version: 66.09
glider: 143
mission: 13
dive: 125
start: 10 24 111 12 37 40
data:
$ID,143
$MISSION,13
$DIVE,125
$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,360
$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,1
$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,300
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80672.828
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,241011,123129,6652.422,-5839.322,48,0.9,49,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-68.9
$GPS2,241011,123637,6652.440,-5839.338,17,1.5,18,-33.7
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.156,-0.200
$KALMAN_X,-1588939.6,-1588939.6,-1588939.6,-1592101.0,-2055533.1
$KALMAN_Y,1811597.4,1811597.4,1811597.4,1815088.2,2343574.5
$MHEAD_RNG_PITCHd_Wd,247.4,79580,-16.9,-9.167
$D_GRID,954
$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,15,-0.73,-146.0,0.0,0.0,0,73,0.00,0.00,-55.22,0.000,2,0.000,0.000,125,2517,2000,0,0,0,0,0,0
$GC,76,-0.73,-146.0,3.1,-0.8,8,141,8.55,1.17,-49.83,0.000,4,0.262,0.099,2154,3217,3083,0,0,0,0,0,0
$GC,391,-0.73,-146.0,54.2,-16.0,55,400,0.00,1.12,0.00,0.000,6,0.000,0.037,2154,2503,3084,0,0,0,0,0,0
$GC,731,-0.73,-146.0,106.0,-14.6,106,738,0.00,1.20,0.00,0.000,4,0.000,0.069,2149,3213,3085,0,0,0,0,0,0
$GC,804,-0.73,-146.0,116.7,-14.8,117,811,0.00,1.10,0.00,0.000,6,0.000,0.037,2149,2513,3085,0,0,0,0,0,0
$GC,1143,-0.73,-146.0,162.5,-12.8,168,1150,0.00,1.17,0.00,0.000,4,0.000,0.070,2145,3211,3085,0,0,0,0,0,0
$GC,1210,-0.73,-146.0,171.3,-13.2,178,1217,0.00,1.10,0.00,0.000,6,0.000,0.037,2145,2510,3085,0,0,0,0,0,0
$GC,1548,-0.73,-146.0,215.4,-13.0,229,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2509,3085,0,0,0,0,0,0
$GC,1881,-0.73,-146.0,258.8,-12.8,275,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2509,3084,0,0,0,0,0,0
$GC,2199,-0.73,-146.0,298.4,-12.6,300,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2509,3084,0,0,0,0,0,0
$GC,2514,-0.73,-146.0,337.0,-12.1,325,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2509,3084,0,0,0,0,0,0
$GC,2829,-0.73,-146.0,375.1,-11.8,350,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2509,3084,0,0,0,0,0,0
$GC,3145,-0.73,-146.0,411.9,-12.0,375,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2509,3084,0,0,0,0,0,0
$GC,3460,-0.73,-146.0,448.1,-10.9,400,3464,0.00,1.17,0.00,0.000,4,0.000,0.068,2140,3214,3084,0,0,0,0,0,0
$GC,3525,-0.73,-146.0,455.5,-11.2,405,3529,0.00,1.10,0.00,0.000,6,0.000,0.035,2140,2502,3084,0,0,0,0,0,0
$GC,3855,-0.73,-146.0,491.7,-10.9,431,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3084,0,0,0,0,0,0
$GC,4175,-0.73,-146.0,528.8,-12.0,445,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3085,0,0,0,0,0,0
$GC,4481,-0.73,-146.0,564.7,-11.5,455,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3085,0,0,0,0,0,0
$GC,4787,-0.73,-146.0,599.3,-11.1,465,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3086,0,0,0,0,0,0
$GC,5094,-0.73,-146.0,633.6,-11.3,475,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3086,0,0,0,0,0,0
$GC,5400,-0.73,-146.0,667.2,-10.8,485,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2503,3086,0,0,0,0,0,0
$GC,5707,-0.73,-146.0,700.3,-11.0,495,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3086,0,0,0,0,0,0
$GC,6012,-0.73,-146.0,733.4,-10.6,505,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3086,0,0,0,0,0,0
$GC,6319,-0.73,-146.0,766.1,-10.6,515,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3086,0,0,0,0,0,0
$GC,6625,-0.73,-146.0,798.5,-10.5,525,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2502,3087,0,0,0,0,0,0
$GC,6931,-0.73,-146.0,830.1,-10.0,535,6934,0.00,1.17,0.00,0.000,4,0.000,0.067,2135,3212,3087,0,0,0,0,0,0
$GC,7015,-0.73,-146.0,837.1,-10.2,537,7021,0.12,1.10,0.00,0.000,6,0.169,0.033,2165,2502,3087,0,0,0,0,0,0
$GC,7337,-0.73,-146.0,867.6,-8.6,548,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2502,3087,0,0,0,0,0,0
$GC,7642,-0.73,-146.0,893.9,-8.3,558,7646,0.00,1.17,0.00,0.000,4,0.000,0.066,2162,3215,3087,0,0,0,0,0,0
$GC,7747,-0.73,-146.0,902.5,-8.5,561,7751,0.00,1.08,0.00,0.000,6,0.000,0.032,2162,2517,3087,0,0,0,0,0,0
