version: 66.09
glider: 143
mission: 13
dive: 119
start: 10 23 111 10 29 0
data:
$ID,143
$MISSION,13
$DIVE,119
$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,-80665.289
$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,22
$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
$GPS1,231011,102052,6653.227,-5817.888,46,2.9,66,-33.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-66.0
$GPS2,231011,102825,6653.299,-5818.022,16,1.6,16,-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,264.9,95194,-18.3,-10.000
$D_GRID,902
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-146.0,0.0,0.0,0,63,0.00,0.00,-46.10,0.000,2,0.000,0.000,119,2520,1691,0,0,0,0,0,0
$GC,67,-0.77,-146.0,3.0,-1.7,7,186,8.48,1.17,-101.78,0.000,4,0.258,0.070,2145,1803,3081,0,0,0,0,0,0
$GC,439,-0.77,-146.0,51.3,-16.2,63,446,0.00,1.23,0.00,0.000,6,0.000,0.060,2142,2508,3083,0,0,0,0,0,0
$GC,778,-0.77,-146.0,106.2,-15.0,114,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2508,3084,0,0,0,0,0,0
$GC,1114,-0.77,-146.0,156.0,-15.0,165,1123,0.00,1.15,0.00,0.000,4,0.000,0.071,2136,3223,3084,0,0,0,0,0,0
$GC,1155,-0.77,-146.0,162.2,-14.7,171,1162,0.00,1.12,0.00,0.000,6,0.000,0.038,2136,2510,3084,0,0,0,0,0,0
$GC,1494,-0.77,-146.0,212.3,-13.5,222,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3084,0,0,0,0,0,0
$GC,1828,-0.77,-146.0,257.6,-13.6,269,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2509,3083,0,0,0,0,0,0
$GC,2145,-0.77,-146.0,298.9,-12.9,294,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3082,0,0,0,0,0,0
$GC,2459,-0.77,-146.0,338.6,-12.6,319,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3083,0,0,0,0,0,0
$GC,2774,-0.77,-146.0,378.3,-12.6,344,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3082,0,0,0,0,0,0
$GC,3090,-0.77,-146.0,417.0,-12.4,369,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,3407,-0.77,-146.0,455.5,-12.1,394,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,3721,-0.77,-146.0,493.3,-11.7,419,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,4029,-0.77,-146.0,529.0,-11.4,432,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,4337,-0.77,-146.0,563.7,-11.4,442,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,4641,-0.77,-146.0,598.4,-11.3,452,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,4949,-0.77,-146.0,632.6,-11.1,462,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2510,3083,0,0,0,0,0,0
$GC,5255,-0.77,-146.0,666.4,-11.1,472,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,5562,-0.77,-146.0,699.5,-10.9,482,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3083,0,0,0,0,0,0
$GC,5866,-0.77,-146.0,731.3,-10.3,492,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2510,3084,0,0,0,0,0,0
$GC,6174,-0.77,-146.0,763.8,-10.7,502,6178,0.00,1.17,0.00,0.000,4,0.000,0.068,2132,3217,3084,0,0,0,0,0,0
$GC,6225,-0.77,-146.0,767.6,-10.8,503,6230,0.00,1.12,0.00,0.000,6,0.000,0.034,2132,2498,3084,0,0,0,0,0,0
$GC,6547,-0.77,-146.0,805.2,-11.0,514,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2498,3084,0,0,0,0,0,0
$GC,6853,-0.77,-146.0,839.0,-11.1,524,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2498,3084,0,0,0,0,0,0
$GC,7160,-0.77,-146.0,872.7,-10.8,534,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2498,3084,0,0,0,0,0,0
$STATE,7436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7436,begin apogee
$GC,7442,-0.16,0.0,903.2,-11.0,543,7571,0.65,0.00,123.30,1.454,6,0.144,0.000,2339,2184,2485,0,0,0,0,0,0
$STATE,7572,end apogee,CONTROL_FINISHED_OK
$STATE,7572,begin climb
$GC,7574,0.77,146.0,908.4,0.0,547,7718,0.90,1.23,131.77,1.386,4,0.073,0.053,2649,1500,1888,0,0,0,0,0,0
$GC,7919,0.77,146.0,876.1,13.1,558,7924,0.00,1.23,0.00,0.000,6,0.000,0.047,2649,2205,1881,0,0,0,0,0,0
