version: 66.09
glider: 143
mission: 13
dive: 122
start: 10 23 111 23 22 2
data:
$ID,143
$MISSION,13
$DIVE,122
$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,-80669.07
$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,29
$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
$GPS1,231011,231300,6652.517,-5829.605,61,0.7,61,-33.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-66.0
$GPS2,231011,232130,6652.604,-5829.660,14,1.5,15,-33.7
$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,248.1,86589,-18.3,-10.000
$D_GRID,921
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,77,0.00,0.00,-59.05,0.000,2,0.000,0.000,117,2524,1852,0,0,0,0,0,0
$GC,80,-0.77,-146.0,3.0,-1.7,9,165,8.60,1.15,-66.35,0.000,4,0.265,0.102,2141,3207,3083,0,0,0,0,0,0
$GC,237,-0.77,-146.0,23.5,-20.8,32,244,0.00,1.10,0.00,0.000,6,0.000,0.039,2141,2512,3084,0,0,0,0,0,0
$GC,577,-0.77,-146.0,83.1,-16.4,83,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2512,3085,0,0,0,0,0,0
$GC,914,-0.77,-146.0,134.5,-14.5,134,923,0.00,1.10,0.00,0.000,4,0.000,0.049,2141,1817,3086,0,0,0,0,0,0
$GC,977,-0.77,-146.0,143.3,-14.1,143,984,0.00,1.17,0.00,0.000,6,0.000,0.060,2137,2497,3085,0,0,0,0,0,0
$GC,1314,-0.77,-146.0,192.4,-14.4,194,1323,0.00,1.15,0.00,0.000,4,0.000,0.072,2132,3214,3085,0,0,0,0,0,0
$GC,1369,-0.77,-146.0,200.6,-15.0,202,1378,0.00,1.10,0.00,0.000,6,0.000,0.038,2131,2512,3086,0,0,0,0,0,0
$GC,1710,-0.77,-146.0,250.2,-14.3,253,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3085,0,0,0,0,0,0
$GC,2025,-0.77,-146.0,293.8,-13.8,278,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2512,3084,0,0,0,0,0,0
$GC,2342,-0.77,-146.0,336.9,-13.6,303,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3084,0,0,0,0,0,0
$GC,2656,-0.77,-146.0,378.9,-12.8,328,2660,0.00,1.10,0.00,0.000,4,0.000,0.049,2131,1812,3084,0,0,0,0,0,0
$GC,2714,-0.77,-146.0,385.8,-12.9,332,2722,0.00,1.23,0.00,0.000,6,0.000,0.059,2127,2517,3084,0,0,0,0,0,0
$GC,3037,-0.77,-146.0,427.9,-13.0,358,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2517,3084,0,0,0,0,0,0
$GC,3355,-0.77,-146.0,466.8,-12.3,383,3359,0.00,1.10,0.00,0.000,4,0.000,0.072,2121,3210,3085,0,0,0,0,0,0
$GC,3410,-0.77,-146.0,473.8,-12.5,387,3414,0.08,1.10,0.00,0.000,6,0.167,0.037,2144,2498,3085,0,0,0,0,0,0
$GC,3729,-0.77,-146.0,510.7,-11.6,408,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3085,0,0,0,0,0,0
$GC,4036,-0.77,-146.0,546.3,-11.7,418,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3085,0,0,0,0,0,0
$GC,4341,-0.77,-146.0,581.3,-11.4,428,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2498,3086,0,0,0,0,0,0
$GC,4649,-0.77,-146.0,615.6,-11.2,438,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3086,0,0,0,0,0,0
$GC,4955,-0.77,-146.0,650.5,-11.5,448,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3086,0,0,0,0,0,0
$GC,5260,-0.77,-146.0,685.3,-11.3,458,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2498,3086,0,0,0,0,0,0
