version: 66.09
glider: 143
mission: 13
dive: 101
start: 10 20 111 8 58 57
data:
$ID,143
$MISSION,13
$DIVE,101
$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,-80642.594
$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,36
$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
$GPS1,201011,085330,6659.101,-5718.943,39,0.7,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-70.5
$GPS2,201011,085824,6659.099,-5718.943,21,0.9,22,-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,265.8,139671,-18.3,-10.000
$D_GRID,790
$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,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,95,0.00,0.00,-75.05,0.000,2,0.000,0.000,116,2511,2123,0,0,0,0,0,0
$GC,98,-0.77,-146.0,3.2,-0.7,12,153,8.50,1.17,-41.88,0.000,4,0.262,0.100,2142,3213,3082,0,0,0,0,0,0
$GC,401,-0.77,-146.0,52.8,-17.5,65,410,0.00,1.12,0.00,0.000,6,0.000,0.038,2142,2500,3084,0,0,0,0,0,0
$GC,743,-0.77,-146.0,105.3,-14.9,126,749,0.00,1.20,0.00,0.000,4,0.000,0.068,2137,3212,3085,0,0,0,0,0,0
$GC,932,-0.77,-146.0,134.8,-15.3,160,938,0.00,1.10,0.00,0.000,6,0.000,0.037,2137,2511,3085,0,0,0,0,0,0
$GC,1271,-0.77,-146.0,183.6,-13.9,221,1280,0.00,1.17,0.00,0.000,4,0.000,0.070,2132,3210,3085,0,0,0,0,0,0
$GC,1348,-0.77,-146.0,194.6,-14.3,234,1355,0.00,1.10,0.00,0.000,6,0.000,0.038,2132,2507,3085,0,0,0,0,0,0
$GC,1686,-0.77,-146.0,242.6,-14.0,295,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2507,3085,0,0,0,0,0,0
$GC,2019,-0.77,-146.0,287.8,-12.8,331,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2507,3085,0,0,0,0,0,0
$GC,2339,-0.77,-146.0,328.5,-12.9,361,2343,0.00,1.17,0.00,0.000,4,0.000,0.070,2128,3210,3084,0,0,0,0,0,0
$GC,2433,-0.77,-146.0,340.4,-13.1,369,2442,0.00,1.10,0.00,0.000,6,0.000,0.038,2128,2505,3084,0,0,0,0,0,0
$GC,2758,-0.77,-146.0,381.7,-12.0,400,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2505,3084,0,0,0,0,0,0
$GC,3081,-0.77,-146.0,419.4,-11.9,430,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2505,3084,0,0,0,0,0,0
$GC,3408,-0.77,-146.0,459.2,-12.1,461,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2505,3084,0,0,0,0,0,0
$GC,3727,-0.77,-146.0,498.4,-12.3,491,3730,0.00,1.17,0.00,0.000,4,0.000,0.070,2123,3210,3085,0,0,0,0,0,0
$GC,3782,-0.77,-146.0,502.9,-12.2,493,3786,0.00,1.08,0.00,0.000,6,0.000,0.036,2123,2511,3085,0,0,0,0,0,0
$GC,4101,-0.77,-146.0,545.8,-12.8,504,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2511,3085,0,0,0,0,0,0
$GC,4408,-0.77,-146.0,585.1,-12.6,514,4410,0.12,0.00,0.00,0.000,6,0.178,0.000,2152,2511,3085,0,0,0,0,0,0
$GC,4713,-0.77,-146.0,617.0,-10.2,524,4717,0.00,1.17,0.00,0.000,4,0.000,0.069,2149,3216,3085,0,0,0,0,0,0
$GC,4785,-0.77,-146.0,624.1,-10.2,526,4789,0.00,1.10,0.00,0.000,6,0.000,0.035,2149,2504,3085,0,0,0,0,0,0
$GC,5120,-0.77,-146.0,659.4,-10.4,537,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2503,3085,0,0,0,0,0,0
$GC,5427,-0.77,-146.0,689.8,-10.0,547,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2504,3085,0,0,0,0,0,0
$GC,5733,-0.77,-146.0,719.6,-9.6,557,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2504,3086,0,0,0,0,0,0
$GC,6043,-0.77,-146.0,751.2,-10.2,567,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2504,3086,0,0,0,0,0,0
$GC,6345,-0.77,-146.0,782.1,-10.1,577,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2504,3086,0,0,0,0,0,0
$STATE,6435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6435,begin apogee
$GC,6441,-0.16,0.0,791.2,-10.0,580,6570,0.60,0.00,121.32,1.367,6,0.137,0.000,2344,2194,2484,0,0,0,0,0,0
$STATE,6571,end apogee,CONTROL_FINISHED_OK
$STATE,6571,begin climb
$GC,6573,0.77,146.0,795.2,0.0,584,6709,0.90,1.15,128.62,1.312,4,0.070,0.054,2654,1507,1888,0,0,0,0,0,0
$GC,6888,0.77,146.0,767.3,14.0,593,6892,0.00,1.23,0.00,0.000,6,0.000,0.049,2654,2205,1880,0,0,0,0,0,0
$GC,7207,0.77,146.0,717.2,14.5,604,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,1878,0,0,0,0,0,0
