version: 66.09
glider: 143
mission: 13
dive: 102
start: 10 20 111 12 48 45
data:
$ID,143
$MISSION,13
$DIVE,102
$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,-80643.852
$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,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
$GPS1,201011,124323,6658.039,-5722.713,41,1.0,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-64.7
$GPS2,201011,124813,6657.988,-5722.652,17,1.5,18,-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,285.7,136609,-18.3,-10.000
$D_GRID,794
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,83,0.00,0.00,-64.12,0.000,2,0.000,0.000,127,2525,1970,0,0,0,0,0,0
$GC,86,-0.77,-146.0,3.0,-0.5,10,159,8.45,1.17,-56.70,0.000,4,0.260,0.100,2141,3220,3082,0,0,0,0,0,0
$GC,359,-0.77,-146.0,44.6,-17.0,57,366,0.00,1.15,0.00,0.000,6,0.000,0.040,2141,2503,3083,0,0,0,0,0,0
$GC,697,-0.77,-146.0,98.2,-14.8,118,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3084,0,0,0,0,0,0
$GC,1035,-0.77,-146.0,146.8,-14.1,179,1042,0.00,1.20,0.00,0.000,4,0.000,0.070,2136,3213,3085,0,0,0,0,0,0
$GC,1094,-0.77,-146.0,155.0,-14.1,189,1101,0.00,1.12,0.00,0.000,6,0.000,0.039,2136,2500,3085,0,0,0,0,0,0
$GC,1433,-0.77,-146.0,204.0,-14.2,250,1440,0.00,1.20,0.00,0.000,4,0.000,0.069,2132,3213,3085,0,0,0,0,0,0
$GC,1502,-0.77,-146.0,213.8,-14.0,262,1509,0.00,1.10,0.00,0.000,6,0.000,0.038,2131,2514,3085,0,0,0,0,0,0
$GC,1838,-0.77,-146.0,261.0,-13.6,316,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2514,3084,0,0,0,0,0,0
$GC,2157,-0.77,-146.0,304.4,-13.5,346,2161,0.00,1.17,0.00,0.000,4,0.000,0.070,2127,3209,3084,0,0,0,0,0,0
$GC,2238,-0.77,-146.0,315.1,-13.5,353,2242,0.00,1.10,0.00,0.000,6,0.000,0.039,2127,2505,3084,0,0,0,0,0,0
$GC,2568,-0.77,-146.0,358.9,-13.2,384,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,2890,-0.77,-146.0,401.0,-12.5,414,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,3219,-0.77,-146.0,443.5,-13.1,445,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,3546,-0.77,-146.0,485.4,-12.4,476,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,3875,-0.77,-146.0,527.7,-12.7,494,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,4181,-0.77,-146.0,566.5,-12.6,504,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,4488,-0.77,-146.0,605.3,-12.5,514,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,4793,-0.77,-146.0,643.3,-12.3,524,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3085,0,0,0,0,0,0
$GC,5100,-0.77,-146.0,680.0,-11.8,534,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3085,0,0,0,0,0,0
$GC,5406,-0.77,-146.0,715.3,-11.5,544,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3085,0,0,0,0,0,0
$GC,5715,-0.77,-146.0,751.6,-11.7,554,5719,0.00,1.17,0.00,0.000,4,0.000,0.070,2122,3210,3085,0,0,0,0,0,0
$GC,5749,-0.77,-146.0,755.9,-11.7,555,5753,0.00,1.10,0.00,0.000,6,0.000,0.037,2122,2499,3085,0,0,0,0,0,0
$STATE,6088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6088,begin apogee
$GC,6094,-0.16,0.0,794.7,-11.3,566,6223,0.70,0.00,121.70,1.380,6,0.148,0.000,2344,2189,2485,0,0,0,0,0,0
$STATE,6224,end apogee,CONTROL_FINISHED_OK
$STATE,6224,begin climb
$GC,6226,0.77,146.0,799.3,0.0,570,6363,0.88,1.15,128.90,1.318,4,0.071,0.053,2648,1500,1888,0,0,0,0,0,0
$GC,6542,0.77,146.0,772.8,13.2,579,6547,0.00,1.23,0.00,0.000,6,0.000,0.050,2648,2197,1880,0,0,0,0,0,0
$GC,6861,0.77,146.0,727.0,13.4,590,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2197,1877,0,0,0,0,0,0
$GC,7168,0.77,146.0,687.2,12.9,600,7171,0.00,1.17,0.00,0.000,4,0.000,0.059,2648,2902,1876,0,0,0,0,0,0
$GC,7271,0.77,146.0,673.7,13.2,603,7274,0.00,1.15,0.00,0.000,6,0.000,0.041,2653,2213,1875,0,0,0,0,0,0
$GC,7611,0.77,146.0,629.7,12.7,614,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2213,1874,0,0,0,0,0,0
