version: 66.09
glider: 143
mission: 13
dive: 115
start: 10 22 111 17 32 22
data:
$ID,143
$MISSION,13
$DIVE,115
$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,-80660.25
$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,35
$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
$GPS1,221011,172629,6653.442,-5806.034,39,0.8,40,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-71.3
$GPS2,221011,173149,6653.449,-5806.026,17,1.0,18,-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,286.7,103884,-18.3,-10.000
$D_GRID,889
$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,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,66,0.00,0.00,-46.53,0.000,2,0.000,0.000,125,2518,1707,0,0,0,0,0,0
$GC,69,-0.77,-146.0,3.1,-1.2,7,181,8.50,1.20,-95.28,0.000,4,0.262,0.072,2144,1806,3082,0,0,0,0,0,0
$GC,407,-0.77,-146.0,50.5,-17.3,58,414,0.00,1.23,0.00,0.000,6,0.000,0.058,2141,2513,3083,0,0,0,0,0,0
$GC,747,-0.77,-146.0,107.3,-16.1,109,753,0.00,1.12,0.00,0.000,4,0.000,0.070,2136,3214,3084,0,0,0,0,0,0
$GC,866,-0.77,-146.0,127.0,-15.8,127,873,0.00,1.12,0.00,0.000,6,0.000,0.037,2136,2500,3084,0,0,0,0,0,0
$GC,1204,-0.77,-146.0,180.0,-15.2,178,1211,0.00,1.20,0.00,0.000,4,0.000,0.067,2131,3214,3084,0,0,0,0,0,0
$GC,1238,-0.77,-146.0,185.3,-15.1,183,1245,0.00,1.10,0.00,0.000,6,0.000,0.037,2131,2512,3084,0,0,0,0,0,0
$GC,1575,-0.77,-146.0,238.0,-14.2,234,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3084,0,0,0,0,0,0
$GC,1902,-0.77,-146.0,284.5,-13.7,266,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3083,0,0,0,0,0,0
$GC,2216,-0.77,-146.0,326.5,-13.0,291,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3083,0,0,0,0,0,0
$GC,2532,-0.77,-146.0,368.1,-13.4,316,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3083,0,0,0,0,0,0
$GC,2849,-0.77,-146.0,407.2,-12.2,341,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3083,0,0,0,0,0,0
$GC,3163,-0.77,-146.0,445.4,-11.8,366,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3083,0,0,0,0,0,0
$GC,3478,-0.77,-146.0,484.1,-12.6,391,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3083,0,0,0,0,0,0
$GC,3801,-0.77,-146.0,524.1,-12.4,408,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3083,0,0,0,0,0,0
$GC,4107,-0.77,-146.0,561.8,-12.3,418,4111,0.00,1.17,0.00,0.000,4,0.000,0.069,2126,3217,3084,0,0,0,0,0,0
$GC,4145,-0.77,-146.0,565.7,-12.2,419,4150,0.00,1.12,0.00,0.000,6,0.000,0.035,2126,2501,3084,0,0,0,0,0,0
$GC,4479,-0.77,-146.0,607.0,-12.2,430,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3084,0,0,0,0,0,0
$GC,4785,-0.77,-146.0,643.8,-11.9,440,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3084,0,0,0,0,0,0
$GC,5091,-0.77,-146.0,679.3,-11.4,450,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3084,0,0,0,0,0,0
$GC,5398,-0.77,-146.0,714.3,-11.5,460,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3085,0,0,0,0,0,0
