version: 66.09
glider: 143
mission: 13
dive: 108
start: 10 21 111 12 30 58
data:
$ID,143
$MISSION,13
$DIVE,108
$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,-80651.43
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,211011,122535,6655.128,-5742.375,43,0.9,43,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-69.5
$GPS2,211011,123025,6655.104,-5742.327,15,1.4,16,-33.5
$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,296.9,121490,-18.3,-10.000
$D_GRID,815
$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,17,-0.77,-146.0,0.0,0.0,0,75,0.00,0.00,-55.45,0.000,2,0.000,0.000,116,2516,1838,0,0,0,0,0,0
$GC,78,-0.77,-146.0,3.0,-1.5,8,160,8.52,0.00,-69.00,0.000,6,0.260,0.000,2143,2516,3082,0,0,0,0,0,0
$GC,493,-0.77,-146.0,66.8,-17.6,70,500,0.00,1.12,0.00,0.000,4,0.000,0.070,2140,3211,3084,0,0,0,0,0,0
$GC,554,-0.77,-146.0,77.5,-17.1,79,561,0.00,1.12,0.00,0.000,6,0.000,0.036,2140,2497,3083,0,0,0,0,0,0
$GC,893,-0.77,-146.0,128.4,-14.5,130,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2497,3084,0,0,0,0,0,0
$GC,1230,-0.77,-146.0,175.5,-13.6,181,1239,0.00,1.20,0.00,0.000,4,0.000,0.067,2135,3213,3084,0,0,0,0,0,0
$GC,1267,-0.77,-146.0,180.4,-13.8,186,1274,0.00,1.10,0.00,0.000,6,0.000,0.037,2135,2508,3084,0,0,0,0,0,0
$GC,1605,-0.77,-146.0,225.8,-13.5,237,1614,0.00,1.17,0.00,0.000,4,0.000,0.068,2130,3208,3084,0,0,0,0,0,0
$GC,1660,-0.77,-146.0,233.3,-13.1,245,1669,0.00,1.10,0.00,0.000,6,0.000,0.037,2131,2502,3084,0,0,0,0,0,0
$GC,1990,-0.77,-146.0,278.2,-13.5,280,1994,0.00,1.17,0.00,0.000,4,0.000,0.067,2126,3206,3084,0,0,0,0,0,0
$GC,2056,-0.77,-146.0,287.5,-14.1,285,2060,0.00,1.10,0.00,0.000,6,0.000,0.037,2126,2499,3083,0,0,0,0,0,0
$GC,2386,-0.77,-146.0,332.6,-13.6,311,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2500,3083,0,0,0,0,0,0
$GC,2701,-0.77,-146.0,374.2,-13.7,336,2705,0.00,1.08,0.00,0.000,4,0.000,0.047,2126,1813,3083,0,0,0,0,0,0
$GC,2740,-0.77,-146.0,379.8,-14.0,339,2745,0.08,1.17,0.00,0.000,6,0.169,0.058,2144,2500,3083,0,0,0,0,0,0
$GC,3069,-0.77,-146.0,420.6,-12.2,365,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2500,3083,0,0,0,0,0,0
$GC,3386,-0.77,-146.0,458.1,-11.4,390,3390,0.00,1.12,0.00,0.000,4,0.000,0.070,2141,3210,3083,0,0,0,0,0,0
$GC,3457,-0.77,-146.0,465.7,-11.5,395,3465,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2504,3083,0,0,0,0,0,0
$GC,3800,-0.77,-146.0,504.3,-10.6,421,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2504,3083,0,0,0,0,0,0
$GC,4104,-0.77,-146.0,537.6,-10.9,431,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2504,3083,0,0,0,0,0,0
$GC,4411,-0.77,-146.0,571.0,-11.1,441,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2504,3084,0,0,0,0,0,0
$GC,4716,-0.77,-146.0,603.7,-10.6,451,4720,0.00,1.17,0.00,0.000,4,0.000,0.068,2136,3213,3083,0,0,0,0,0,0
$GC,4741,-0.77,-146.0,603.7,-10.6,451,4749,0.00,1.10,0.00,0.000,6,0.000,0.033,2136,2505,3084,0,0,0,0,0,0
$GC,5057,-0.77,-146.0,640.1,-10.8,462,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2505,3084,0,0,0,0,0,0
$GC,5361,-0.77,-146.0,673.2,-10.8,472,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2505,3084,0,0,0,0,0,0
$GC,5669,-0.77,-146.0,706.1,-10.7,482,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2505,3084,0,0,0,0,0,0
$GC,5974,-0.77,-146.0,738.9,-10.8,492,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2506,3084,0,0,0,0,0,0
$GC,6281,-0.77,-146.0,771.0,-10.3,502,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2505,3084,0,0,0,0,0,0
$GC,6586,-0.77,-146.0,803.2,-10.6,512,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2505,3084,0,0,0,0,0,0
$STATE,6706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6706,begin apogee
$GC,6712,-0.16,0.0,816.0,-10.5,516,6840,0.65,0.00,121.65,1.387,6,0.144,0.000,2343,2195,2485,0,0,0,0,0,0
$STATE,6841,end apogee,CONTROL_FINISHED_OK
$STATE,6841,begin climb
$GC,6843,0.77,146.0,819.9,0.0,520,6981,0.90,1.23,129.50,1.330,4,0.072,0.052,2652,1504,1888,0,0,0,0,0,0
$GC,7185,0.77,146.0,790.5,13.1,530,7194,0.00,1.23,0.00,0.000,6,0.000,0.047,2651,2209,1880,0,0,0,0,0,0
