version: 66.09
glider: 143
mission: 13
dive: 105
start: 10 21 111 0 28 46
data:
$ID,143
$MISSION,13
$DIVE,105
$N_DIVES,112
$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,-80647.641
$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,27
$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
$GPS1,211011,002229,6657.398,-5732.714,44,0.7,44,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-66.4
$GPS2,211011,002812,6657.381,-5732.567,17,1.2,18,-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,267.9,129274,-18.3,-10.000
$D_GRID,805
$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,-146.0,0.0,0.0,0,82,0.00,0.00,-63.47,0.000,2,0.000,0.000,121,2520,1960,0,0,0,0,0,0
$GC,85,-0.77,-146.0,3.1,-1.0,10,155,8.50,0.00,-54.12,0.000,6,0.264,0.000,2144,2520,3082,0,0,0,0,0,0
$GC,486,-0.77,-146.0,67.9,-15.9,70,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2520,3085,0,0,0,0,0,0
$GC,822,-0.77,-146.0,119.5,-15.3,121,828,0.00,1.12,0.00,0.000,4,0.000,0.073,2141,3214,3085,0,0,0,0,0,0
$GC,928,-0.77,-146.0,135.6,-15.4,137,935,0.00,1.12,0.00,0.000,6,0.000,0.037,2140,2498,3085,0,0,0,0,0,0
$GC,1267,-0.77,-146.0,184.0,-14.2,188,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3085,0,0,0,0,0,0
$GC,1604,-0.77,-146.0,228.0,-12.5,239,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3085,0,0,0,0,0,0
$GC,1941,-0.77,-146.0,273.0,-13.7,278,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3085,0,0,0,0,0,0
$GC,2258,-0.77,-146.0,315.9,-13.4,303,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3084,0,0,0,0,0,0
$GC,2576,-0.77,-146.0,355.7,-11.8,328,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3084,0,0,0,0,0,0
$GC,2888,-0.77,-146.0,393.3,-11.4,353,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2498,3085,0,0,0,0,0,0
$GC,3204,-0.77,-146.0,431.7,-12.4,378,3208,0.00,1.17,0.00,0.000,4,0.000,0.067,2136,3206,3084,0,0,0,0,0,0
$GC,3296,-0.77,-146.0,443.4,-12.8,385,3300,0.00,1.08,0.00,0.000,6,0.000,0.035,2136,2508,3084,0,0,0,0,0,0
$GC,3625,-0.77,-146.0,482.1,-11.6,411,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2508,3084,0,0,0,0,0,0
$GC,3960,-0.77,-146.0,522.3,-11.8,429,3963,0.00,1.08,0.00,0.000,4,0.000,0.047,2136,1816,3084,0,0,0,0,0,0
$GC,4017,-0.77,-146.0,526.3,-11.9,430,4025,0.00,1.20,0.00,0.000,6,0.000,0.057,2132,2513,3084,0,0,0,0,0,0
$GC,4332,-0.77,-146.0,566.3,-12.0,441,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2513,3085,0,0,0,0,0,0
$GC,4638,-0.77,-146.0,603.1,-11.8,451,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2513,3085,0,0,0,0,0,0
$GC,4944,-0.77,-146.0,639.8,-12.1,461,4947,0.00,1.10,0.00,0.000,4,0.000,0.070,2126,3211,3085,0,0,0,0,0,0
$GC,5028,-0.77,-146.0,647.8,-12.0,463,5033,0.00,1.10,0.00,0.000,6,0.000,0.034,2126,2503,3085,0,0,0,0,0,0
$GC,5348,-0.77,-146.0,689.3,-12.3,474,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2503,3085,0,0,0,0,0,0
$GC,5657,-0.77,-146.0,725.6,-11.9,484,5661,0.00,1.17,0.00,0.000,4,0.000,0.067,2121,3214,3085,0,0,0,0,0,0
$GC,5735,-0.77,-146.0,734.1,-12.1,486,5741,0.12,1.10,0.00,0.000,6,0.179,0.034,2150,2501,3085,0,0,0,0,0,0
$GC,6062,-0.77,-146.0,770.0,-10.5,497,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2501,3085,0,0,0,0,0,0
$GC,6369,-0.77,-146.0,801.6,-10.2,507,6373,0.00,1.17,0.00,0.000,4,0.000,0.067,2148,3213,3085,0,0,0,0,0,0
$STATE,6402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6402,begin apogee
$GC,6409,-0.16,0.0,805.2,-10.3,508,6536,0.60,0.00,121.72,1.376,6,0.137,0.000,2342,2204,2485,0,0,0,0,0,0
$STATE,6537,end apogee,CONTROL_FINISHED_OK
$STATE,6537,begin climb
$GC,6539,0.77,146.0,810.7,0.0,512,6676,0.88,1.25,129.20,1.320,4,0.071,0.053,2648,1499,1888,0,0,0,0,0,0
$GC,6893,0.77,146.0,780.8,12.5,522,6898,0.00,1.25,0.00,0.000,6,0.000,0.049,2648,2207,1880,0,0,0,0,0,0
$GC,7214,0.77,146.0,737.9,12.6,533,7217,0.00,1.17,0.00,0.000,4,0.000,0.059,2648,2905,1878,0,0,0,0,0,0
$GC,7418,0.77,146.0,712.0,13.0,539,7422,0.00,1.17,0.00,0.000,6,0.000,0.042,2652,2208,1876,0,0,0,0,0,0
