version: 66.09
glider: 143
mission: 13
dive: 98
start: 10 19 111 21 49 14
data:
$ID,143
$MISSION,13
$DIVE,98
$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,-80638.797
$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,24
$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
$GPS1,191011,214335,6700.924,-5709.958,34,0.9,34,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-70.1
$GPS2,191011,214841,6700.910,-5709.909,20,1.0,20,-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,246.2,146831,-18.3,-10.000
$D_GRID,741
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,95,0.00,0.00,-75.35,0.000,2,0.000,0.000,117,2519,2132,0,0,0,0,0,0
$GC,98,-0.77,-146.0,3.1,-1.1,12,152,8.35,1.17,-41.08,0.000,4,0.255,0.103,2144,3215,3082,0,0,0,0,0,0
$GC,400,-0.77,-146.0,50.2,-15.3,65,409,0.00,1.12,0.00,0.000,6,0.000,0.037,2144,2501,3084,0,0,0,0,0,0
$GC,741,-0.77,-146.0,99.7,-14.8,126,748,0.00,1.20,0.00,0.000,4,0.000,0.069,2139,3212,3085,0,0,0,0,0,0
$GC,865,-0.77,-146.0,118.5,-14.9,148,872,0.00,1.10,0.00,0.000,6,0.000,0.037,2139,2508,3084,0,0,0,0,0,0
$GC,1202,-0.77,-146.0,164.6,-12.7,209,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2508,3084,0,0,0,0,0,0
$GC,1544,-0.77,-146.0,209.0,-13.0,270,1551,0.00,1.17,0.00,0.000,4,0.000,0.071,2135,3208,3085,0,0,0,0,0,0
$GC,1684,-0.77,-146.0,227.7,-13.6,295,1690,0.00,1.10,0.00,0.000,6,0.000,0.037,2135,2503,3084,0,0,0,0,0,0
$GC,2020,-0.77,-146.0,273.4,-13.1,341,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2503,3084,0,0,0,0,0,0
$GC,2340,-0.77,-146.0,312.8,-11.9,371,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2503,3083,0,0,0,0,0,0
$GC,2660,-0.77,-146.0,350.3,-11.5,401,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2503,3084,0,0,0,0,0,0
$GC,2987,-0.77,-146.0,387.7,-11.2,432,2990,0.00,1.17,0.00,0.000,4,0.000,0.070,2130,3207,3083,0,0,0,0,0,0
$GC,3047,-0.77,-146.0,394.4,-11.7,437,3057,0.00,1.10,0.00,0.000,6,0.000,0.037,2130,2499,3083,0,0,0,0,0,0
$GC,3373,-0.77,-146.0,433.5,-11.9,468,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2499,3084,0,0,0,0,0,0
$GC,3696,-0.77,-146.0,470.5,-11.7,498,3699,0.00,1.17,0.00,0.000,4,0.000,0.067,2125,3208,3084,0,0,0,0,0,0
$GC,3767,-0.77,-146.0,479.4,-12.2,504,3774,0.00,1.08,0.00,0.000,6,0.000,0.035,2125,2506,3084,0,0,0,0,0,0
$GC,4087,-0.77,-146.0,519.8,-12.6,525,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3084,0,0,0,0,0,0
$GC,4393,-0.77,-146.0,557.4,-12.1,535,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3084,0,0,0,0,0,0
$GC,4699,-0.77,-146.0,593.4,-11.7,545,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3085,0,0,0,0,0,0
$GC,5006,-0.77,-146.0,629.5,-11.8,555,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2506,3085,0,0,0,0,0,0
$GC,5311,-0.77,-146.0,664.4,-11.4,565,5315,0.00,1.17,0.00,0.000,4,0.000,0.070,2121,3212,3085,0,0,0,0,0,0
$GC,5379,-0.77,-146.0,672.4,-11.6,567,5383,0.08,1.08,0.00,0.000,6,0.164,0.034,2144,2501,3085,0,0,0,0,0,0
$GC,5722,-0.77,-146.0,707.8,-10.3,578,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2501,3085,0,0,0,0,0,0
$GC,6025,-0.77,-146.0,739.4,-10.2,588,6029,0.00,1.05,0.00,0.000,4,0.000,0.047,2144,1823,3085,0,0,0,0,0,0
$STATE,6058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6058,begin apogee
$GC,6064,-0.16,0.0,742.9,-10.3,589,6194,0.60,0.00,120.38,1.327,6,0.138,0.000,2338,2214,2484,0,0,0,0,0,0
$STATE,6195,end apogee,CONTROL_FINISHED_OK
$STATE,6195,begin climb
$GC,6197,0.77,146.0,747.8,0.0,593,6333,0.90,1.23,127.65,1.274,4,0.076,0.050,2646,1514,1888,0,0,0,0,0,0
$GC,6405,0.77,146.7,734.5,10.0,599,6408,0.00,1.23,0.00,0.000,6,0.000,0.049,2647,2206,1883,0,0,0,0,0,0
$GC,6729,0.77,146.7,691.3,12.5,610,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2206,1878,0,0,0,0,0,0
$GC,7035,0.77,146.7,654.0,12.6,620,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2206,1877,0,0,0,0,0,0
$GC,7341,0.77,146.7,615.7,12.3,630,7345,0.00,1.15,0.00,0.000,4,0.000,0.057,2646,2907,1876,0,0,0,0,0,0
