version: 66.09
glider: 143
mission: 13
dive: 118
start: 10 23 111 6 29 35
data:
$ID,143
$MISSION,13
$DIVE,118
$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,-80664.023
$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,38
$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
$GPS1,231011,062405,6651.685,-5814.463,37,1.0,38,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-66.7
$GPS2,231011,062901,6651.679,-5814.479,20,0.9,21,-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,312.3,97261,-18.3,-10.000
$D_GRID,822
$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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.88,0.000,2,0.000,0.000,124,2518,1900,0,0,0,0,0,0
$GC,82,-0.77,-146.0,3.0,-0.3,9,152,8.45,1.23,-53.25,0.000,4,0.259,0.076,2150,1808,3083,0,0,0,0,0,0
$GC,358,-0.77,-146.0,46.5,-16.3,50,367,0.00,1.20,0.00,0.000,6,0.000,0.058,2147,2500,3084,0,0,0,0,0,0
$GC,698,-0.77,-146.0,99.9,-15.7,101,705,0.00,1.15,0.00,0.000,4,0.000,0.070,2141,3213,3085,0,0,0,0,0,0
$GC,744,-0.77,-146.0,107.1,-15.5,108,751,0.00,1.12,0.00,0.000,6,0.000,0.037,2142,2500,3085,0,0,0,0,0,0
$GC,1082,-0.77,-146.0,157.0,-14.9,159,1088,0.00,1.20,0.00,0.000,4,0.000,0.068,2137,3213,3084,0,0,0,0,0,0
$GC,1140,-0.77,-146.0,166.0,-15.2,168,1147,0.00,1.10,0.00,0.000,6,0.000,0.037,2137,2511,3084,0,0,0,0,0,0
$GC,1479,-0.77,-146.0,212.8,-13.7,219,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3084,0,0,0,0,0,0
$GC,1812,-0.77,-146.0,258.9,-14.0,265,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3084,0,0,0,0,0,0
$GC,2129,-0.77,-146.0,300.8,-13.0,290,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3084,0,0,0,0,0,0
$GC,2445,-0.77,-146.0,343.1,-13.0,315,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3083,0,0,0,0,0,0
$GC,2759,-0.77,-146.0,384.4,-12.9,340,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3083,0,0,0,0,0,0
$GC,3075,-0.77,-146.0,422.9,-11.9,365,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2511,3084,0,0,0,0,0,0
$GC,3390,-0.77,-146.0,461.3,-12.1,390,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2511,3083,0,0,0,0,0,0
$GC,3707,-0.77,-146.0,498.5,-11.4,415,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3084,0,0,0,0,0,0
$GC,4038,-0.77,-146.0,537.0,-11.6,427,4042,0.00,1.17,0.00,0.000,4,0.000,0.068,2132,3216,3084,0,0,0,0,0,0
$GC,4056,-0.77,-146.0,537.0,-11.6,427,4061,0.00,1.12,0.00,0.000,6,0.000,0.034,2132,2499,3084,0,0,0,0,0,0
$GC,4377,-0.77,-146.0,576.7,-11.6,438,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3084,0,0,0,0,0,0
$GC,4683,-0.77,-146.0,612.3,-11.7,448,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2500,3084,0,0,0,0,0,0
$GC,4989,-0.77,-146.0,648.2,-11.5,458,4992,0.00,1.17,0.00,0.000,4,0.000,0.066,2128,3211,3084,0,0,0,0,0,0
