version: 66.09
glider: 143
mission: 13
dive: 30
start: 10 10 111 2 58 32
data:
$ID,143
$MISSION,13
$DIVE,30
$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,-80455.57
$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,26
$R_STBD_OVSHOOT,21
$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
$GPS1,101011,025323,6633.328,-6011.758,37,1.2,37,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.0
$GPS2,101011,025759,6633.275,-6011.853,19,1.3,20,-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,127.4,157168,-18.3,-10.000
$D_GRID,526
$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,-97.57,0.000,2,0.000,0.000,121,2515,2169,0,0,0,0,0,0
$GC,119,-0.77,-146.0,3.4,-3.4,15,163,8.90,1.20,-30.38,0.000,4,0.275,0.110,2140,3213,3083,0,0,0,0,0,0
$GC,414,-0.77,-146.0,57.9,-16.9,66,423,0.00,1.17,0.00,0.000,6,0.000,0.051,2141,2498,3085,0,0,0,0,0,0
$GC,624,-0.77,-146.0,90.8,-14.3,103,631,0.00,1.25,0.00,0.000,4,0.000,0.081,2135,3218,3085,0,0,0,0,0,0
$GC,697,-0.77,-146.0,101.0,-13.8,115,704,0.00,1.17,0.00,0.000,6,0.000,0.052,2136,2505,3085,0,0,0,0,0,0
$GC,916,-0.77,-146.0,134.2,-15.3,136,920,0.00,1.12,0.00,0.000,4,0.000,0.060,2136,1812,3085,0,0,0,0,0,0
$GC,983,-0.77,-146.0,144.0,-14.4,142,987,0.00,1.23,0.00,0.000,6,0.000,0.070,2131,2506,3085,0,0,0,0,0,0
$GC,1209,-0.77,-146.0,176.3,-14.3,163,1213,0.00,1.15,0.00,0.000,4,0.000,0.080,2126,3211,3085,0,0,0,0,0,0
$GC,1322,-0.77,-146.0,192.5,-14.2,173,1325,0.00,1.15,0.00,0.000,6,0.000,0.049,2126,2501,3085,0,0,0,0,0,0
$GC,1548,-0.77,-146.0,224.9,-14.7,194,1551,0.00,1.23,0.00,0.000,4,0.000,0.079,2121,3217,3085,0,0,0,0,0,0
$GC,1615,-0.77,-146.0,234.9,-14.0,200,1619,0.08,1.15,0.00,0.000,6,0.180,0.050,2143,2504,3085,0,0,0,0,0,0
$GC,1842,-0.77,-146.0,264.0,-12.7,221,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2504,3085,0,0,0,0,0,0
$GC,2061,-0.77,-146.0,293.1,-13.1,242,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2504,3085,0,0,0,0,0,0
$GC,2273,-0.77,-146.0,319.7,-12.2,262,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2504,3085,0,0,0,0,0,0
$GC,2486,-0.77,-146.0,345.1,-12.1,282,2489,0.00,1.20,0.00,0.000,4,0.000,0.079,2140,3213,3084,0,0,0,0,0,0
$GC,2567,-0.77,-146.0,354.8,-12.2,289,2571,0.00,1.12,0.00,0.000,6,0.000,0.049,2140,2510,3085,0,0,0,0,0,0
$GC,2793,-0.77,-146.0,382.2,-12.3,310,2797,0.00,1.20,0.00,0.000,4,0.000,0.078,2135,3218,3084,0,0,0,0,0,0
$GC,2864,-0.77,-146.0,390.7,-12.1,316,2871,0.00,1.15,0.00,0.000,6,0.000,0.047,2135,2502,3085,0,0,0,0,0,0
$GC,3083,-0.77,-146.0,417.3,-11.8,337,3087,0.00,1.10,0.00,0.000,4,0.000,0.060,2135,1814,3085,0,0,0,0,0,0
$GC,3133,-0.77,-146.0,422.7,-12.0,341,3140,0.00,1.23,0.00,0.000,6,0.000,0.070,2130,2517,3085,0,0,0,0,0,0