$GC,5568,-0.77,-146.0,719.4,-10.9,468,5571,0.00,1.20,0.00,0.000,4,0.000,0.067,2141,3222,3086,0,0,0,0,0,0
$GC,5639,-0.77,-146.0,726.7,-10.7,470,5644,0.00,1.12,0.00,0.000,6,0.000,0.034,2141,2503,3086,0,0,0,0,0,0
$GC,5974,-0.77,-146.0,762.5,-10.8,481,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3086,0,0,0,0,0,0
$GC,6281,-0.77,-146.0,795.4,-10.8,491,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3086,0,0,0,0,0,0
$GC,6586,-0.77,-146.0,827.3,-10.5,501,6589,0.00,1.17,0.00,0.000,4,0.000,0.066,2137,3215,3087,0,0,0,0,0,0
$GC,6656,-0.77,-146.0,834.4,-10.5,503,6661,0.00,1.10,0.00,0.000,6,0.000,0.032,2136,2506,3086,0,0,0,0,0,0
$GC,6989,-0.77,-146.0,869.7,-10.4,514,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2506,3087,0,0,0,0,0,0
$GC,7296,-0.77,-146.0,900.6,-10.0,524,7300,0.00,1.17,0.00,0.000,4,0.000,0.067,2132,3214,3087,0,0,0,0,0,0
$STATE,7395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7395,begin apogee
$GC,7402,-0.16,0.0,910.9,-10.2,527,7532,0.65,0.00,123.82,1.459,6,0.139,0.000,2340,2206,2485,0,0,0,0,0,0
$STATE,7533,end apogee,CONTROL_FINISHED_OK
$STATE,7533,begin climb
$GC,7535,0.77,146.0,915.1,0.0,531,7679,0.90,1.25,131.88,1.392,4,0.074,0.054,2646,1503,1888,0,0,0,0,0,0
$GC,7790,0.77,146.0,894.0,13.0,539,7795,0.00,1.27,0.00,0.000,6,0.000,0.047,2647,2210,1882,0,0,0,0,0,0
$GC,8118,0.77,146.0,847.6,13.6,550,8121,0.00,1.17,0.00,0.000,4,0.000,0.057,2647,2907,1878,0,0,0,0,0,0
$GC,8188,0.77,146.0,838.3,13.8,552,8193,0.00,1.23,0.00,0.000,6,0.000,0.040,2652,2195,1877,0,0,0,0,0,0
$GC,8524,0.77,146.0,792.5,13.4,563,8528,0.00,1.25,0.00,0.000,4,0.000,0.054,2652,2914,1876,0,0,0,0,0,0
$GC,8648,0.77,146.0,778.8,13.6,566,8658,0.00,1.23,0.00,0.000,6,0.000,0.041,2657,2191,1876,0,0,0,0,0,0
$GC,8962,0.77,146.0,733.4,13.3,577,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2191,1875,0,0,0,0,0,0
$GC,9270,0.77,146.0,692.4,13.5,587,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2191,1875,0,0,0,0,0,0
$GC,9575,0.77,146.0,650.7,13.7,597,9578,0.00,1.23,0.00,0.000,4,0.000,0.057,2657,2905,1875,0,0,0,0,0,0
$GC,9642,0.77,146.0,641.2,14.1,599,9646,0.00,1.17,0.00,0.000,6,0.000,0.042,2661,2191,1874,0,0,0,0,0,0
$GC,9981,0.77,146.0,590.8,14.4,610,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2191,1874,0,0,0,0,0,0
$GC,10288,0.77,146.0,548.1,13.9,620,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2191,1874,0,0,0,0,0,0
$GC,10594,0.77,146.0,506.1,13.8,630,10598,0.00,1.08,0.00,0.000,4,0.000,0.054,2667,1494,1874,0,0,0,0,0,0
$GC,10638,0.77,146.0,501.7,13.7,631,10643,0.00,1.20,0.00,0.000,6,0.000,0.048,2667,2216,1874,0,0,0,0,0,0
$GC,10964,0.77,146.0,457.1,12.8,656,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2216,1874,0,0,0,0,0,0
$GC,11278,0.77,146.0,417.3,12.7,681,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2216,1874,0,0,0,0,0,0
$GC,11595,0.77,146.0,378.3,12.3,706,11596,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2216,1874,0,0,0,0,0,0
$GC,11911,0.77,146.0,340.1,11.8,731,11915,0.00,1.10,0.00,0.000,4,0.000,0.058,2667,2904,1874,0,0,0,0,0,0
