version: 66.09
glider: 143
mission: 13
dive: 107
start: 10 21 111 8 21 46
data:
$ID,143
$MISSION,13
$DIVE,107
$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,-80650.164
$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,27
$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
$GPS1,211011,081623,6656.669,-5739.319,68,0.8,68,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-66.5
$GPS2,211011,082112,6656.678,-5739.365,17,1.9,18,-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,268.5,124144,-18.3,-10.000
$D_GRID,833
$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,16,-0.77,-146.0,0.0,0.0,0,68,0.00,0.00,-49.83,0.000,2,0.000,0.000,118,2516,1758,0,0,0,0,0,0
$GC,71,-0.77,-146.0,3.0,-1.6,7,153,8.35,1.17,-67.85,0.000,4,0.251,0.098,2142,3213,3082,0,0,0,0,0,0
$GC,265,-0.77,-146.0,28.7,-18.7,36,271,0.00,1.12,0.00,0.000,6,0.000,0.037,2142,2506,3083,0,0,0,0,0,0
$GC,604,-0.77,-146.0,87.4,-15.9,87,611,0.00,1.10,0.00,0.000,4,0.000,0.047,2142,1814,3084,0,0,0,0,0,0
$GC,736,-0.77,-146.0,108.0,-14.6,107,743,0.00,1.20,0.00,0.000,6,0.000,0.059,2138,2504,3084,0,0,0,0,0,0
$GC,1073,-0.77,-146.0,156.5,-13.1,158,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2504,3084,0,0,0,0,0,0
$GC,1412,-0.77,-146.0,203.0,-14.0,209,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2504,3084,0,0,0,0,0,0
$GC,1749,-0.77,-146.0,249.5,-14.0,260,1755,0.00,1.15,0.00,0.000,4,0.000,0.073,2132,3217,3084,0,0,0,0,0,0
$GC,1833,-0.77,-146.0,260.8,-14.3,267,1841,0.00,1.15,0.00,0.000,6,0.000,0.037,2132,2496,3084,0,0,0,0,0,0
$GC,2156,-0.77,-146.0,304.3,-12.7,293,2160,0.00,1.20,0.00,0.000,4,0.000,0.068,2127,3214,3084,0,0,0,0,0,0
$GC,2213,-0.77,-146.0,311.1,-12.9,297,2221,0.00,1.12,0.00,0.000,6,0.000,0.036,2127,2504,3083,0,0,0,0,0,0
$GC,2540,-0.77,-146.0,352.6,-12.5,323,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2504,3083,0,0,0,0,0,0
$GC,2852,-0.77,-146.0,392.6,-12.6,348,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2504,3083,0,0,0,0,0,0
$GC,3168,-0.77,-146.0,431.8,-12.4,373,3172,0.00,1.08,0.00,0.000,4,0.000,0.047,2127,1816,3083,0,0,0,0,0,0
$GC,3212,-0.77,-146.0,436.5,-11.9,376,3221,0.00,1.23,0.00,0.000,6,0.000,0.057,2122,2524,3084,0,0,0,0,0,0
$GC,3537,-0.77,-146.0,476.6,-12.5,402,3539,0.12,0.00,0.00,0.000,6,0.186,0.000,2151,2524,3083,0,0,0,0,0,0
$GC,3857,-0.77,-146.0,509.6,-10.2,423,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3083,0,0,0,0,0,0
$GC,4161,-0.77,-146.0,541.7,-10.7,433,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3083,0,0,0,0,0,0
$GC,4469,-0.77,-146.0,574.2,-10.5,443,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3084,0,0,0,0,0,0
$GC,4775,-0.77,-146.0,605.5,-10.1,453,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3084,0,0,0,0,0,0
$GC,5081,-0.77,-146.0,637.3,-10.4,463,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3084,0,0,0,0,0,0
