version: 66.09
glider: 143
mission: 13
dive: 104
start: 10 20 111 20 28 59
data:
$ID,143
$MISSION,13
$DIVE,104
$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,6
$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,-80646.375
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,201011,202323,6658.370,-5731.456,86,0.8,86,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-66.8
$GPS2,201011,202826,6658.415,-5731.434,21,1.1,22,-33.6
$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,246.8,130467,-18.3,-10.000
$D_GRID,818
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.35,0.000,2,0.000,0.000,117,2516,1992,0,0,0,0,0,0
$GC,89,-0.77,-146.0,3.1,-1.3,10,160,8.68,1.17,-56.05,0.000,4,0.268,0.099,2143,3213,3082,0,0,0,0,0,0
$GC,384,-0.77,-146.0,45.2,-16.5,54,391,0.00,1.12,0.00,0.000,6,0.000,0.039,2142,2504,3084,0,0,0,0,0,0
$GC,724,-0.77,-146.0,98.4,-14.9,105,732,0.00,1.10,0.00,0.000,4,0.000,0.050,2142,1814,3085,0,0,0,0,0,0
$GC,798,-0.77,-146.0,109.5,-14.6,116,807,0.00,1.20,0.00,0.000,6,0.000,0.060,2138,2505,3085,0,0,0,0,0,0
$GC,1139,-0.77,-146.0,162.8,-15.1,167,1146,0.00,1.15,0.00,0.000,4,0.000,0.073,2133,3218,3085,0,0,0,0,0,0
$GC,1351,-0.77,-146.0,195.5,-15.1,199,1358,0.00,1.12,0.00,0.000,6,0.000,0.041,2133,2507,3084,0,0,0,0,0,0
$GC,1689,-0.77,-146.0,244.2,-14.1,250,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2507,3085,0,0,0,0,0,0
$GC,2014,-0.77,-146.0,286.3,-12.9,279,2017,0.00,1.20,0.00,0.000,4,0.000,0.071,2128,3219,3085,0,0,0,0,0,0
$GC,2085,-0.77,-146.0,295.5,-13.6,284,2095,0.00,1.15,0.00,0.000,6,0.000,0.039,2128,2501,3084,0,0,0,0,0,0
$GC,2409,-0.77,-146.0,340.2,-13.1,310,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2501,3084,0,0,0,0,0,0
$GC,2724,-0.77,-146.0,380.6,-12.6,335,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2501,3084,0,0,0,0,0,0
$GC,3039,-0.77,-146.0,418.5,-11.8,360,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2501,3084,0,0,0,0,0,0
$GC,3356,-0.77,-146.0,456.5,-11.7,385,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2501,3084,0,0,0,0,0,0
$GC,3670,-0.77,-146.0,494.0,-12.0,410,3674,0.00,1.20,0.00,0.000,4,0.000,0.067,2123,3220,3084,0,0,0,0,0,0
$GC,3740,-0.77,-146.0,501.9,-12.0,415,3745,0.00,1.12,0.00,0.000,6,0.000,0.035,2123,2506,3084,0,0,0,0,0,0
$GC,4074,-0.77,-146.0,543.5,-12.8,426,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2506,3084,0,0,0,0,0,0
$GC,4380,-0.77,-146.0,582.3,-12.9,436,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2506,3084,0,0,0,0,0,0
$GC,4686,-0.77,-146.0,620.7,-12.7,446,4690,0.00,1.08,0.00,0.000,4,0.000,0.048,2123,1815,3084,0,0,0,0,0,0
$GC,4744,-0.77,-146.0,624.9,-12.7,447,4753,0.12,1.23,0.00,0.000,6,0.177,0.058,2147,2525,3084,0,0,0,0,0,0
$GC,5059,-0.77,-146.0,663.0,-10.8,458,5063,0.00,1.10,0.00,0.000,4,0.000,0.071,2145,3219,3085,0,0,0,0,0,0
