version: 66.09
glider: 143
mission: 13
dive: 32
start: 10 10 111 8 18 3
data:
$ID,143
$MISSION,13
$DIVE,32
$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,-80458.086
$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,20
$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
$GPS1,101011,081253,6631.203,-6009.142,38,0.9,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.7
$GPS2,101011,081730,6631.250,-6009.024,15,1.4,15,-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,56.5,156625,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,114,0.00,0.00,-95.45,0.000,2,0.000,0.000,122,2514,2157,0,0,0,0,0,0
$GC,117,-0.77,-146.0,3.4,-3.1,15,167,8.95,1.25,-30.85,0.000,4,0.275,0.086,2147,1807,3082,0,0,0,0,0,0
$GC,415,-0.77,-146.0,53.8,-15.0,67,423,0.00,1.25,0.00,0.000,6,0.000,0.070,2145,2511,3085,0,0,0,0,0,0
$GC,623,-0.77,-146.0,85.1,-14.8,104,632,0.00,1.20,0.00,0.000,4,0.000,0.057,2144,1809,3085,0,0,0,0,0,0
$GC,821,-0.77,-146.0,112.7,-13.6,130,828,0.00,1.25,0.00,0.000,6,0.000,0.070,2140,2516,3085,0,0,0,0,0,0
$GC,1040,-0.77,-146.0,143.8,-13.8,151,1044,0.00,1.15,0.00,0.000,4,0.000,0.083,2135,3214,3085,0,0,0,0,0,0
$GC,1122,-0.77,-146.0,154.5,-13.4,158,1129,0.00,1.15,0.00,0.000,6,0.000,0.050,2135,2508,3085,0,0,0,0,0,0
$GC,1341,-0.77,-146.0,185.4,-13.9,179,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2508,3085,0,0,0,0,0,0
$GC,1553,-0.77,-146.0,214.6,-13.5,199,1557,0.00,1.23,0.00,0.000,4,0.000,0.080,2130,3220,3085,0,0,0,0,0,0
$GC,1569,-0.77,-146.0,216.2,-13.4,200,1578,0.00,1.15,0.00,0.000,6,0.000,0.050,2130,2509,3085,0,0,0,0,0,0
$GC,1790,-0.77,-146.0,246.9,-13.1,221,1794,0.00,1.20,0.00,0.000,4,0.000,0.081,2125,3211,3085,0,0,0,0,0,0
$GC,1863,-0.77,-146.0,256.2,-13.7,227,1870,0.00,1.15,0.00,0.000,6,0.000,0.051,2125,2502,3085,0,0,0,0,0,0
$GC,2082,-0.77,-146.0,285.6,-12.9,248,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2502,3085,0,0,0,0,0,0
$GC,2295,-0.77,-146.0,312.2,-11.9,268,2298,0.00,1.23,0.00,0.000,4,0.000,0.081,2120,3219,3085,0,0,0,0,0,0
$GC,2373,-0.77,-146.0,322.1,-12.6,275,2378,0.08,1.15,0.00,0.000,6,0.177,0.051,2143,2505,3084,0,0,0,0,0,0
$GC,2599,-0.77,-146.0,346.7,-10.7,296,2603,0.00,1.20,0.00,0.000,4,0.000,0.081,2140,3210,3085,0,0,0,0,0,0
$GC,2634,-0.77,-146.0,350.9,-11.5,299,2638,0.00,1.12,0.00,0.000,6,0.000,0.051,2140,2511,3084,0,0,0,0,0,0
$GC,2859,-0.77,-146.0,377.0,-11.9,320,2863,0.00,1.20,0.00,0.000,4,0.000,0.080,2135,3216,3084,0,0,0,0,0,0
$GC,2873,-0.77,-146.0,378.7,-11.9,321,2876,0.00,1.15,0.00,0.000,6,0.000,0.050,2135,2501,3084,0,0,0,0,0,0
