version: 66.09
glider: 143
mission: 13
dive: 111
start: 10 22 111 0 26 23
data:
$ID,143
$MISSION,13
$DIVE,111
$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,-80655.219
$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,37
$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
$GPS1,221011,002105,6655.196,-5752.155,42,0.8,42,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-71.2
$GPS2,221011,002549,6655.209,-5752.100,17,1.4,17,-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,275.8,114485,-18.3,-10.000
$D_GRID,867
$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,-146.0,0.0,0.0,0,69,0.00,0.00,-50.17,0.000,2,0.000,0.000,124,2516,1765,0,0,0,0,0,0
$GC,72,-0.77,-146.0,3.1,-0.9,7,165,8.43,1.17,-78.65,0.000,4,0.258,0.099,2144,3216,3081,0,0,0,0,0,0
$GC,243,-0.77,-146.0,21.4,-19.7,33,250,0.00,1.12,0.00,0.000,6,0.000,0.037,2144,2504,3083,0,0,0,0,0,0
$GC,581,-0.77,-146.0,80.0,-16.0,84,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2504,3084,0,0,0,0,0,0
$GC,920,-0.77,-146.0,133.4,-14.5,135,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2504,3084,0,0,0,0,0,0
$GC,1258,-0.77,-146.0,180.8,-14.3,186,1267,0.00,1.20,0.00,0.000,4,0.000,0.069,2140,3216,3084,0,0,0,0,0,0
$GC,1334,-0.77,-146.0,191.2,-13.4,197,1341,0.00,1.10,0.00,0.000,6,0.000,0.037,2140,2512,3084,0,0,0,0,0,0
$GC,1672,-0.77,-146.0,237.6,-13.8,248,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,2004,-0.77,-146.0,282.4,-13.1,281,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,2319,-0.77,-146.0,321.5,-11.5,306,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3083,0,0,0,0,0,0
$GC,2636,-0.77,-146.0,356.1,-11.1,331,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2512,3083,0,0,0,0,0,0
$GC,2951,-0.77,-146.0,392.9,-12.0,356,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3083,0,0,0,0,0,0
$GC,3266,-0.77,-146.0,429.1,-11.4,381,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3083,0,0,0,0,0,0
$GC,3583,-0.77,-146.0,465.2,-11.3,406,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3083,0,0,0,0,0,0
$GC,3901,-0.77,-146.0,501.3,-11.4,431,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,4203,-0.77,-146.0,536.5,-11.6,441,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,4511,-0.77,-146.0,572.2,-11.8,451,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2512,3084,0,0,0,0,0,0
$GC,4816,-0.77,-146.0,607.4,-11.3,461,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,5123,-0.77,-146.0,641.9,-11.2,471,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,5428,-0.77,-146.0,676.0,-11.0,481,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,5736,-0.77,-146.0,709.1,-10.8,491,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2512,3084,0,0,0,0,0,0
$GC,6040,-0.77,-146.0,742.4,-10.7,501,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3085,0,0,0,0,0,0
$GC,6348,-0.77,-146.0,774.6,-10.5,511,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3085,0,0,0,0,0,0
$GC,6653,-0.77,-146.0,806.2,-10.4,521,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3085,0,0,0,0,0,0
$GC,6960,-0.77,-146.0,837.8,-10.2,531,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3085,0,0,0,0,0,0
$STATE,7141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7141,begin apogee
$GC,7147,-0.16,0.0,856.6,-10.2,537,7276,0.62,0.00,122.72,1.414,6,0.141,0.000,2339,2185,2484,0,0,0,0,0,0
$STATE,7277,end apogee,CONTROL_FINISHED_OK
$STATE,7277,begin climb
$GC,7279,0.77,146.0,861.0,0.0,541,7419,0.90,1.20,130.40,1.354,4,0.073,0.054,2647,1504,1888,0,0,0,0,0,0
$GC,7668,0.77,146.0,822.8,13.4,553,7674,0.00,1.25,0.00,0.000,6,0.000,0.047,2647,2212,1879,0,0,0,0,0,0
$GC,7996,0.77,146.0,778.5,12.9,564,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2212,1877,0,0,0,0,0,0
$GC,8302,0.77,146.0,739.8,12.8,574,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2212,1876,0,0,0,0,0,0
$GC,8608,0.77,146.0,700.8,12.6,584,8612,0.00,1.12,0.00,0.000,4,0.000,0.058,2647,2901,1875,0,0,0,0,0,0
$GC,8752,0.77,146.0,683.6,13.0,588,8757,0.00,1.17,0.00,0.000,6,0.000,0.040,2652,2200,1875,0,0,0,0,0,0