$GC,7918,0.77,146.0,591.5,12.6,624,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2213,1875,0,0,0,0,0,0
$GC,8224,0.77,146.0,553.4,12.3,634,8228,0.00,1.12,0.00,0.000,4,0.000,0.054,2658,1494,1874,0,0,0,0,0,0
$GC,8294,0.77,146.0,545.0,12.3,636,8297,0.00,1.17,0.00,0.000,6,0.000,0.051,2658,2206,1874,0,0,0,0,0,0
$GC,8635,0.77,146.0,500.9,12.9,647,8638,0.00,1.15,0.00,0.000,4,0.000,0.060,2658,2914,1874,0,0,0,0,0,0
$GC,8703,0.77,146.0,492.3,12.6,651,8706,0.00,1.17,0.00,0.000,6,0.000,0.042,2663,2194,1872,0,0,0,0,0,0
$GC,9033,0.77,146.0,450.8,12.1,682,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2194,1873,0,0,0,0,0,0
$GC,9354,0.77,146.0,410.6,12.3,712,9357,0.00,1.08,0.00,0.000,4,0.000,0.054,2668,1498,1873,0,0,0,0,0,0
$GC,9443,0.77,146.0,399.1,12.7,720,9447,0.00,1.15,0.00,0.000,6,0.000,0.050,2668,2202,1873,0,0,0,0,0,0
$GC,9774,0.77,146.0,357.6,12.2,751,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2202,1873,0,0,0,0,0,0
$GC,10095,0.77,146.0,317.9,12.7,781,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2202,1873,0,0,0,0,0,0
$GC,10422,0.77,146.0,276.5,12.2,812,10426,0.00,1.12,0.00,0.000,4,0.000,0.060,2668,2902,1873,0,0,0,0,0,0
$GC,10526,0.77,146.0,263.7,12.3,821,10534,0.00,1.15,0.00,0.000,6,0.000,0.044,2673,2201,1873,0,0,0,0,0,0
$GC,10859,0.77,146.0,222.9,11.9,872,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,1873,0,0,0,0,0,0
$GC,11200,0.77,146.0,183.8,11.5,933,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,1872,0,0,0,0,0,0
$GC,11541,0.77,146.0,146.6,10.5,994,11548,0.00,1.08,0.00,0.000,4,0.000,0.057,2678,1499,1873,0,0,0,0,0,0
$GC,11650,0.78,153.0,136.0,9.7,1013,11658,0.00,1.15,4.43,0.774,6,0.000,0.053,2678,2204,1861,0,0,0,0,0,0
$GC,11989,0.83,194.6,105.6,8.1,1074,12029,0.00,0.00,36.05,0.953,6,0.000,0.000,2678,2204,1690,0,0,0,0,0,0
$GC,12358,0.83,194.6,68.0,10.1,1140,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2204,1685,0,0,0,0,0,0
$GC,12701,0.87,226.7,36.9,8.5,1201,12734,0.00,1.12,26.52,0.913,4,0.000,0.057,2678,2908,1560,0,0,0,0,0,0
$GC,12972,0.87,226.7,7.5,11.3,1249,12981,0.00,1.17,0.00,0.000,6,0.000,0.043,2683,2203,1557,0,0,0,0,0,0
$STATE,13013,end climb,SURFACE_DEPTH_REACHED
$STATE,13013,begin surface coast
$FINISH,1.6,1.014583
$STATE,13030,end surface coast,CONTROL_FINISHED_OK
$STATE,13030,begin surface
$SM_CCo,13047,58.85,0.083,0,0,1057,350.04
$SM_GC,2.75,6.95,0.60,58.85,0.045,0.059,0.083,119,2518,1057,-7.08,-0.59,350.04,0,0,0,0,0,0
$RAFOS_CLK,845
$RAFOS,2,1319127424,16.299999,16.284445,69,58,54,0,0,0,206,959,134,0,0,0
$RAFOS,1,1319126945,16.166666,16.151388,59,57,57,0,0,0,199,166,935,0,0,0
$RAFOS,0,1319126461,16.033333,16.016945,57,56,56,0,0,0,124,144,198,0,0,0
$RAFOS,6,1319114952,12.833333,12.820000,83,59,59,0,0,0,732,216,159,0,0,0
$RAFOS,5,1319114465,12.700000,12.684722,62,59,54,0,0,0,187,138,214,0,0,0
$RAFOS_FIX,6656.073242,-5723.445801,201011,080809,3,86,0.76
$IRIDIUM_FIX,6631.12,-5719.52,201011,080815
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.48
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,751.6,83.7
$24V_AH,22.9,13.007
$10V_AH,10.3,10.837
$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,16.975,30.925,317.600,58.850,0.000,0.000,0.000,177.950,6.500,0.000,19.084,3404.625,7084.099,490.063,2219.176,204.533,0.000,1717.643,0.000,2014.811,1800.000,23.215,0.000
$DEVICE_MAMPS,260.100,100.215,1380.060,83.385,0.000,0.000,0.000,266.658,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.449,708.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,46651,1259
$CAP_FILE_SIZE,123224,0
$CFSIZE,260165632,240930816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.5
$CURRENT,0.143, 47.5,1
$GPS,201011,162835,6658.103,-5726.489,37,0.8,37,-33.5