version: 66.09
glider: 143
mission: 13
dive: 110
start: 10 21 111 20 21 21
data:
$ID,143
$MISSION,13
$DIVE,110
$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,-80653.961
$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,52
$R_STBD_OVSHOOT,30
$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
$GPS1,211011,201535,6655.402,-5747.718,40,0.9,40,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-67.9
$GPS2,211011,202048,6655.405,-5747.806,16,1.1,17,-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,279.2,117641,-18.3,-10.000
$D_GRID,822
$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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.72,0.000,2,0.000,0.000,116,2475,1901,0,0,0,0,0,0
$GC,82,-0.77,-146.0,3.1,-1.0,9,158,8.60,1.25,-59.78,0.000,4,0.261,0.096,2142,3210,3082,0,0,0,0,0,0
$GC,411,-0.77,-146.0,56.2,-18.4,58,418,0.00,1.10,0.00,0.000,6,0.000,0.037,2142,2512,3083,0,0,0,0,0,0
$GC,751,-0.77,-146.0,108.7,-15.9,109,760,0.00,1.17,0.00,0.000,4,0.000,0.069,2138,3208,3084,0,0,0,0,0,0
$GC,899,-0.77,-146.0,131.4,-14.8,131,906,0.00,1.10,0.00,0.000,6,0.000,0.037,2138,2506,3084,0,0,0,0,0,0
$GC,1237,-0.77,-146.0,181.9,-14.8,182,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2507,3084,0,0,0,0,0,0
$GC,1573,-0.77,-146.0,232.0,-14.4,233,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2506,3084,0,0,0,0,0,0
$GC,1902,-0.77,-146.0,277.2,-13.2,268,1906,0.00,1.17,0.00,0.000,4,0.000,0.070,2133,3204,3083,0,0,0,0,0,0
$GC,1973,-0.77,-146.0,285.9,-13.3,273,1983,0.00,1.10,0.00,0.000,6,0.000,0.037,2133,2511,3083,0,0,0,0,0,0
$GC,2296,-0.77,-146.0,327.4,-12.9,299,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2511,3083,0,0,0,0,0,0
$GC,2612,-0.77,-146.0,366.9,-12.4,324,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2510,3083,0,0,0,0,0,0
$GC,2928,-0.77,-146.0,405.2,-12.1,349,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2511,3083,0,0,0,0,0,0
$GC,3244,-0.77,-146.0,443.5,-12.1,374,3248,0.00,1.10,0.00,0.000,4,0.000,0.049,2133,1811,3083,0,0,0,0,0,0
$GC,3289,-0.77,-146.0,448.2,-11.6,377,3299,0.00,1.20,0.00,0.000,6,0.000,0.059,2128,2500,3083,0,0,0,0,0,0
$GC,3613,-0.77,-146.0,487.1,-12.0,403,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2500,3083,0,0,0,0,0,0
$GC,3940,-0.77,-146.0,524.7,-11.5,419,3943,0.00,1.15,0.00,0.000,4,0.000,0.072,2123,3220,3083,0,0,0,0,0,0
$GC,4024,-0.77,-146.0,532.6,-11.7,421,4029,0.00,1.12,0.00,0.000,6,0.000,0.035,2123,2504,3083,0,0,0,0,0,0
$GC,4344,-0.77,-146.0,571.7,-11.3,432,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2504,3083,0,0,0,0,0,0
$GC,4652,-0.77,-146.0,606.4,-11.2,442,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2504,3083,0,0,0,0,0,0
$GC,4957,-0.77,-146.0,641.8,-11.7,452,4961,0.00,1.20,0.00,0.000,4,0.000,0.068,2118,3223,3084,0,0,0,0,0,0
