version: 66.09
glider: 143
mission: 13
dive: 116
start: 10 22 111 21 48 20
data:
$ID,143
$MISSION,13
$DIVE,116
$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,-80661.5
$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,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
$GPS1,221011,214255,6654.800,-5811.351,36,1.8,36,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-68.8
$GPS2,221011,214749,6654.824,-5811.443,17,1.0,18,-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,247.1,100457,-18.3,-10.000
$D_GRID,909
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-47.00,0.000,2,0.000,0.000,124,2518,1718,0,0,0,0,0,0
$GC,69,-0.77,-146.0,3.0,-1.2,7,165,8.48,1.15,-77.38,0.000,4,0.261,0.076,2144,1811,3081,0,0,0,0,0,0
$GC,237,-0.77,-146.0,22.8,-19.1,32,246,0.00,1.23,0.00,0.000,6,0.000,0.063,2141,2509,3083,0,0,0,0,0,0
$GC,577,-0.77,-146.0,81.8,-16.2,83,584,0.00,1.15,0.00,0.000,4,0.000,0.073,2136,3218,3083,0,0,0,0,0,0
$GC,624,-0.77,-146.0,89.8,-17.0,90,631,0.00,1.12,0.00,0.000,6,0.000,0.041,2136,2511,3083,0,0,0,0,0,0
$GC,962,-0.77,-146.0,142.1,-14.6,141,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2511,3083,0,0,0,0,0,0
$GC,1299,-0.77,-146.0,189.9,-14.1,192,1308,0.00,1.12,0.00,0.000,4,0.000,0.050,2136,1803,3083,0,0,0,0,0,0
$GC,1389,-0.77,-146.0,202.1,-13.3,205,1395,0.00,1.23,0.00,0.000,6,0.000,0.062,2131,2510,3083,0,0,0,0,0,0
$GC,1727,-0.77,-146.0,250.4,-14.4,256,1730,0.00,1.12,0.00,0.000,4,0.000,0.072,2126,3214,3083,0,0,0,0,0,0
$GC,1784,-0.77,-146.0,258.3,-15.0,260,1794,0.00,1.15,0.00,0.000,6,0.000,0.037,2126,2497,3083,0,0,0,0,0,0
$GC,2109,-0.77,-146.0,304.4,-13.9,286,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2496,3083,0,0,0,0,0,0
$GC,2423,-0.77,-146.0,345.7,-12.6,311,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2496,3083,0,0,0,0,0,0
$GC,2740,-0.77,-146.0,384.7,-12.9,336,2744,0.00,1.08,0.00,0.000,4,0.000,0.049,2126,1811,3083,0,0,0,0,0,0
$GC,2798,-0.77,-146.0,391.5,-12.4,340,2809,0.12,1.23,0.00,0.000,6,0.181,0.060,2150,2516,3083,0,0,0,0,0,0
$GC,3121,-0.77,-146.0,426.9,-10.5,366,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2516,3083,0,0,0,0,0,0
$GC,3436,-0.77,-146.0,461.6,-11.1,391,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2516,3083,0,0,0,0,0,0
$GC,3752,-0.77,-146.0,497.4,-11.4,416,3756,0.00,1.10,0.00,0.000,4,0.000,0.071,2147,3210,3083,0,0,0,0,0,0
$GC,3817,-0.77,-146.0,504.9,-11.6,420,3821,0.00,1.10,0.00,0.000,6,0.000,0.037,2147,2499,3083,0,0,0,0,0,0
$GC,4156,-0.77,-146.0,543.0,-11.4,431,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2499,3083,0,0,0,0,0,0
$GC,4464,-0.77,-146.0,577.9,-11.1,441,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2499,3084,0,0,0,0,0,0
$GC,4769,-0.77,-146.0,610.3,-10.6,451,4772,0.00,1.08,0.00,0.000,4,0.000,0.047,2147,1810,3084,0,0,0,0,0,0
$GC,4853,-0.77,-146.0,617.3,-10.7,453,4858,0.00,1.23,0.00,0.000,6,0.000,0.057,2142,2521,3084,0,0,0,0,0,0
$GC,5174,-0.77,-146.0,654.2,-10.9,464,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2522,3084,0,0,0,0,0,0