$GC,3352,-0.77,-146.0,449.4,-12.2,362,3355,0.00,1.12,0.00,0.000,4,0.000,0.080,2125,3214,3085,0,0,0,0,0,0
$GC,3490,-0.77,-146.0,466.2,-12.5,374,3499,0.00,1.12,0.00,0.000,6,0.000,0.047,2125,2508,3084,0,0,0,0,0,0
$GC,3710,-0.77,-146.0,493.0,-12.2,395,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2508,3084,0,0,0,0,0,0
$GC,3922,-0.77,-146.0,518.5,-11.7,415,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2508,3085,0,0,0,0,0,0
$STATE,3928,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3928,begin apogee
$GC,3934,-0.16,0.0,519.6,-11.4,416,4059,0.70,0.00,118.18,1.207,6,0.149,0.000,2345,2200,2485,0,0,0,0,0,0
$STATE,4060,end apogee,CONTROL_FINISHED_OK
$STATE,4060,begin climb
$GC,4062,0.77,146.0,524.9,0.0,427,4201,0.88,1.20,125.38,1.175,4,0.063,0.062,2651,1503,1887,0,0,0,0,0,0
$GC,4402,0.77,146.0,499.6,11.6,457,4405,0.00,1.25,0.00,0.000,6,0.000,0.061,2651,2209,1880,0,0,0,0,0,0
$GC,4627,0.77,146.0,472.0,12.1,478,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2209,1877,0,0,0,0,0,0
$GC,4839,0.77,146.0,447.1,11.5,498,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2209,1877,0,0,0,0,0,0
$GC,5051,0.77,146.0,422.8,11.8,518,5054,0.00,1.20,0.00,0.000,4,0.000,0.063,2656,1505,1876,0,0,0,0,0,0
$GC,5110,0.77,146.0,416.2,11.8,523,5118,0.00,1.20,0.00,0.000,6,0.000,0.060,2655,2205,1876,0,0,0,0,0,0
$GC,5330,0.77,146.0,390.0,11.9,544,5334,0.00,1.20,0.00,0.000,4,0.000,0.063,2660,1497,1876,0,0,0,0,0,0
$GC,5375,0.77,146.0,384.8,11.8,548,5378,0.00,1.20,0.00,0.000,6,0.000,0.061,2660,2202,1875,0,0,0,0,0,0
$GC,5601,0.77,146.0,358.9,10.8,569,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2202,1875,0,0,0,0,0,0
$GC,5811,0.77,146.0,335.8,10.4,589,5814,0.00,1.17,0.00,0.000,4,0.000,0.071,2660,2908,1875,0,0,0,0,0,0
$GC,5912,0.77,146.0,324.5,10.9,598,5916,0.00,1.20,0.00,0.000,6,0.000,0.053,2665,2196,1874,0,0,0,0,0,0
$GC,6139,0.77,146.0,300.4,10.7,619,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2196,1874,0,0,0,0,0,0
$GC,6358,0.77,146.0,276.5,10.5,640,6362,0.00,1.12,0.00,0.000,4,0.000,0.065,2670,1493,1874,0,0,0,0,0,0
$GC,6419,0.77,146.0,270.6,10.4,645,6425,0.00,1.20,0.00,0.000,6,0.000,0.060,2670,2203,1874,0,0,0,0,0,0
$GC,6641,0.78,152.8,248.1,9.7,666,6655,0.00,1.20,4.55,0.803,4,0.000,0.062,2675,1493,1861,0,0,0,0,0,0
$GC,6727,0.78,152.8,239.6,10.0,673,6734,0.00,1.20,0.00,0.000,6,0.000,0.060,2675,2205,1862,0,0,0,0,0,0
$GC,6946,0.78,152.8,216.5,10.4,694,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2205,1862,0,0,0,0,0,0
$GC,7159,0.78,152.8,195.4,10.1,714,7163,0.00,1.15,0.00,0.000,4,0.000,0.069,2675,2913,1862,0,0,0,0,0,0
$GC,7318,0.78,152.8,179.4,10.0,728,7322,0.08,1.20,0.00,0.000,6,0.176,0.053,2658,2196,1861,0,0,0,0,0,0
