version: 66.09
glider: 143
mission: 13
dive: 97
start: 10 19 111 18 13 15
data:
$ID,143
$MISSION,13
$DIVE,97
$N_DIVES,112
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,350
$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,-80637.539
$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,37
$R_STBD_OVSHOOT,26
$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,0
$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
$GPS1,191011,180722,6701.335,-5706.875,38,1.2,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-64.5
$GPS2,191011,181242,6701.366,-5706.957,21,1.1,21,-33.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,246.0,149122,-18.3,-10.000
$D_GRID,732
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,98,0.00,0.00,-78.28,0.000,2,0.000,0.000,122,2524,2181,0,0,0,0,0,0
$GC,100,-0.77,-146.0,3.0,-0.6,12,154,8.50,1.12,-34.85,0.000,4,0.261,0.099,2142,3209,3082,0,0,0,0,0,0
$GC,402,-0.77,-146.0,52.8,-16.2,65,409,0.00,1.10,0.00,0.000,6,0.000,0.037,2142,2508,3083,0,0,0,0,0,0
$GC,741,-0.77,-146.0,105.3,-15.7,126,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3084,0,0,0,0,0,0
$GC,1078,-0.77,-146.0,152.0,-13.7,187,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3084,0,0,0,0,0,0
$GC,1421,-0.77,-146.0,199.7,-14.2,248,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3084,0,0,0,0,0,0
$GC,1757,-0.77,-146.0,243.7,-12.7,309,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3083,0,0,0,0,0,0
$GC,2087,-0.77,-146.0,282.9,-10.9,344,2091,0.00,1.17,0.00,0.000,4,0.000,0.070,2137,3207,3083,0,0,0,0,0,0
$GC,2134,-0.77,-146.0,288.5,-11.3,348,2138,0.00,1.10,0.00,0.000,6,0.000,0.037,2137,2500,3083,0,0,0,0,0,0
$GC,2465,-0.77,-146.0,327.2,-12.1,379,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2500,3083,0,0,0,0,0,0
$GC,2785,-0.77,-146.0,365.4,-11.8,409,2789,0.00,1.17,0.00,0.000,4,0.000,0.067,2133,3207,3083,0,0,0,0,0,0
$GC,2878,-0.77,-146.0,376.9,-12.4,417,2886,0.00,1.10,0.00,0.000,6,0.000,0.034,2133,2498,3082,0,0,0,0,0,0
$GC,3205,-0.77,-146.0,416.7,-12.0,448,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2498,3083,0,0,0,0,0,0
$GC,3525,-0.77,-146.0,453.9,-11.7,478,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2499,3083,0,0,0,0,0,0
$GC,3844,-0.77,-146.0,491.6,-12.3,508,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3083,0,0,0,0,0,0
$GC,4159,-0.77,-146.0,530.5,-12.2,523,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2498,3083,0,0,0,0,0,0
$GC,4466,-0.77,-146.0,565.8,-11.5,533,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2499,3083,0,0,0,0,0,0
$GC,4775,-0.77,-146.0,601.4,-11.4,543,4779,0.00,1.17,0.00,0.000,4,0.000,0.066,2128,3209,3083,0,0,0,0,0,0
$GC,4831,-0.77,-146.0,605.8,-11.4,544,4834,0.00,1.08,0.00,0.000,6,0.000,0.034,2128,2507,3083,0,0,0,0,0,0
$GC,5149,-0.77,-146.0,645.6,-11.6,555,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2507,3083,0,0,0,0,0,0
$GC,5455,-0.77,-146.0,681.3,-11.8,565,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2507,3083,0,0,0,0,0,0
$GC,5761,-0.77,-146.0,716.8,-11.7,575,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2507,3083,0,0,0,0,0,0
$STATE,5914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5914,begin apogee
$GC,5920,-0.16,0.0,733.9,-11.1,580,6047,0.68,0.00,119.70,1.330,6,0.142,0.000,2344,2193,2485,0,0,0,0,0,0
$STATE,6048,end apogee,CONTROL_FINISHED_OK
$STATE,6048,begin climb
$GC,6050,0.77,146.0,738.6,0.0,584,6188,0.88,1.20,127.40,1.271,4,0.069,0.054,2649,1510,1888,0,0,0,0,0,0
$GC,6294,0.77,146.0,720.0,12.7,591,6298,0.00,1.20,0.00,0.000,6,0.000,0.048,2649,2197,1882,0,0,0,0,0,0
$GC,6619,0.77,146.0,675.8,12.8,602,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2198,1878,0,0,0,0,0,0
$GC,6926,0.77,146.0,637.8,12.3,612,6929,0.00,1.17,0.00,0.000,4,0.000,0.057,2649,2908,1878,0,0,0,0,0,0
$GC,7054,0.77,146.0,624.9,12.4,615,7063,0.00,1.15,0.00,0.000,6,0.000,0.039,2654,2212,1877,0,0,0,0,0,0
$GC,7367,0.77,146.0,583.3,12.3,626,7371,0.00,1.20,0.00,0.000,4,0.000,0.055,2654,2910,1876,0,0,0,0,0,0
