version: 66.09
glider: 143
mission: 13
dive: 120
start: 10 23 111 14 53 34
data:
$ID,143
$MISSION,13
$DIVE,120
$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,-80666.547
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,231011,144805,6652.104,-5821.660,26,0.8,27,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-66.3
$GPS2,231011,145300,6652.132,-5821.570,17,0.8,18,-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,282.9,92266,-18.3,-10.000
$D_GRID,859
$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,-146.0,0.0,0.0,0,84,0.00,0.00,-65.62,0.000,2,0.000,0.000,114,2523,1974,0,0,0,0,0,0
$GC,87,-0.77,-146.0,3.3,-1.6,9,143,8.62,1.23,-41.92,0.000,4,0.265,0.076,2145,1808,3084,0,0,0,0,0,0
$GC,393,-0.77,-146.0,54.1,-17.6,55,400,0.00,1.20,0.00,0.000,6,0.000,0.059,2142,2500,3086,0,0,0,0,0,0
$GC,733,-0.77,-146.0,109.0,-15.7,106,739,0.00,1.15,0.00,0.000,4,0.000,0.048,2142,1811,3086,0,0,0,0,0,0
$GC,805,-0.77,-146.0,120.4,-15.2,117,814,0.00,1.20,0.00,0.000,6,0.000,0.060,2137,2507,3086,0,0,0,0,0,0
$GC,1144,-0.77,-146.0,169.3,-13.7,168,1151,0.00,1.12,0.00,0.000,4,0.000,0.070,2132,3211,3086,0,0,0,0,0,0
$GC,1191,-0.77,-146.0,176.0,-14.7,175,1197,0.00,1.12,0.00,0.000,6,0.000,0.038,2132,2501,3086,0,0,0,0,0,0
$GC,1529,-0.77,-146.0,222.7,-13.6,226,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2501,3086,0,0,0,0,0,0
$GC,1866,-0.77,-146.0,269.0,-13.1,267,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2501,3086,0,0,0,0,0,0
$GC,2182,-0.77,-146.0,310.0,-13.1,292,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2501,3085,0,0,0,0,0,0
$GC,2499,-0.77,-146.0,350.9,-12.5,317,2503,0.00,1.10,0.00,0.000,4,0.000,0.050,2132,1803,3085,0,0,0,0,0,0
$GC,2556,-0.77,-146.0,357.7,-12.5,321,2566,0.00,1.25,0.00,0.000,6,0.000,0.058,2127,2523,3085,0,0,0,0,0,0
$GC,2881,-0.77,-146.0,399.9,-13.1,347,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2524,3085,0,0,0,0,0,0
$GC,3195,-0.77,-146.0,439.7,-12.5,372,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2523,3085,0,0,0,0,0,0
$GC,3511,-0.77,-146.0,479.3,-12.7,397,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2524,3085,0,0,0,0,0,0
$GC,3842,-0.77,-146.0,519.4,-12.1,416,3846,0.00,1.17,0.00,0.000,4,0.000,0.048,2127,1810,3086,0,0,0,0,0,0
$GC,3880,-0.77,-146.0,523.5,-12.1,417,3885,0.12,1.23,0.00,0.000,6,0.181,0.059,2152,2517,3086,0,0,0,0,0,0
$GC,4215,-0.77,-146.0,558.6,-10.2,428,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2517,3086,0,0,0,0,0,0
$GC,4521,-0.77,-146.0,588.9,-9.7,438,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2518,3086,0,0,0,0,0,0
$GC,4827,-0.77,-146.0,618.5,-9.6,448,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2517,3087,0,0,0,0,0,0
$GC,5134,-0.77,-146.0,648.9,-10.0,458,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2517,3087,0,0,0,0,0,0