$GC,5386,-0.77,-146.0,668.7,-10.2,473,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3084,0,0,0,0,0,0
$GC,5694,-0.77,-146.0,699.6,-10.0,483,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3084,0,0,0,0,0,0
$GC,5998,-0.77,-146.0,730.6,-10.0,493,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2524,3084,0,0,0,0,0,0
$GC,6306,-0.77,-146.0,762.3,-10.5,503,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2527,3084,0,0,0,0,0,0
$GC,6612,-0.77,-146.0,793.1,-9.9,513,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2527,3084,0,0,0,0,0,0
$GC,6919,-0.77,-146.0,822.8,-9.5,523,6922,0.00,1.15,0.00,0.000,4,0.000,0.047,2152,1818,3084,0,0,0,0,0,0
$GC,6970,-0.77,-146.0,826.0,-9.5,524,6975,0.00,1.20,0.00,0.000,6,0.000,0.057,2149,2516,3084,0,0,0,0,0,0
$STATE,7045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7045,begin apogee
$GC,7051,-0.16,0.0,834.7,-9.3,527,7179,0.60,0.00,122.05,1.402,6,0.139,0.000,2342,2191,2485,0,0,0,0,0,0
$STATE,7179,end apogee,CONTROL_FINISHED_OK
$STATE,7179,begin climb
$GC,7182,0.77,146.0,839.6,0.0,531,7320,0.90,1.23,129.95,1.344,4,0.071,0.054,2651,1503,1888,0,0,0,0,0,0
$GC,7470,0.77,146.0,816.3,12.8,539,7475,0.00,1.25,0.00,0.000,6,0.000,0.048,2651,2205,1880,0,0,0,0,0,0
$GC,7791,0.77,146.0,771.7,13.1,550,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,1877,0,0,0,0,0,0
$GC,8097,0.77,146.0,731.8,12.9,560,8101,0.00,1.17,0.00,0.000,4,0.000,0.060,2651,2910,1875,0,0,0,0,0,0
$GC,8221,0.77,146.0,719.0,12.9,563,8229,0.00,1.20,0.00,0.000,6,0.000,0.041,2656,2203,1874,0,0,0,0,0,0
$GC,8535,0.77,146.0,675.4,12.9,574,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2203,1874,0,0,0,0,0,0
$GC,8841,0.77,146.0,637.8,12.3,584,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2203,1873,0,0,0,0,0,0
$GC,9147,0.77,146.0,599.3,12.6,594,9151,0.00,1.20,0.00,0.000,4,0.000,0.054,2656,2905,1873,0,0,0,0,0,0
$GC,9298,0.77,146.0,582.1,13.0,598,9303,0.00,1.17,0.00,0.000,6,0.000,0.039,2660,2195,1873,0,0,0,0,0,0
$GC,9618,0.77,146.0,539.0,12.5,609,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2196,1873,0,0,0,0,0,0
$GC,9926,0.77,146.0,499.7,12.9,619,9929,0.00,1.20,0.00,0.000,4,0.000,0.055,2661,2904,1872,0,0,0,0,0,0
$GC,10049,0.77,146.0,484.1,12.7,628,10057,0.00,1.17,0.00,0.000,6,0.000,0.040,2665,2190,1872,0,0,0,0,0,0
$GC,10374,0.77,146.0,443.2,12.5,654,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2190,1872,0,0,0,0,0,0
$GC,10690,0.77,146.0,404.4,12.4,679,10693,0.00,1.20,0.00,0.000,4,0.000,0.057,2665,2900,1872,0,0,0,0,0,0
$GC,10796,0.77,146.0,390.5,13.3,687,10800,0.00,1.12,0.00,0.000,6,0.000,0.042,2670,2206,1872,0,0,0,0,0,0
$GC,11127,0.77,146.0,349.6,12.5,713,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,1872,0,0,0,0,0,0
$GC,11440,0.77,146.0,310.0,12.4,738,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,1872,0,0,0,0,0,0