$GC,5136,-0.77,-146.0,670.5,-11.0,460,5141,0.00,1.12,0.00,0.000,6,0.000,0.034,2145,2499,3085,0,0,0,0,0,0
$GC,5464,-0.77,-146.0,708.0,-11.0,471,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2499,3085,0,0,0,0,0,0
$GC,5771,-0.77,-146.0,740.4,-10.5,481,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2499,3085,0,0,0,0,0,0
$GC,6076,-0.77,-146.0,772.4,-10.4,491,6080,0.00,1.17,0.00,0.000,4,0.000,0.067,2140,3210,3085,0,0,0,0,0,0
$GC,6144,-0.77,-146.0,779.4,-10.5,493,6147,0.00,1.08,0.00,0.000,6,0.000,0.035,2140,2509,3085,0,0,0,0,0,0
$GC,6483,-0.77,-146.0,814.7,-10.2,504,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2509,3085,0,0,0,0,0,0
$STATE,6543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6543,begin apogee
$GC,6549,-0.16,0.0,820.9,-10.2,506,6677,0.62,0.00,122.18,1.394,6,0.141,0.000,2340,2198,2485,0,0,0,0,0,0
$STATE,6678,end apogee,CONTROL_FINISHED_OK
$STATE,6678,begin climb
$GC,6680,0.77,146.0,825.4,0.0,510,6818,0.90,1.23,129.48,1.336,4,0.074,0.053,2647,1507,1889,0,0,0,0,0,0
$GC,6992,0.77,146.0,797.5,12.9,520,6995,0.00,1.23,0.00,0.000,6,0.000,0.049,2647,2206,1881,0,0,0,0,0,0
$GC,7331,0.77,146.0,754.5,12.4,531,7335,0.00,1.17,0.00,0.000,4,0.000,0.057,2647,2905,1878,0,0,0,0,0,0
$GC,7408,0.77,146.0,746.3,12.4,533,7413,0.00,1.20,0.00,0.000,6,0.000,0.041,2652,2205,1877,0,0,0,0,0,0
$GC,7736,0.77,146.0,705.0,12.0,544,7739,0.00,1.23,0.00,0.000,4,0.000,0.055,2652,2909,1877,0,0,0,0,0,0
$GC,7794,0.77,146.0,700.9,12.1,545,7801,0.00,1.20,0.00,0.000,6,0.000,0.041,2657,2199,1876,0,0,0,0,0,0
$GC,8108,0.77,146.0,659.3,12.4,556,8111,0.00,1.23,0.00,0.000,4,0.000,0.056,2657,2910,1874,0,0,0,0,0,0
$GC,8165,0.77,146.0,655.0,12.6,557,8173,0.00,1.20,0.00,0.000,6,0.000,0.041,2662,2194,1875,0,0,0,0,0,0
$GC,8479,0.77,146.0,612.4,12.6,568,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2194,1874,0,0,0,0,0,0
$GC,8785,0.77,146.0,572.3,13.3,578,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2194,1874,0,0,0,0,0,0
$GC,9091,0.77,146.0,531.2,13.8,588,9095,0.00,1.23,0.00,0.000,4,0.000,0.057,2661,2911,1874,0,0,0,0,0,0
$GC,9142,0.77,146.0,526.8,13.8,589,9147,0.00,1.20,0.00,0.000,6,0.000,0.041,2666,2188,1874,0,0,0,0,0,0
$GC,9467,0.77,146.0,481.1,13.2,606,9470,0.00,1.23,0.00,0.000,4,0.000,0.057,2666,2907,1874,0,0,0,0,0,0
$GC,9519,0.77,146.0,474.0,13.1,610,9523,0.00,1.15,0.00,0.000,6,0.000,0.041,2671,2201,1874,0,0,0,0,0,0
$GC,9850,0.77,146.0,432.7,12.7,636,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,1874,0,0,0,0,0,0
$GC,10165,0.77,146.0,391.4,13.0,661,10168,0.00,1.20,0.00,0.000,4,0.000,0.057,2671,2907,1874,0,0,0,0,0,0
$GC,10249,0.77,146.0,380.4,13.5,667,10257,0.00,1.17,0.00,0.000,6,0.000,0.041,2676,2194,1874,0,0,0,0,0,0
$GC,10575,0.77,146.0,337.6,12.7,693,10578,0.00,1.20,0.00,0.000,4,0.000,0.057,2676,2904,1874,0,0,0,0,0,0
$GC,10632,0.77,146.0,330.4,12.9,697,10641,0.12,1.17,0.00,0.000,6,0.184,0.041,2652,2190,1874,0,0,0,0,0,0