$GC,8082,-0.73,-146.0,931.2,-8.4,572,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2517,3087,0,0,0,0,0,0
$STATE,8231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8231,begin apogee
$GC,8238,-0.16,0.0,944.2,-8.5,577,8369,0.55,0.00,124.30,1.476,6,0.130,0.000,2344,2184,2484,0,0,0,0,0,0
$STATE,8370,end apogee,CONTROL_FINISHED_OK
$STATE,8370,begin climb
$GC,8372,0.73,146.0,947.4,0.0,581,8517,0.85,1.17,133.90,1.436,4,0.073,0.051,2633,1504,1888,0,0,0,0,0,0
$GC,8522,0.87,260.6,943.1,4.3,586,8644,0.08,1.30,110.25,1.396,6,0.066,0.047,2673,2200,1422,0,0,0,0,0,0
$GC,8948,0.87,260.6,858.3,21.0,600,8952,0.00,1.20,0.00,0.000,4,0.000,0.058,2674,2900,1414,0,0,0,0,0,0
$GC,8999,0.87,260.6,850.8,21.1,601,9005,0.00,1.20,0.00,0.000,6,0.000,0.041,2679,2215,1413,0,0,0,0,0,0
$GC,9322,0.87,260.6,777.4,21.8,612,9325,0.00,1.15,0.00,0.000,4,0.000,0.055,2684,1498,1412,0,0,0,0,0,0
$GC,9388,0.87,260.6,763.0,21.5,614,9392,0.00,1.20,0.00,0.000,6,0.000,0.050,2684,2206,1411,0,0,0,0,0,0
$GC,9727,0.87,260.6,689.6,21.8,625,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2206,1411,0,0,0,0,0,0
$GC,10033,0.87,260.6,623.5,21.6,635,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2206,1411,0,0,0,0,0,0
$GC,10340,0.87,260.6,558.6,21.3,645,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2206,1411,0,0,0,0,0,0
$GC,10653,0.87,260.6,491.8,21.1,657,10657,0.00,1.17,0.00,0.000,4,0.000,0.054,2689,1494,1410,0,0,0,0,0,0
$GC,10723,0.87,260.6,477.8,21.6,662,10731,0.00,1.20,0.00,0.000,6,0.000,0.051,2689,2209,1410,0,0,0,0,0,0
$GC,11050,0.87,260.6,408.5,20.5,688,11051,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2209,1410,0,0,0,0,0,0
$GC,11362,0.87,260.6,345.1,20.2,713,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2209,1409,0,0,0,0,0,0
$GC,11678,0.87,260.6,281.9,20.1,738,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2209,1410,0,0,0,0,0,0
$GC,12000,0.87,260.6,221.0,17.9,774,12007,0.00,1.12,0.00,0.000,4,0.000,0.060,2689,2908,1410,0,0,0,0,0,0
$GC,12060,0.87,260.6,210.2,18.0,783,12069,0.00,1.15,0.00,0.000,6,0.000,0.043,2693,2201,1410,0,0,0,0,0,0
$GC,12399,0.87,260.6,151.5,16.5,834,12406,0.00,1.20,0.00,0.000,4,0.000,0.057,2693,2910,1410,0,0,0,0,0,0
$GC,12446,0.87,260.6,143.4,17.1,841,12453,0.00,1.15,0.00,0.000,6,0.000,0.042,2698,2200,1410,0,0,0,0,0,0
$GC,12786,0.87,260.6,88.2,15.2,892,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2200,1410,0,0,0,0,0,0
$GC,13124,0.87,260.6,39.7,12.9,943,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2200,1410,0,0,0,0,0,0
$STATE,13448,end climb,SURFACE_DEPTH_REACHED
$STATE,13448,begin surface coast
$FINISH,1.8,1.024775
$STATE,13461,end surface coast,CONTROL_FINISHED_OK
$STATE,13461,begin surface
$SM_CCo,13478,17.10,0.087,0,0,1261,300.00
$SM_GC,3.45,6.85,0.57,17.10,0.046,0.060,0.087,117,2510,1261,-7.09,-0.90,300.00,0,0,0,0,0,0
$RAFOS_CLK,886
$RAFOS,1,1319472543,16.166666,16.150833,74,67,63,0,0,0,753,204,139,0,0,0
$RAFOS,0,1319472065,16.033333,16.018055,59,56,56,0,0,0,863,154,175,0,0,0
$RAFOS,6,1319460543,12.833333,12.817500,106,60,57,0,0,0,679,149,218,0,0,0
$RAFOS,5,1319460064,12.700000,12.684444,123,57,56,0,0,0,687,226,124,0,0,0
$RAFOS,3,1319459107,12.433333,12.418612,66,61,61,0,0,0,732,219,153,0,0,0
$RAFOS_FIX,6651.385742,-5843.135254,241011,121230,5,89,0.00
$IRIDIUM_FIX,6620.33,-5839.67,241011,080825
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.56
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,851.6,107.0
$24V_AH,22.1,15.808
$10V_AH,10.3,12.817
$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,17.000,28.975,368.450,17.100,0.000,0.000,0.000,197.925,7.750,0.000,18.916,2752.276,8595.547,486.485,1805.406,183.225,30.049,1541.744,0.000,1583.813,1800.000,28.166,0.000
$DEVICE_MAMPS,262.395,98.685,1475.685,87.210,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,63.650,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.079,537.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150212
$DATA_FILE_SIZE,36716,994
$CAP_FILE_SIZE,108605,0
$CFSIZE,260165632,239435776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1458.0
$CURRENT,0.114, 92.2,1
$GPS,241011,162423,6650.125,-5841.410,48,0.9,48,-33.7