version: 66.09
glider: 143
mission: 13
dive: 35
start: 10 10 111 16 26 22
data:
$ID,143
$MISSION,13
$DIVE,35
$N_DIVES,40
$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,-80496.828
$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,27
$R_STBD_OVSHOOT,19
$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
$GPS1,101011,162106,6632.628,-6005.082,32,0.8,32,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.7
$GPS2,101011,162549,6632.579,-6005.217,19,1.0,19,-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,108.2,153159,-18.3,-10.000
$D_GRID,548
$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,-146.0,0.0,0.0,0,112,0.00,0.00,-93.35,0.000,2,0.000,0.000,121,2523,2111,0,0,0,0,0,0
$GC,115,-0.77,-146.0,3.1,-2.7,15,164,8.85,1.20,-34.58,0.000,4,0.276,0.112,2144,3223,3082,0,0,0,0,0,0
$GC,282,-0.77,-146.0,31.4,-17.9,43,288,0.00,1.17,0.00,0.000,6,0.000,0.050,2144,2505,3084,0,0,0,0,0,0
$GC,486,-0.77,-146.0,65.8,-16.1,80,493,0.00,1.23,0.00,0.000,4,0.000,0.080,2140,3217,3084,0,0,0,0,0,0
$GC,560,-0.77,-146.0,77.3,-15.3,93,566,0.00,1.15,0.00,0.000,6,0.000,0.050,2139,2507,3084,0,0,0,0,0,0
$GC,763,-0.77,-146.0,108.7,-15.5,125,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2508,3084,0,0,0,0,0,0
$GC,975,-0.77,-146.0,141.8,-16.0,145,979,0.00,1.12,0.00,0.000,4,0.000,0.059,2139,1811,3084,0,0,0,0,0,0
$GC,1013,-0.77,-146.0,147.1,-15.6,148,1020,0.00,1.23,0.00,0.000,6,0.000,0.070,2134,2508,3084,0,0,0,0,0,0
$GC,1233,-0.77,-146.0,180.9,-14.4,169,1236,0.00,1.15,0.00,0.000,4,0.000,0.080,2129,3216,3084,0,0,0,0,0,0
$GC,1373,-0.77,-146.0,200.5,-14.4,181,1380,0.00,1.15,0.00,0.000,6,0.000,0.048,2129,2502,3084,0,0,0,0,0,0
$GC,1592,-0.77,-146.0,232.4,-13.9,202,1595,0.00,1.23,0.00,0.000,4,0.000,0.079,2124,3220,3084,0,0,0,0,0,0
$GC,1659,-0.77,-146.0,242.0,-14.5,208,1663,0.00,1.15,0.00,0.000,6,0.000,0.049,2124,2504,3084,0,0,0,0,0,0
$GC,1884,-0.77,-146.0,272.9,-13.4,229,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2503,3084,0,0,0,0,0,0
$GC,2097,-0.77,-146.0,300.9,-12.8,249,2100,0.00,1.20,0.00,0.000,4,0.000,0.079,2119,3213,3084,0,0,0,0,0,0
$GC,2167,-0.77,-146.0,310.0,-13.4,255,2175,0.10,1.12,0.00,0.000,6,0.168,0.047,2149,2505,3084,0,0,0,0,0,0
$GC,2389,-0.77,-146.0,335.2,-11.2,276,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2505,3083,0,0,0,0,0,0
$GC,2599,-0.77,-146.0,359.4,-11.1,296,2603,0.00,1.20,0.00,0.000,4,0.000,0.078,2146,3214,3084,0,0,0,0,0,0
$GC,2726,-0.77,-146.0,373.7,-11.5,307,2733,0.00,1.12,0.00,0.000,6,0.000,0.047,2146,2508,3084,0,0,0,0,0,0
$GC,2945,-0.77,-146.0,399.8,-11.9,328,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2508,3084,0,0,0,0,0,0
