version: 66.09
glider: 143
mission: 13
dive: 112
start: 10 22 111 4 42 36
data:
$ID,143
$MISSION,13
$DIVE,112
$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,-80656.484
$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,36
$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
$GPS1,221011,043434,6653.839,-5754.901,44,0.9,45,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-70.0
$GPS2,221011,044201,6653.791,-5754.815,18,1.1,19,-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,305.6,112077,-18.3,-10.000
$D_GRID,865
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,73,0.00,0.00,-54.95,0.000,2,0.000,0.000,119,2508,1825,0,0,0,0,0,0
$GC,76,-0.77,-146.0,3.0,-1.9,8,159,8.57,1.20,-68.47,0.000,4,0.264,0.076,2144,1811,3082,0,0,0,0,0,0
$GC,266,-0.77,-146.0,27.8,-19.5,36,273,0.00,1.20,0.00,0.000,6,0.000,0.060,2141,2502,3084,0,0,0,0,0,0
$GC,603,-0.77,-146.0,86.3,-15.9,87,611,0.00,1.15,0.00,0.000,4,0.000,0.071,2136,3216,3084,0,0,0,0,0,0
$GC,651,-0.77,-146.0,94.1,-16.3,94,658,0.00,1.12,0.00,0.000,6,0.000,0.037,2136,2499,3084,0,0,0,0,0,0
$GC,988,-0.77,-146.0,145.9,-14.4,145,995,0.00,1.20,0.00,0.000,4,0.000,0.068,2131,3213,3084,0,0,0,0,0,0
$GC,1075,-0.77,-146.0,158.9,-15.0,158,1082,0.00,1.10,0.00,0.000,6,0.000,0.038,2131,2512,3084,0,0,0,0,0,0
$GC,1411,-0.77,-146.0,208.9,-14.8,209,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3084,0,0,0,0,0,0
$GC,1748,-0.77,-146.0,258.0,-14.1,256,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3084,0,0,0,0,0,0
$GC,2063,-0.77,-146.0,300.3,-13.3,281,2066,0.00,1.10,0.00,0.000,4,0.000,0.050,2131,1814,3084,0,0,0,0,0,0
$GC,2082,-0.77,-146.0,302.3,-13.3,282,2089,0.00,1.20,0.00,0.000,6,0.000,0.060,2127,2515,3084,0,0,0,0,0,0
$GC,2407,-0.77,-146.0,347.1,-13.4,308,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2514,3084,0,0,0,0,0,0
$GC,2720,-0.77,-146.0,390.9,-14.1,333,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2514,3084,0,0,0,0,0,0
$GC,3036,-0.77,-146.0,432.8,-13.0,358,3040,0.00,1.12,0.00,0.000,4,0.000,0.071,2122,3221,3084,0,0,0,0,0,0
$GC,3068,-0.77,-146.0,436.4,-13.2,360,3076,0.12,1.12,0.00,0.000,6,0.181,0.035,2150,2504,3084,0,0,0,0,0,0
$GC,3391,-0.77,-146.0,472.7,-11.0,386,3394,0.00,1.17,0.00,0.000,4,0.000,0.067,2147,3211,3084,0,0,0,0,0,0
$GC,3444,-0.77,-146.0,478.4,-10.7,390,3447,0.00,1.08,0.00,0.000,6,0.000,0.034,2147,2514,3084,0,0,0,0,0,0
$GC,3769,-0.77,-146.0,514.3,-11.1,410,3772,0.00,1.17,0.00,0.000,4,0.000,0.067,2142,3220,3084,0,0,0,0,0,0
$GC,3806,-0.77,-146.0,518.0,-11.2,411,3811,0.00,1.12,0.00,0.000,6,0.000,0.034,2142,2501,3084,0,0,0,0,0,0
$GC,4141,-0.77,-146.0,557.3,-11.7,422,4144,0.00,1.17,0.00,0.000,4,0.000,0.067,2137,3211,3084,0,0,0,0,0,0
$GC,4185,-0.77,-146.0,561.4,-11.8,423,4189,0.00,1.10,0.00,0.000,6,0.000,0.033,2138,2506,3084,0,0,0,0,0,0
$GC,4513,-0.77,-146.0,600.6,-11.3,434,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2506,3084,0,0,0,0,0,0
$GC,4820,-0.77,-146.0,636.4,-11.8,444,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2506,3085,0,0,0,0,0,0