$GC,11758,0.77,146.0,271.8,11.6,763,11759,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,1872,0,0,0,0,0,0
$GC,12078,0.77,146.0,234.8,11.3,798,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,1872,0,0,0,0,0,0
$GC,12417,0.78,153.7,200.2,9.6,849,12432,0.00,1.20,5.00,0.829,4,0.000,0.056,2670,2905,1858,0,0,0,0,0,0
$GC,12598,0.78,153.7,181.9,10.3,876,12605,0.00,1.15,0.00,0.000,6,0.000,0.040,2675,2193,1858,0,0,0,0,0,0
$GC,12938,0.78,153.7,147.3,10.1,927,12944,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2193,1858,0,0,0,0,0,0
$GC,13274,0.78,154.2,114.2,10.0,978,13283,0.00,1.20,0.00,0.000,4,0.000,0.057,2675,2911,1858,0,0,0,0,0,0
$GC,13536,0.82,186.3,89.4,8.5,1017,13570,0.00,1.15,28.92,0.953,6,0.000,0.041,2680,2198,1724,0,0,0,0,0,0
$GC,13900,0.87,226.4,56.3,8.2,1072,13939,0.00,0.00,33.45,0.922,6,0.000,0.000,2680,2198,1561,0,0,0,0,0,0
$GC,14271,0.89,243.2,20.2,9.2,1128,14285,0.00,1.27,8.85,0.805,4,0.000,0.055,2680,2917,1492,0,0,0,0,0,0
$GC,14405,0.89,243.2,5.5,14.1,1148,14412,0.00,1.20,0.00,0.000,6,0.000,0.041,2685,2196,1488,0,0,0,0,0,0
$STATE,14436,end climb,SURFACE_DEPTH_REACHED
$STATE,14437,begin surface coast
$FINISH,1.7,1.006403
$STATE,14458,end surface coast,CONTROL_FINISHED_OK
$STATE,14458,begin surface
$SM_CCo,14474,50.75,0.084,0,0,1058,350.04
$SM_GC,2.58,6.95,0.60,50.75,0.043,0.058,0.084,117,2513,1058,-7.08,-0.79,350.04,0,0,0,0,0,0
$RAFOS_CLK,948
$RAFOS,1,1319198946,12.166667,12.151667,63,60,59,0,0,0,188,205,222,0,0,0
$RAFOS,0,1319198466,12.033333,12.018333,69,67,66,0,0,0,223,211,1027,0,0,0
$RAFOS,6,1319186946,8.833333,8.818334,91,61,59,0,0,0,720,174,146,0,0,0
$RAFOS,5,1319186464,8.700000,8.684444,139,61,57,0,0,0,531,170,145,0,0,0
$RAFOS,4,1319185986,8.566667,8.551666,65,64,61,0,0,0,114,217,197,0,0,0
$RAFOS,3,1319185503,8.433333,8.417500,61,57,52,0,0,0,194,167,154,0,0,0
$RAFOS,1,1319184542,8.166667,8.150556,67,66,63,0,0,0,923,208,121,0,0,0
$RAFOS_FIX,6658.212891,-5743.458984,211011,080812,4,93,11.54
$IRIDIUM_FIX,6625.71,-5739.31,211011,040407
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.63
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.40
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,752.8,105.2
$24V_AH,22.8,13.598
$10V_AH,10.3,11.273
$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,16.925,34.125,328.225,50.750,0.000,0.000,0.000,178.950,7.750,0.000,18.617,3168.610,8900.057,522.496,2039.529,206.338,0.000,1673.562,0.000,1844.542,2520.000,21.607,0.000
$DEVICE_MAMPS,250.920,97.920,1402.245,84.150,0.000,0.000,0.000,264.411,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.382,637.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150360
$DATA_FILE_SIZE,43393,1156
$CAP_FILE_SIZE,123013,0
$CFSIZE,260165632,240611328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.9
$CURRENT,0.103, 88.4,1
$GPS,211011,122535,6655.128,-5742.375,43,0.9,43,-33.5