version: 66.09
glider: 143
mission: 13
dive: 113
start: 10 22 111 8 51 52
data:
$ID,143
$MISSION,13
$DIVE,113
$N_DIVES,0
$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,-80657.742
$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
$GPS1,221011,084606,6655.256,-5758.498,31,0.8,32,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-71.4
$GPS2,221011,085118,6655.284,-5758.500,14,1.8,15,-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,264.4,109911,-18.3,-10.000
$D_GRID,892
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-51.65,0.000,2,0.000,0.000,125,2515,1782,0,0,0,0,0,0
$GC,73,-0.77,-146.0,3.1,-1.3,8,163,8.52,1.23,-71.53,0.000,4,0.262,0.079,2147,1812,3082,0,0,0,0,0,0
$GC,222,-0.77,-146.0,18.6,-17.6,30,231,0.00,1.20,0.00,0.000,6,0.000,0.061,2144,2498,3083,0,0,0,0,0,0
$GC,560,-0.77,-146.0,78.5,-16.2,81,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2499,3084,0,0,0,0,0,0
$GC,897,-0.77,-146.0,131.2,-14.4,132,903,0.00,1.17,0.00,0.000,4,0.000,0.074,2139,3222,3084,0,0,0,0,0,0
$GC,957,-0.77,-146.0,139.8,-14.6,141,963,0.00,1.15,0.00,0.000,6,0.000,0.040,2139,2498,3084,0,0,0,0,0,0
$GC,1293,-0.77,-146.0,184.5,-12.9,192,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2498,3084,0,0,0,0,0,0
$GC,1631,-0.77,-146.0,229.5,-13.0,243,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2498,3084,0,0,0,0,0,0
$GC,1965,-0.77,-146.0,274.2,-13.6,281,1968,0.00,1.20,0.00,0.000,4,0.000,0.070,2134,3213,3084,0,0,0,0,0,0
$GC,2045,-0.77,-146.0,285.1,-14.0,287,2049,0.00,1.12,0.00,0.000,6,0.000,0.038,2134,2499,3083,0,0,0,0,0,0
$GC,2377,-0.77,-146.0,327.2,-12.5,313,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2500,3083,0,0,0,0,0,0
$GC,2691,-0.77,-146.0,366.7,-12.1,338,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2499,3083,0,0,0,0,0,0
$GC,3008,-0.77,-146.0,405.3,-12.3,363,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2500,3083,0,0,0,0,0,0
$GC,3320,-0.77,-146.0,443.8,-12.1,388,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2499,3083,0,0,0,0,0,0
$GC,3636,-0.77,-146.0,481.6,-12.0,413,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2499,3083,0,0,0,0,0,0
$GC,3955,-0.77,-146.0,519.3,-11.9,431,3958,0.00,1.08,0.00,0.000,4,0.000,0.047,2134,1814,3084,0,0,0,0,0,0
$GC,4032,-0.77,-146.0,527.4,-11.9,433,4037,0.00,1.23,0.00,0.000,6,0.000,0.058,2129,2521,3084,0,0,0,0,0,0
$GC,4359,-0.77,-146.0,567.9,-11.7,444,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2521,3084,0,0,0,0,0,0
$GC,4668,-0.77,-146.0,603.1,-11.3,454,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2521,3084,0,0,0,0,0,0
$GC,4972,-0.77,-146.0,637.4,-11.3,464,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2521,3084,0,0,0,0,0,0
$GC,5278,-0.77,-146.0,671.2,-11.2,474,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2522,3084,0,0,0,0,0,0
$GC,5584,-0.77,-146.0,705.6,-11.2,484,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2522,3084,0,0,0,0,0,0
$GC,5891,-0.77,-146.0,740.6,-11.3,494,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2522,3085,0,0,0,0,0,0
$GC,6197,-0.77,-146.0,775.9,-11.6,504,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2522,3085,0,0,0,0,0,0
$GC,6503,-0.77,-146.0,809.9,-10.9,514,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2522,3085,0,0,0,0,0,0
$GC,6809,-0.77,-146.0,844.4,-11.3,524,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2521,3086,0,0,0,0,0,0
$GC,7116,-0.77,-146.0,879.0,-11.2,534,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2522,3085,0,0,0,0,0,0
$STATE,7236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7236,begin apogee
$GC,7242,-0.16,0.0,893.2,-11.7,538,7370,0.65,0.00,122.93,1.436,6,0.140,0.000,2339,2182,2485,0,0,0,0,0,0
$STATE,7371,end apogee,CONTROL_FINISHED_OK
$STATE,7371,begin climb
$GC,7373,0.77,146.0,897.7,0.0,542,7512,0.90,1.17,131.45,1.381,4,0.072,0.054,2648,1502,1888,0,0,0,0,0,0
$GC,7755,0.77,146.0,859.8,13.8,554,7760,0.00,1.25,0.00,0.000,6,0.000,0.050,2648,2205,1879,0,0,0,0,0,0
$GC,8089,0.77,146.0,812.6,13.9,565,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2205,1877,0,0,0,0,0,0
$GC,8396,0.77,146.0,770.9,13.6,575,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2205,1876,0,0,0,0,0,0
$GC,8702,0.77,146.0,729.6,13.5,585,8705,0.00,1.15,0.00,0.000,4,0.000,0.059,2648,2905,1875,0,0,0,0,0,0
