version: 66.09
glider: 143
mission: 13
dive: 109
start: 10 21 111 16 28 28
data:
$ID,143
$MISSION,13
$DIVE,109
$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,-80652.695
$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,40
$R_STBD_OVSHOOT,23
$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
$GPS1,211011,162231,6654.691,-5744.552,39,0.9,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-68.3
$GPS2,211011,162754,6654.595,-5744.545,19,0.9,20,-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,304.4,119733,-18.3,-10.000
$D_GRID,800
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-53.67,0.000,2,0.000,0.000,120,2488,1814,0,0,0,0,0,0
$GC,75,-0.77,-146.0,3.1,-1.1,8,159,8.52,1.12,-69.55,0.000,4,0.262,0.079,2150,1816,3082,0,0,0,0,0,0
$GC,219,-0.77,-146.0,17.6,-17.5,29,226,0.00,1.20,0.00,0.000,6,0.000,0.057,2147,2510,3084,0,0,0,0,0,0
$GC,558,-0.77,-146.0,75.7,-15.9,80,564,0.00,1.12,0.00,0.000,4,0.000,0.070,2142,3211,3084,0,0,0,0,0,0
$GC,670,-0.77,-146.0,94.7,-16.9,97,677,0.00,1.10,0.00,0.000,6,0.000,0.036,2142,2509,3084,0,0,0,0,0,0
$GC,1009,-0.77,-146.0,145.5,-14.7,148,1016,0.00,1.17,0.00,0.000,4,0.000,0.067,2137,3213,3085,0,0,0,0,0,0
$GC,1144,-0.77,-146.0,164.7,-14.5,168,1150,0.00,1.10,0.00,0.000,6,0.000,0.036,2137,2506,3085,0,0,0,0,0,0
$GC,1482,-0.77,-146.0,214.5,-14.6,219,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,1824,-0.77,-146.0,263.1,-13.9,264,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,2139,-0.77,-146.0,305.2,-12.4,289,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,2454,-0.77,-146.0,345.6,-13.0,314,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,2770,-0.77,-146.0,386.1,-12.7,339,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2506,3084,0,0,0,0,0,0
$GC,3086,-0.77,-146.0,426.2,-12.7,364,3090,0.00,1.17,0.00,0.000,4,0.000,0.069,2133,3211,3084,0,0,0,0,0,0
$GC,3126,-0.77,-146.0,431.6,-12.8,367,3129,0.00,1.10,0.00,0.000,6,0.000,0.036,2132,2501,3084,0,0,0,0,0,0
$GC,3454,-0.77,-146.0,473.1,-12.5,393,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2501,3084,0,0,0,0,0,0
$GC,3775,-0.77,-146.0,512.7,-12.3,414,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2501,3084,0,0,0,0,0,0
$GC,4081,-0.77,-146.0,549.7,-12.1,424,4085,0.00,1.17,0.00,0.000,4,0.000,0.067,2128,3213,3084,0,0,0,0,0,0
$GC,4099,-0.77,-146.0,549.7,-12.1,424,4104,0.00,1.10,0.00,0.000,6,0.000,0.033,2128,2506,3083,0,0,0,0,0,0
$GC,4420,-0.77,-146.0,591.4,-12.2,435,4423,0.00,1.17,0.00,0.000,4,0.000,0.066,2123,3216,3084,0,0,0,0,0,0
$GC,4454,-0.77,-146.0,595.5,-12.3,436,4457,0.00,1.08,0.00,0.000,6,0.000,0.033,2123,2515,3084,0,0,0,0,0,0
$GC,4793,-0.77,-146.0,636.3,-11.9,447,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2515,3084,0,0,0,0,0,0
$GC,5099,-0.77,-146.0,672.8,-11.9,457,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2515,3084,0,0,0,0,0,0
$GC,5405,-0.77,-146.0,708.6,-11.6,467,5409,0.00,1.08,0.00,0.000,4,0.000,0.046,2123,1820,3085,0,0,0,0,0,0
$GC,5423,-0.77,-146.0,708.6,-11.6,467,5429,0.12,1.20,0.00,0.000,6,0.178,0.057,2148,2517,3085,0,0,0,0,0,0
$GC,5744,-0.77,-146.0,743.4,-10.2,478,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2517,3085,0,0,0,0,0,0
$GC,6052,-0.77,-146.0,774.1,-10.0,488,6056,0.00,1.10,0.00,0.000,4,0.000,0.068,2144,3216,3085,0,0,0,0,0,0
$GC,6071,-0.77,-146.0,774.1,-10.0,488,6075,0.00,1.08,0.00,0.000,6,0.000,0.032,2145,2508,3085,0,0,0,0,0,0
$STATE,6327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6327,begin apogee
$GC,6333,-0.16,0.0,801.2,-9.8,497,6462,0.62,0.00,121.75,1.380,6,0.140,0.000,2345,2194,2484,0,0,0,0,0,0
$STATE,6463,end apogee,CONTROL_FINISHED_OK
$STATE,6463,begin climb
$GC,6465,0.77,146.0,805.5,0.0,501,6602,0.88,1.23,128.90,1.320,4,0.068,0.053,2649,1504,1889,0,0,0,0,0,0
$GC,6781,0.77,146.0,778.2,12.8,511,6784,0.00,1.23,0.00,0.000,6,0.000,0.047,2649,2205,1880,0,0,0,0,0,0
$GC,7113,0.77,146.0,734.6,12.6,522,7117,0.00,1.17,0.00,0.000,4,0.000,0.055,2649,2907,1878,0,0,0,0,0,0
