version: 66.09
glider: 143
mission: 13
dive: 100
start: 10 20 111 5 7 29
data:
$ID,143
$MISSION,13
$DIVE,100
$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,-80641.328
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,201011,050135,6659.719,-5714.794,39,0.8,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-71.9
$GPS2,201011,050655,6659.703,-5714.840,15,0.9,15,-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,263.7,142837,-18.3,-10.000
$D_GRID,783
$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,-146.0,0.0,0.0,0,96,0.00,0.00,-76.22,0.000,2,0.000,0.000,118,2511,2161,0,0,0,0,0,0
$GC,98,-0.77,-146.0,3.2,-0.8,12,153,8.55,1.15,-37.05,0.000,4,0.263,0.099,2142,3211,3082,0,0,0,0,0,0
$GC,404,-0.77,-146.0,52.2,-14.9,65,410,0.00,1.10,0.00,0.000,6,0.000,0.036,2142,2505,3084,0,0,0,0,0,0
$GC,742,-0.77,-146.0,105.0,-15.5,126,751,0.00,1.20,0.00,0.000,4,0.000,0.068,2137,3216,3085,0,0,0,0,0,0
$GC,879,-0.77,-146.0,126.4,-15.4,150,888,0.00,1.10,0.00,0.000,6,0.000,0.035,2137,2511,3085,0,0,0,0,0,0
$GC,1221,-0.77,-146.0,176.1,-13.7,211,1228,0.00,1.10,0.00,0.000,4,0.000,0.048,2137,1813,3085,0,0,0,0,0,0
$GC,1269,-0.77,-146.0,182.5,-12.9,219,1276,0.00,1.20,0.00,0.000,6,0.000,0.060,2133,2509,3085,0,0,0,0,0,0
$GC,1608,-0.77,-146.0,229.1,-14.0,280,1615,0.00,1.12,0.00,0.000,4,0.000,0.073,2127,3211,3084,0,0,0,0,0,0
$GC,1717,-0.77,-146.0,244.1,-13.8,299,1724,0.00,1.10,0.00,0.000,6,0.000,0.037,2127,2505,3084,0,0,0,0,0,0
$GC,2050,-0.77,-146.0,288.5,-13.5,334,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3083,0,0,0,0,0,0
$GC,2371,-0.77,-146.0,331.3,-13.6,364,2374,0.00,1.08,0.00,0.000,4,0.000,0.049,2127,1818,3083,0,0,0,0,0,0
$GC,2427,-0.77,-146.0,339.1,-13.1,369,2431,0.00,1.20,0.00,0.000,6,0.000,0.060,2122,2517,3083,0,0,0,0,0,0
$GC,2758,-0.77,-146.0,382.0,-12.7,400,2762,0.12,1.12,0.00,0.000,4,0.184,0.071,2148,3223,3083,0,0,0,0,0,0
$GC,2838,-0.77,-146.0,390.6,-10.6,407,2841,0.00,1.10,0.00,0.000,6,0.000,0.034,2149,2511,3083,0,0,0,0,0,0
$GC,3169,-0.77,-146.0,426.9,-11.0,438,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2510,3084,0,0,0,0,0,0
$GC,3490,-0.77,-146.0,461.7,-10.8,468,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2510,3084,0,0,0,0,0,0
$GC,3819,-0.77,-146.0,496.1,-10.4,499,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2510,3084,0,0,0,0,0,0
$GC,4133,-0.77,-146.0,529.0,-10.2,512,4136,0.00,1.17,0.00,0.000,4,0.000,0.069,2144,3215,3084,0,0,0,0,0,0
$GC,4223,-0.77,-146.0,536.0,-10.2,514,4227,0.00,1.10,0.00,0.000,6,0.000,0.035,2144,2501,3084,0,0,0,0,0,0
$GC,4541,-0.77,-146.0,571.9,-10.6,525,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2501,3084,0,0,0,0,0,0