$GC,7443,0.77,146.7,602.9,12.5,633,7447,0.00,1.15,0.00,0.000,6,0.000,0.039,2651,2210,1876,0,0,0,0,0,0
$GC,7785,0.77,146.7,559.2,13.0,644,7789,0.00,1.20,0.00,0.000,4,0.000,0.055,2651,2911,1876,0,0,0,0,0,0
$GC,7888,0.77,146.7,545.0,13.6,647,7892,0.00,1.17,0.00,0.000,6,0.000,0.040,2655,2193,1875,0,0,0,0,0,0
$GC,8229,0.77,146.7,498.7,13.5,658,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2192,1875,0,0,0,0,0,0
$GC,8548,0.77,146.7,457.0,12.5,688,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2192,1875,0,0,0,0,0,0
$GC,8868,0.77,146.7,417.1,12.3,718,8873,0.00,1.23,0.00,0.000,4,0.000,0.057,2655,2914,1875,0,0,0,0,0,0
$GC,8983,0.77,146.7,402.9,12.6,728,8990,0.00,1.17,0.00,0.000,6,0.000,0.041,2660,2194,1875,0,0,0,0,0,0
$GC,9310,0.77,146.7,362.9,12.0,759,9314,0.00,1.20,0.00,0.000,4,0.000,0.057,2660,2903,1875,0,0,0,0,0,0
$GC,9423,0.77,146.7,348.6,12.4,769,9426,0.00,1.15,0.00,0.000,6,0.000,0.041,2665,2196,1875,0,0,0,0,0,0
$GC,9754,0.77,146.7,308.1,12.1,800,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2196,1875,0,0,0,0,0,0
$GC,10074,0.77,146.7,269.9,12.5,830,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2196,1875,0,0,0,0,0,0
$GC,10398,0.77,146.7,230.1,11.9,874,10407,0.00,1.20,0.00,0.000,4,0.000,0.056,2665,2908,1875,0,0,0,0,0,0
$GC,10455,0.77,146.7,223.4,12.1,883,10461,0.00,1.15,0.00,0.000,6,0.000,0.041,2669,2197,1875,0,0,0,0,0,0
$GC,10797,0.77,146.7,183.9,11.1,944,10804,0.00,1.20,0.00,0.000,4,0.000,0.056,2669,2911,1875,0,0,0,0,0,0
$GC,10871,0.77,146.7,174.9,12.1,957,10877,0.00,1.15,0.00,0.000,6,0.000,0.041,2675,2196,1875,0,0,0,0,0,0
$GC,11208,0.77,146.7,138.1,10.2,1018,11217,0.00,1.08,0.00,0.000,4,0.000,0.054,2680,1494,1875,0,0,0,0,0,0
$GC,11258,0.78,158.0,133.2,9.5,1026,11274,0.00,1.15,8.80,0.897,6,0.000,0.051,2680,2203,1840,0,0,0,0,0,0
$GC,11606,0.81,177.2,100.6,9.1,1088,11628,0.00,1.17,17.60,0.927,4,0.000,0.057,2680,2911,1762,0,0,0,0,0,0
$GC,11877,0.81,177.2,71.6,10.1,1136,11884,0.00,1.17,0.00,0.000,6,0.000,0.041,2685,2192,1759,0,0,0,0,0,0
$GC,12215,0.88,235.2,44.1,7.3,1197,12268,0.00,0.00,48.38,0.903,6,0.000,0.000,2685,2192,1526,0,0,0,0,0,0
$GC,12599,0.88,235.2,4.1,10.9,1265,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2192,1518,0,0,0,0,0,0
$STATE,12620,end climb,SURFACE_DEPTH_REACHED
$STATE,12620,begin surface coast
$FINISH,1.6,1.018547
$STATE,12638,end surface coast,CONTROL_FINISHED_OK
$STATE,12638,begin surface
$SM_CCo,12655,53.88,0.083,0,0,1056,350.04
$SM_GC,2.58,7.07,0.60,53.88,0.054,0.056,0.083,118,2512,1056,-7.08,-0.85,350.04,0,0,0,0,0,0
$RAFOS_CLK,810
$RAFOS,6,1319071744,0.833333,0.817778,99,63,58,0,0,0,795,189,202,0,0,0
$RAFOS,5,1319071266,0.700000,0.685000,107,59,56,0,0,0,582,215,180,0,0,0
$RAFOS,4,1319070790,0.566667,0.552778,66,66,59,0,0,0,201,791,183,0,0,0
$RAFOS,3,1319070307,0.433333,0.418611,59,57,55,0,0,0,195,112,144,0,0,0
$RAFOS,2,1319069826,0.300000,0.285000,65,59,56,0,0,0,994,193,204,0,0,0
$RAFOS,1,1319069351,0.166667,0.153056,77,75,62,0,0,0,190,951,208,0,0,0
$RAFOS,0,1319068863,0.033333,0.017500,68,60,53,0,0,0,163,223,213,0,0,0
$RAFOS_FIX,6659.672852,-5716.676758,201011,000041,3,90,0.53
$IRIDIUM_FIX,6631.12,-5708.95,191011,212110
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,701.4,63.4
$24V_AH,23.1,12.555
$10V_AH,10.3,10.488
$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,17.000,37.125,322.800,53.875,0.000,0.000,0.000,190.725,7.250,0.000,20.926,3445.353,6624.566,505.693,2247.883,208.515,0.000,1753.369,0.000,2032.256,2520.000,21.404,0.000
$DEVICE_MAMPS,254.745,102.510,1327.275,83.385,0.000,0.000,0.000,261.415,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.321,712.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150332
$DATA_FILE_SIZE,49952,1272
$CAP_FILE_SIZE,125912,0
$CFSIZE,260165632,241197056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1457.8
$CURRENT,0.142, 46.8,1
$GPS,201011,012235,6659.761,-5711.130,34,0.9,34,-33.5