version: 66.09
glider: 143
mission: 13
dive: 31
start: 10 10 111 5 39 33
data:
$ID,143
$MISSION,13
$DIVE,31
$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,-80456.828
$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,29
$R_STBD_OVSHOOT,17
$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
$GPS1,101011,053359,6631.846,-6009.951,38,0.9,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.2
$GPS2,101011,053900,6631.815,-6010.109,18,1.1,18,-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,65.9,156964,-18.3,-10.000
$D_GRID,522
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-93.72,0.000,2,0.000,0.000,117,2515,2112,0,0,0,0,0,0
$GC,115,-0.77,-146.0,3.2,-2.5,15,164,8.93,1.20,-34.15,0.000,4,0.276,0.109,2140,3216,3083,0,0,0,0,0,0
$GC,413,-0.77,-146.0,54.7,-15.8,67,419,0.00,1.15,0.00,0.000,6,0.000,0.052,2139,2511,3084,0,0,0,0,0,0
$GC,619,-0.77,-146.0,86.9,-15.3,104,628,0.00,1.20,0.00,0.000,4,0.000,0.077,2135,3211,3085,0,0,0,0,0,0
$GC,760,-0.77,-146.0,108.2,-15.3,124,770,0.00,1.15,0.00,0.000,6,0.000,0.047,2135,2504,3085,0,0,0,0,0,0
$GC,981,-0.77,-146.0,141.1,-14.5,145,985,0.00,1.23,0.00,0.000,4,0.000,0.078,2130,3218,3085,0,0,0,0,0,0
$GC,1042,-0.77,-146.0,149.7,-14.9,150,1049,0.00,1.15,0.00,0.000,6,0.000,0.048,2130,2506,3085,0,0,0,0,0,0
$GC,1261,-0.77,-146.0,182.6,-14.3,171,1265,0.00,1.20,0.00,0.000,4,0.000,0.079,2125,3211,3085,0,0,0,0,0,0
$GC,1376,-0.77,-146.0,199.1,-15.3,181,1384,0.00,1.12,0.00,0.000,6,0.000,0.048,2125,2510,3084,0,0,0,0,0,0
$GC,1596,-0.77,-146.0,231.3,-14.6,202,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2509,3084,0,0,0,0,0,0
$GC,1808,-0.77,-146.0,262.1,-14.4,222,1812,0.00,1.20,0.00,0.000,4,0.000,0.079,2120,3214,3084,0,0,0,0,0,0
$GC,1857,-0.77,-146.0,268.9,-14.6,226,1865,0.10,1.15,0.00,0.000,6,0.172,0.048,2150,2502,3084,0,0,0,0,0,0
$GC,2077,-0.77,-146.0,296.4,-11.7,247,2081,0.00,1.23,0.00,0.000,4,0.000,0.079,2146,3222,3084,0,0,0,0,0,0
$GC,2134,-0.77,-146.0,303.3,-12.1,252,2138,0.00,1.15,0.00,0.000,6,0.000,0.047,2146,2505,3084,0,0,0,0,0,0
$GC,2360,-0.77,-146.0,329.9,-12.0,273,2364,0.00,1.20,0.00,0.000,4,0.000,0.078,2142,3213,3084,0,0,0,0,0,0
$GC,2398,-0.77,-146.0,334.2,-11.7,276,2407,0.00,1.12,0.00,0.000,6,0.000,0.047,2142,2509,3084,0,0,0,0,0,0
$GC,2620,-0.77,-146.0,360.9,-12.5,297,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2509,3084,0,0,0,0,0,0
$GC,2839,-0.77,-146.0,387.4,-11.8,318,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2509,3084,0,0,0,0,0,0
$GC,3051,-0.77,-146.0,412.5,-11.7,338,3055,0.00,1.20,0.00,0.000,4,0.000,0.078,2137,3216,3084,0,0,0,0,0,0
$GC,3089,-0.77,-146.0,416.4,-11.4,341,3096,0.00,1.12,0.00,0.000,6,0.000,0.047,2137,2514,3084,0,0,0,0,0,0
$GC,3309,-0.77,-146.0,442.5,-12.0,362,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2514,3084,0,0,0,0,0,0
$GC,3521,-0.77,-146.0,467.5,-11.4,382,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2514,3085,0,0,0,0,0,0
$GC,3733,-0.77,-146.0,489.7,-10.8,402,3737,0.00,1.12,0.00,0.000,4,0.000,0.060,2137,1812,3084,0,0,0,0,0,0
$GC,3749,-0.77,-146.0,491.1,-10.8,403,3756,0.00,1.23,0.00,0.000,6,0.000,0.070,2132,2516,3084,0,0,0,0,0,0
$STATE,3945,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3946,begin apogee
$GC,3952,-0.16,0.0,514.9,-10.3,422,4078,0.65,0.00,117.78,1.205,6,0.146,0.000,2339,2194,2484,0,0,0,0,0,0
$STATE,4078,end apogee,CONTROL_FINISHED_OK
$STATE,4079,begin climb
$GC,4081,0.77,146.0,519.1,0.0,433,4218,0.93,1.23,125.05,1.156,4,0.080,0.065,2649,1507,1887,0,0,0,0,0,0
$GC,4467,0.77,146.0,490.4,11.8,467,4474,0.00,1.23,0.00,0.000,6,0.000,0.061,2649,2200,1879,0,0,0,0,0,0