$GC,4849,-0.77,-146.0,605.4,-10.7,535,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2501,3084,0,0,0,0,0,0
$GC,5154,-0.77,-146.0,636.4,-10.0,545,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2501,3084,0,0,0,0,0,0
$GC,5463,-0.77,-146.0,665.7,-9.1,555,5467,0.00,1.05,0.00,0.000,4,0.000,0.048,2144,1821,3084,0,0,0,0,0,0
$GC,5647,-0.77,-146.0,682.5,-9.7,560,5651,0.00,1.17,0.00,0.000,6,0.000,0.057,2139,2512,3084,0,0,0,0,0,0
$GC,5973,-0.77,-146.0,717.1,-10.3,571,5977,0.00,1.12,0.00,0.000,4,0.000,0.046,2139,1821,3084,0,0,0,0,0,0
$GC,6045,-0.77,-146.0,724.3,-10.2,573,6049,0.00,1.17,0.00,0.000,6,0.000,0.057,2134,2514,3084,0,0,0,0,0,0
$GC,6381,-0.77,-146.0,759.9,-10.4,584,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2135,2514,3084,0,0,0,0,0,0
$STATE,6623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6623,begin apogee
$GC,6630,-0.16,0.0,785.4,-10.4,592,6760,0.65,0.00,120.95,1.369,6,0.145,0.000,2341,2190,2484,0,0,0,0,0,0
$STATE,6760,end apogee,CONTROL_FINISHED_OK
$STATE,6761,begin climb
$GC,6763,0.77,146.0,789.6,0.0,596,6901,0.90,1.17,128.55,1.323,4,0.072,0.054,2650,1513,1888,0,0,0,0,0,0
$GC,7059,0.77,146.0,763.0,13.0,605,7063,0.00,1.20,0.00,0.000,6,0.000,0.050,2650,2200,1881,0,0,0,0,0,0
$GC,7400,0.77,146.0,717.5,13.2,616,7403,0.00,1.17,0.00,0.000,4,0.000,0.059,2649,2901,1878,0,0,0,0,0,0
$GC,7516,0.77,146.0,703.3,13.9,619,7520,0.00,1.15,0.00,0.000,6,0.000,0.040,2654,2213,1877,0,0,0,0,0,0
$GC,7841,0.77,146.0,657.1,13.6,630,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2213,1876,0,0,0,0,0,0
$GC,8147,0.77,146.0,614.4,14.1,640,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2213,1875,0,0,0,0,0,0
$GC,8453,0.77,146.0,572.8,13.6,650,8457,0.00,1.12,0.00,0.000,4,0.000,0.056,2660,1497,1875,0,0,0,0,0,0
$GC,8530,0.77,146.0,563.8,13.5,652,8534,0.00,1.17,0.00,0.000,6,0.000,0.052,2659,2206,1875,0,0,0,0,0,0
$GC,8861,0.77,146.0,517.1,13.5,663,8865,0.00,1.15,0.00,0.000,4,0.000,0.060,2659,2911,1874,0,0,0,0,0,0
$GC,8966,0.77,146.0,502.9,13.8,666,8970,0.00,1.17,0.00,0.000,6,0.000,0.043,2664,2197,1874,0,0,0,0,0,0
$GC,9294,0.77,146.0,459.5,12.5,695,9298,0.00,1.20,0.00,0.000,4,0.000,0.058,2664,2900,1873,0,0,0,0,0,0
$GC,9395,0.77,146.0,446.2,12.6,704,9399,0.00,1.15,0.00,0.000,6,0.000,0.044,2669,2197,1873,0,0,0,0,0,0
$GC,9727,0.77,146.0,404.2,12.6,735,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,1873,0,0,0,0,0,0
$GC,10047,0.77,146.0,362.1,13.3,765,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2197,1873,0,0,0,0,0,0
$GC,10366,0.77,146.0,319.7,13.3,795,10369,0.00,1.20,0.00,0.000,4,0.000,0.057,2669,2904,1873,0,0,0,0,0,0
$GC,10434,0.77,146.0,310.4,13.1,801,10437,0.00,1.15,0.00,0.000,6,0.000,0.043,2674,2196,1873,0,0,0,0,0,0