$GC,3099,-0.77,-146.0,406.9,-12.6,342,3102,0.00,1.23,0.00,0.000,4,0.000,0.080,2130,3220,3085,0,0,0,0,0,0
$GC,3123,-0.77,-146.0,409.9,-12.3,344,3127,0.00,1.15,0.00,0.000,6,0.000,0.050,2130,2504,3084,0,0,0,0,0,0
$GC,3349,-0.77,-146.0,438.1,-12.6,365,3353,0.00,1.20,0.00,0.000,4,0.000,0.080,2126,3211,3085,0,0,0,0,0,0
$GC,3397,-0.77,-146.0,444.1,-12.6,369,3400,0.00,1.12,0.00,0.000,6,0.000,0.047,2125,2505,3085,0,0,0,0,0,0
$GC,3621,-0.77,-146.0,472.1,-11.9,390,3625,0.00,1.20,0.00,0.000,4,0.000,0.080,2120,3213,3085,0,0,0,0,0,0
$GC,3733,-0.77,-146.0,485.9,-11.4,400,3737,0.08,1.12,0.00,0.000,6,0.174,0.048,2143,2505,3084,0,0,0,0,0,0
$GC,3959,-0.77,-146.0,512.1,-11.8,421,3963,0.00,1.20,0.00,0.000,4,0.000,0.080,2141,3214,3085,0,0,0,0,0,0
$STATE,3992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3992,begin apogee
$GC,3999,-0.16,0.0,516.8,-12.5,424,4125,0.62,0.00,118.12,1.206,6,0.150,0.000,2337,2190,2484,0,0,0,0,0,0
$STATE,4126,end apogee,CONTROL_FINISHED_OK
$STATE,4126,begin climb
$GC,4128,0.77,146.0,523.5,0.0,435,4266,0.90,1.23,125.25,1.165,4,0.067,0.065,2650,1504,1888,0,0,0,0,0,0
$GC,4444,0.77,146.0,499.2,11.9,463,4448,0.00,1.25,0.00,0.000,6,0.000,0.061,2650,2210,1880,0,0,0,0,0,0
$GC,4669,0.77,146.0,472.3,11.6,484,4673,0.00,1.20,0.00,0.000,4,0.000,0.070,2650,2906,1878,0,0,0,0,0,0
$GC,4925,0.77,146.0,440.3,12.5,507,4928,0.00,1.20,0.00,0.000,6,0.000,0.051,2655,2206,1876,0,0,0,0,0,0
$GC,5149,0.77,146.0,413.6,12.2,528,5153,0.00,1.25,0.00,0.000,4,0.000,0.067,2655,2912,1876,0,0,0,0,0,0
$GC,5239,0.77,146.0,402.5,12.8,536,5243,0.00,1.23,0.00,0.000,6,0.000,0.052,2659,2193,1876,0,0,0,0,0,0
$GC,5465,0.77,146.0,375.5,11.9,557,5469,0.00,1.12,0.00,0.000,4,0.000,0.063,2665,1495,1875,0,0,0,0,0,0
$GC,5602,0.77,146.0,359.0,12.1,569,5610,0.00,1.20,0.00,0.000,6,0.000,0.062,2665,2202,1875,0,0,0,0,0,0
$GC,5822,0.77,146.0,332.2,12.0,590,5826,0.00,1.17,0.00,0.000,4,0.000,0.072,2665,2905,1875,0,0,0,0,0,0
$GC,6047,0.77,146.0,304.1,12.6,610,6050,0.00,1.20,0.00,0.000,6,0.000,0.054,2670,2194,1875,0,0,0,0,0,0
$GC,6273,0.77,146.0,278.0,11.0,631,6276,0.00,1.10,0.00,0.000,4,0.000,0.063,2675,1499,1875,0,0,0,0,0,0
$GC,6373,0.77,146.0,266.3,11.2,640,6377,0.00,1.17,0.00,0.000,6,0.000,0.060,2675,2199,1875,0,0,0,0,0,0
$GC,6599,0.77,146.0,242.7,10.5,661,6603,0.00,1.17,0.00,0.000,4,0.000,0.060,2680,1496,1875,0,0,0,0,0,0
$GC,6727,0.77,149.4,230.1,9.8,672,6736,0.08,1.17,0.00,0.000,6,0.171,0.061,2658,2199,1875,0,0,0,0,0,0
$GC,6949,0.81,175.9,209.7,8.8,693,6976,0.00,0.00,23.40,1.001,6,0.000,0.000,2657,2199,1768,0,0,0,0,0,0