$GC,5001,-0.77,-146.0,645.9,-11.8,453,5007,0.12,1.12,0.00,0.000,6,0.176,0.035,2148,2502,3084,0,0,0,0,0,0
$GC,5329,-0.77,-146.0,680.6,-10.1,464,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2502,3084,0,0,0,0,0,0
$GC,5637,-0.77,-146.0,710.7,-9.6,474,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2502,3084,0,0,0,0,0,0
$GC,5941,-0.77,-146.0,740.0,-9.7,484,5945,0.00,1.17,0.00,0.000,4,0.000,0.067,2144,3214,3084,0,0,0,0,0,0
$GC,5992,-0.77,-146.0,743.3,-9.7,485,5997,0.00,1.10,0.00,0.000,6,0.000,0.033,2144,2506,3084,0,0,0,0,0,0
$GC,6314,-0.77,-146.0,776.6,-9.8,496,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2506,3084,0,0,0,0,0,0
$GC,6621,-0.77,-146.0,806.8,-10.0,506,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2502,3084,0,0,0,0,0,0
$STATE,6801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6801,begin apogee
$GC,6807,-0.16,0.0,824.4,-9.7,512,6936,0.60,0.00,121.93,1.392,6,0.141,0.000,2337,2195,2484,0,0,0,0,0,0
$STATE,6936,end apogee,CONTROL_FINISHED_OK
$STATE,6936,begin climb
$GC,6939,0.77,146.0,828.8,0.0,516,7078,0.93,1.20,129.70,1.335,4,0.073,0.053,2653,1511,1888,0,0,0,0,0,0
$GC,7263,0.77,146.0,800.5,13.1,526,7267,0.00,1.23,0.00,0.000,6,0.000,0.048,2653,2206,1881,0,0,0,0,0,0
$GC,7590,0.77,146.0,756.2,12.8,537,7593,0.00,1.17,0.00,0.000,4,0.000,0.057,2653,2905,1878,0,0,0,0,0,0
$GC,7680,0.77,146.0,747.4,12.9,539,7688,0.00,1.20,0.00,0.000,6,0.000,0.040,2658,2205,1877,0,0,0,0,0,0
$GC,7995,0.77,146.0,703.2,12.9,550,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2205,1876,0,0,0,0,0,0
$GC,8301,0.77,146.0,664.2,12.6,560,8304,0.00,1.20,0.00,0.000,4,0.000,0.055,2658,2902,1875,0,0,0,0,0,0
$GC,8384,0.77,146.0,655.8,12.5,562,8389,0.00,1.20,0.00,0.000,6,0.000,0.041,2663,2190,1875,0,0,0,0,0,0
$GC,8704,0.77,146.0,614.0,12.5,573,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2190,1875,0,0,0,0,0,0
$GC,9011,0.77,146.0,573.9,13.3,583,9015,0.00,1.23,0.00,0.000,4,0.000,0.057,2662,2905,1875,0,0,0,0,0,0
$GC,9143,0.77,146.0,555.8,13.7,587,9146,0.00,1.15,0.00,0.000,6,0.000,0.041,2667,2200,1874,0,0,0,0,0,0
$GC,9483,0.77,146.0,510.7,13.5,598,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2200,1873,0,0,0,0,0,0
$GC,9801,0.77,146.0,469.2,12.7,619,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,1873,0,0,0,0,0,0
$GC,10116,0.77,146.0,429.3,12.5,644,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2200,1873,0,0,0,0,0,0
$GC,10432,0.77,146.0,390.9,12.2,669,10436,0.00,1.20,0.00,0.000,4,0.000,0.057,2667,2905,1873,0,0,0,0,0,0
$GC,10582,0.77,146.0,372.7,12.6,680,10590,0.00,1.17,0.00,0.000,6,0.000,0.040,2672,2193,1873,0,0,0,0,0,0
$GC,10908,0.77,146.0,334.2,11.6,706,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2193,1873,0,0,0,0,0,0
$GC,11221,0.77,146.0,297.7,11.5,731,11224,0.00,1.20,0.00,0.000,4,0.000,0.056,2672,2904,1873,0,0,0,0,0,0