$GC,10956,0.77,146.0,292.2,11.3,723,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2190,1874,0,0,0,0,0,0
$GC,11272,0.77,146.0,257.1,11.4,748,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2190,1874,0,0,0,0,0,0
$GC,11598,0.77,146.0,221.7,11.0,792,11607,0.00,1.20,0.00,0.000,4,0.000,0.057,2652,2901,1874,0,0,0,0,0,0
$GC,11666,0.77,146.0,213.9,11.9,802,11673,0.00,1.12,0.00,0.000,6,0.000,0.041,2655,2202,1874,0,0,0,0,0,0
$GC,12005,0.77,146.0,176.9,10.1,853,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2202,1874,0,0,0,0,0,0
$GC,12342,0.80,171.8,145.1,8.8,904,12369,0.00,1.10,20.05,0.968,4,0.000,0.055,2660,1499,1784,0,0,0,0,0,0
$GC,12478,0.83,195.4,132.8,8.9,924,12506,0.00,1.17,20.92,0.949,6,0.000,0.050,2660,2210,1688,0,0,0,0,0,0
$GC,12837,0.85,214.5,98.5,9.1,978,12859,0.00,1.20,17.08,0.924,4,0.000,0.059,2661,2916,1610,0,0,0,0,0,0
$GC,13110,0.86,218.6,71.4,9.8,1019,13119,0.00,1.20,4.38,0.727,6,0.000,0.041,2665,2193,1593,0,0,0,0,0,0
$GC,13450,0.86,218.6,37.7,10.1,1070,13456,0.00,1.23,0.00,0.000,4,0.000,0.057,2665,2911,1591,0,0,0,0,0,0
$GC,13707,0.86,218.6,10.6,12.5,1109,13714,0.00,1.17,0.00,0.000,6,0.000,0.041,2670,2196,1590,0,0,0,0,0,0
$STATE,13791,end climb,SURFACE_DEPTH_REACHED
$STATE,13791,begin surface coast
$FINISH,1.7,1.014046
$STATE,13813,end surface coast,CONTROL_FINISHED_OK
$STATE,13813,begin surface
$SM_CCo,13829,62.60,0.086,0,0,1057,350.04
$SM_GC,2.72,6.88,0.60,62.60,0.048,0.056,0.086,123,2517,1057,-7.06,-0.65,350.04,0,0,0,0,0,0
$RAFOS_CLK,905
$RAFOS,1,1319155742,0.166667,0.150556,76,60,59,0,0,0,205,156,953,0,0,0
$RAFOS,0,1319155261,0.033333,0.016944,58,57,56,0,0,0,222,1087,165,0,0,0
$RAFOS,6,1319143742,20.833334,20.817223,80,64,61,0,0,0,761,205,216,0,0,0
$RAFOS,5,1319143268,20.700001,20.685556,107,59,52,0,0,0,519,187,214,0,0,0
$RAFOS,4,1319142788,20.566668,20.552221,70,59,59,0,0,0,178,157,191,0,0,0
$RAFOS,2,1319141823,20.299999,20.284166,64,61,58,0,0,0,201,174,160,0,0,0
$RAFOS_FIX,6655.076660,-5716.812012,201011,202056,2,94,11.11
$IRIDIUM_FIX,6631.12,-5727.10,201011,161645
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.40
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,802.1,48.1
$24V_AH,22.9,13.238
$10V_AH,10.3,11.019
$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,17.325,48.025,314.075,62.600,0.000,0.000,0.000,188.675,7.000,0.000,22.985,3100.493,8338.525,534.744,2048.756,207.123,0.000,1701.465,0.000,1836.787,2160.000,26.234,0.000
$DEVICE_MAMPS,267.750,99.450,1393.830,85.680,0.000,0.000,0.000,267.407,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.708,622.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,43345,1125
$CAP_FILE_SIZE,125544,0
$CFSIZE,260165632,240807936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.9
$CURRENT,0.154, 34.1,1
$GPS,211011,002229,6657.398,-5732.714,44,0.7,44,-33.6