$GC,5480,-0.77,-146.0,686.8,-10.8,474,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2521,3085,0,0,0,0,0,0
$GC,5786,-0.77,-146.0,720.0,-10.8,484,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2522,3085,0,0,0,0,0,0
$GC,6093,-0.77,-146.0,753.1,-10.8,494,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2522,3084,0,0,0,0,0,0
$GC,6399,-0.77,-146.0,785.7,-10.5,504,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2522,3085,0,0,0,0,0,0
$GC,6706,-0.77,-146.0,818.2,-10.5,514,6710,0.00,1.10,0.00,0.000,4,0.000,0.073,2137,3213,3085,0,0,0,0,0,0
$GC,6763,-0.77,-146.0,821.8,-10.4,515,6771,0.00,1.10,0.00,0.000,6,0.000,0.034,2137,2506,3085,0,0,0,0,0,0
$GC,7078,-0.77,-146.0,857.5,-10.6,526,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,7383,-0.77,-146.0,890.1,-10.6,536,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3085,0,0,0,0,0,0
$STATE,7565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7565,begin apogee
$GC,7571,-0.16,0.0,909.3,-10.5,542,7700,0.62,0.00,123.15,1.447,6,0.138,0.000,2339,2195,2485,0,0,0,0,0,0
$STATE,7701,end apogee,CONTROL_FINISHED_OK
$STATE,7701,begin climb
$GC,7703,0.77,146.0,914.1,0.0,546,7847,0.90,1.25,131.55,1.386,4,0.072,0.054,2648,1501,1888,0,0,0,0,0,0
$GC,7925,0.77,146.0,899.3,10.9,553,7930,0.00,1.27,0.00,0.000,6,0.000,0.048,2648,2203,1883,0,0,0,0,0,0
$GC,8252,0.77,146.0,855.1,12.9,564,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2203,1878,0,0,0,0,0,0
$GC,8559,0.77,146.0,816.2,12.5,574,8563,0.00,1.17,0.00,0.000,4,0.000,0.057,2648,2908,1877,0,0,0,0,0,0
$GC,8676,0.77,146.0,802.7,13.4,577,8681,0.00,1.20,0.00,0.000,6,0.000,0.040,2653,2202,1876,0,0,0,0,0,0
$GC,8997,0.77,146.0,759.7,12.6,588,9000,0.00,1.23,0.00,0.000,4,0.000,0.055,2653,2909,1876,0,0,0,0,0,0
$GC,9063,0.77,146.0,751.3,12.7,590,9067,0.00,1.17,0.00,0.000,6,0.000,0.041,2658,2201,1876,0,0,0,0,0,0
$GC,9405,0.77,146.0,707.8,12.6,601,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2201,1875,0,0,0,0,0,0
$GC,9709,0.77,146.0,669.8,12.5,611,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2201,1874,0,0,0,0,0,0
$GC,10016,0.77,146.0,631.7,12.3,621,10020,0.00,1.20,0.00,0.000,4,0.000,0.056,2658,2905,1874,0,0,0,0,0,0
$GC,10073,0.77,146.0,627.3,12.5,622,10081,0.00,1.17,0.00,0.000,6,0.000,0.041,2663,2199,1874,0,0,0,0,0,0
$GC,10392,0.77,146.0,582.8,13.3,633,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2198,1874,0,0,0,0,0,0
$GC,10694,0.77,146.0,543.5,12.6,643,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2198,1873,0,0,0,0,0,0
$GC,11001,0.77,146.0,503.5,12.8,653,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2199,1873,0,0,0,0,0,0
$GC,11323,0.77,146.0,464.1,11.8,677,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2198,1873,0,0,0,0,0,0
$GC,11636,0.77,146.0,426.5,11.8,702,11640,0.00,1.20,0.00,0.000,4,0.000,0.057,2663,2907,1873,0,0,0,0,0,0
$GC,11825,0.77,146.0,403.9,12.1,716,11836,0.00,1.17,0.00,0.000,6,0.000,0.041,2667,2191,1873,0,0,0,0,0,0
$GC,12150,0.77,146.0,362.6,12.7,742,12154,0.00,1.20,0.00,0.000,4,0.000,0.057,2667,2903,1873,0,0,0,0,0,0
