version: 66.09
glider: 143
mission: 13
dive: 117
start: 10 23 111 2 17 34
data:
$ID,143
$MISSION,13
$DIVE,117
$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,-80662.766
$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,37
$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
$GPS1,231011,021123,6653.189,-5812.029,40,0.8,41,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-66.0
$GPS2,231011,021700,6653.225,-5811.919,28,0.8,29,-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,279.9,99565,-18.3,-10.000
$D_GRID,860
$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,17,-0.77,-146.0,0.0,0.0,0,83,0.00,0.00,-64.00,0.000,2,0.000,0.000,119,2520,1948,0,0,0,0,0,0
$GC,86,-0.77,-146.0,3.1,-1.1,9,160,8.50,1.20,-57.22,0.000,4,0.259,0.073,2145,1811,3082,0,0,0,0,0,0
$GC,384,-0.77,-146.0,49.3,-15.0,54,391,0.00,1.23,0.00,0.000,6,0.000,0.061,2142,2511,3084,0,0,0,0,0,0
$GC,724,-0.77,-146.0,100.8,-15.0,105,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2511,3084,0,0,0,0,0,0
$GC,1060,-0.77,-146.0,150.4,-14.1,156,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2511,3084,0,0,0,0,0,0
$GC,1398,-0.77,-146.0,200.4,-14.3,207,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2511,3084,0,0,0,0,0,0
$GC,1734,-0.77,-146.0,245.8,-12.9,258,1742,0.00,1.12,0.00,0.000,4,0.000,0.073,2137,3212,3084,0,0,0,0,0,0
$GC,1855,-0.77,-146.0,262.0,-13.3,270,1859,0.00,1.10,0.00,0.000,6,0.000,0.039,2137,2509,3084,0,0,0,0,0,0
$GC,2184,-0.77,-146.0,304.7,-13.0,296,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2509,3083,0,0,0,0,0,0
$GC,2501,-0.77,-146.0,344.0,-11.8,321,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2509,3083,0,0,0,0,0,0
$GC,2815,-0.77,-146.0,380.9,-11.8,346,2819,0.00,1.10,0.00,0.000,4,0.000,0.049,2137,1811,3083,0,0,0,0,0,0
$GC,2860,-0.77,-146.0,385.3,-11.0,349,2868,0.00,1.23,0.00,0.000,6,0.000,0.059,2132,2515,3083,0,0,0,0,0,0
$GC,3184,-0.77,-146.0,421.3,-10.9,375,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2514,3083,0,0,0,0,0,0
$GC,3499,-0.77,-146.0,456.5,-11.5,400,3502,0.00,1.12,0.00,0.000,4,0.000,0.071,2127,3220,3084,0,0,0,0,0,0
$GC,3596,-0.77,-146.0,467.8,-12.0,407,3604,0.00,1.12,0.00,0.000,6,0.000,0.036,2127,2508,3084,0,0,0,0,0,0
$GC,3931,-0.77,-146.0,508.8,-12.2,431,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2508,3084,0,0,0,0,0,0
$GC,4238,-0.77,-146.0,546.5,-12.5,441,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2508,3084,0,0,0,0,0,0
$GC,4542,-0.77,-146.0,584.7,-12.5,451,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2508,3084,0,0,0,0,0,0
$GC,4850,-0.77,-146.0,622.9,-12.3,461,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2508,3085,0,0,0,0,0,0
$GC,5157,-0.77,-146.0,659.9,-12.0,471,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2508,3085,0,0,0,0,0,0
$GC,5463,-0.77,-146.0,696.4,-11.8,481,5466,0.00,1.08,0.00,0.000,4,0.000,0.046,2127,1816,3085,0,0,0,0,0,0