$GC,11327,0.77,146.0,285.3,11.7,739,11331,0.08,1.15,0.00,0.000,6,0.163,0.041,2654,2194,1873,0,0,0,0,0,0
$GC,11655,0.77,146.0,250.2,10.8,765,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,1873,0,0,0,0,0,0
$GC,11986,0.77,148.6,215.5,9.9,814,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2194,1873,0,0,0,0,0,0
$GC,12323,0.79,166.9,182.2,9.2,865,12345,0.00,1.25,16.12,0.982,4,0.000,0.055,2654,2909,1804,0,0,0,0,0,0
$GC,12583,0.79,166.9,154.3,10.2,904,12590,0.00,1.15,0.00,0.000,6,0.000,0.039,2657,2200,1802,0,0,0,0,0,0
$GC,12920,0.79,166.9,119.9,10.3,955,12926,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2199,1802,0,0,0,0,0,0
$GC,13258,0.84,206.4,88.7,8.2,1006,13297,0.00,0.00,33.85,0.946,6,0.000,0.000,2657,2199,1642,0,0,0,0,0,0
$GC,13628,0.84,206.4,53.0,10.6,1062,13635,0.00,1.20,0.00,0.000,4,0.000,0.056,2657,2900,1636,0,0,0,0,0,0
$GC,13754,0.88,237.5,40.5,8.6,1081,13790,0.00,1.15,26.48,0.910,6,0.000,0.040,2662,2198,1514,0,0,0,0,0,0
$GC,14122,0.88,237.5,6.3,10.3,1136,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2198,1509,0,0,0,0,0,0
$STATE,14161,end climb,SURFACE_DEPTH_REACHED
$STATE,14161,begin surface coast
$FINISH,1.7,1.006723
$STATE,14180,end surface coast,CONTROL_FINISHED_OK
$STATE,14180,begin surface
$SM_CCo,14196,53.25,0.084,0,0,1057,350.04
$SM_GC,2.75,6.90,0.60,53.25,0.047,0.057,0.084,125,2512,1057,-7.06,-0.71,350.04,0,0,0,0,0,0
$RAFOS_CLK,933
$RAFOS,1,1319242147,0.166667,0.151944,99,63,59,0,0,0,864,218,205,0,0,0
$RAFOS,0,1319241663,0.033333,0.017500,67,62,57,0,0,0,1013,170,187,0,0,0
$RAFOS,6,1319230146,20.833334,20.818333,74,56,51,0,0,0,705,185,141,0,0,0
$RAFOS,5,1319229668,20.700001,20.685556,75,60,57,0,0,0,527,185,149,0,0,0
$RAFOS,4,1319229183,20.566668,20.550833,83,60,59,0,0,0,720,220,158,0,0,0
$RAFOS,3,1319228704,20.433332,20.417778,72,65,64,0,0,0,861,217,163,0,0,0
$RAFOS,1,1319227745,20.166666,20.151388,60,59,59,0,0,0,174,183,883,0,0,0
$RAFOS_FIX,6657.352051,-5750.818848,211011,202028,4,76,3.78
$IRIDIUM_FIX,6625.71,-5742.24,211011,161614
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.32
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.50
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,800.7,80.8
$24V_AH,22.8,13.945
$10V_AH,10.2,11.521
$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,17.225,36.200,328.075,53.250,0.000,0.000,0.000,204.700,8.500,0.000,18.227,3158.932,8638.383,522.171,2095.759,201.035,0.000,1713.810,0.000,1870.518,2520.000,26.290,0.000
$DEVICE_MAMPS,260.865,95.625,1391.535,84.150,0.000,0.000,0.000,253.176,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.930,632.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150288
$DATA_FILE_SIZE,43373,1145
$CAP_FILE_SIZE,123392,0
$CFSIZE,260165632,240414720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.9
$CURRENT,0.113, 36.4,1
$GPS,221011,002105,6655.196,-5752.155,42,0.8,42,-33.6