version: 66.09
glider: 143
mission: 13
dive: 114
start: 10 22 111 13 11 41
data:
$ID,143
$MISSION,13
$DIVE,114
$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,-80659
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,221011,130623,6654.610,-5802.858,40,1.0,41,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-71.7
$GPS2,221011,131108,6654.623,-5802.793,17,1.3,18,-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,266.6,106595,-18.3,-10.000
$D_GRID,903
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-53.08,0.000,2,0.000,0.000,122,2520,1805,0,0,0,0,0,0
$GC,75,-0.77,-146.0,3.1,-1.3,8,158,8.60,0.00,-70.47,0.000,6,0.264,0.000,2144,2520,3081,0,0,0,0,0,0
$GC,492,-0.77,-146.0,67.4,-15.6,70,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2520,3084,0,0,0,0,0,0
$GC,829,-0.77,-146.0,119.0,-14.3,121,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2520,3084,0,0,0,0,0,0
$GC,1168,-0.77,-146.0,168.0,-14.3,172,1176,0.00,1.12,0.00,0.000,4,0.000,0.074,2141,3213,3084,0,0,0,0,0,0
$GC,1242,-0.77,-146.0,178.3,-13.7,183,1249,0.00,1.12,0.00,0.000,6,0.000,0.038,2141,2499,3084,0,0,0,0,0,0
$GC,1580,-0.77,-146.0,226.4,-13.9,234,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2499,3084,0,0,0,0,0,0
$GC,1908,-0.77,-146.0,269.0,-12.2,273,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2500,3084,0,0,0,0,0,0
$GC,2225,-0.77,-146.0,306.0,-11.8,298,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2499,3084,0,0,0,0,0,0
$GC,2540,-0.77,-146.0,343.5,-12.4,323,2543,0.00,1.08,0.00,0.000,4,0.000,0.049,2141,1816,3084,0,0,0,0,0,0
$GC,2584,-0.77,-146.0,348.5,-12.3,326,2592,0.00,1.20,0.00,0.000,6,0.000,0.058,2137,2506,3084,0,0,0,0,0,0
$GC,2908,-0.77,-146.0,389.5,-12.2,352,2912,0.00,1.12,0.00,0.000,4,0.000,0.070,2132,3213,3084,0,0,0,0,0,0
$GC,2979,-0.77,-146.0,398.0,-12.6,357,2990,0.00,1.12,0.00,0.000,6,0.000,0.035,2132,2499,3084,0,0,0,0,0,0
$GC,3304,-0.77,-146.0,438.8,-12.3,383,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3084,0,0,0,0,0,0
$GC,3619,-0.77,-146.0,477.1,-12.0,408,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3084,0,0,0,0,0,0
$GC,3930,-0.77,-146.0,515.5,-12.2,427,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3084,0,0,0,0,0,0
$GC,4239,-0.77,-146.0,552.8,-12.3,437,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3084,0,0,0,0,0,0
$GC,4542,-0.77,-146.0,589.2,-11.8,447,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3085,0,0,0,0,0,0
$GC,4849,-0.77,-146.0,624.6,-11.6,457,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3085,0,0,0,0,0,0
$GC,5155,-0.77,-146.0,658.8,-10.9,467,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3085,0,0,0,0,0,0
$GC,5462,-0.77,-146.0,693.2,-11.2,477,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3085,0,0,0,0,0,0
$GC,5767,-0.77,-146.0,727.8,-11.1,487,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2499,3085,0,0,0,0,0,0