$GC,5124,-0.77,-146.0,671.7,-11.5,454,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2506,3085,0,0,0,0,0,0
$GC,5432,-0.77,-146.0,706.8,-11.3,464,5436,0.00,1.17,0.00,0.000,4,0.000,0.069,2133,3213,3085,0,0,0,0,0,0
$GC,5476,-0.77,-146.0,710.8,-11.5,465,5481,0.00,1.10,0.00,0.000,6,0.000,0.034,2133,2508,3085,0,0,0,0,0,0
$GC,5805,-0.77,-146.0,749.4,-11.4,476,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2508,3085,0,0,0,0,0,0
$GC,6109,-0.77,-146.0,784.0,-11.3,486,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2508,3085,0,0,0,0,0,0
$GC,6417,-0.77,-146.0,817.5,-10.9,496,6421,0.00,1.17,0.00,0.000,4,0.000,0.068,2128,3215,3086,0,0,0,0,0,0
$GC,6455,-0.77,-146.0,821.3,-10.9,497,6460,0.00,1.10,0.00,0.000,6,0.000,0.034,2128,2509,3085,0,0,0,0,0,0
$GC,6792,-0.77,-146.0,859.0,-11.4,508,6795,0.00,1.17,0.00,0.000,4,0.000,0.068,2124,3218,3085,0,0,0,0,0,0
$GC,6816,-0.77,-146.0,859.0,-11.4,508,6824,0.00,1.10,0.00,0.000,6,0.000,0.033,2124,2508,3085,0,0,0,0,0,0
$STATE,6852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6852,begin apogee
$GC,6858,-0.16,0.0,866.5,-11.3,510,6987,0.68,0.00,122.78,1.421,6,0.145,0.000,2339,2197,2485,0,0,0,0,0,0
$STATE,6987,end apogee,CONTROL_FINISHED_OK
$STATE,6988,begin climb
$GC,6990,0.77,146.0,871.3,0.0,514,7129,0.93,1.23,130.82,1.362,4,0.074,0.054,2653,1505,1888,0,0,0,0,0,0
$GC,7345,0.77,146.0,838.0,13.3,525,7350,0.00,1.25,0.00,0.000,6,0.000,0.047,2653,2211,1880,0,0,0,0,0,0
$GC,7674,0.77,146.0,794.5,12.9,536,7678,0.00,1.17,0.00,0.000,4,0.000,0.057,2653,2911,1877,0,0,0,0,0,0
$GC,7840,0.77,146.0,772.2,13.2,541,7843,0.00,1.17,0.00,0.000,6,0.000,0.040,2658,2210,1876,0,0,0,0,0,0
$GC,8182,0.77,146.0,727.8,13.0,552,8186,0.00,1.20,0.00,0.000,4,0.000,0.055,2657,2903,1876,0,0,0,0,0,0
$GC,8266,0.77,146.0,718.5,13.2,554,8271,0.00,1.20,0.00,0.000,6,0.000,0.040,2662,2190,1875,0,0,0,0,0,0
$GC,8586,0.77,146.0,674.1,13.1,565,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2190,1875,0,0,0,0,0,0
$GC,8893,0.77,146.0,634.9,12.7,575,8897,0.00,1.23,0.00,0.000,4,0.000,0.057,2662,2904,1875,0,0,0,0,0,0
$GC,9010,0.77,146.0,621.9,13.0,578,9015,0.00,1.17,0.00,0.000,6,0.000,0.041,2667,2198,1875,0,0,0,0,0,0
$GC,9331,0.77,146.0,578.1,13.0,589,9334,0.00,1.20,0.00,0.000,4,0.000,0.057,2667,2898,1874,0,0,0,0,0,0
$GC,9455,0.77,146.0,564.9,13.2,592,9462,0.00,1.17,0.00,0.000,6,0.000,0.041,2672,2193,1874,0,0,0,0,0,0
$GC,9768,0.77,146.0,517.3,14.8,603,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2193,1874,0,0,0,0,0,0
$GC,10081,0.77,146.0,471.9,14.2,622,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2193,1873,0,0,0,0,0,0
$GC,10396,0.77,146.0,426.9,14.1,647,10400,0.00,1.08,0.00,0.000,4,0.000,0.056,2677,1497,1873,0,0,0,0,0,0
$GC,10528,0.77,146.0,408.5,14.0,657,10533,0.10,1.15,0.00,0.000,6,0.162,0.052,2647,2202,1873,0,0,0,0,0,0
$GC,10857,0.77,146.0,369.0,11.7,683,10858,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2202,1873,0,0,0,0,0,0
$GC,11174,0.77,146.0,333.5,11.0,708,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2202,1873,0,0,0,0,0,0