$GC,3158,-0.77,-146.0,424.5,-11.6,348,3162,0.00,1.20,0.00,0.000,4,0.000,0.077,2141,3219,3084,0,0,0,0,0,0
$GC,3214,-0.77,-146.0,431.3,-12.3,353,3218,0.00,1.12,0.00,0.000,6,0.000,0.047,2141,2511,3084,0,0,0,0,0,0
$GC,3439,-0.77,-146.0,457.8,-11.6,374,3443,0.00,1.12,0.00,0.000,4,0.000,0.060,2141,1806,3084,0,0,0,0,0,0
$GC,3484,-0.77,-146.0,463.0,-11.4,378,3488,0.00,1.23,0.00,0.000,6,0.000,0.070,2136,2511,3084,0,0,0,0,0,0
$GC,3710,-0.77,-146.0,489.4,-11.4,399,3714,0.00,1.12,0.00,0.000,4,0.000,0.079,2131,3212,3084,0,0,0,0,0,0
$GC,3807,-0.77,-146.0,500.1,-11.7,407,3813,0.00,1.12,0.00,0.000,6,0.000,0.047,2131,2504,3084,0,0,0,0,0,0
$GC,4026,-0.77,-146.0,526.5,-11.5,428,4029,0.00,1.10,0.00,0.000,4,0.000,0.059,2131,1812,3083,0,0,0,0,0,0
$GC,4094,-0.77,-146.0,534.5,-11.8,434,4097,0.00,1.20,0.00,0.000,6,0.000,0.068,2126,2507,3084,0,0,0,0,0,0
$STATE,4157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4157,begin apogee
$GC,4163,-0.16,0.0,542.5,-12.2,440,4288,0.70,0.00,118.25,1.220,6,0.153,0.000,2344,2196,2485,0,0,0,0,0,0
$STATE,4289,end apogee,CONTROL_FINISHED_OK
$STATE,4289,begin climb
$GC,4291,0.77,146.0,547.9,0.0,451,4428,0.90,1.23,125.57,1.186,4,0.076,0.062,2649,1500,1888,0,0,0,0,0,0
$GC,4677,0.77,146.0,517.5,11.7,485,4684,0.00,1.23,0.00,0.000,6,0.000,0.060,2648,2198,1879,0,0,0,0,0,0
$GC,4896,0.77,146.0,490.2,12.5,506,4900,0.00,1.20,0.00,0.000,4,0.000,0.061,2653,1502,1878,0,0,0,0,0,0
$GC,5087,0.77,146.0,466.7,12.2,523,5091,0.00,1.20,0.00,0.000,6,0.000,0.060,2653,2200,1877,0,0,0,0,0,0
$GC,5312,0.77,146.0,439.0,12.5,544,5316,0.00,1.20,0.00,0.000,4,0.000,0.062,2658,1497,1877,0,0,0,0,0,0
$GC,5482,0.77,146.0,418.0,12.6,559,5486,0.00,1.20,0.00,0.000,6,0.000,0.060,2657,2202,1876,0,0,0,0,0,0
$GC,5707,0.77,146.0,388.6,13.2,580,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2202,1876,0,0,0,0,0,0
$GC,5919,0.77,146.0,360.8,13.1,600,5922,0.00,1.17,0.00,0.000,4,0.000,0.070,2658,2907,1876,0,0,0,0,0,0
$GC,5956,0.77,146.0,356.3,13.3,603,5964,0.00,1.20,0.00,0.000,6,0.000,0.050,2663,2197,1876,0,0,0,0,0,0
$GC,6176,0.77,146.0,328.5,12.0,624,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2197,1875,0,0,0,0,0,0
$GC,6388,0.77,146.0,302.7,12.0,644,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2197,1876,0,0,0,0,0,0
$GC,6601,0.77,146.0,277.6,11.3,664,6604,0.00,1.12,0.00,0.000,4,0.000,0.064,2668,1493,1876,0,0,0,0,0,0
$GC,6679,0.77,146.0,269.0,11.0,671,6683,0.00,1.20,0.00,0.000,6,0.000,0.061,2668,2206,1875,0,0,0,0,0,0
$GC,6903,0.77,146.0,244.6,10.3,692,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2206,1875,0,0,0,0,0,0
$GC,7116,0.78,152.4,223.4,9.7,712,7128,0.00,0.00,4.47,0.790,6,0.000,0.000,2668,2206,1863,0,0,0,0,0,0