$GC,12139,0.77,146.0,312.1,12.7,748,12148,0.00,1.17,0.00,0.000,6,0.000,0.041,2672,2190,1874,0,0,0,0,0,0
$GC,12465,0.77,146.0,272.4,12.1,774,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2190,1873,0,0,0,0,0,0
$GC,12785,0.77,146.0,233.5,12.0,809,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2190,1874,0,0,0,0,0,0
$GC,13121,0.77,146.0,196.0,11.2,860,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2190,1874,0,0,0,0,0,0
$GC,13460,0.77,146.0,159.3,10.3,911,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2190,1874,0,0,0,0,0,0
$GC,13797,0.79,165.1,125.7,9.1,962,13819,0.00,1.23,14.50,0.950,4,0.000,0.057,2672,2902,1812,0,0,0,0,0,0
$GC,13946,0.79,165.1,111.4,10.3,984,13953,0.00,1.15,0.00,0.000,6,0.000,0.042,2676,2197,1810,0,0,0,0,0,0
$GC,14286,0.81,177.2,80.3,9.4,1035,14305,0.00,1.23,11.80,0.915,4,0.000,0.057,2677,2904,1761,0,0,0,0,0,0
$GC,14341,0.82,187.2,75.3,9.5,1043,14355,0.00,1.15,10.02,0.887,6,0.000,0.042,2681,2202,1721,0,0,0,0,0,0
$GC,14687,0.82,190.8,39.9,9.8,1095,14694,0.00,0.00,4.00,0.698,6,0.000,0.000,2681,2202,1705,0,0,0,0,0,0
$GC,15025,0.92,268.9,16.4,6.4,1146,15073,0.00,1.23,40.80,0.113,4,0.000,0.057,2681,2911,1387,0,0,0,0,0,0
$STATE,15177,end climb,SURFACE_DEPTH_REACHED
$STATE,15178,begin surface coast
$FINISH,1.7,1.024760
$STATE,15193,end surface coast,CONTROL_FINISHED_OK
$STATE,15193,begin surface
$SM_CCo,15211,37.12,0.085,0,0,1058,350.04
$SM_GC,2.61,6.97,0.68,37.12,0.052,0.038,0.085,116,2503,1058,-7.08,0.90,350.04,0,0,0,0,0,0
$RAFOS_CLK,996
$RAFOS,6,1319417349,0.833333,0.819167,136,60,57,0,0,0,653,146,184,0,0,0
$RAFOS,5,1319416890,0.700000,0.691667,72,64,62,0,0,0,527,211,141,0,0,0
$RAFOS,4,1319416400,0.566667,0.555556,64,60,58,0,0,0,193,134,508,0,0,0
$RAFOS,3,1319415910,0.433333,0.419444,59,58,53,0,0,0,189,725,125,0,0,0
$RAFOS,2,1319415422,0.300000,0.283889,60,59,55,0,0,0,211,195,223,0,0,0
$RAFOS,1,1319414943,0.166667,0.150833,82,68,60,0,0,0,777,197,180,0,0,0
$RAFOS,0,1319414473,0.033333,0.020278,61,56,56,0,0,0,214,187,163,0,0,0
$RAFOS_FIX,6653.822266,-5832.137695,241011,000050,3,97,0.66
$IRIDIUM_FIX,6625.71,-5832.15,231011,232340
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.20
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,850.6,73.6
$24V_AH,22.6,15.419
$10V_AH,10.1,12.563
$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,17.200,39.675,336.825,37.125,0.000,0.000,0.000,344.825,11.250,0.000,16.155,3246.423,9514.735,527.164,2258.839,229.644,0.000,1883.046,0.000,1907.336,2520.000,25.049,0.000
$DEVICE_MAMPS,265.455,101.745,1458.855,84.915,0.000,0.000,0.000,250.180,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.487,640.414,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150248
$DATA_FILE_SIZE,43446,1171
$CAP_FILE_SIZE,131974,0
$CFSIZE,260165632,239611904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.1
$CURRENT,0.135,101.2,1
$GPS,241011,033735,6650.135,-5830.736,27,0.9,28,-33.6