$GC,7422,0.77,146.0,578.8,12.3,627,7428,0.00,1.17,0.00,0.000,6,0.000,0.041,2658,2201,1876,0,0,0,0,0,0
$GC,7741,0.77,146.0,535.4,12.8,638,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2200,1876,0,0,0,0,0,0
$GC,8048,0.77,146.0,496.2,12.8,648,8052,0.00,1.20,0.00,0.000,4,0.000,0.056,2658,2901,1876,0,0,0,0,0,0
$GC,8116,0.77,146.0,487.2,12.9,654,8119,0.00,1.15,0.00,0.000,6,0.000,0.041,2663,2199,1875,0,0,0,0,0,0
$GC,8446,0.77,146.0,444.9,12.9,685,8450,0.00,1.20,0.00,0.000,4,0.000,0.056,2663,2904,1875,0,0,0,0,0,0
$GC,8536,0.77,146.0,433.3,13.1,693,8539,0.00,1.15,0.00,0.000,6,0.000,0.041,2668,2200,1874,0,0,0,0,0,0
$GC,8868,0.77,146.0,390.4,12.9,724,8873,0.00,1.20,0.00,0.000,4,0.000,0.057,2668,2904,1875,0,0,0,0,0,0
$GC,8972,0.77,146.0,376.7,13.3,733,8979,0.00,1.15,0.00,0.000,6,0.000,0.041,2673,2198,1874,0,0,0,0,0,0
$GC,9299,0.77,146.0,333.3,13.0,764,9302,0.00,1.20,0.00,0.000,4,0.000,0.056,2672,2907,1874,0,0,0,0,0,0
$GC,9337,0.77,146.0,328.6,13.2,767,9347,0.08,1.15,0.00,0.000,6,0.168,0.041,2654,2203,1874,0,0,0,0,0,0
$GC,9662,0.77,146.0,290.4,11.3,798,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2203,1874,0,0,0,0,0,0
$GC,9984,0.77,146.0,253.6,11.8,828,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2203,1874,0,0,0,0,0,0
$GC,10320,0.77,146.0,213.4,11.2,887,10329,0.00,1.17,0.00,0.000,4,0.000,0.056,2654,2901,1874,0,0,0,0,0,0
$GC,10424,0.77,146.0,201.2,11.6,905,10431,0.00,1.15,0.00,0.000,6,0.000,0.040,2658,2186,1874,0,0,0,0,0,0
$GC,10763,0.79,162.3,166.5,9.2,966,10780,0.00,1.25,12.45,0.946,4,0.000,0.055,2658,2907,1823,0,0,0,0,0,0
$GC,10858,0.80,168.3,157.2,9.7,982,10874,0.00,1.15,6.88,0.860,6,0.000,0.041,2663,2200,1797,0,0,0,0,0,0
$GC,11209,0.80,174.0,124.3,9.7,1044,11222,0.00,1.17,6.18,0.832,4,0.000,0.053,2662,2906,1774,0,0,0,0,0,0
$GC,11334,0.80,174.0,111.4,10.4,1066,11341,0.00,1.15,0.00,0.000,6,0.000,0.041,2667,2200,1774,0,0,0,0,0,0
$GC,11672,0.84,202.2,77.7,8.7,1127,11707,0.00,1.12,25.00,0.923,4,0.000,0.054,2672,1494,1659,0,0,0,0,0,0
$GC,11742,0.84,202.2,70.8,10.5,1138,11748,0.00,1.17,0.00,0.000,6,0.000,0.050,2672,2200,1658,0,0,0,0,0,0
$GC,12079,0.86,216.6,36.9,9.3,1199,12095,0.00,1.20,12.70,0.883,4,0.000,0.060,2672,2910,1600,0,0,0,0,0,0
$GC,12184,0.86,219.9,26.3,9.8,1217,12192,0.00,1.17,2.50,0.402,6,0.000,0.041,2677,2201,1587,0,0,0,0,0,0
$STATE,12426,end climb,SURFACE_DEPTH_REACHED
$STATE,12426,begin surface coast
$FINISH,1.5,1.004243
$STATE,12445,end surface coast,CONTROL_FINISHED_OK
$STATE,12446,begin surface
$SM_CCo,12462,61.92,0.083,0,0,1058,350.04
$SM_GC,2.44,6.90,0.60,61.92,0.044,0.058,0.083,118,2516,1058,-7.08,-0.59,350.04,0,0,0,0,0,0
$RAFOS_CLK,801
$RAFOS,6,1319057347,20.833334,20.818611,83,63,61,0,0,0,777,174,201,0,0,0
$RAFOS,5,1319056866,20.700001,20.684999,139,64,61,0,0,0,584,211,130,0,0,0
$RAFOS,4,1319056388,20.566668,20.552221,65,59,58,0,0,0,190,203,799,0,0,0
$RAFOS,3,1319055917,20.433332,20.421389,66,59,55,0,0,0,206,164,137,0,0,0
$RAFOS,2,1319055421,20.299999,20.283611,70,67,63,0,0,0,1026,166,183,0,0,0
$RAFOS,1,1319054941,20.166666,20.150278,67,60,58,0,0,0,1012,167,200,0,0,0
$RAFOS,0,1319054489,20.033333,20.024723,64,63,57,0,0,0,162,196,215,0,0,0
$RAFOS_FIX,6659.445312,-5715.622070,191011,202028,4,90,0.87
$IRIDIUM_FIX,6631.12,-5708.95,191011,141453
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.50
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,652.7,100.8
$24V_AH,23.1,12.443
$10V_AH,10.3,10.401
$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,17.025,38.325,312.800,61.925,0.000,0.000,0.000,206.375,7.500,0.000,22.894,3422.624,6484.625,508.595,2246.353,204.135,0.000,1764.776,0.000,2011.989,2520.000,21.065,0.000
$DEVICE_MAMPS,260.865,98.685,1329.570,83.385,0.000,0.000,0.000,254.674,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.915,708.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150240
$DATA_FILE_SIZE,49940,1264
$CAP_FILE_SIZE,126076,0
$CFSIZE,260165632,241266688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1457.4
$CURRENT,0.210,  1.0,1
$GPS,191011,214335,6700.924,-5709.958,34,0.9,34,-33.5