$GC,7339,0.78,153.9,201.3,9.9,733,7343,0.00,1.20,0.00,0.000,4,0.000,0.062,2672,1491,1862,0,0,0,0,0,0
$GC,7362,0.78,154.2,198.8,10.0,735,7366,0.00,1.20,0.00,0.000,6,0.000,0.061,2672,2206,1862,0,0,0,0,0,0
$GC,7587,0.79,163.6,176.8,9.6,756,7602,0.00,1.20,10.80,0.956,4,0.000,0.070,2672,2913,1818,0,0,0,0,0,0
$GC,7659,0.79,163.6,169.3,10.7,762,7663,0.00,1.20,0.00,0.000,6,0.000,0.052,2678,2200,1817,0,0,0,0,0,0
$GC,7884,0.80,172.2,146.1,9.6,783,7897,0.00,1.27,8.88,0.918,4,0.000,0.067,2678,2914,1782,0,0,0,0,0,0
$GC,8010,0.80,172.2,133.8,10.5,794,8014,0.00,1.20,0.00,0.000,6,0.000,0.054,2682,2204,1781,0,0,0,0,0,0
$GC,8235,0.80,172.2,111.2,10.1,815,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2204,1780,0,0,0,0,0,0
$GC,8452,0.80,175.0,90.1,9.9,844,8462,0.00,1.27,3.70,0.686,4,0.000,0.068,2682,2919,1771,0,0,0,0,0,0
$GC,8690,0.80,175.0,65.3,10.2,886,8697,0.00,1.23,0.00,0.000,6,0.000,0.055,2687,2193,1771,0,0,0,0,0,0
$GC,8895,0.84,207.4,47.1,8.5,923,8928,0.00,1.30,28.08,0.932,4,0.000,0.068,2687,2908,1638,0,0,0,0,0,0
$GC,8952,0.85,212.2,42.1,9.8,932,8962,0.00,1.23,5.00,0.738,6,0.000,0.054,2692,2197,1620,0,0,0,0,0,0
$GC,9165,0.94,288.0,21.6,6.5,969,9217,0.00,1.25,42.42,0.848,4,0.000,0.067,2692,2908,1307,0,0,0,0,0,0
$STATE,9352,end climb,SURFACE_DEPTH_REACHED
$STATE,9353,begin surface coast
$FINISH,1.4,1.024662
$STATE,9359,end surface coast,CONTROL_FINISHED_OK
$STATE,9359,begin surface
$SM_CCo,9377,61.17,0.085,0,0,772,420.20
$SM_GC,2.11,7.22,0.70,61.17,0.055,0.043,0.085,122,2512,772,-7.06,0.71,420.20,0,0,0,0,0,0
$RAFOS_CLK,610
$RAFOS,6,1318265347,16.833334,16.818611,59,53,53,0,0,0,861,172,228,0,0,0
$RAFOS,5,1318264870,16.700001,16.686111,67,62,54,0,0,0,914,188,166,0,0,0
$RAFOS,4,1318264385,16.566668,16.551390,106,59,59,0,0,0,727,172,199,0,0,0
$RAFOS,2,1318263424,16.299999,16.284445,70,67,56,0,0,0,204,216,189,0,0,0
$RAFOS_FIX,6635.741211,-6005.758789,101011,161656,4,102,0.00
$IRIDIUM_FIX,6604.29,-6005.25,101011,131339
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.28
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,500.1,56.4
$24V_AH,23.2,5.432
$10V_AH,10.3,4.810
$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,17.775,52.400,347.175,61.175,0.000,0.000,0.000,176.925,6.000,0.000,20.777,2724.884,4404.549,532.693,1896.672,185.670,0.000,1635.076,0.000,1698.262,1080.000,18.747,0.000
$DEVICE_MAMPS,276.165,111.690,1220.175,84.915,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.493,712.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150404
$DATA_FILE_SIZE,40080,1003
$CAP_FILE_SIZE,117293,0
$CFSIZE,260165632,245768192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1454.4
$CURRENT,0.274,208.9,1
$GPS,101011,190506,6631.582,-6003.137,29,1.0,29,-33.6