$GC,8779,0.77,146.0,720.5,13.5,587,8784,0.00,1.17,0.00,0.000,6,0.000,0.041,2652,2206,1874,0,0,0,0,0,0
$GC,9106,0.77,146.0,674.7,13.5,598,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2206,1873,0,0,0,0,0,0
$GC,9414,0.77,146.0,633.8,13.1,608,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1873,0,0,0,0,0,0
$GC,9718,0.77,146.0,593.2,13.6,618,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1873,0,0,0,0,0,0
$GC,10026,0.77,146.0,553.0,13.2,628,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2207,1873,0,0,0,0,0,0
$GC,10331,0.77,146.0,514.8,12.4,638,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1873,0,0,0,0,0,0
$GC,10643,0.77,146.0,476.2,12.4,657,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1872,0,0,0,0,0,0
$GC,10959,0.77,146.0,437.9,11.9,682,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1872,0,0,0,0,0,0
$GC,11274,0.77,146.0,400.7,11.3,707,11277,0.00,1.17,0.00,0.000,4,0.000,0.057,2653,2901,1872,0,0,0,0,0,0
$GC,11366,0.77,146.0,389.9,11.8,714,11370,0.00,1.15,0.00,0.000,6,0.000,0.041,2657,2192,1872,0,0,0,0,0,0
$GC,11698,0.77,146.0,353.2,11.1,740,11701,0.00,1.20,0.00,0.000,4,0.000,0.057,2658,2903,1872,0,0,0,0,0,0
$GC,11829,0.77,146.0,337.9,11.3,750,11834,0.00,1.15,0.00,0.000,6,0.000,0.041,2662,2193,1872,0,0,0,0,0,0
$GC,12161,0.77,146.0,300.8,11.6,776,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2193,1872,0,0,0,0,0,0
$GC,12475,0.77,146.0,265.1,11.2,801,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2193,1872,0,0,0,0,0,0
$GC,12802,0.77,146.0,227.8,12.1,840,12809,0.00,1.20,0.00,0.000,4,0.000,0.057,2662,2907,1871,0,0,0,0,0,0
$GC,12988,0.77,146.0,204.7,12.0,868,12995,0.00,1.15,0.00,0.000,6,0.000,0.041,2667,2193,1872,0,0,0,0,0,0
$GC,13325,0.78,151.6,168.7,9.7,919,13334,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2193,1872,0,0,0,0,0,0
$GC,13665,0.81,180.8,138.1,8.7,970,13699,0.00,1.17,27.40,0.968,4,0.000,0.054,2668,2906,1747,0,0,0,0,0,0
$GC,13870,0.81,180.8,116.0,11.4,1001,13877,0.00,1.17,0.00,0.000,6,0.000,0.041,2672,2193,1744,0,0,0,0,0,0
$GC,14209,0.81,180.8,80.8,10.3,1052,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2193,1743,0,0,0,0,0,0
$GC,14547,0.88,235.7,49.7,7.5,1103,14601,0.00,1.27,45.95,0.921,4,0.000,0.057,2672,2904,1523,0,0,0,0,0,0
$GC,14734,0.93,279.6,33.5,8.0,1131,14776,0.00,1.17,36.35,0.887,6,0.000,0.041,2677,2200,1344,0,0,0,0,0,0
$STATE,15025,end climb,SURFACE_DEPTH_REACHED
$STATE,15025,begin surface coast
$FINISH,1.8,1.016678
$STATE,15046,end surface coast,CONTROL_FINISHED_OK
$STATE,15046,begin surface
$SM_CCo,15063,33.00,0.085,0,0,1058,350.04
$SM_GC,3.12,6.97,0.60,33.00,0.044,0.055,0.085,123,2517,1058,-7.06,-0.68,350.04,0,0,0,0,0,0
$RAFOS_CLK,993
$RAFOS,6,1319287745,12.833333,12.818055,82,59,57,0,0,0,695,167,119,0,0,0
$RAFOS,5,1319287262,12.700000,12.683888,186,62,56,0,0,0,591,148,205,0,0,0
$RAFOS,4,1319286782,12.566667,12.550555,107,60,59,0,0,0,688,217,119,0,0,0
$RAFOS,3,1319286308,12.433333,12.418889,89,61,59,0,0,0,790,215,230,0,0,0
$RAFOS,2,1319285832,12.300000,12.286667,83,57,54,0,0,0,819,205,163,0,0,0
$RAFOS,1,1319285345,12.166667,12.151389,65,65,61,0,0,0,165,216,178,0,0,0
$RAFOS,0,1319284863,12.033333,12.017500,70,59,56,0,0,0,121,188,197,0,0,0
$RAFOS,5,1319272867,8.700000,8.685278,126,65,59,0,0,0,546,181,216,0,0,0
$RAFOS_FIX,6656.299805,-5802.064941,221011,080806,6,109,0.00
$IRIDIUM_FIX,6625.71,-5754.44,221011,040431
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.95
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,803.1,131.1
$24V_AH,22.7,14.317
$10V_AH,10.2,11.781
$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,17.050,27.125,364.075,33.000,0.000,0.000,0.000,203.700,8.250,0.000,16.428,3291.205,9422.311,510.894,2071.722,205.517,0.000,1690.004,0.000,1852.669,2520.000,23.445,0.000
$DEVICE_MAMPS,261.630,78.795,1435.905,84.915,0.000,0.000,0.000,252.427,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.795,645.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150180
$DATA_FILE_SIZE,43353,1178
$CAP_FILE_SIZE,121241,0
$CFSIZE,260165632,240218112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1457.2
$CURRENT,0.128, 15.0,1
$GPS,221011,130623,6654.610,-5802.858,40,1.0,41,-33.6