$GC,5703,-0.77,-146.0,749.6,-11.6,470,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3085,0,0,0,0,0,0
$GC,6010,-0.77,-146.0,784.8,-11.5,480,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2501,3085,0,0,0,0,0,0
$GC,6318,-0.77,-146.0,819.1,-11.3,490,6321,0.00,1.17,0.00,0.000,4,0.000,0.067,2121,3213,3085,0,0,0,0,0,0
$GC,6350,-0.77,-146.0,823.1,-11.3,491,6355,0.08,1.08,0.00,0.000,6,0.164,0.034,2145,2506,3085,0,0,0,0,0,0
$GC,6689,-0.77,-146.0,856.9,-10.1,502,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2506,3085,0,0,0,0,0,0
$GC,6996,-0.77,-146.0,886.3,-9.3,512,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2506,3085,0,0,0,0,0,0
$STATE,7026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7026,begin apogee
$GC,7031,-0.16,0.0,889.3,-9.3,513,7160,0.60,0.00,123.00,1.434,6,0.138,0.000,2341,2195,2485,0,0,0,0,0,0
$STATE,7161,end apogee,CONTROL_FINISHED_OK
$STATE,7161,begin climb
$GC,7163,0.77,146.0,893.2,0.0,517,7307,0.90,1.23,130.90,1.374,4,0.071,0.053,2648,1510,1888,0,0,0,0,0,0
$GC,7479,0.77,146.0,864.7,13.1,527,7483,0.00,1.23,0.00,0.000,6,0.000,0.048,2648,2207,1881,0,0,0,0,0,0
$GC,7813,0.77,146.0,821.6,12.7,538,7816,0.00,1.17,0.00,0.000,4,0.000,0.057,2648,2906,1878,0,0,0,0,0,0
$GC,7913,0.77,146.0,808.4,12.9,541,7917,0.00,1.17,0.00,0.000,6,0.000,0.040,2653,2209,1877,0,0,0,0,0,0
$GC,8253,0.77,146.0,766.0,12.2,552,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2209,1876,0,0,0,0,0,0
$GC,8558,0.77,146.0,728.0,12.5,562,8562,0.00,1.20,0.00,0.000,4,0.000,0.055,2653,2906,1876,0,0,0,0,0,0
$GC,8636,0.77,146.0,719.5,12.6,564,8641,0.00,1.20,0.00,0.000,6,0.000,0.040,2658,2190,1876,0,0,0,0,0,0
$GC,8963,0.77,146.0,677.3,12.7,575,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2190,1875,0,0,0,0,0,0
$GC,9271,0.77,146.0,637.3,13.1,585,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2190,1874,0,0,0,0,0,0
$GC,9575,0.77,146.0,596.5,13.2,595,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2190,1874,0,0,0,0,0,0
$GC,9885,0.77,146.0,555.8,13.2,605,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2190,1874,0,0,0,0,0,0
$GC,10188,0.77,146.0,515.7,13.1,615,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2190,1874,0,0,0,0,0,0
$GC,10500,0.77,146.0,475.9,12.8,634,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2190,1874,0,0,0,0,0,0
$GC,10818,0.77,146.0,436.3,12.8,659,10822,0.00,1.08,0.00,0.000,4,0.000,0.054,2663,1493,1874,0,0,0,0,0,0
$GC,10884,0.77,146.0,427.3,13.0,664,10888,0.00,1.15,0.00,0.000,6,0.000,0.050,2663,2201,1874,0,0,0,0,0,0
$GC,11216,0.77,146.0,383.1,13.4,690,11219,0.00,1.12,0.00,0.000,4,0.000,0.060,2663,2901,1874,0,0,0,0,0,0
$GC,11295,0.77,146.0,371.8,13.8,696,11298,0.00,1.15,0.00,0.000,6,0.000,0.042,2668,2194,1873,0,0,0,0,0,0
$GC,11623,0.77,146.0,329.9,11.7,722,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2194,1874,0,0,0,0,0,0
$GC,11940,0.77,146.0,294.0,11.2,747,11944,0.00,1.20,0.00,0.000,4,0.000,0.056,2668,2906,1874,0,0,0,0,0,0
