version: 66.09
glider: 143
mission: 13
dive: 103
start: 10 20 111 16 37 34
data:
$ID,143
$MISSION,13
$DIVE,103
$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,-80645.117
$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,33
$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
$GPS1,201011,162835,6658.103,-5726.489,37,0.8,37,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-66.1
$GPS2,201011,163701,6658.080,-5726.602,20,1.2,21,-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,275.7,133806,-18.3,-10.000
$D_GRID,796
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,83,0.00,0.00,-64.93,0.000,2,0.000,0.000,118,2521,1977,0,0,0,0,0,0
$GC,86,-0.77,-146.0,3.0,-1.1,10,155,8.55,1.15,-52.50,0.000,4,0.261,0.102,2145,3213,3082,0,0,0,0,0,0
$GC,175,-0.77,-146.0,11.3,-14.7,22,182,0.00,1.12,0.00,0.000,6,0.000,0.039,2145,2505,3083,0,0,0,0,0,0
$GC,512,-0.77,-146.0,69.7,-15.7,83,519,0.00,1.20,0.00,0.000,4,0.000,0.070,2141,3212,3084,0,0,0,0,0,0
$GC,672,-0.77,-146.0,94.6,-15.2,112,679,0.00,1.12,0.00,0.000,6,0.000,0.038,2140,2499,3084,0,0,0,0,0,0
$GC,1011,-0.77,-146.0,143.7,-14.0,173,1020,0.00,1.08,0.00,0.000,4,0.000,0.050,2140,1818,3085,0,0,0,0,0,0
$GC,1067,-0.77,-146.0,151.9,-14.3,182,1073,0.00,1.20,0.00,0.000,6,0.000,0.061,2136,2512,3085,0,0,0,0,0,0
$GC,1406,-0.77,-146.0,203.3,-16.0,243,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2512,3085,0,0,0,0,0,0
$GC,1747,-0.77,-146.0,255.3,-15.3,302,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2513,3084,0,0,0,0,0,0
$GC,2069,-0.77,-146.0,300.7,-13.8,332,2072,0.00,1.12,0.00,0.000,4,0.000,0.073,2131,3214,3084,0,0,0,0,0,0
$GC,2125,-0.77,-146.0,309.0,-14.0,337,2129,0.00,1.10,0.00,0.000,6,0.000,0.039,2131,2511,3084,0,0,0,0,0,0
$GC,2456,-0.77,-146.0,352.4,-12.9,368,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,2777,-0.77,-146.0,393.0,-12.3,398,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3083,0,0,0,0,0,0
$GC,3104,-0.77,-146.0,432.6,-11.9,429,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,3422,-0.77,-146.0,470.3,-11.8,459,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,3737,-0.77,-146.0,508.6,-12.2,485,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,4043,-0.77,-146.0,545.2,-12.0,495,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,4350,-0.77,-146.0,581.1,-11.7,505,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,4656,-0.77,-146.0,616.1,-11.5,515,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,4963,-0.77,-146.0,651.4,-11.5,525,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,5268,-0.77,-146.0,686.9,-11.9,535,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,5575,-0.77,-146.0,722.9,-11.5,545,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,5881,-0.77,-146.0,757.2,-11.3,555,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3085,0,0,0,0,0,0
$GC,6187,-0.77,-146.0,791.0,-10.8,565,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3085,0,0,0,0,0,0
$STATE,6246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6246,begin apogee
$GC,6252,-0.16,0.0,797.9,-10.9,567,6381,0.65,0.00,121.12,1.372,6,0.147,0.000,2338,2186,2484,0,0,0,0,0,0
$STATE,6382,end apogee,CONTROL_FINISHED_OK
$STATE,6382,begin climb
$GC,6384,0.77,146.0,802.5,0.0,571,6522,0.90,1.20,128.73,1.317,4,0.078,0.055,2646,1503,1887,0,0,0,0,0,0
$GC,6656,0.77,146.0,781.2,12.4,579,6660,0.00,1.25,0.00,0.000,6,0.000,0.050,2646,2208,1881,0,0,0,0,0,0
$GC,6987,0.77,146.0,737.2,13.1,590,6991,0.00,1.17,0.00,0.000,4,0.000,0.059,2646,2903,1878,0,0,0,0,0,0
$GC,7071,0.77,146.0,727.9,13.2,592,7075,0.00,1.20,0.00,0.000,6,0.000,0.041,2651,2198,1877,0,0,0,0,0,0
$GC,7395,0.77,146.0,682.7,13.4,603,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,1876,0,0,0,0,0,0