$GC,12297,0.77,146.0,343.1,13.4,753,12301,0.00,1.15,0.00,0.000,6,0.000,0.041,2672,2194,1873,0,0,0,0,0,0
$GC,12627,0.77,146.0,301.2,12.1,779,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2194,1873,0,0,0,0,0,0
$GC,12942,0.77,146.0,264.7,11.1,804,12943,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2194,1873,0,0,0,0,0,0
$GC,13264,0.77,146.0,228.6,11.1,843,13271,0.00,1.20,0.00,0.000,4,0.000,0.057,2672,2906,1873,0,0,0,0,0,0
$GC,13306,0.77,146.0,224.1,11.5,849,13313,0.08,1.15,0.00,0.000,6,0.165,0.041,2655,2194,1873,0,0,0,0,0,0
$GC,13645,0.78,155.5,189.3,9.6,900,13656,0.00,1.25,6.45,0.898,4,0.000,0.055,2654,2920,1851,0,0,0,0,0,0
$GC,13703,0.79,160.0,183.5,9.8,908,13713,0.00,1.17,5.95,0.855,6,0.000,0.041,2658,2191,1831,0,0,0,0,0,0
$GC,14044,0.79,160.0,150.1,10.4,959,14051,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2191,1830,0,0,0,0,0,0
$GC,14382,0.82,186.8,117.8,8.8,1010,14411,0.00,1.27,23.77,0.957,4,0.000,0.057,2658,2912,1723,0,0,0,0,0,0
$GC,14596,0.82,186.8,95.7,10.4,1042,14603,0.00,1.17,0.00,0.000,6,0.000,0.041,2662,2198,1719,0,0,0,0,0,0
$GC,14936,0.86,217.0,66.2,8.6,1093,14965,0.00,0.00,25.65,0.929,6,0.000,0.000,2662,2198,1600,0,0,0,0,0,0
$GC,15294,0.91,262.9,32.4,7.9,1147,15337,0.00,1.30,38.00,0.907,4,0.000,0.057,2662,2912,1413,0,0,0,0,0,0
$GC,15581,0.91,262.9,4.7,10.9,1190,15588,0.00,1.20,0.00,0.000,6,0.000,0.041,2667,2192,1406,0,0,0,0,0,0
$STATE,15605,end climb,SURFACE_DEPTH_REACHED
$STATE,15606,begin surface coast
$FINISH,2.1,1.024716
$STATE,15620,end surface coast,CONTROL_FINISHED_OK
$STATE,15620,begin surface
$SM_CCo,15637,41.15,0.084,0,0,1058,350.04
$SM_GC,2.46,7.00,0.62,41.15,0.049,0.059,0.084,119,2516,1058,-7.07,-0.59,350.04,0,0,0,0,0,0
$RAFOS_CLK,1032
$RAFOS,6,1319330944,0.833333,0.817778,99,66,58,0,0,0,689,206,126,0,0,0
$RAFOS,5,1319330485,0.700000,0.690278,105,67,58,0,0,0,491,154,166,0,0,0
$RAFOS,4,1319329990,0.566667,0.552778,136,66,65,0,0,0,621,181,216,0,0,0
$RAFOS,3,1319329531,0.433333,0.425278,68,58,58,0,0,0,202,134,223,0,0,0
$RAFOS,2,1319329033,0.300000,0.286944,81,61,52,0,0,0,786,217,194,0,0,0
$RAFOS,1,1319328565,0.166667,0.156944,89,65,59,0,0,0,712,218,160,0,0,0
$RAFOS,0,1319328075,0.033333,0.020833,69,64,58,0,0,0,205,188,170,0,0,0
$RAFOS_FIX,6655.002930,-5815.825195,231011,000000,5,102,0.32
$IRIDIUM_FIX,6625.71,-5806.66,221011,171719
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.56
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,902.9,31.8
$24V_AH,22.7,14.692
$10V_AH,10.3,12.036
$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,17.200,43.500,354.525,41.150,0.000,0.000,0.000,184.100,8.500,0.000,18.948,3296.272,9800.816,550.383,2127.599,219.100,0.000,1757.627,0.000,1924.435,2520.000,26.708,0.000
$DEVICE_MAMPS,260.865,75.735,1446.615,84.150,0.000,0.000,0.000,258.419,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,859.844,650.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,46663,1196
$CAP_FILE_SIZE,132472,0
$CFSIZE,260165632,240001024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.4
$CURRENT,0.155, 56.4,1
$GPS,231011,021123,6653.189,-5812.029,40,0.8,41,-33.6