$GC,5439,-0.77,-146.0,678.6,-9.5,468,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2517,3087,0,0,0,0,0,0
$GC,5746,-0.77,-146.0,709.0,-10.1,478,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2517,3087,0,0,0,0,0,0
$GC,6051,-0.77,-146.0,738.1,-9.3,488,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2517,3087,0,0,0,0,0,0
$GC,6360,-0.77,-146.0,767.7,-9.9,498,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2517,3087,0,0,0,0,0,0
$GC,6664,-0.77,-146.0,797.2,-9.5,508,6668,0.00,1.10,0.00,0.000,4,0.000,0.071,2148,3213,3087,0,0,0,0,0,0
$GC,6717,-0.77,-146.0,800.3,-9.5,509,6722,0.00,1.12,0.00,0.000,6,0.000,0.035,2149,2497,3087,0,0,0,0,0,0
$GC,7038,-0.77,-146.0,832.3,-9.4,520,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2497,3088,0,0,0,0,0,0
$STATE,7343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7343,begin apogee
$GC,7349,-0.16,0.0,861.3,-9.6,530,7478,0.60,0.00,123.03,1.420,6,0.135,0.000,2343,2182,2485,0,0,0,0,0,0
$STATE,7479,end apogee,CONTROL_FINISHED_OK
$STATE,7479,begin climb
$GC,7481,0.77,146.0,865.5,0.0,534,7625,0.88,1.20,130.90,1.356,4,0.069,0.054,2647,1512,1888,0,0,0,0,0,0
$GC,7776,0.77,146.0,841.8,12.8,543,7781,0.00,1.25,0.00,0.000,6,0.000,0.047,2647,2213,1880,0,0,0,0,0,0
$GC,8098,0.77,146.0,797.6,13.0,554,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2213,1878,0,0,0,0,0,0
$GC,8402,0.77,146.0,757.6,13.1,564,8406,0.00,1.15,0.00,0.000,4,0.000,0.057,2647,2907,1877,0,0,0,0,0,0
$GC,8540,0.77,146.0,739.8,13.5,568,8545,0.00,1.17,0.00,0.000,6,0.000,0.040,2651,2210,1876,0,0,0,0,0,0
$GC,8873,0.77,146.0,695.2,13.2,579,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2211,1875,0,0,0,0,0,0
$GC,9181,0.77,146.0,653.6,13.6,589,9184,0.00,1.20,0.00,0.000,4,0.000,0.057,2651,2908,1875,0,0,0,0,0,0
$GC,9304,0.77,146.0,639.9,13.6,592,9312,0.00,1.15,0.00,0.000,6,0.000,0.041,2656,2205,1875,0,0,0,0,0,0
$GC,9618,0.77,146.0,594.7,13.2,603,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,1874,0,0,0,0,0,0
$GC,9924,0.77,146.0,555.3,12.9,613,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2206,1874,0,0,0,0,0,0
$GC,10231,0.77,146.0,516.0,12.7,623,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2206,1874,0,0,0,0,0,0
$GC,10548,0.77,146.0,476.5,12.5,641,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,1872,0,0,0,0,0,0
$GC,10864,0.77,146.0,437.5,12.2,666,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,1873,0,0,0,0,0,0
$GC,11179,0.77,146.0,399.7,11.9,691,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2206,1873,0,0,0,0,0,0
$GC,11494,0.77,146.0,363.0,11.5,716,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2205,1873,0,0,0,0,0,0
$GC,11812,0.77,146.0,328.0,11.1,741,11815,0.00,1.10,0.00,0.000,4,0.000,0.054,2661,1492,1873,0,0,0,0,0,0
$GC,11944,0.77,146.0,313.2,10.9,751,11947,0.00,1.15,0.00,0.000,6,0.000,0.049,2662,2203,1873,0,0,0,0,0,0
