,0,0,0
$GC,8538,0.92,268.9,55.2,8.5,876,8574,0.00,1.25,28.27,0.897,6,0.000,0.054,2667,2200,1387,0,0,0,0,0,0
$GC,8775,0.92,271.0,30.8,9.9,917,8782,0.00,1.15,0.00,0.000,4,0.000,0.067,2672,1496,1381,0,0,0,0,0,0
$GC,8922,0.95,294.3,16.7,8.9,943,8939,0.00,1.23,12.38,0.119,6,0.000,0.063,2672,2205,1285,0,0,0,0,0,0
$STATE,9064,end climb,SURFACE_DEPTH_REACHED
$STATE,9064,begin surface coast
$FINISH,1.4,1.013862
$STATE,9081,end surface coast,CONTROL_FINISHED_OK
$STATE,9081,begin surface
$SM_CCo,9098,58.78,0.086,0,0,772,420.20
$SM_GC,2.11,7.12,0.55,58.78,0.057,0.077,0.086,121,2512,772,-7.07,-0.62,420.20,0,0,0,0,0,0
$RAFOS_CLK,593
$RAFOS,6,1318207747,0.833333,0.818611,60,59,56,0,0,0,193,219,859,0,0,0
$RAFOS,5,1318207270,0.700000,0.686111,83,63,62,0,0,0,931,185,138,0,0,0
$RAFOS,4,1318206785,0.566667,0.551389,91,59,55,0,0,0,739,216,193,0,0,0
$RAFOS,3,1318206302,0.433333,0.417222,83,65,62,0,0,0,733,148,195,0,0,0
$RAFOS,1,1318205343,0.166667,0.150833,82,64,58,0,0,0,607,167,217,0,0,0
$RAFOS_FIX,6634.596680,-6011.902344,101011,000019,5,81,4.96
$IRIDIUM_FIX,6604.29,-6020.00,091011,212141
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.99
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,450.8,85.6
$24V_AH,23.2,4.803
$10V_AH,10.3,4.353
$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,17.825,53.575,364.125,58.775,0.000,0.000,0.000,167.475,6.000,0.000,20.019,2679.565,4188.695,557.852,1844.166,185.181,0.000,1637.973,0.000,1660.438,1440.000,10.947,0.000
$DEVICE_MAMPS,275.400,109.395,1210.995,85.680,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,701.589,685.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150468
$DATA_FILE_SIZE,36722,971
$CAP_FILE_SIZE,116183,0
$CFSIZE,260165632,246153216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.0
$CURRENT,0.155,293.3,1
$GPS,101011,025323,6633.328,-6011.758,37,1.2,37,-33.6