$GC,5500,-0.77,-146.0,700.5,-11.7,482,5506,0.12,1.20,0.00,0.000,6,0.177,0.057,2151,2512,3085,0,0,0,0,0,0
$GC,5836,-0.77,-146.0,734.3,-10.3,493,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2512,3085,0,0,0,0,0,0
$GC,6141,-0.77,-146.0,763.8,-9.5,503,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2512,3085,0,0,0,0,0,0
$GC,6448,-0.77,-146.0,792.7,-9.4,513,6452,0.00,1.10,0.00,0.000,4,0.000,0.070,2149,3210,3085,0,0,0,0,0,0
$GC,6520,-0.77,-146.0,799.2,-9.5,515,6524,0.00,1.10,0.00,0.000,6,0.000,0.033,2149,2502,3085,0,0,0,0,0,0
$GC,6854,-0.77,-146.0,831.2,-9.3,526,6857,0.00,1.17,0.00,0.000,4,0.000,0.067,2144,3213,3085,0,0,0,0,0,0
$GC,6905,-0.77,-146.0,834.2,-9.2,527,6909,0.00,1.10,0.00,0.000,6,0.000,0.032,2144,2504,3085,0,0,0,0,0,0
$STATE,7162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7162,begin apogee
$GC,7168,-0.16,0.0,860.9,-9.8,536,7297,0.60,0.00,122.70,1.415,6,0.134,0.000,2340,2191,2485,0,0,0,0,0,0
$STATE,7297,end apogee,CONTROL_FINISHED_OK
$STATE,7297,begin climb
$GC,7300,0.77,146.0,864.7,0.0,540,7438,0.90,1.20,130.43,1.355,4,0.070,0.052,2648,1511,1888,0,0,0,0,0,0
$GC,7530,0.77,146.0,848.5,12.0,547,7535,0.00,1.25,0.00,0.000,6,0.000,0.047,2648,2205,1882,0,0,0,0,0,0
$GC,7852,0.77,146.0,804.8,13.0,558,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2205,1878,0,0,0,0,0,0
$GC,8158,0.77,146.0,765.1,12.8,568,8161,0.00,1.17,0.00,0.000,4,0.000,0.057,2648,2910,1877,0,0,0,0,0,0
$GC,8295,0.77,146.0,747.3,13.4,572,8300,0.00,1.20,0.00,0.000,6,0.000,0.039,2653,2202,1876,0,0,0,0,0,0
$GC,8630,0.77,146.0,703.3,12.9,583,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2202,1876,0,0,0,0,0,0
$GC,8935,0.77,146.0,664.4,12.6,593,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2202,1875,0,0,0,0,0,0
$GC,9242,0.77,146.0,625.7,12.6,603,9245,0.00,1.20,0.00,0.000,4,0.000,0.057,2653,2902,1874,0,0,0,0,0,0
$GC,9379,0.77,146.0,608.5,13.0,607,9383,0.00,1.17,0.00,0.000,6,0.000,0.042,2658,2199,1874,0,0,0,0,0,0
$GC,9714,0.77,146.0,566.2,12.7,618,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2198,1874,0,0,0,0,0,0
$GC,10019,0.77,146.0,527.6,12.5,628,10023,0.00,1.20,0.00,0.000,4,0.000,0.055,2657,2905,1874,0,0,0,0,0,0
$GC,10118,0.77,146.0,514.6,13.0,631,10121,0.00,1.15,0.00,0.000,6,0.000,0.041,2662,2200,1874,0,0,0,0,0,0
$GC,10445,0.77,146.0,471.9,13.4,651,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2200,1874,0,0,0,0,0,0
$GC,10760,0.77,146.0,430.3,13.3,676,10764,0.00,1.20,0.00,0.000,4,0.000,0.057,2662,2907,1873,0,0,0,0,0,0
$GC,10867,0.77,146.0,415.7,13.9,684,10870,0.00,1.15,0.00,0.000,6,0.000,0.041,2667,2198,1873,0,0,0,0,0,0
$GC,11198,0.77,146.0,372.1,12.9,710,11202,0.00,1.20,0.00,0.000,4,0.000,0.055,2667,2908,1873,0,0,0,0,0,0
$GC,11252,0.77,146.0,364.7,13.3,714,11256,0.00,1.15,0.00,0.000,6,0.000,0.041,2672,2198,1873,0,0,0,0,0,0