$GC,5000,-0.77,-146.0,648.2,-11.5,458,5005,0.00,1.10,0.00,0.000,6,0.000,0.033,2127,2506,3085,0,0,0,0,0,0
$GC,5327,-0.77,-146.0,687.7,-11.6,469,5331,0.00,1.17,0.00,0.000,4,0.000,0.066,2123,3216,3085,0,0,0,0,0,0
$GC,5352,-0.77,-146.0,687.7,-11.6,469,5359,0.00,1.12,0.00,0.000,6,0.000,0.033,2123,2497,3085,0,0,0,0,0,0
$GC,5666,-0.77,-146.0,728.2,-11.9,480,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2497,3085,0,0,0,0,0,0
$GC,5973,-0.77,-146.0,764.5,-11.9,490,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2497,3085,0,0,0,0,0,0
$GC,6278,-0.77,-146.0,800.4,-11.8,500,6282,0.00,1.20,0.00,0.000,4,0.000,0.067,2118,3221,3085,0,0,0,0,0,0
$GC,6295,-0.77,-146.0,800.4,-11.8,500,6301,0.12,1.12,0.00,0.000,6,0.175,0.033,2147,2499,3085,0,0,0,0,0,0
$STATE,6493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6493,begin apogee
$GC,6499,-0.16,0.0,822.7,-9.9,507,6627,0.60,0.00,122.00,1.393,6,0.137,0.000,2344,2184,2485,0,0,0,0,0,0
$STATE,6628,end apogee,CONTROL_FINISHED_OK
$STATE,6628,begin climb
$GC,6630,0.77,146.0,827.5,0.0,511,6768,0.90,1.20,130.18,1.341,4,0.070,0.053,2654,1513,1889,0,0,0,0,0,0
$GC,7018,0.77,146.0,792.2,12.9,522,7023,0.00,1.23,0.00,0.000,6,0.000,0.048,2654,2206,1880,0,0,0,0,0,0
$GC,7339,0.77,146.0,747.8,13.3,533,7342,0.00,1.17,0.00,0.000,4,0.000,0.057,2654,2908,1878,0,0,0,0,0,0
$GC,7456,0.77,146.0,734.3,13.4,536,7461,0.00,1.20,0.00,0.000,6,0.000,0.038,2659,2204,1877,0,0,0,0,0,0
$GC,7779,0.77,146.0,690.5,12.9,547,7783,0.00,1.12,0.00,0.000,4,0.000,0.053,2664,1493,1876,0,0,0,0,0,0
$GC,7837,0.77,146.0,686.0,12.9,548,7845,0.00,1.20,0.00,0.000,6,0.000,0.047,2664,2203,1876,0,0,0,0,0,0
$GC,8152,0.77,146.0,641.5,13.2,559,8156,0.00,1.15,0.00,0.000,4,0.000,0.057,2664,2908,1876,0,0,0,0,0,0
$GC,8269,0.77,146.0,628.0,13.3,562,8275,0.00,1.20,0.00,0.000,6,0.000,0.039,2669,2190,1875,0,0,0,0,0,0
$GC,8590,0.77,146.0,582.8,13.4,573,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2190,1875,0,0,0,0,0,0
$GC,8898,0.77,146.0,542.1,13.5,583,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2190,1874,0,0,0,0,0,0
$GC,9202,0.77,146.0,500.7,13.6,593,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2190,1874,0,0,0,0,0,0
$GC,9524,0.77,146.0,457.3,13.1,617,9527,0.00,1.23,0.00,0.000,4,0.000,0.057,2669,2908,1874,0,0,0,0,0,0
$GC,9682,0.77,146.0,435.3,14.0,629,9686,0.00,1.15,0.00,0.000,6,0.000,0.041,2674,2202,1874,0,0,0,0,0,0
$GC,10014,0.77,146.0,391.1,13.3,655,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2202,1874,0,0,0,0,0,0
$GC,10326,0.77,146.0,351.1,12.5,680,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2202,1874,0,0,0,0,0,0
$GC,10644,0.77,146.0,311.7,12.2,705,10647,0.00,1.20,0.00,0.000,4,0.000,0.057,2674,2911,1874,0,0,0,0,0,0
$GC,10754,0.77,146.0,297.8,12.8,713,10763,0.12,1.17,0.00,0.000,6,0.179,0.040,2650,2194,1874,0,0,0,0,0,0
