version: 66.09
glider: 143
mission: 13
dive: 99
start: 10 20 111 1 28 5
data:
$ID,143
$MISSION,13
$DIVE,99
$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,-80640.062
$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,27
$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
$GPS1,201011,012235,6659.761,-5711.130,34,0.9,34,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-71.3
$GPS2,201011,012731,6659.723,-5711.108,15,1.4,16,-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,275.3,145518,-18.3,-10.000
$D_GRID,755
$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,16,-0.77,-146.0,0.0,0.0,0,84,0.00,0.00,-65.68,0.000,2,0.000,0.000,118,2515,1994,0,0,0,0,0,0
$GC,87,-0.77,-146.0,3.1,-0.9,11,156,8.50,1.10,-50.03,0.000,4,0.259,0.096,2141,3214,3081,0,0,0,0,0,0
$GC,361,-0.77,-146.0,43.8,-14.8,58,367,0.00,1.12,0.00,0.000,6,0.000,0.037,2140,2504,3082,0,0,0,0,0,0
$GC,700,-0.77,-146.0,97.9,-15.6,119,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2504,3083,0,0,0,0,0,0
$GC,1038,-0.77,-146.0,146.8,-13.8,180,1047,0.00,1.20,0.00,0.000,4,0.000,0.070,2136,3213,3083,0,0,0,0,0,0
$GC,1116,-0.77,-146.0,157.4,-13.2,193,1123,0.00,1.10,0.00,0.000,6,0.000,0.037,2136,2511,3082,0,0,0,0,0,0
$GC,1456,-0.77,-146.0,205.9,-13.8,254,1463,0.00,1.17,0.00,0.000,4,0.000,0.070,2131,3208,3082,0,0,0,0,0,0
$GC,1507,-0.77,-146.0,212.8,-13.4,263,1514,0.00,1.10,0.00,0.000,6,0.000,0.037,2131,2505,3082,0,0,0,0,0,0
$GC,1843,-0.77,-146.0,257.2,-12.9,319,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2505,3083,0,0,0,0,0,0
$GC,2164,-0.77,-146.0,297.9,-12.1,349,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2505,3081,0,0,0,0,0,0
$GC,2491,-0.77,-146.0,338.9,-12.6,380,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2505,3082,0,0,0,0,0,0
$GC,2809,-0.77,-146.0,376.8,-11.7,410,2812,0.00,1.17,0.00,0.000,4,0.000,0.069,2127,3208,3082,0,0,0,0,0,0
$GC,2877,-0.77,-146.0,384.9,-11.6,416,2881,0.00,1.08,0.00,0.000,6,0.000,0.036,2126,2511,3081,0,0,0,0,0,0
$GC,3208,-0.77,-146.0,422.6,-11.6,447,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2511,3082,0,0,0,0,0,0
$GC,3529,-0.77,-146.0,460.3,-12.4,477,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2511,3082,0,0,0,0,0,0
$GC,3859,-0.77,-146.0,501.1,-12.8,508,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2511,3082,0,0,0,0,0,0
$GC,4161,-0.77,-146.0,539.4,-12.7,518,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2511,3083,0,0,0,0,0,0
$GC,4467,-0.77,-146.0,576.7,-11.9,528,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2511,3083,0,0,0,0,0,0
$GC,4773,-0.77,-146.0,612.2,-11.4,538,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2511,3083,0,0,0,0,0,0
$GC,5079,-0.77,-146.0,647.5,-11.8,548,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2510,3083,0,0,0,0,0,0
$GC,5386,-0.77,-146.0,681.6,-11.4,558,5390,0.00,1.15,0.00,0.000,4,0.000,0.068,2122,3204,3084,0,0,0,0,0,0
$GC,5441,-0.77,-146.0,685.6,-11.5,559,5445,0.00,1.08,0.00,0.000,6,0.000,0.034,2122,2505,3084,0,0,0,0,0,0
$GC,5760,-0.77,-146.0,722.9,-11.0,570,5762,0.12,0.00,0.00,0.000,6,0.179,0.000,2151,2505,3084,0,0,0,0,0,0
$GC,6067,-0.77,-146.0,752.2,-9.3,580,6070,0.00,1.17,0.00,0.000,4,0.000,0.068,2149,3214,3083,0,0,0,0,0,0
$STATE,6101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6101,begin apogee
$GC,6108,-0.16,0.0,755.7,-9.5,581,6236,0.60,0.00,119.97,1.330,6,0.138,0.000,2342,2203,2485,0,0,0,0,0,0
$STATE,6236,end apogee,CONTROL_FINISHED_OK
$STATE,6236,begin climb
$GC,6239,0.77,146.0,760.1,0.0,585,6374,0.88,1.23,127.15,1.275,4,0.073,0.052,2646,1503,1889,0,0,0,0,0,0
$GC,6558,0.77,146.0,732.6,13.4,594,6565,0.00,1.20,0.00,0.000,6,0.000,0.049,2646,2198,1882,0,0,0,0,0,0
$GC,6872,0.77,146.0,688.0,12.8,605,6876,0.00,1.17,0.00,0.000,4,0.000,0.057,2647,2903,1879,0,0,0,0,0,0
$GC,6956,0.77,146.0,678.7,13.1,607,6960,0.00,1.17,0.00,0.000,6,0.000,0.041,2651,2206,1879,0,0,0,0,0,0
$GC,7280,0.77,146.0,632.9,13.4,618,7284,0.00,1.20,0.00,0.000,4,0.000,0.055,2651,2901,1878,0,0,0,0,0,0