$GC,9081,0.77,146.0,640.7,12.5,599,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2200,1874,0,0,0,0,0,0
$GC,9386,0.77,146.0,602.9,12.5,609,9389,0.00,1.20,0.00,0.000,4,0.000,0.055,2652,2905,1874,0,0,0,0,0,0
$GC,9470,0.77,146.0,594.3,12.7,611,9475,0.00,1.17,0.00,0.000,6,0.000,0.041,2657,2196,1874,0,0,0,0,0,0
$GC,9790,0.77,146.0,552.2,12.3,622,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2196,1874,0,0,0,0,0,0
$GC,10097,0.77,146.0,514.6,12.4,632,10101,0.00,1.20,0.00,0.000,4,0.000,0.054,2657,2907,1873,0,0,0,0,0,0
$GC,10207,0.77,146.0,502.2,12.5,635,10212,0.00,1.17,0.00,0.000,6,0.000,0.039,2662,2192,1873,0,0,0,0,0,0
$GC,10533,0.77,146.0,460.0,13.1,660,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2192,1873,0,0,0,0,0,0
$GC,10847,0.77,146.0,419.5,12.8,685,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2192,1873,0,0,0,0,0,0
$GC,11162,0.77,146.0,378.4,12.8,710,11166,0.00,1.08,0.00,0.000,4,0.000,0.055,2667,1494,1872,0,0,0,0,0,0
$GC,11273,0.77,146.0,364.6,13.2,718,11283,0.00,1.17,0.00,0.000,6,0.000,0.050,2667,2205,1872,0,0,0,0,0,0
$GC,11598,0.77,146.0,321.2,13.1,744,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2205,1872,0,0,0,0,0,0
$GC,11912,0.77,146.0,280.7,12.4,769,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2205,1872,0,0,0,0,0,0
$GC,12231,0.77,146.0,242.7,11.8,798,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2205,1872,0,0,0,0,0,0
$GC,12569,0.77,146.0,203.1,11.6,849,12576,0.00,1.15,0.00,0.000,4,0.000,0.051,2672,1493,1872,0,0,0,0,0,0
$GC,12663,0.77,146.0,193.0,10.6,863,12670,0.00,1.15,0.00,0.000,6,0.000,0.049,2671,2205,1873,0,0,0,0,0,0
$GC,13001,0.77,146.0,156.7,10.8,914,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2205,1872,0,0,0,0,0,0
$GC,13341,0.80,168.4,125.0,9.0,965,13364,0.00,1.15,17.38,0.955,4,0.000,0.058,2672,2907,1797,0,0,0,0,0,0
$GC,13530,0.80,170.6,106.6,9.9,993,13537,0.00,1.15,0.00,0.000,6,0.000,0.041,2677,2201,1795,0,0,0,0,0,0
$GC,13868,0.81,176.4,73.9,9.7,1044,13882,0.00,1.23,7.70,0.875,4,0.000,0.055,2677,2904,1766,0,0,0,0,0,0
$GC,13943,0.81,176.4,66.4,10.6,1055,13949,0.00,1.15,0.00,0.000,6,0.000,0.041,2681,2201,1765,0,0,0,0,0,0
$GC,14281,0.86,222.7,37.6,7.9,1106,14325,0.00,1.20,39.45,0.920,4,0.000,0.054,2681,2911,1576,0,0,0,0,0,0
$GC,14558,0.86,222.7,12.7,10.1,1147,14564,0.00,1.17,0.00,0.000,6,0.000,0.041,2686,2202,1570,0,0,0,0,0,0
$STATE,14668,end climb,SURFACE_DEPTH_REACHED
$STATE,14668,begin surface coast
$FINISH,1.7,1.021178
$STATE,14694,end surface coast,CONTROL_FINISHED_OK
$STATE,14694,begin surface
$SM_CCo,14711,60.33,0.085,0,0,1057,350.04
$SM_GC,2.80,7.07,0.57,60.33,0.054,0.056,0.085,120,2505,1057,-7.07,-0.99,350.04,0,0,0,0,0,0
$RAFOS_CLK,971
$RAFOS,3,1319257504,4.433333,4.417778,139,61,60,0,0,0,815,217,130,0,0,0
$RAFOS,2,1319257022,4.300000,4.283889,115,60,58,0,0,0,890,160,202,0,0,0
$RAFOS,1,1319256544,4.166667,4.151111,85,60,60,0,0,0,871,208,189,0,0,0
$RAFOS,0,1319256063,4.033333,4.017500,99,59,58,0,0,0,1006,176,215,0,0,0
$RAFOS,6,1319244541,0.833333,0.816944,90,59,59,0,0,0,730,226,147,0,0,0
$RAFOS,5,1319244066,0.700000,0.685000,115,71,64,0,0,0,552,199,217,0,0,0
$RAFOS,4,1319243584,0.566667,0.551111,82,60,56,0,0,0,704,138,218,0,0,0
$RAFOS,2,1319242627,0.300000,0.285278,68,63,59,0,0,0,165,197,207,0,0,0
$RAFOS_FIX,6657.188477,-5755.211914,221011,000035,5,91,26.57
$IRIDIUM_FIX,6631.12,-5743.95,211011,202021
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.77
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,803.1,68.2
$24V_AH,22.8,14.062
$10V_AH,10.3,11.604
$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,17.025,26.775,317.650,60.325,0.000,0.000,0.000,175.025,7.000,0.000,18.576,3222.509,9111.528,515.316,2042.122,200.100,0.000,1658.396,0.000,1847.342,2520.000,23.270,0.000
$DEVICE_MAMPS,257.805,98.685,1413.720,84.915,0.000,0.000,0.000,263.662,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.823,641.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,43335,1167
$CAP_FILE_SIZE,120326,0
$CFSIZE,260165632,240353280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.9
$CURRENT,0.148,100.9,1
$GPS,221011,043434,6653.839,-5754.901,44,0.9,45,-33.6