$GC,7498,0.77,146.0,747.0,12.9,541,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2209,1878,0,0,0,0,0,0
$GC,7806,0.77,146.0,707.1,13.1,551,7810,0.00,1.15,0.00,0.000,4,0.000,0.058,2651,2904,1876,0,0,0,0,0,0
$GC,7956,0.77,146.0,688.7,13.7,555,7961,0.00,1.17,0.00,0.000,6,0.000,0.040,2656,2207,1875,0,0,0,0,0,0
$GC,8278,0.77,146.0,642.9,13.7,566,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2207,1875,0,0,0,0,0,0
$GC,8583,0.77,146.0,600.9,13.7,576,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2208,1875,0,0,0,0,0,0
$GC,8889,0.77,146.0,559.8,13.2,586,8893,0.00,1.20,0.00,0.000,4,0.000,0.054,2656,2914,1875,0,0,0,0,0,0
$GC,9013,0.77,146.0,546.2,13.5,589,9021,0.00,1.20,0.00,0.000,6,0.000,0.039,2661,2176,1874,0,0,0,0,0,0
$GC,9327,0.77,146.0,501.2,13.3,600,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2176,1873,0,0,0,0,0,0
$GC,9649,0.77,146.0,458.3,13.0,624,9653,0.00,1.25,0.00,0.000,4,0.000,0.055,2661,2913,1874,0,0,0,0,0,0
$GC,9828,0.77,146.0,434.9,13.3,637,9834,0.00,1.15,0.00,0.000,6,0.000,0.040,2666,2203,1874,0,0,0,0,0,0
$GC,10152,0.77,146.0,392.7,12.9,663,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2203,1874,0,0,0,0,0,0
$GC,10466,0.77,146.0,353.6,12.4,688,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2202,1874,0,0,0,0,0,0
$GC,10781,0.77,146.0,314.4,12.4,713,10785,0.00,1.20,0.00,0.000,4,0.000,0.055,2666,2915,1874,0,0,0,0,0,0
$GC,10900,0.77,146.0,299.1,13.0,722,10904,0.00,1.15,0.00,0.000,6,0.000,0.040,2670,2200,1874,0,0,0,0,0,0
$GC,11230,0.77,146.0,259.1,12.0,748,11231,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,1873,0,0,0,0,0,0
$GC,11557,0.77,146.0,222.2,10.6,791,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,1874,0,0,0,0,0,0
$GC,11894,0.77,146.0,187.0,10.4,842,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,1874,0,0,0,0,0,0
$GC,12234,0.80,168.8,154.4,9.0,893,12255,0.00,0.00,17.88,0.975,6,0.000,0.000,2671,2200,1795,0,0,0,0,0,0
$GC,12586,0.84,207.0,120.0,8.2,946,12624,0.00,1.27,32.85,0.955,4,0.000,0.056,2670,2915,1640,0,0,0,0,0,0
$GC,12829,0.84,207.0,92.7,12.1,982,12837,0.00,1.17,0.00,0.000,6,0.000,0.040,2676,2204,1635,0,0,0,0,0,0
$GC,13168,0.85,216.1,54.3,9.6,1033,13183,0.00,0.00,7.88,0.861,6,0.000,0.000,2675,2204,1603,0,0,0,0,0,0
$GC,13514,0.87,224.8,20.5,9.6,1085,13529,0.00,1.25,4.65,0.706,4,0.000,0.054,2675,2919,1567,0,0,0,0,0,0
$STATE,13693,end climb,SURFACE_DEPTH_REACHED
$STATE,13693,begin surface coast
$FINISH,1.7,1.000876
$STATE,13707,end surface coast,CONTROL_FINISHED_OK
$STATE,13707,begin surface
$SM_CCo,13724,59.88,0.084,0,0,1058,350.04
$SM_GC,2.86,6.95,0.68,59.88,0.050,0.030,0.084,121,2498,1058,-7.07,0.90,350.04,0,0,0,0,0,0
$RAFOS_CLK,904
$RAFOS,1,1319213344,16.166666,16.151112,56,56,54,0,0,0,208,226,124,0,0,0
$RAFOS,0,1319212864,16.033333,16.017778,104,65,57,0,0,0,1027,213,165,0,0,0
$RAFOS,6,1319201347,12.833333,12.818611,83,63,62,0,0,0,715,215,140,0,0,0
$RAFOS,5,1319200862,12.700000,12.683888,107,67,65,0,0,0,549,206,174,0,0,0
$RAFOS,4,1319200382,12.566667,12.550555,67,65,59,0,0,0,741,210,129,0,0,0
$RAFOS,2,1319199421,12.300000,12.283611,67,61,60,0,0,0,931,213,174,0,0,0
$RAFOS_FIX,6657.533691,-5747.157227,211011,121220,4,81,13.87
$IRIDIUM_FIX,6625.71,-5746.88,211011,080801
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.56
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.40
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,800.1,46.3
$24V_AH,22.9,13.712
$10V_AH,10.3,11.353
$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,17.100,32.625,314.400,59.875,0.000,0.000,0.000,180.925,6.750,0.000,17.254,3052.486,8333.780,525.079,1991.672,201.176,0.000,1651.750,0.000,1793.649,2160.000,23.212,0.000
$DEVICE_MAMPS,260.100,70.380,1386.945,84.150,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.070,616.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150364
$DATA_FILE_SIZE,43382,1114
$CAP_FILE_SIZE,117907,0
$CFSIZE,260165632,240553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.8
$CURRENT,0.198, 94.2,1
$GPS,211011,162231,6654.691,-5744.552,39,0.9,40,-33.5