version: 66.09
glider: 143
mission: 13
dive: 121
start: 10 23 111 19 12 9
data:
$ID,143
$MISSION,13
$DIVE,121
$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,-80667.812
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,231011,190635,6651.079,-5825.125,71,0.7,71,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-69.3
$GPS2,231011,191136,6651.076,-5825.138,19,0.8,20,-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,301.3,89384,-18.3,-10.000
$D_GRID,840
$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,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,80,0.00,0.00,-60.72,0.000,2,0.000,0.000,118,2493,1878,0,0,0,0,0,0
$GC,83,-0.77,-146.0,3.0,-2.1,9,165,8.60,1.10,-62.40,0.000,4,0.265,0.083,2146,1828,3083,0,0,0,0,0,0
$GC,417,-0.77,-146.0,55.2,-15.4,59,424,0.00,1.17,0.00,0.000,6,0.000,0.060,2144,2503,3084,0,0,0,0,0,0
$GC,755,-0.77,-146.0,106.9,-15.2,110,762,0.00,1.12,0.00,0.000,4,0.000,0.049,2144,1827,3085,0,0,0,0,0,0
$GC,808,-0.77,-146.0,114.9,-15.7,118,815,0.00,1.17,0.00,0.000,6,0.000,0.060,2139,2507,3084,0,0,0,0,0,0
$GC,1147,-0.77,-146.0,167.3,-15.7,169,1154,0.00,1.12,0.00,0.000,4,0.000,0.072,2134,3210,3084,0,0,0,0,0,0
$GC,1321,-0.77,-146.0,193.5,-14.4,195,1328,0.00,1.10,0.00,0.000,6,0.000,0.040,2134,2510,3084,0,0,0,0,0,0
$GC,1658,-0.77,-146.0,243.0,-13.9,246,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2511,3084,0,0,0,0,0,0
$GC,1989,-0.77,-146.0,290.8,-14.4,276,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2511,3084,0,0,0,0,0,0
$GC,2305,-0.77,-146.0,331.8,-12.1,301,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2511,3084,0,0,0,0,0,0
$GC,2619,-0.77,-146.0,370.2,-12.1,326,2623,0.00,1.17,0.00,0.000,4,0.000,0.069,2129,3213,3084,0,0,0,0,0,0
$GC,2663,-0.77,-146.0,375.0,-12.1,329,2671,0.00,1.12,0.00,0.000,6,0.000,0.038,2129,2503,3084,0,0,0,0,0,0
$GC,2986,-0.77,-146.0,415.2,-12.2,355,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2504,3084,0,0,0,0,0,0
$GC,3302,-0.77,-146.0,454.5,-12.7,380,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2503,3084,0,0,0,0,0,0
$GC,3620,-0.77,-146.0,493.6,-12.2,405,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2504,3084,0,0,0,0,0,0
$GC,3925,-0.77,-146.0,529.9,-11.7,418,3929,0.00,1.08,0.00,0.000,4,0.000,0.049,2129,1815,3084,0,0,0,0,0,0
$GC,3950,-0.77,-146.0,529.9,-11.7,418,3958,0.00,1.23,0.00,0.000,6,0.000,0.059,2125,2521,3084,0,0,0,0,0,0
$GC,4268,-0.77,-146.0,570.0,-12.0,429,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2521,3085,0,0,0,0,0,0
$GC,4570,-0.77,-146.0,605.5,-11.5,439,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2521,3085,0,0,0,0,0,0
$GC,4879,-0.77,-146.0,642.4,-12.0,449,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2522,3085,0,0,0,0,0,0
$GC,5182,-0.77,-146.0,679.0,-11.8,459,5186,0.00,1.10,0.00,0.000,4,0.000,0.071,2120,3216,3085,0,0,0,0,0,0