$GC,10765,0.77,146.0,269.3,11.5,832,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2197,1873,0,0,0,0,0,0
$GC,11088,0.77,146.0,232.7,10.9,876,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2197,1873,0,0,0,0,0,0
$GC,11423,0.77,146.0,196.4,11.0,937,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2197,1873,0,0,0,0,0,0
$GC,11758,0.77,146.0,162.6,10.1,998,11768,0.00,1.20,0.00,0.000,4,0.000,0.057,2674,2908,1873,0,0,0,0,0,0
$GC,11985,0.78,158.3,140.1,9.4,1038,12000,0.00,1.15,8.75,0.916,6,0.000,0.042,2679,2195,1839,0,0,0,0,0,0
$GC,12329,0.78,158.3,107.4,10.3,1100,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2195,1838,0,0,0,0,0,0
$GC,12668,0.86,224.5,78.9,7.0,1161,12727,0.00,0.00,55.88,0.936,6,0.000,0.000,2679,2195,1568,0,0,0,0,0,0
$GC,13055,0.86,224.5,36.5,11.4,1230,13064,0.00,1.23,0.00,0.000,4,0.000,0.057,2679,2901,1560,0,0,0,0,0,0
$GC,13237,0.86,224.5,16.3,10.8,1262,13246,0.00,1.17,0.00,0.000,6,0.000,0.041,2684,2191,1559,0,0,0,0,0,0
$STATE,13370,end climb,SURFACE_DEPTH_REACHED
$STATE,13372,begin surface coast
$FINISH,1.7,1.006983
$STATE,13388,end surface coast,CONTROL_FINISHED_OK
$STATE,13388,begin surface
$SM_CCo,13405,58.80,0.085,0,0,1057,350.04
$SM_GC,2.71,6.95,0.60,58.80,0.047,0.058,0.085,116,2508,1057,-7.08,-0.88,350.04,0,0,0,0,0,0
$RAFOS_CLK,865
$RAFOS,5,1319100062,8.700000,8.683888,105,65,57,0,0,0,588,211,187,0,0,0
$RAFOS,4,1319099583,8.566667,8.550834,89,59,58,0,0,0,802,222,161,0,0,0
$RAFOS,3,1319099104,8.433333,8.417778,59,59,57,0,0,0,209,224,157,0,0,0
$RAFOS,2,1319098626,8.300000,8.285000,64,62,57,0,0,0,118,206,172,0,0,0
$RAFOS,1,1319098149,8.166667,8.152500,65,61,60,0,0,0,943,217,200,0,0,0
$RAFOS,0,1319097662,8.033334,8.017222,67,61,60,0,0,0,166,196,219,0,0,0
$RAFOS_FIX,6656.073242,-5723.445801,201011,080809,3,86,0.76
$IRIDIUM_FIX,6609.62,-6011.94,201011,010123
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.79
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.50
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,651.5,151.4
$24V_AH,23.0,12.777
$10V_AH,10.3,10.665
$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,17.175,40.300,314.125,58.800,0.000,0.000,0.000,211.375,7.500,0.000,16.374,3547.929,7158.057,496.934,2383.530,216.685,0.000,1821.337,0.000,2149.149,2520.000,21.270,0.000
$DEVICE_MAMPS,263.160,99.450,1369.350,84.915,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.175,718.769,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,50004,1289
$CAP_FILE_SIZE,131435,0
$CFSIZE,260165632,241053696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.6
$CURRENT,0.124, 10.8,1
$GPS,201011,085330,6659.101,-5718.943,39,0.7,39,-33.5