$GC,7750,0.77,146.0,668.0,12.9,550,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2208,1876,0,0,0,0,0,0
$GC,8058,0.77,146.0,626.7,13.6,560,8062,0.00,1.20,0.00,0.000,4,0.000,0.055,2652,2906,1875,0,0,0,0,0,0
$GC,8142,0.77,146.0,617.5,13.7,562,8147,0.00,1.20,0.00,0.000,6,0.000,0.040,2657,2188,1875,0,0,0,0,0,0
$GC,8463,0.77,146.0,571.9,13.3,573,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2188,1875,0,0,0,0,0,0
$GC,8769,0.77,146.0,533.4,12.4,583,8770,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2188,1875,0,0,0,0,0,0
$GC,9083,0.77,146.0,493.6,12.7,595,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2188,1874,0,0,0,0,0,0
$GC,9399,0.77,146.0,453.2,12.9,620,9403,0.00,1.23,0.00,0.000,4,0.000,0.057,2657,2910,1874,0,0,0,0,0,0
$GC,9586,0.77,146.0,429.2,12.4,634,9590,0.00,1.15,0.00,0.000,6,0.000,0.041,2662,2203,1874,0,0,0,0,0,0
$GC,9918,0.77,146.0,388.8,11.8,660,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2203,1874,0,0,0,0,0,0
$GC,10231,0.77,146.0,351.3,11.9,685,10234,0.00,1.20,0.00,0.000,4,0.000,0.055,2662,2914,1874,0,0,0,0,0,0
$GC,10336,0.77,146.0,338.3,12.2,693,10340,0.00,1.17,0.00,0.000,6,0.000,0.040,2667,2186,1874,0,0,0,0,0,0
$GC,10667,0.77,146.0,298.6,12.1,719,10670,0.00,1.05,0.00,0.000,4,0.000,0.054,2672,1497,1874,0,0,0,0,0,0
$GC,10764,0.77,146.0,287.6,11.5,726,10772,0.00,1.17,0.00,0.000,6,0.000,0.049,2672,2209,1873,0,0,0,0,0,0
$GC,11091,0.77,146.0,250.4,11.3,752,11095,0.00,1.10,0.00,0.000,4,0.000,0.059,2671,2897,1874,0,0,0,0,0,0
$GC,11302,0.77,146.0,225.7,11.0,783,11311,0.00,1.12,0.00,0.000,6,0.000,0.041,2677,2200,1873,0,0,0,0,0,0
$GC,11642,0.77,146.0,188.6,10.7,834,11649,0.00,1.08,0.00,0.000,4,0.000,0.054,2682,1496,1874,0,0,0,0,0,0
$GC,11803,0.77,149.9,172.2,9.8,858,11810,0.10,1.15,0.00,0.000,6,0.163,0.051,2652,2205,1873,0,0,0,0,0,0
$GC,12142,0.80,168.0,141.3,9.2,909,12164,0.00,1.20,17.20,0.965,4,0.000,0.051,2655,1492,1799,0,0,0,0,0,0
$GC,12293,0.82,185.8,127.5,9.2,931,12315,0.00,1.15,16.23,0.943,6,0.000,0.050,2655,2195,1727,0,0,0,0,0,0
$GC,12646,0.82,185.8,91.8,10.5,984,12653,0.00,1.15,0.00,0.000,4,0.000,0.057,2655,2902,1724,0,0,0,0,0,0
$GC,12904,0.82,185.8,65.2,10.9,1023,12913,0.00,1.15,0.00,0.000,6,0.000,0.041,2660,2201,1723,0,0,0,0,0,0
$GC,13245,0.86,217.1,35.4,8.6,1074,13277,0.00,0.00,25.90,0.920,6,0.000,0.000,2660,2201,1598,0,0,0,0,0,0
$STATE,13606,end climb,SURFACE_DEPTH_REACHED
$STATE,13606,begin surface coast
$FINISH,1.7,1.009279
$STATE,13640,end surface coast,CONTROL_FINISHED_OK
$STATE,13640,begin surface
$SM_CCo,13657,63.20,0.084,0,0,1057,350.04
$SM_GC,2.63,6.97,0.60,63.20,0.055,0.061,0.084,122,2514,1057,-7.07,-0.65,350.04,0,0,0,0,0,0
$RAFOS_CLK,889
$RAFOS,1,1319170141,4.166667,4.150278,65,59,58,0,0,0,208,190,178,0,0,0
$RAFOS,0,1319169662,4.033333,4.017222,67,63,61,0,0,0,1067,199,162,0,0,0
$RAFOS,6,1319158143,0.833333,0.817500,74,67,65,0,0,0,222,211,145,0,0,0
$RAFOS,5,1319157666,0.700000,0.685000,107,68,65,0,0,0,519,203,115,0,0,0
$RAFOS,4,1319157185,0.566667,0.551389,67,58,57,0,0,0,212,192,158,0,0,0
$RAFOS,2,1319156223,0.300000,0.284167,62,62,56,0,0,0,204,216,178,0,0,0
$RAFOS_FIX,6655.076660,-5716.812012,201011,202056,2,94,11.11
$IRIDIUM_FIX,6631.12,-5731.73,201011,202003
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,750.8,106.7
$24V_AH,22.9,13.351
$10V_AH,10.2,11.105
$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,17.175,37.950,310.250,63.200,0.000,0.000,0.000,233.350,8.500,0.000,18.515,3143.412,8087.604,505.272,2133.485,202.569,0.000,1721.405,0.000,1879.020,1800.000,24.695,0.000
$DEVICE_MAMPS,263.925,73.440,1376.235,84.150,0.000,0.000,0.000,253.176,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.297,630.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150224
$DATA_FILE_SIZE,43365,1134
$CAP_FILE_SIZE,121496,0
$CFSIZE,260165632,240746496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.6
$CURRENT,0.146, 67.9,1
$GPS,211011,041929,6656.398,-5735.035,76,0.8,76,-33.5