$GC,5240,-0.77,-146.0,683.0,-11.9,460,5251,0.12,1.12,0.00,0.000,6,0.175,0.036,2149,2498,3085,0,0,0,0,0,0
$GC,5555,-0.77,-146.0,716.9,-9.8,471,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2498,3086,0,0,0,0,0,0
$GC,5862,-0.77,-146.0,747.0,-9.8,481,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2498,3086,0,0,0,0,0,0
$GC,6167,-0.77,-146.0,776.9,-9.8,491,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2498,3086,0,0,0,0,0,0
$GC,6475,-0.77,-146.0,807.6,-10.0,501,6478,0.00,1.17,0.00,0.000,4,0.000,0.067,2146,3211,3086,0,0,0,0,0,0
$GC,6519,-0.77,-146.0,811.1,-10.0,502,6523,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2506,3086,0,0,0,0,0,0
$STATE,6813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6813,begin apogee
$GC,6819,-0.16,0.0,841.4,-9.8,512,6948,0.60,0.00,122.60,1.414,6,0.136,0.000,2340,2193,2484,0,0,0,0,0,0
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6951,0.77,146.0,845.7,0.0,516,7090,0.90,1.20,130.93,1.375,4,0.073,0.051,2648,1508,1888,0,0,0,0,0,0
$GC,7300,0.77,146.0,813.6,13.0,527,7305,0.00,1.25,0.00,0.000,6,0.000,0.047,2648,2213,1880,0,0,0,0,0,0
$GC,7636,0.77,146.0,770.5,12.6,538,7640,0.00,1.15,0.00,0.000,4,0.000,0.056,2648,2905,1878,0,0,0,0,0,0
$GC,7740,0.77,146.0,757.4,12.8,541,7745,0.00,1.20,0.00,0.000,6,0.000,0.040,2652,2202,1876,0,0,0,0,0,0
$GC,8074,0.77,146.0,715.3,12.8,552,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2202,1876,0,0,0,0,0,0
$GC,8382,0.77,146.0,677.0,12.6,562,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2202,1875,0,0,0,0,0,0
$GC,8686,0.77,146.0,638.9,12.2,572,8690,0.00,1.20,0.00,0.000,4,0.000,0.054,2652,2905,1875,0,0,0,0,0,0
$GC,8797,0.77,146.0,626.2,12.7,575,8802,0.00,1.17,0.00,0.000,6,0.000,0.040,2657,2199,1874,0,0,0,0,0,0
$GC,9126,0.77,146.0,583.8,12.6,586,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,1873,0,0,0,0,0,0
$GC,9430,0.77,146.0,544.9,12.8,596,9433,0.00,1.20,0.00,0.000,4,0.000,0.054,2657,2907,1874,0,0,0,0,0,0
$GC,9534,0.77,146.0,531.7,13.2,599,9539,0.00,1.17,0.00,0.000,6,0.000,0.040,2662,2196,1873,0,0,0,0,0,0
$GC,9852,0.77,146.0,489.4,13.2,613,9853,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2196,1873,0,0,0,0,0,0
$GC,10168,0.77,146.0,449.3,12.8,638,10172,0.00,1.20,0.00,0.000,4,0.000,0.055,2662,2907,1873,0,0,0,0,0,0
$GC,10250,0.77,146.0,438.7,13.3,644,10253,0.00,1.15,0.00,0.000,6,0.000,0.041,2667,2197,1873,0,0,0,0,0,0
$GC,10581,0.77,146.0,396.6,12.5,670,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2197,1873,0,0,0,0,0,0
$GC,10896,0.77,146.0,357.7,12.0,695,10899,0.00,1.20,0.00,0.000,4,0.000,0.055,2667,2910,1873,0,0,0,0,0,0
$GC,11028,0.77,146.0,340.8,12.6,705,11031,0.00,1.15,0.00,0.000,6,0.000,0.040,2672,2196,1873,0,0,0,0,0,0
$GC,11358,0.77,146.0,300.6,12.0,731,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1873,0,0,0,0,0,0