$GC,6074,-0.77,-146.0,761.2,-10.9,497,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3085,0,0,0,0,0,0
$GC,6380,-0.77,-146.0,793.8,-10.8,507,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3085,0,0,0,0,0,0
$GC,6686,-0.77,-146.0,826.6,-10.7,517,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2499,3086,0,0,0,0,0,0
$GC,6992,-0.77,-146.0,859.8,-10.8,527,6996,0.00,1.17,0.00,0.000,4,0.000,0.067,2127,3211,3086,0,0,0,0,0,0
$GC,7084,-0.77,-146.0,867.1,-11.0,529,7093,0.00,1.08,0.00,0.000,6,0.000,0.034,2127,2510,3085,0,0,0,0,0,0
$STATE,7303,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7303,begin apogee
$GC,7309,-0.16,0.0,894.9,-11.3,537,7438,0.68,0.00,123.05,1.437,6,0.142,0.000,2343,2196,2485,0,0,0,0,0,0
$STATE,7439,end apogee,CONTROL_FINISHED_OK
$STATE,7439,begin climb
$GC,7441,0.77,146.0,899.7,0.0,541,7580,0.90,1.15,131.32,1.376,4,0.067,0.051,2654,1510,1889,0,0,0,0,0,0
$GC,7819,0.77,146.0,862.0,13.2,553,7822,0.00,1.20,0.00,0.000,6,0.000,0.048,2654,2203,1881,0,0,0,0,0,0
$GC,8158,0.77,146.0,816.0,13.6,564,8161,0.00,1.17,0.00,0.000,4,0.000,0.057,2654,2905,1878,0,0,0,0,0,0
$GC,8242,0.77,146.0,806.9,13.7,566,8247,0.00,1.20,0.00,0.000,6,0.000,0.040,2659,2203,1877,0,0,0,0,0,0
$GC,8563,0.77,146.0,760.8,13.7,577,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2203,1876,0,0,0,0,0,0
$GC,8870,0.77,146.0,720.1,13.2,587,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2202,1876,0,0,0,0,0,0
$GC,9175,0.77,146.0,680.4,13.0,597,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2203,1876,0,0,0,0,0,0
$GC,9483,0.77,146.0,640.3,13.1,607,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2203,1875,0,0,0,0,0,0
$GC,9788,0.77,146.0,601.3,12.5,617,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2202,1875,0,0,0,0,0,0
$GC,10095,0.77,146.0,564.8,11.9,627,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2203,1875,0,0,0,0,0,0
$GC,10400,0.77,146.0,529.2,11.6,637,10404,0.00,1.20,0.00,0.000,4,0.000,0.055,2659,2910,1874,0,0,0,0,0,0
$GC,10499,0.77,146.0,517.0,12.2,640,10503,0.00,1.15,0.00,0.000,6,0.000,0.041,2664,2199,1874,0,0,0,0,0,0
$GC,10820,0.77,146.0,477.5,12.4,658,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2200,1874,0,0,0,0,0,0
$GC,11140,0.77,146.0,438.2,12.9,683,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2200,1874,0,0,0,0,0,0
$GC,11463,0.77,146.0,395.6,13.0,709,11467,0.00,1.20,0.00,0.000,4,0.000,0.056,2664,2910,1874,0,0,0,0,0,0
$GC,11569,0.77,146.0,380.9,13.6,717,11573,0.00,1.15,0.00,0.000,6,0.000,0.041,2669,2198,1874,0,0,0,0,0,0
$GC,11899,0.77,146.0,339.1,12.8,743,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2198,1874,0,0,0,0,0,0
$GC,12215,0.77,146.0,300.3,11.8,768,12218,0.00,1.20,0.00,0.000,4,0.000,0.055,2669,2911,1874,0,0,0,0,0,0