$GC,12274,0.77,146.0,276.8,10.7,777,12278,0.00,1.12,0.00,0.000,4,0.000,0.057,2661,2910,1873,0,0,0,0,0,0
$GC,12452,0.77,146.0,256.7,11.5,790,12459,0.00,1.15,0.00,0.000,6,0.000,0.040,2666,2195,1873,0,0,0,0,0,0
$GC,12787,0.77,146.0,218.8,10.8,836,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2195,1873,0,0,0,0,0,0
$GC,13124,0.78,156.7,184.1,9.5,887,13137,0.00,1.10,7.50,0.913,4,0.000,0.053,2671,1494,1846,0,0,0,0,0,0
$GC,13280,0.81,182.5,169.5,8.8,910,13309,0.00,1.15,23.42,0.978,6,0.000,0.048,2671,2206,1739,0,0,0,0,0,0
$GC,13640,0.81,182.5,130.9,10.2,964,13647,0.00,1.12,0.00,0.000,4,0.000,0.056,2671,2911,1736,0,0,0,0,0,0
$GC,13821,0.81,182.5,112.3,10.3,991,13827,0.00,1.15,0.00,0.000,6,0.000,0.041,2677,2204,1736,0,0,0,0,0,0
$GC,14159,0.82,187.1,78.3,9.8,1042,14166,0.00,0.00,4.75,0.772,6,0.000,0.000,2676,2204,1721,0,0,0,0,0,0
$GC,14497,0.82,187.1,44.6,10.1,1093,14506,0.00,1.10,0.00,0.000,4,0.000,0.054,2682,1495,1721,0,0,0,0,0,0
$GC,14573,0.85,214.0,38.1,8.8,1104,14601,0.00,1.15,23.48,0.923,6,0.000,0.050,2681,2200,1612,0,0,0,0,0,0
$GC,14934,0.99,322.9,9.5,5.0,1158,14995,0.12,1.12,53.97,0.095,4,0.097,0.057,2729,2914,1166,0,0,0,0,0,0
$STATE,15007,end climb,SURFACE_DEPTH_REACHED
$STATE,15009,begin surface coast
$FINISH,2.1,1.024688
$STATE,15021,end surface coast,CONTROL_FINISHED_OK
$STATE,15021,begin surface
$SM_CCo,15038,11.40,0.086,0,0,1058,350.04
$SM_GC,2.46,7.07,0.68,11.40,0.045,0.049,0.086,119,2502,1058,-7.08,1.22,350.04,0,0,0,0,0,0
$RAFOS_CLK,992
$RAFOS,6,1319388557,16.833334,16.821388,123,57,56,0,0,0,612,134,194,0,0,0
$RAFOS,5,1319388091,16.700001,16.691944,91,59,56,0,0,0,493,167,205,0,0,0
$RAFOS,4,1319387601,16.566668,16.555834,75,59,56,0,0,0,523,213,123,0,0,0
$RAFOS,3,1319387111,16.433332,16.419722,82,77,66,0,0,0,722,214,731,0,0,0
$RAFOS,2,1319386621,16.299999,16.283611,63,58,57,0,0,0,145,211,183,0,0,0
$RAFOS,1,1319386162,16.166666,16.156111,70,54,52,0,0,0,214,126,181,0,0,0
$RAFOS,0,1319385672,16.033333,16.020000,64,64,60,0,0,0,205,223,141,0,0,0
$RAFOS_FIX,6652.508301,-5826.577148,231011,161628,4,93,0.58
$IRIDIUM_FIX,6625.71,-5812.44,231011,101011
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.20
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,800.3,127.2
$24V_AH,22.7,15.185
$10V_AH,10.3,12.381
$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,17.425,34.700,367.050,11.400,0.000,0.000,0.000,185.275,8.000,0.000,19.269,3217.110,9373.719,495.408,2073.604,206.769,0.000,1666.182,0.000,1870.175,2520.000,26.476,0.000
$DEVICE_MAMPS,265.455,76.500,1419.840,86.445,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.523,640.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150352
$DATA_FILE_SIZE,43319,1171
$CAP_FILE_SIZE,125806,0
$CFSIZE,260165632,239751168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.2
$CURRENT,0.124, 94.5,1
$GPS,231011,190635,6651.079,-5825.125,71,0.7,71,-33.6