$GC,11582,0.77,146.0,322.7,12.5,740,11586,0.00,1.20,0.00,0.000,4,0.000,0.054,2672,2913,1873,0,0,0,0,0,0
$GC,11785,0.77,146.0,296.5,13.0,755,11793,0.00,1.17,0.00,0.000,6,0.000,0.040,2676,2196,1873,0,0,0,0,0,0
$GC,12110,0.77,146.0,257.1,11.8,781,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2195,1873,0,0,0,0,0,0
$GC,12436,0.77,146.0,220.6,10.4,826,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2195,1873,0,0,0,0,0,0
$GC,12774,0.77,146.0,186.7,10.2,877,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2196,1873,0,0,0,0,0,0
$GC,13113,0.77,146.0,151.0,10.6,928,13120,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2196,1873,0,0,0,0,0,0
$GC,13450,0.82,184.5,118.8,8.2,979,13484,0.00,1.27,30.65,0.961,4,0.000,0.055,2677,2917,1731,0,0,0,0,0,0
$GC,13649,0.82,184.5,97.9,10.8,1009,13659,0.00,1.17,0.00,0.000,6,0.000,0.041,2681,2202,1729,0,0,0,0,0,0
$GC,13989,0.85,208.9,65.6,8.9,1060,14016,0.00,0.00,20.92,0.924,6,0.000,0.000,2681,2202,1632,0,0,0,0,0,0
$GC,14348,0.88,236.6,30.5,8.7,1114,14377,0.00,1.27,22.55,0.904,4,0.000,0.057,2681,2912,1520,0,0,0,0,0,0
$GC,14595,0.88,236.6,4.7,12.7,1151,14602,0.00,1.17,0.00,0.000,6,0.000,0.037,2686,2196,1515,0,0,0,0,0,0
$STATE,14619,end climb,SURFACE_DEPTH_REACHED
$STATE,14620,begin surface coast
$FINISH,1.8,1.024824
$STATE,14634,end surface coast,CONTROL_FINISHED_OK
$STATE,14634,begin surface
$SM_CCo,14651,54.08,0.085,0,0,1057,350.04
$SM_GC,2.24,6.97,0.60,54.08,0.046,0.052,0.085,124,2514,1057,-7.06,-0.71,350.04,0,0,0,0,0,0
$RAFOS_CLK,959
$RAFOS,6,1319345371,4.833333,4.825278,139,64,59,0,0,0,551,207,178,0,0,0
$RAFOS,5,1319344881,4.700000,4.689167,62,62,60,0,0,0,190,223,213,0,0,0
$RAFOS,4,1319344408,4.566667,4.557778,64,64,58,0,0,0,146,513,216,0,0,0
$RAFOS,3,1319343918,4.433333,4.421667,65,61,57,0,0,0,202,212,125,0,0,0
$RAFOS,2,1319343425,4.300000,4.284722,69,52,52,0,0,0,205,155,94,0,0,0
$RAFOS,1,1319342952,4.166667,4.153333,61,61,59,0,0,0,198,230,207,0,0,0
$RAFOS,0,1319342484,4.033333,4.023334,61,59,53,0,0,0,181,190,135,0,0,0
$RAFOS_FIX,6655.002930,-5815.825195,231011,000000,5,102,0.32
$IRIDIUM_FIX,6631.12,-5811.32,221011,212139
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.32
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,752.1,125.5
$24V_AH,22.7,14.812
$10V_AH,10.3,12.123
$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,17.100,38.575,327.250,54.075,0.000,0.000,0.000,214.475,7.750,0.000,29.769,3214.198,8950.755,518.664,2157.458,209.338,0.000,1744.457,0.000,1913.221,2520.000,21.664,0.000
$DEVICE_MAMPS,259.335,73.440,1415.250,84.915,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.329,634.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150244
$DATA_FILE_SIZE,43276,1157
$CAP_FILE_SIZE,126298,0
$CFSIZE,260165632,239947776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.9
$CURRENT,0.167,108.8,1
$GPS,231011,062405,6651.685,-5814.463,37,1.0,38,-33.6