$GC,12347,0.77,146.0,283.9,12.3,778,12351,0.00,1.15,0.00,0.000,6,0.000,0.041,2673,2198,1874,0,0,0,0,0,0
$GC,12670,0.77,146.0,247.5,11.1,805,12677,0.00,1.08,0.00,0.000,4,0.000,0.054,2679,1494,1874,0,0,0,0,0,0
$GC,12730,0.77,146.0,241.0,10.9,814,12740,0.10,1.15,0.00,0.000,6,0.157,0.050,2648,2208,1874,0,0,0,0,0,0
$GC,13070,0.78,159.3,207.9,9.4,865,13086,0.00,1.15,9.93,0.964,4,0.000,0.057,2648,2905,1835,0,0,0,0,0,0
$GC,13141,0.78,159.3,200.5,11.1,875,13147,0.00,1.15,0.00,0.000,6,0.000,0.040,2651,2197,1834,0,0,0,0,0,0
$GC,13478,0.80,172.6,167.2,9.4,926,13494,0.00,0.00,12.85,0.959,6,0.000,0.000,2651,2197,1780,0,0,0,0,0,0
$GC,13825,0.81,182.2,131.8,9.6,978,13841,0.00,1.20,9.43,0.915,4,0.000,0.053,2651,2913,1741,0,0,0,0,0,0
$GC,13970,0.82,185.0,116.7,9.9,999,13978,0.00,1.17,4.10,0.719,6,0.000,0.040,2656,2195,1730,0,0,0,0,0,0
$GC,14309,0.86,221.8,85.3,8.3,1050,14345,0.00,0.00,32.10,0.939,6,0.000,0.000,2656,2195,1580,0,0,0,0,0,0
$GC,14676,0.90,254.4,51.2,8.5,1105,14711,0.10,1.27,27.73,0.912,4,0.109,0.056,2694,2900,1446,0,0,0,0,0,0
$GC,14921,0.90,254.4,23.1,12.2,1142,14930,0.00,1.17,0.00,0.000,6,0.000,0.040,2699,2196,1442,0,0,0,0,0,0
$STATE,15102,end climb,SURFACE_DEPTH_REACHED
$STATE,15102,begin surface coast
$FINISH,1.8,1.012470
$STATE,15117,end surface coast,CONTROL_FINISHED_OK
$STATE,15117,begin surface
$SM_CCo,15134,45.30,0.085,0,0,1057,350.04
$SM_GC,2.41,7.05,0.60,45.30,0.050,0.052,0.085,125,2514,1057,-7.06,-0.68,350.04,0,0,0,0,0,0
$RAFOS_CLK,993
$RAFOS,6,1319302142,16.833334,16.817223,83,59,57,0,0,0,707,193,159,0,0,0
$RAFOS,5,1319301673,16.700001,16.686945,171,60,60,0,0,0,537,219,137,0,0,0
$RAFOS,4,1319301186,16.566668,16.551666,136,59,59,0,0,0,659,208,178,0,0,0
$RAFOS,3,1319300706,16.433332,16.418333,80,62,58,0,0,0,787,158,175,0,0,0
$RAFOS,2,1319300233,16.299999,16.286945,115,58,57,0,0,0,804,146,123,0,0,0
$RAFOS,1,1319299753,16.166666,16.153610,82,58,54,0,0,0,789,191,203,0,0,0
$RAFOS,0,1319299284,16.033333,16.023333,83,66,62,0,0,0,860,214,156,0,0,0
$RAFOS_FIX,6654.188477,-5808.663574,221011,161625,7,107,0.37
$IRIDIUM_FIX,6625.71,-5806.66,221011,080852
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.67
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,853.1,55.4
$24V_AH,22.7,14.444
$10V_AH,10.3,11.865
$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,17.425,31.225,350.500,45.300,0.000,0.000,0.000,177.200,7.750,0.000,19.301,3217.401,9470.688,525.639,2075.338,206.519,0.000,1689.344,0.000,1871.677,2520.000,31.002,0.000
$DEVICE_MAMPS,263.925,74.205,1437.435,84.915,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.746,637.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150284
$DATA_FILE_SIZE,43330,1171
$CAP_FILE_SIZE,125092,0
$CFSIZE,260165632,240148480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1457.3
$CURRENT,0.112, 63.2,1
$GPS,221011,172629,6653.442,-5806.034,39,0.8,40,-33.6