$GC,11490,0.77,146.0,299.3,10.6,733,11493,0.00,1.15,0.00,0.000,4,0.000,0.053,2651,1494,1873,0,0,0,0,0,0
$GC,11569,0.77,146.0,290.4,10.8,739,11573,0.00,1.15,0.00,0.000,6,0.000,0.053,2651,2198,1873,0,0,0,0,0,0
$GC,11899,0.77,146.0,255.4,10.3,765,11903,0.00,1.15,0.00,0.000,4,0.000,0.061,2651,2913,1873,0,0,0,0,0,0
$GC,12124,0.77,146.0,229.7,11.7,795,12133,0.00,1.15,0.00,0.000,6,0.000,0.043,2656,2202,1873,0,0,0,0,0,0
$GC,12462,0.77,146.0,193.0,10.5,846,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2202,1873,0,0,0,0,0,0
$GC,12798,0.79,163.3,159.6,9.2,897,12820,0.00,1.05,13.27,0.962,4,0.000,0.054,2661,1496,1818,0,0,0,0,0,0
$GC,12915,0.81,183.0,148.9,9.1,914,12937,0.00,1.17,17.65,0.956,6,0.000,0.054,2661,2208,1739,0,0,0,0,0,0
$GC,13268,0.84,202.1,114.1,9.1,967,13291,0.00,1.20,17.45,0.938,4,0.000,0.061,2661,2914,1660,0,0,0,0,0,0
$GC,13412,0.84,202.1,99.5,10.4,988,13418,0.00,1.20,0.00,0.000,6,0.000,0.042,2666,2191,1658,0,0,0,0,0,0
$GC,13749,0.85,214.6,66.8,9.4,1039,13766,0.00,1.15,11.12,0.902,4,0.000,0.057,2671,1490,1610,0,0,0,0,0,0
$GC,13814,0.85,214.6,60.6,10.0,1048,13821,0.00,1.20,0.00,0.000,6,0.000,0.054,2671,2206,1609,0,0,0,0,0,0
$GC,14151,0.89,248.9,29.1,8.4,1099,14187,0.00,1.15,27.05,0.907,4,0.000,0.057,2670,2910,1468,0,0,0,0,0,0
$GC,14400,0.89,248.9,2.7,10.0,1136,14407,0.00,1.20,0.00,0.000,6,0.000,0.043,2676,2193,1462,0,0,0,0,0,0
$STATE,14412,end climb,SURFACE_DEPTH_REACHED
$STATE,14412,begin surface coast
$FINISH,1.8,1.015275
$STATE,14433,end surface coast,CONTROL_FINISHED_OK
$STATE,14433,begin surface
$SM_CCo,14450,47.83,0.085,0,0,1057,350.04
$SM_GC,2.53,7.03,0.60,47.83,0.052,0.053,0.085,125,2512,1057,-7.06,-0.79,350.04,0,0,0,0,0,0
$RAFOS_CLK,954
$RAFOS,4,1319272381,8.566667,8.550278,123,66,61,0,0,0,696,213,148,0,0,0
$RAFOS,3,1319271904,8.433333,8.417778,88,60,59,0,0,0,822,193,203,0,0,0
$RAFOS,2,1319271427,8.300000,8.285277,139,66,64,0,0,0,862,193,219,0,0,0
$RAFOS,1,1319270944,8.166667,8.151111,73,61,56,0,0,0,857,200,224,0,0,0
$RAFOS,0,1319270466,8.033334,8.018333,107,72,67,0,0,0,981,220,194,0,0,0
$RAFOS,6,1319258946,4.833333,4.818333,131,65,59,0,0,0,704,221,209,0,0,0
$RAFOS_FIX,6654.025879,-5759.411133,221011,040424,5,114,0.00
$IRIDIUM_FIX,6625.71,-5752.72,221011,040412
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.77
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,800.8,73.7
$24V_AH,22.7,14.186
$10V_AH,10.2,11.696
$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,17.425,54.400,340.150,47.825,0.000,0.000,0.000,276.300,9.750,0.000,19.816,3203.558,8811.966,541.846,2212.648,217.891,0.000,1846.666,0.000,1917.441,2520.000,23.286,0.000
$DEVICE_MAMPS,263.925,75.735,1420.605,84.915,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.213,629.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150372
$DATA_FILE_SIZE,43279,1141
$CAP_FILE_SIZE,133875,0
$CFSIZE,260165632,240271360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1457.1
$CURRENT,0.204, 42.0,1
$GPS,221011,084606,6655.256,-5758.498,31,0.8,32,-33.6