$GC,4687,0.77,146.0,463.1,12.0,488,4690,0.00,1.20,0.00,0.000,4,0.000,0.063,2654,1504,1877,0,0,0,0,0,0
$GC,4946,0.77,146.0,432.2,11.6,511,4950,0.00,1.20,0.00,0.000,6,0.000,0.062,2654,2201,1876,0,0,0,0,0,0
$GC,5171,0.77,146.0,405.2,11.6,532,5175,0.00,1.20,0.00,0.000,4,0.000,0.063,2658,1497,1876,0,0,0,0,0,0
$GC,5431,0.77,146.0,375.6,11.3,555,5434,0.00,1.20,0.00,0.000,6,0.000,0.061,2658,2203,1875,0,0,0,0,0,0
$GC,5655,0.77,146.0,350.0,11.1,576,5659,0.00,1.17,0.00,0.000,4,0.000,0.060,2663,1502,1875,0,0,0,0,0,0
$GC,5905,0.77,146.0,321.4,11.3,598,5915,0.00,1.17,0.00,0.000,6,0.000,0.060,2662,2199,1875,0,0,0,0,0,0
$GC,6126,0.77,146.0,295.3,11.8,619,6130,0.00,1.17,0.00,0.000,4,0.000,0.070,2662,2907,1875,0,0,0,0,0,0
$GC,6263,0.77,146.0,279.0,11.5,631,6270,0.00,1.17,0.00,0.000,6,0.000,0.053,2667,2207,1874,0,0,0,0,0,0
$GC,6482,0.77,146.0,254.6,10.5,652,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2208,1874,0,0,0,0,0,0
$GC,6695,0.77,146.0,232.0,11.1,672,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2207,1874,0,0,0,0,0,0
$GC,6907,0.77,146.0,209.2,10.8,692,6911,0.00,1.20,0.00,0.000,4,0.000,0.069,2667,2900,1874,0,0,0,0,0,0
$GC,6945,0.77,146.0,205.5,10.8,695,6952,0.00,1.17,0.00,0.000,6,0.000,0.054,2672,2197,1873,0,0,0,0,0,0
$GC,7165,0.77,146.7,182.8,10.0,716,7168,0.00,1.10,0.00,0.000,4,0.000,0.064,2677,1497,1874,0,0,0,0,0,0
$GC,7277,0.77,150.3,171.3,9.8,726,7281,0.00,1.17,0.00,0.000,6,0.000,0.062,2677,2200,1873,0,0,0,0,0,0
$GC,7504,0.81,182.4,150.8,8.5,747,7538,0.00,1.23,28.45,0.981,4,0.000,0.071,2677,2908,1741,0,0,0,0,0,0
$GC,7619,0.81,182.4,138.5,11.2,757,7622,0.00,1.20,0.00,0.000,6,0.000,0.054,2681,2205,1738,0,0,0,0,0,0
$GC,7845,0.81,182.4,112.9,11.0,778,7848,0.00,1.12,0.00,0.000,4,0.000,0.066,2687,1499,1737,0,0,0,0,0,0
$GC,7947,0.81,182.4,101.8,10.9,787,7950,0.00,1.20,0.00,0.000,6,0.000,0.062,2687,2204,1737,0,0,0,0,0,0
$GC,8173,0.81,182.4,77.4,10.3,826,8182,0.00,1.15,0.00,0.000,4,0.000,0.073,2687,2902,1736,0,0,0,0,0,0
$GC,8282,0.81,182.4,65.8,10.1,845,8288,0.00,1.20,0.00,0.000,6,0.000,0.054,2692,2193,1736,0,0,0,0,0,0
$GC,8489,0.85,210.2,46.5,8.7,882,8518,0.00,1.17,23.17,0.928,4,0.000,0.066,2697,1492,1627,0,0,0,0,0,0
$GC,8603,0.85,210.2,35.6,10.9,901,8609,0.00,1.23,0.00,0.000,6,0.000,0.062,2697,2205,1624,0,0,0,0,0,0
$GC,8807,0.91,263.5,20.2,7.5,938,8843,0.00,1.27,28.90,0.852,4,0.000,0.063,2701,1490,1408,0,0,0,0,0,0
$STATE,9002,end climb,SURFACE_DEPTH_REACHED
$STATE,9002,begin surface coast
$FINISH,1.3,1.013055
$STATE,9025,end surface coast,CONTROL_FINISHED_OK
$STATE,9025,begin surface
$SM_CCo,9043,72.85,0.086,0,0,770,420.20
$SM_GC,2.22,7.28,1.80,72.85,0.061,0.063,0.086,122,2512,770,-7.07,-0.62,420.20,0,0,0,0,0,0
$RAFOS_CLK,588
$RAFOS,0,1318233667,8.033334,8.018611,96,61,60,0,0,0,615,118,187,0,0,0
$RAFOS_FIX,6632.916992,-6006.013184,101011,040453,6,95,0.84
$IRIDIUM_FIX,6604.29,-6007.94,101011,020203
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.36
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,350.5,178.6
$24V_AH,23.2,5.008
$10V_AH,10.2,4.498
$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,17.875,50.875,323.350,72.850,0.000,0.000,0.000,192.125,5.250,0.000,19.330,2659.397,4140.514,550.068,1903.220,173.550,0.000,1659.327,0.000,1696.316,720.000,7.665,0.000
$DEVICE_MAMPS,276.165,109.395,1204.875,86.445,0.000,0.000,0.000,252.427,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.330,692.006,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150428
$DATA_FILE_SIZE,36699,976
$CAP_FILE_SIZE,110978,0
$CFSIZE,260165632,246026240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.6
$CURRENT,0.296,202.6,1
$GPS,101011,081253,6631.203,-6009.142,38,0.9,38,-33.6