$GC,11672,0.77,146.0,262.2,12.1,756,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,1873,0,0,0,0,0,0
$GC,11996,0.77,146.0,225.2,10.7,797,12005,0.00,1.20,0.00,0.000,4,0.000,0.055,2672,2910,1873,0,0,0,0,0,0
$GC,12192,0.77,146.0,203.3,10.8,826,12198,0.00,1.15,0.00,0.000,6,0.000,0.039,2677,2194,1873,0,0,0,0,0,0
$GC,12530,0.77,146.0,166.1,10.9,877,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2194,1873,0,0,0,0,0,0
$GC,12870,0.80,175.4,132.3,8.6,928,12898,0.00,1.12,23.30,0.965,4,0.000,0.052,2682,1492,1768,0,0,0,0,0,0
$GC,12966,0.81,176.9,123.1,9.9,942,12973,0.00,1.17,0.00,0.000,6,0.000,0.048,2682,2208,1766,0,0,0,0,0,0
$GC,13303,0.81,176.9,88.2,10.1,993,13312,0.00,1.12,0.00,0.000,4,0.000,0.057,2682,2910,1764,0,0,0,0,0,0
$GC,13432,0.81,176.9,75.6,10.0,1012,13438,0.00,1.15,0.00,0.000,6,0.000,0.040,2687,2203,1764,0,0,0,0,0,0
$GC,13770,0.86,217.9,44.3,8.1,1063,13810,0.00,0.00,35.53,0.928,6,0.000,0.000,2687,2203,1596,0,0,0,0,0,0
$GC,14141,0.88,234.9,14.0,9.2,1119,14155,0.00,1.25,8.20,0.112,4,0.000,0.054,2687,2913,1527,0,0,0,0,0,0
$GC,14208,0.88,234.9,6.9,10.2,1129,14217,0.00,1.17,0.00,0.000,6,0.000,0.038,2692,2194,1524,0,0,0,0,0,0
$STATE,14247,end climb,SURFACE_DEPTH_REACHED
$STATE,14247,begin surface coast
$FINISH,1.6,1.011456
$STATE,14262,end surface coast,CONTROL_FINISHED_OK
$STATE,14262,begin surface
$SM_CCo,14279,54.83,0.085,0,0,1057,350.04
$SM_GC,2.37,6.93,0.60,54.83,0.042,0.052,0.085,118,2518,1057,-7.08,-0.71,350.04,0,0,0,0,0,0
$RAFOS_CLK,938
$RAFOS,6,1319402956,20.833334,20.821112,75,60,59,0,0,0,609,199,218,0,0,0
$RAFOS,5,1319402466,20.700001,20.684999,81,65,64,0,0,0,635,203,185,0,0,0
$RAFOS,4,1319402003,20.566668,20.556389,59,59,59,0,0,0,188,198,213,0,0,0
$RAFOS,3,1319401513,20.433332,20.420279,64,63,58,0,0,0,182,208,147,0,0,0
$RAFOS,2,1319401022,20.299999,20.283890,72,67,61,0,0,0,811,203,217,0,0,0
$RAFOS,1,1319400542,20.166666,20.150555,68,64,58,0,0,0,201,155,219,0,0,0
$RAFOS,0,1319400062,20.033333,20.017221,60,59,59,0,0,0,211,190,144,0,0,0
$RAFOS_FIX,6653.549316,-5827.634766,231011,202002,3,76,0.95
$IRIDIUM_FIX,6625.71,-5819.97,231011,141443
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.44
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,801.5,137.5
$24V_AH,22.7,15.303
$10V_AH,10.3,12.465
$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,17.150,40.575,320.550,54.825,0.000,0.000,0.000,189.300,7.000,0.000,20.585,3111.597,8752.737,526.704,2054.625,205.256,0.000,1694.271,0.000,1846.047,2520.000,23.460,0.000
$DEVICE_MAMPS,265.455,82.620,1414.485,84.915,0.000,0.000,0.000,264.411,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.284,626.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,43329,1137
$CAP_FILE_SIZE,124318,0
$CFSIZE,260165632,239685632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.7
$CURRENT,0.218, 21.7,1
$GPS,231011,231300,6652.517,-5829.605,61,0.7,61,-33.7