$GC,7544,0.81,177.7,158.7,8.9,749,7572,0.00,0.00,22.45,0.981,6,0.000,0.000,2658,2196,1759,0,0,0,0,0,0
$GC,7784,0.81,177.7,133.6,10.4,772,7788,0.00,1.23,0.00,0.000,4,0.000,0.067,2658,2901,1756,0,0,0,0,0,0
$GC,7800,0.81,177.7,132.4,10.4,773,7807,0.00,1.20,0.00,0.000,6,0.000,0.053,2662,2197,1756,0,0,0,0,0,0
$GC,8020,0.82,186.6,109.8,9.6,794,8035,0.00,1.27,8.43,0.900,4,0.000,0.068,2661,2905,1723,0,0,0,0,0,0
$GC,8122,0.82,186.6,99.2,10.9,803,8128,0.00,1.20,0.00,0.000,6,0.000,0.054,2666,2199,1723,0,0,0,0,0,0
$GC,8327,0.82,186.6,78.4,10.2,840,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2199,1723,0,0,0,0,0,0
$GC,8532,0.84,200.8,58.4,9.3,877,8553,0.00,1.25,13.10,0.920,4,0.000,0.070,2666,2901,1665,0,0,0,0,0,0
$GC,8673,0.84,200.8,44.4,10.1,901,8679,0.00,1.20,0.00,0.000,6,0.000,0.056,2670,2198,1664,0,0,0,0,0,0
$GC,8881,0.87,225.9,25.0,8.8,938,8902,0.00,1.12,15.02,0.881,4,0.000,0.063,2676,1493,1563,0,0,0,0,0,0
$GC,9022,0.98,315.2,15.4,5.9,962,9075,0.08,1.20,45.53,0.110,6,0.080,0.063,2713,2195,1197,0,0,0,0,0,0
$STATE,9147,end climb,SURFACE_DEPTH_REACHED
$STATE,9147,begin surface coast
$FINISH,1.3,1.012880
$STATE,9158,end surface coast,CONTROL_FINISHED_OK
$STATE,9159,begin surface
$SM_CCo,9175,47.42,0.086,0,0,772,420.20
$SM_GC,2.22,7.25,0.57,47.42,0.060,0.080,0.086,118,2512,772,-7.08,-0.54,420.20,0,0,0,0,0,0
$RAFOS_CLK,598
$RAFOS,6,1318222147,4.833333,4.818611,90,62,59,0,0,0,871,218,189,0,0,0
$RAFOS,5,1318221666,4.700000,4.685000,61,59,57,0,0,0,196,158,951,0,0,0
$RAFOS,4,1318221183,4.566667,4.550833,131,62,61,0,0,0,745,142,216,0,0,0
$RAFOS,3,1318220702,4.433333,4.417222,74,67,65,0,0,0,712,134,194,0,0,0
$RAFOS,2,1318220231,4.300000,4.286389,107,58,56,0,0,0,517,189,112,0,0,0
$RAFOS,1,1318219746,4.166667,4.151667,80,60,59,0,0,0,607,200,171,0,0,0
$RAFOS,0,1318219271,4.033333,4.019722,89,65,61,0,0,0,602,220,197,0,0,0
$RAFOS_FIX,6632.916992,-6006.013184,101011,040453,6,95,0.84
$IRIDIUM_FIX,6609.62,-6017.32,101011,000035
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,350.4,183.9
$24V_AH,23.2,4.904
$10V_AH,10.3,4.425
$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,17.950,48.525,352.625,47.425,0.000,0.000,0.000,166.000,4.000,0.000,20.387,2707.864,4266.576,547.563,1822.120,184.007,0.000,1617.437,0.000,1642.179,2520.000,7.677,0.000
$DEVICE_MAMPS,274.635,110.160,1207.170,85.680,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.657,696.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36811,985
$CAP_FILE_SIZE,114474,0
$CFSIZE,260165632,246091776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.4
$CURRENT,0.265,213.0,1
$GPS,101011,053359,6631.846,-6009.951,38,0.9,38,-33.6