$GC,7224,0.77,146.0,721.1,13.4,525,7229,0.00,1.20,0.00,0.000,6,0.000,0.038,2654,2203,1877,0,0,0,0,0,0
$GC,7553,0.77,146.0,677.0,12.9,536,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2203,1876,0,0,0,0,0,0
$GC,7857,0.77,146.0,637.8,12.7,546,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2203,1876,0,0,0,0,0,0
$GC,8165,0.77,146.0,598.7,12.6,556,8169,0.00,1.20,0.00,0.000,4,0.000,0.054,2654,2904,1875,0,0,0,0,0,0
$GC,8302,0.77,146.0,580.7,13.5,560,8307,0.00,1.17,0.00,0.000,6,0.000,0.038,2658,2197,1875,0,0,0,0,0,0
$GC,8637,0.77,146.0,538.7,12.7,571,8641,0.00,1.20,0.00,0.000,4,0.000,0.055,2658,2901,1875,0,0,0,0,0,0
$GC,8808,0.77,146.0,516.1,13.8,576,8813,0.00,1.17,0.00,0.000,6,0.000,0.039,2663,2189,1874,0,0,0,0,0,0
$GC,9130,0.77,146.0,471.9,13.5,596,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2189,1874,0,0,0,0,0,0
$GC,9445,0.77,146.0,428.2,13.7,621,9449,0.00,1.08,0.00,0.000,4,0.000,0.053,2668,1494,1874,0,0,0,0,0,0
$GC,9489,0.77,146.0,422.7,13.7,624,9497,0.00,1.17,0.00,0.000,6,0.000,0.050,2669,2204,1873,0,0,0,0,0,0
$GC,9814,0.77,146.0,378.9,13.5,650,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2203,1874,0,0,0,0,0,0
$GC,10127,0.77,146.0,339.0,11.9,675,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2203,1874,0,0,0,0,0,0
$GC,10445,0.77,146.0,301.9,11.4,700,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2203,1874,0,0,0,0,0,0
$GC,10760,0.77,146.0,266.4,11.4,725,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2203,1874,0,0,0,0,0,0
$GC,11082,0.77,146.0,230.1,11.8,763,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2204,1874,0,0,0,0,0,0
$GC,11421,0.77,146.0,194.1,10.3,814,11427,0.00,1.12,0.00,0.000,4,0.000,0.057,2668,2904,1874,0,0,0,0,0,0
$GC,11467,0.77,146.0,189.4,10.6,821,11473,0.00,1.12,0.00,0.000,6,0.000,0.040,2673,2205,1874,0,0,0,0,0,0
$GC,11806,0.77,146.0,155.2,10.0,872,11812,0.00,1.08,0.00,0.000,4,0.000,0.052,2679,1497,1874,0,0,0,0,0,0
$GC,12019,0.78,151.6,133.3,9.7,904,12025,0.00,1.12,0.00,0.000,6,0.000,0.050,2678,2195,1874,0,0,0,0,0,0
$GC,12357,0.81,181.9,102.6,8.6,955,12392,0.00,0.00,28.40,0.957,6,0.000,0.000,2678,2195,1742,0,0,0,0,0,0
$GC,12723,0.81,181.9,65.5,10.2,1010,12730,0.00,1.15,0.00,0.000,4,0.000,0.059,2679,2906,1738,0,0,0,0,0,0
$GC,12899,0.84,207.8,48.8,8.8,1036,12928,0.00,1.15,22.08,0.918,6,0.000,0.041,2683,2203,1637,0,0,0,0,0,0
$GC,13261,0.88,235.6,20.7,8.7,1090,13283,0.00,1.20,15.38,0.844,4,0.000,0.054,2683,2908,1522,0,0,0,0,0,0
$STATE,13434,end climb,SURFACE_DEPTH_REACHED
$STATE,13435,begin surface coast
$FINISH,1.7,1.002695
$STATE,13453,end surface coast,CONTROL_FINISHED_OK
$STATE,13454,begin surface
$SM_CCo,13471,54.40,0.084,0,0,1057,350.04
$SM_GC,2.68,7.00,0.68,54.40,0.047,0.038,0.084,117,2486,1057,-7.08,0.90,350.04,0,0,0,0,0,0
$RAFOS_CLK,883
$RAFOS,0,1319227263,20.033333,20.017500,77,64,63,0,0,0,215,1030,197,0,0,0
$RAFOS,6,1319215742,16.833334,16.817223,83,62,56,0,0,0,739,218,181,0,0,0
$RAFOS,5,1319215262,16.700001,16.683889,81,61,57,0,0,0,551,193,147,0,0,0
$RAFOS,4,1319214785,16.566668,16.551390,82,61,60,0,0,0,728,210,132,0,0,0
$RAFOS,2,1319213826,16.299999,16.285000,62,61,57,0,0,0,157,195,215,0,0,0
$RAFOS_FIX,6657.810547,-5747.259766,211011,161636,4,88,18.56
$IRIDIUM_FIX,6625.71,-5745.17,211011,121220
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.99
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,752.7,106.2
$24V_AH,22.9,13.826
$10V_AH,10.3,11.436
$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,17.150,39.000,316.500,54.400,0.000,0.000,0.000,211.500,8.250,0.000,20.959,3070.162,8053.512,507.251,2043.101,199.190,0.000,1677.990,0.000,1811.749,1800.000,24.630,0.000
$DEVICE_MAMPS,261.630,78.795,1380.060,84.150,0.000,0.000,0.000,251.678,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.027,623.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150200
$DATA_FILE_SIZE,43313,1119
$CAP_FILE_SIZE,120449,0
$CFSIZE,260165632,240484352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.3
$CURRENT,0.161, 56.6,1
$GPS,211011,201535,6655.402,-5747.718,40,0.9,40,-33.6