$GC,7702,0.77,146.0,641.6,13.5,613,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,1876,0,0,0,0,0,0
$GC,8008,0.77,146.0,601.2,12.9,623,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2198,1875,0,0,0,0,0,0
$GC,8314,0.77,146.0,562.1,12.6,633,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2198,1874,0,0,0,0,0,0
$GC,8620,0.77,146.0,522.5,13.2,643,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2198,1874,0,0,0,0,0,0
$GC,8931,0.77,146.0,481.8,12.7,661,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2198,1874,0,0,0,0,0,0
$GC,9253,0.77,146.0,441.6,12.3,691,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,1873,0,0,0,0,0,0
$GC,9581,0.77,146.0,401.5,12.2,722,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2198,1873,0,0,0,0,0,0
$GC,9908,0.77,146.0,361.1,12.2,753,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,1873,0,0,0,0,0,0
$GC,10226,0.77,146.0,322.3,11.9,783,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2198,1873,0,0,0,0,0,0
$GC,10545,0.77,146.0,287.2,11.1,813,10548,0.00,1.20,0.00,0.000,4,0.000,0.057,2650,2905,1873,0,0,0,0,0,0
$GC,10711,0.77,146.0,268.2,11.2,828,10715,0.00,1.15,0.00,0.000,6,0.000,0.042,2655,2196,1873,0,0,0,0,0,0
$GC,11044,0.77,146.0,231.4,11.3,873,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2197,1873,0,0,0,0,0,0
$GC,11385,0.77,146.0,195.5,10.1,934,11392,0.00,1.20,0.00,0.000,4,0.000,0.056,2655,2907,1873,0,0,0,0,0,0
$GC,11542,0.77,146.0,179.5,10.1,962,11549,0.00,1.15,0.00,0.000,6,0.000,0.041,2660,2194,1873,0,0,0,0,0,0
$GC,11882,0.81,183.3,148.5,8.3,1023,11915,0.00,0.00,29.35,0.975,6,0.000,0.000,2660,2194,1737,0,0,0,0,0,0
$GC,12249,0.81,183.3,111.8,10.7,1088,12255,0.00,1.20,0.00,0.000,4,0.000,0.056,2660,2904,1733,0,0,0,0,0,0
$GC,12504,0.81,183.3,82.1,11.3,1134,12511,0.00,1.15,0.00,0.000,6,0.000,0.042,2665,2202,1732,0,0,0,0,0,0
$GC,12844,0.87,232.5,50.1,7.7,1195,12890,0.00,0.00,41.17,0.922,6,0.000,0.000,2664,2202,1536,0,0,0,0,0,0
$GC,13222,0.91,262.9,14.4,8.6,1262,13241,0.00,1.15,15.00,0.110,4,0.000,0.053,2670,1490,1412,0,0,0,0,0,0
$GC,13302,0.91,262.9,4.5,13.6,1276,13309,0.00,1.20,0.00,0.000,6,0.000,0.055,2670,2202,1408,0,0,0,0,0,0
$STATE,13319,end climb,SURFACE_DEPTH_REACHED
$STATE,13319,begin surface coast
$FINISH,1.7,1.025276
$STATE,13331,end surface coast,CONTROL_FINISHED_OK
$STATE,13331,begin surface
$SM_CCo,13348,41.20,0.084,0,0,1057,350.04
$SM_GC,2.46,6.95,0.55,41.20,0.048,0.076,0.084,118,2512,1057,-7.07,-0.68,350.04,0,0,0,0,0,0
$RAFOS_CLK,872
$RAFOS,1,1319141346,20.166666,20.151667,59,58,57,0,0,0,216,162,196,0,0,0
$RAFOS,0,1319140865,20.033333,20.018055,64,59,59,0,0,0,208,152,1069,0,0,0
$RAFOS,6,1319129342,16.833334,16.817223,74,62,57,0,0,0,767,214,126,0,0,0
$RAFOS,5,1319128863,16.700001,16.684166,106,61,55,0,0,0,549,216,175,0,0,0
$RAFOS,3,1319127902,16.433332,16.417223,61,59,58,0,0,0,192,1690,225,0,0,0
$RAFOS_FIX,6649.105957,-5737.652344,201011,161656,2,90,31.25
$IRIDIUM_FIX,6631.12,-5731.73,201011,161615
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.32
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.50
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,750.2,98.9
$24V_AH,22.9,13.123
$10V_AH,10.1,10.935
$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,17.050,24.375,335.375,41.200,0.000,0.000,0.000,332.725,9.500,0.000,22.274,3458.325,7444.944,485.826,2323.513,218.683,0.000,1841.349,0.000,1975.994,1800.000,23.352,0.000
$DEVICE_MAMPS,260.865,101.745,1372.410,84.150,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.650,718.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150264
$DATA_FILE_SIZE,49947,1281
$CAP_FILE_SIZE,124115,0
$CFSIZE,260165632,240861184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.7
$CURRENT,0.201,  9.4,1
$GPS,201011,202323,6658.370,-5731.456,86,0.8,86,-33.6