$GC,12033,0.77,146.0,283.1,11.5,754,12037,0.00,1.15,0.00,0.000,6,0.000,0.041,2673,2195,1874,0,0,0,0,0,0
$GC,12357,0.77,146.0,246.1,10.9,782,12363,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2195,1874,0,0,0,0,0,0
$GC,12694,0.77,146.0,210.5,10.2,833,12700,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2195,1874,0,0,0,0,0,0
$GC,13031,0.77,147.9,175.7,9.9,884,13040,0.00,1.05,0.00,0.000,4,0.000,0.054,2678,1499,1874,0,0,0,0,0,0
$GC,13153,0.78,155.6,164.3,9.6,902,13167,0.00,1.15,6.82,0.890,6,0.000,0.052,2678,2205,1850,0,0,0,0,0,0
$GC,13498,0.81,179.0,133.0,8.9,954,13525,0.00,0.00,21.15,0.965,6,0.000,0.000,2678,2205,1754,0,0,0,0,0,0
$GC,13855,0.81,179.0,95.3,10.9,1008,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2205,1751,0,0,0,0,0,0
$GC,14195,0.81,183.7,60.6,9.8,1059,14210,0.00,1.17,4.68,0.765,4,0.000,0.060,2678,2908,1736,0,0,0,0,0,0
$GC,14270,0.84,205.4,53.2,9.0,1070,14298,0.00,1.17,20.25,0.920,6,0.000,0.043,2683,2194,1646,0,0,0,0,0,0
$GC,14628,0.87,225.1,23.2,9.1,1124,14644,0.00,1.27,11.23,0.850,4,0.000,0.057,2683,2911,1566,0,0,0,0,0,0
$GC,14752,0.88,235.8,11.2,9.5,1142,14766,0.00,1.17,5.10,0.103,6,0.000,0.042,2687,2200,1523,0,0,0,0,0,0
$STATE,14843,end climb,SURFACE_DEPTH_REACHED
$STATE,14843,begin surface coast
$FINISH,1.7,1.024154
$STATE,14866,end surface coast,CONTROL_FINISHED_OK
$STATE,14866,begin surface
$SM_CCo,14883,54.70,0.085,0,0,1057,350.04
$SM_GC,2.83,6.95,0.60,54.70,0.046,0.060,0.085,124,2514,1057,-7.06,-0.68,350.04,0,0,0,0,0,0
$RAFOS_CLK,979
$RAFOS,6,1319316552,20.833334,20.820000,97,60,56,0,0,0,636,220,130,0,0,0
$RAFOS,5,1319316073,20.700001,20.686945,187,69,64,0,0,0,550,208,175,0,0,0
$RAFOS,4,1319315584,20.566668,20.551111,91,61,55,0,0,0,651,211,114,0,0,0
$RAFOS,3,1319315113,20.433332,20.420279,66,62,57,0,0,0,220,204,119,0,0,0
$RAFOS,2,1319314621,20.299999,20.283611,82,59,58,0,0,0,857,162,214,0,0,0
$RAFOS,1,1319314162,20.166666,20.156111,65,64,62,0,0,0,210,728,127,0,0,0
$RAFOS,0,1319313672,20.033333,20.020000,70,55,55,0,0,0,205,182,131,0,0,0
$RAFOS_FIX,6655.451660,-5812.791992,221011,202020,4,114,0.55
$IRIDIUM_FIX,6625.71,-5804.90,221011,131306
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.97
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,21
$24V_AH,22.7,14.563
$10V_AH,10.3,11.950
$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,17.025,33.650,323.125,54.700,0.000,0.000,0.000,210.975,8.500,0.000,18.951,3165.272,9312.969,526.801,2064.379,207.979,0.000,1711.721,0.000,1834.258,2520.000,25.152,0.000
$DEVICE_MAMPS,261.630,71.910,1433.610,84.915,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.029,632.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43375,1159
$CAP_FILE_SIZE,124906,0
$CFSIZE,260165632,240082944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.2
$CURRENT,0.257, 10.8,1
$GPS,221011,214255,6654.800,-5811.351,36,1.8,36,-33.6