$GC,11079,0.77,146.0,262.5,10.1,739,11083,0.00,1.08,0.00,0.000,4,0.000,0.052,2654,1492,1874,0,0,0,0,0,0
$GC,11172,0.77,146.0,252.7,10.6,746,11175,0.00,1.15,0.00,0.000,6,0.000,0.049,2654,2202,1874,0,0,0,0,0,0
$GC,11510,0.77,146.0,216.9,10.5,795,11516,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2202,1874,0,0,0,0,0,0
$GC,11848,0.78,159.1,182.1,9.4,846,11864,0.00,1.10,9.88,0.946,4,0.000,0.054,2654,2906,1835,0,0,0,0,0,0
$GC,11931,0.78,159.1,173.4,10.9,858,11940,0.00,1.15,0.00,0.000,6,0.000,0.040,2658,2198,1835,0,0,0,0,0,0
$GC,12272,0.81,178.0,140.4,9.1,909,12293,0.00,0.00,17.33,0.964,6,0.000,0.000,2658,2198,1758,0,0,0,0,0,0
$GC,12624,0.81,180.7,106.3,9.9,962,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2198,1756,0,0,0,0,0,0
$GC,12963,0.85,214.2,75.6,8.5,1013,13005,0.00,1.25,31.17,0.947,4,0.000,0.056,2658,2904,1610,0,0,0,0,0,0
$GC,13197,0.86,224.0,52.6,9.5,1048,13210,0.00,1.17,8.98,0.877,6,0.000,0.041,2663,2197,1571,0,0,0,0,0,0
$GC,13541,1.01,343.8,27.1,4.5,1100,13622,0.17,1.17,72.35,0.897,4,0.081,0.053,2734,1493,1080,0,0,0,0,0,0
$STATE,13725,end climb,SURFACE_DEPTH_REACHED
$STATE,13725,begin surface coast
$FINISH,1.6,1.024868
$STATE,13733,end surface coast,CONTROL_FINISHED_OK
$STATE,13733,begin surface
$SM_CCo,13751,1.20,0.093,0,0,1058,350.04
$SM_GC,3.62,7.38,1.80,1.20,0.054,0.055,0.093,121,2515,1058,-7.08,-0.59,350.04,0,0,0,0,0,0
$RAFOS_CLK,899
$RAFOS,6,1319359748,8.833333,8.818889,108,66,60,0,0,0,658,211,193,0,0,0
$RAFOS,5,1319359278,8.700000,8.688334,112,67,65,0,0,0,540,211,196,0,0,0
$RAFOS,4,1319358783,8.566667,8.550834,75,63,62,0,0,0,638,205,215,0,0,0
$RAFOS,3,1319358307,8.433333,8.418612,63,60,59,0,0,0,200,190,177,0,0,0
$RAFOS,2,1319357836,8.300000,8.287778,66,59,58,0,0,0,192,168,213,0,0,0
$RAFOS,1,1319357344,8.166667,8.151111,57,54,51,0,0,0,200,155,212,0,0,0
$RAFOS,0,1319356885,8.033334,8.023611,66,64,64,0,0,0,220,203,125,0,0,0
$RAFOS_FIX,6654.869629,-5817.837402,231011,080840,3,98,0.80
$IRIDIUM_FIX,6625.71,-5809.55,231011,020209
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.97
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.10
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,750.1,133.8
$24V_AH,22.7,14.945
$10V_AH,10.3,12.204
$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,17.750,40.775,391.875,1.200,0.000,0.000,0.000,183.250,7.000,0.000,21.868,3101.241,8210.142,518.156,2037.077,199.953,0.000,1677.813,0.000,1832.874,2520.000,21.680,0.000
$DEVICE_MAMPS,258.570,75.735,1393.065,92.565,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.789,628.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150288
$DATA_FILE_SIZE,43341,1129
$CAP_FILE_SIZE,122904,0
$CFSIZE,260165632,239882240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.5
$CURRENT,0.199, 41.2,1
$GPS,231011,102052,6653.227,-5817.888,46,2.9,66,-33.6