$GC,7514,0.77,146.0,675.9,13.2,614,7518,0.00,1.17,0.00,0.000,4,0.000,0.057,2654,2913,1876,0,0,0,0,0,0
$GC,7582,0.77,146.0,666.1,13.6,616,7586,0.00,1.17,0.00,0.000,6,0.000,0.041,2658,2209,1876,0,0,0,0,0,0
$GC,7923,0.77,146.0,620.1,13.2,627,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2209,1875,0,0,0,0,0,0
$GC,8229,0.77,146.0,580.4,12.6,637,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2209,1875,0,0,0,0,0,0
$GC,8535,0.77,146.0,542.9,12.2,647,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2209,1875,0,0,0,0,0,0
$GC,8842,0.77,146.0,506.1,11.8,657,8846,0.00,1.20,0.00,0.000,4,0.000,0.057,2658,2913,1875,0,0,0,0,0,0
$GC,8910,0.77,146.0,497.5,12.3,659,8914,0.00,1.17,0.00,0.000,6,0.000,0.041,2663,2192,1875,0,0,0,0,0,0
$GC,9242,0.77,146.0,454.5,13.4,690,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2191,1874,0,0,0,0,0,0
$GC,9562,0.77,146.0,411.9,13.4,720,9566,0.00,1.23,0.00,0.000,4,0.000,0.057,2663,2911,1873,0,0,0,0,0,0
$GC,9641,0.77,146.0,400.9,13.7,727,9644,0.00,1.17,0.00,0.000,6,0.000,0.042,2668,2189,1873,0,0,0,0,0,0
$GC,9973,0.77,146.0,357.5,12.4,758,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2190,1873,0,0,0,0,0,0
$GC,10293,0.77,146.0,319.3,12.0,788,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2190,1873,0,0,0,0,0,0
$GC,10620,0.77,146.0,280.4,11.7,819,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2190,1873,0,0,0,0,0,0
$GC,10941,0.77,146.0,243.5,11.2,854,10948,0.00,1.23,0.00,0.000,4,0.000,0.058,2668,2915,1873,0,0,0,0,0,0
$GC,11195,0.77,146.0,212.2,11.8,900,11202,0.00,1.15,0.00,0.000,6,0.000,0.042,2673,2203,1873,0,0,0,0,0,0
$GC,11538,0.77,146.0,174.3,10.7,961,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,1873,0,0,0,0,0,0
$GC,11879,0.78,152.1,139.5,9.7,1022,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,1873,0,0,0,0,0,0
$GC,12214,0.79,165.2,107.9,9.4,1083,12235,0.00,0.00,14.57,0.942,6,0.000,0.000,2673,2203,1811,0,0,0,0,0,0
$GC,12574,0.85,211.3,77.6,7.9,1146,12617,0.00,0.00,39.25,0.933,6,0.000,0.000,2673,2203,1622,0,0,0,0,0,0
$GC,12950,0.88,237.3,41.0,8.8,1213,12978,0.00,1.27,22.08,0.903,4,0.000,0.057,2673,2909,1517,0,0,0,0,0,0
$GC,13229,0.95,291.7,12.6,7.5,1262,13262,0.00,1.17,27.33,0.102,6,0.000,0.042,2678,2204,1294,0,0,0,0,0,0
$STATE,13317,end climb,SURFACE_DEPTH_REACHED
$STATE,13317,begin surface coast
$FINISH,1.7,1.025369
$STATE,13334,end surface coast,CONTROL_FINISHED_OK
$STATE,13334,begin surface
$SM_CCo,13352,26.58,0.085,0,0,1057,350.04
$SM_GC,3.11,7.05,0.60,26.58,0.054,0.054,0.085,128,2521,1057,-7.06,-0.54,350.04,0,0,0,0,0,0
$RAFOS_CLK,869
$RAFOS,4,1319113985,12.566667,12.551389,67,56,56,0,0,0,221,179,169,0,0,0
$RAFOS,3,1319113504,12.433333,12.417778,69,67,61,0,0,0,228,897,158,0,0,0
$RAFOS,2,1319113026,12.300000,12.285000,70,63,61,0,0,0,205,151,194,0,0,0
$RAFOS,1,1319112544,12.166667,12.151111,66,65,59,0,0,0,218,206,189,0,0,0
$RAFOS,0,1319112064,12.033333,12.017777,59,53,51,0,0,0,206,169,153,0,0,0
$RAFOS,6,1319100543,8.833333,8.817500,62,62,59,0,0,0,189,206,120,0,0,0
$RAFOS_FIX,6656.073242,-5723.445801,201011,080809,3,86,0.76
$IRIDIUM_FIX,6625.71,-5627.73,201011,050525
$TT8_MAMPS,0.029211,0.029211
$HUMID,58.07
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.40
$XPDR_PINGS,16
$24V_AH,23.0,12.893
$10V_AH,10.3,10.752
$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,17.175,29.075,353.175,26.575,0.000,0.000,0.000,176.850,7.000,0.000,23.314,3459.026,7295.521,482.771,2231.519,209.590,0.000,1711.362,0.000,2024.425,2160.000,24.534,0.000
$DEVICE_MAMPS,261.630,100.215,1367.055,84.915,0.000,0.000,0.000,268.156,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.692,715.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150308
$DATA_FILE_SIZE,50033,1280
$CAP_FILE_SIZE,124155,0
$CFSIZE,260165632,240992256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.3
$CURRENT,0.062, 48.6,1
$GPS,201011,124323,6658.039,-5722.713,41,1.0,41,-33.5