$GC,7188,0.81,175.9,185.0,10.7,716,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2199,1765,0,0,0,0,0,0
$GC,7401,0.81,175.9,162.8,10.2,736,7405,0.00,1.17,0.00,0.000,4,0.000,0.060,2661,1495,1765,0,0,0,0,0,0
$GC,7605,0.82,189.5,143.3,9.4,754,7623,0.00,1.20,12.40,0.943,6,0.000,0.061,2661,2204,1711,0,0,0,0,0,0
$GC,7837,0.83,193.2,120.3,9.8,776,7847,0.00,0.00,4.40,0.748,6,0.000,0.000,2661,2204,1697,0,0,0,0,0,0
$GC,8059,0.84,207.2,99.4,9.4,797,8078,0.00,1.25,13.30,0.929,4,0.000,0.063,2666,1493,1639,0,0,0,0,0,0
$GC,8156,0.84,207.2,89.5,10.2,814,8163,0.00,1.20,0.00,0.000,6,0.000,0.062,2666,2196,1638,0,0,0,0,0,0
$GC,8362,0.84,207.2,67.5,11.7,851,8369,0.00,1.17,0.00,0.000,4,0.000,0.064,2670,1498,1637,0,0,0,0,0,0
$GC,8620,0.84,207.2,40.1,10.8,897,8627,0.00,1.20,0.00,0.000,6,0.000,0.063,2670,2204,1636,0,0,0,0,0,0
$GC,8826,0.94,287.4,21.5,6.3,934,8879,0.00,1.27,44.28,0.861,4,0.000,0.063,2676,1493,1311,0,0,0,0,0,0
$GC,9034,0.94,287.4,2.9,10.1,970,9040,0.00,1.23,0.00,0.000,6,0.000,0.063,2675,2199,1303,0,0,0,0,0,0
$STATE,9045,end climb,SURFACE_DEPTH_REACHED
$STATE,9045,begin surface coast
$FINISH,1.3,1.012165
$STATE,9063,end surface coast,CONTROL_FINISHED_OK
$STATE,9063,begin surface
$SM_CCo,9079,61.35,0.086,0,0,771,420.20
$SM_GC,2.20,7.10,0.55,61.35,0.052,0.072,0.086,125,2509,771,-7.07,-0.71,420.20,0,0,0,0,0,0
$RAFOS_CLK,589
$RAFOS,6,1318236543,8.833333,8.817500,62,57,49,0,0,0,198,894,220,0,0,0
$RAFOS,5,1318236064,8.700000,8.684444,64,60,59,0,0,0,959,144,157,0,0,0
$RAFOS,4,1318235583,8.566667,8.550834,67,66,57,0,0,0,745,219,193,0,0,0
$RAFOS,3,1318235103,8.433333,8.417500,80,58,58,0,0,0,722,224,129,0,0,0
$RAFOS,1,1318234142,8.166667,8.150556,64,59,58,0,0,0,162,193,184,0,0,0
$RAFOS_FIX,6633.522461,-6006.747070,101011,080812,4,77,7.82
$IRIDIUM_FIX,6604.29,-6015.31,101011,050534
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.12
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,400.3,130.6
$24V_AH,23.2,5.117
$10V_AH,10.2,4.571
$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,17.800,55.850,341.150,61.350,0.000,0.000,0.000,175.400,4.750,0.000,16.399,2670.857,4161.122,538.430,1885.100,185.255,0.000,1640.358,0.000,1697.208,1440.000,9.304,0.000
$DEVICE_MAMPS,275.400,85.680,1205.640,85.680,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.154,691.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150436
$DATA_FILE_SIZE,36714,975
$CAP_FILE_SIZE,114598,0
$CFSIZE,260165632,245968896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.7
$CURRENT,0.108,273.9,1
$GPS,101011,105201,6632.476,-6008.931,41,0.8,41,-33.6