$GC,7363,0.77,146.0,623.3,13.8,620,7367,0.00,1.17,0.00,0.000,6,0.000,0.041,2656,2196,1877,0,0,0,0,0,0
$GC,7687,0.77,146.0,577.3,13.3,631,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2196,1877,0,0,0,0,0,0
$GC,7995,0.77,146.0,537.0,13.2,641,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2196,1876,0,0,0,0,0,0
$GC,8300,0.77,146.0,496.8,13.3,651,8304,0.00,1.20,0.00,0.000,4,0.000,0.056,2656,2903,1877,0,0,0,0,0,0
$GC,8393,0.77,146.0,484.7,13.7,659,8401,0.00,1.15,0.00,0.000,6,0.000,0.041,2660,2198,1876,0,0,0,0,0,0
$GC,8719,0.77,146.0,439.8,13.4,690,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,1875,0,0,0,0,0,0
$GC,9039,0.77,146.0,398.3,12.7,720,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,1875,0,0,0,0,0,0
$GC,9358,0.77,146.0,359.1,12.3,750,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2198,1875,0,0,0,0,0,0
$GC,9674,0.77,146.0,319.6,12.1,780,9678,0.00,1.20,0.00,0.000,4,0.000,0.056,2660,2908,1875,0,0,0,0,0,0
$GC,9764,0.77,146.0,308.5,12.7,788,9768,0.00,1.15,0.00,0.000,6,0.000,0.041,2665,2198,1875,0,0,0,0,0,0
$GC,10095,0.77,146.0,269.5,11.7,819,10099,0.00,1.20,0.00,0.000,4,0.000,0.055,2665,2911,1875,0,0,0,0,0,0
$GC,10216,0.77,146.0,255.2,12.0,830,10220,0.00,1.15,0.00,0.000,6,0.000,0.041,2670,2198,1875,0,0,0,0,0,0
$GC,10551,0.77,146.0,215.7,11.2,886,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2198,1875,0,0,0,0,0,0
$GC,10888,0.77,146.0,177.8,11.4,947,10895,0.00,1.20,0.00,0.000,4,0.000,0.056,2670,2911,1875,0,0,0,0,0,0
$GC,11041,0.77,146.0,159.6,11.9,974,11048,0.00,1.15,0.00,0.000,6,0.000,0.041,2675,2195,1875,0,0,0,0,0,0
$GC,11380,0.81,180.4,125.2,8.4,1035,11414,0.00,1.12,27.15,0.942,4,0.000,0.054,2680,1494,1749,0,0,0,0,0,0
$GC,11466,0.82,184.0,117.3,9.8,1049,11475,0.00,1.17,4.45,0.711,6,0.000,0.050,2680,2205,1734,0,0,0,0,0,0
$GC,11811,0.83,198.2,81.5,9.3,1110,11832,0.00,1.12,12.70,0.892,4,0.000,0.054,2680,2910,1679,0,0,0,0,0,0
$GC,12019,0.83,198.2,59.7,10.4,1147,12025,0.00,1.17,0.00,0.000,6,0.000,0.041,2685,2196,1677,0,0,0,0,0,0
$GC,12355,0.86,223.1,28.0,8.9,1208,12382,0.00,1.25,18.75,0.888,4,0.000,0.056,2685,2910,1574,0,0,0,0,0,0
$GC,12467,0.86,223.1,16.9,10.8,1227,12474,0.00,1.17,0.00,0.000,6,0.000,0.042,2690,2203,1571,0,0,0,0,0,0
$STATE,12613,end climb,SURFACE_DEPTH_REACHED
$STATE,12614,begin surface coast
$FINISH,1.6,1.003329
$STATE,12631,end surface coast,CONTROL_FINISHED_OK
$STATE,12631,begin surface
$SM_CCo,12647,59.85,0.083,0,0,1058,350.04
$SM_GC,2.69,6.97,0.57,59.85,0.048,0.055,0.083,119,2508,1058,-7.06,-0.90,350.04,0,0,0,0,0,0
$RAFOS_CLK,806
$RAFOS,6,1319086142,4.833333,4.817222,75,62,62,0,0,0,795,210,199,0,0,0
$RAFOS,5,1319085664,4.700000,4.684444,122,64,61,0,0,0,584,193,169,0,0,0
$RAFOS,4,1319085181,4.566667,4.550278,83,59,57,0,0,0,832,227,182,0,0,0
$RAFOS,3,1319084701,4.433333,4.416945,73,68,67,0,0,0,942,202,218,0,0,0
$RAFOS,2,1319084222,4.300000,4.283889,64,59,56,0,0,0,1006,184,207,0,0,0
$RAFOS,1,1319083747,4.166667,4.151945,69,63,62,0,0,0,199,173,140,0,0,0
$RAFOS,0,1319083269,4.033333,4.019166,67,58,58,0,0,0,194,175,157,0,0,0
$RAFOS_FIX,6658.481934,-5718.922363,201011,040446,5,83,0.54
$IRIDIUM_FIX,6631.12,-5713.57,191011,212127
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.97
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.60
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,702.8,74.1
$24V_AH,23.1,12.664
$10V_AH,10.3,10.574
$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,17.075,38.200,310.175,59.850,0.000,0.000,0.000,184.675,7.000,0.000,17.195,3448.313,6661.249,493.143,2215.997,208.187,0.000,1723.732,0.000,2010.337,2520.000,21.086,0.000
$DEVICE_MAMPS,259.335,95.625,1329.570,82.620,0.000,0.000,0.000,263.662,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.864,696.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150212
$DATA_FILE_SIZE,49963,1256
$CAP_FILE_SIZE,125584,0
$CFSIZE,260165632,241127424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1459.2
$CURRENT,0.166, 30.7,1
$GPS,201011,050135,6659.719,-5714.794,39,0.8,39,-33.5