$GC,8258,0.77,146.0,831.4,13.1,569,8261,0.00,1.17,0.00,0.000,4,0.000,0.057,2649,2905,1878,0,0,0,0,0,0
$GC,8309,0.77,146.0,827.0,13.2,570,8314,0.00,1.17,0.00,0.000,6,0.000,0.041,2654,2211,1878,0,0,0,0,0,0
$GC,8629,0.77,146.0,782.6,13.2,581,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2211,1877,0,0,0,0,0,0
$GC,8936,0.77,146.0,742.4,13.1,591,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2211,1876,0,0,0,0,0,0
$GC,9242,0.77,146.0,703.0,12.9,601,9246,0.00,1.20,0.00,0.000,4,0.000,0.057,2654,2909,1876,0,0,0,0,0,0
$GC,9366,0.77,146.0,690.1,12.8,604,9374,0.00,1.20,0.00,0.000,6,0.000,0.041,2658,2191,1875,0,0,0,0,0,0
$GC,9680,0.77,146.0,646.6,12.6,615,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2191,1875,0,0,0,0,0,0
$GC,9987,0.77,146.0,607.3,12.8,625,9990,0.00,1.23,0.00,0.000,4,0.000,0.057,2658,2908,1874,0,0,0,0,0,0
$GC,10086,0.77,146.0,594.1,13.2,628,10089,0.00,1.15,0.00,0.000,6,0.000,0.042,2663,2202,1874,0,0,0,0,0,0
$GC,10425,0.77,146.0,549.6,13.3,639,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2203,1874,0,0,0,0,0,0
$GC,10731,0.77,146.0,507.8,13.8,649,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2203,1874,0,0,0,0,0,0
$GC,11045,0.77,146.0,465.0,13.2,671,11047,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2203,1873,0,0,0,0,0,0
$GC,11361,0.77,146.0,422.9,13.3,696,11364,0.00,1.20,0.00,0.000,4,0.000,0.057,2663,2914,1873,0,0,0,0,0,0
$GC,11494,0.77,146.0,405.0,13.2,706,11498,0.00,1.15,0.00,0.000,6,0.000,0.041,2668,2200,1873,0,0,0,0,0,0
$GC,11825,0.77,146.0,363.7,12.4,732,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,1873,0,0,0,0,0,0
$GC,12138,0.77,146.0,326.2,11.6,757,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,1874,0,0,0,0,0,0
$GC,12456,0.77,146.0,290.0,11.7,782,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,1873,0,0,0,0,0,0
$GC,12771,0.77,146.0,254.7,11.2,807,12775,0.00,1.20,0.00,0.000,4,0.000,0.056,2668,2911,1873,0,0,0,0,0,0
$GC,12923,0.77,146.0,237.6,10.6,827,12930,0.00,1.15,0.00,0.000,6,0.000,0.040,2673,2195,1873,0,0,0,0,0,0
$GC,13262,0.77,146.0,201.4,10.3,878,13269,0.00,1.20,0.00,0.000,4,0.000,0.054,2673,2913,1873,0,0,0,0,0,0
$GC,13317,0.77,146.0,195.4,10.4,886,13324,0.08,1.15,0.00,0.000,6,0.163,0.040,2655,2194,1873,0,0,0,0,0,0
$GC,13656,0.78,153.4,163.1,9.7,937,13666,0.00,0.00,5.03,0.822,6,0.000,0.000,2655,2194,1859,0,0,0,0,0,0
$GC,13998,0.82,184.7,130.2,8.6,988,14032,0.00,1.20,27.75,0.962,4,0.000,0.053,2654,2908,1731,0,0,0,0,0,0
$GC,14256,0.82,186.6,104.5,9.9,1027,14263,0.00,1.15,0.00,0.000,6,0.000,0.040,2657,2203,1728,0,0,0,0,0,0
$GC,14596,0.83,195.1,70.6,9.6,1078,14609,0.00,0.00,9.57,0.891,6,0.000,0.000,2657,2203,1689,0,0,0,0,0,0
$GC,14941,0.87,231.0,41.3,8.4,1130,14981,0.00,1.17,30.85,0.915,4,0.000,0.054,2663,1492,1543,0,0,0,0,0,0
$GC,15207,0.87,231.0,18.8,10.4,1170,15214,0.00,1.17,0.00,0.000,6,0.000,0.050,2663,2198,1539,0,0,0,0,0,0
$STATE,15378,end climb,SURFACE_DEPTH_REACHED
$STATE,15379,begin surface coast
$FINISH,1.7,1.014571
$STATE,15398,end surface coast,CONTROL_FINISHED_OK
$STATE,15398,begin surface
$SM_CCo,15414,56.65,0.084,0,0,1057,350.04
$SM_GC,2.47,6.93,0.52,56.65,0.048,0.054,0.084,115,2516,1057,-7.08,-0.82,350.04,0,0,0,0,0,0
$RAFOS_CLK,1015
$RAFOS,6,1319374153,12.833333,12.820278,72,66,57,0,0,0,193,632,174,0,0,0
$RAFOS,5,1319373663,12.700000,12.684167,67,61,61,0,0,0,639,204,115,0,0,0
$RAFOS,4,1319373185,12.566667,12.551389,63,58,57,0,0,0,202,179,217,0,0,0
$RAFOS,3,1319372713,12.433333,12.420278,62,58,57,0,0,0,209,152,187,0,0,0
$RAFOS,2,1319372222,12.300000,12.283889,61,60,58,0,0,0,185,210,194,0,0,0
$RAFOS,1,1319371757,12.166667,12.154722,67,67,60,0,0,0,211,723,183,0,0,0
$RAFOS,0,1319371267,12.033333,12.018611,59,56,56,0,0,0,907,176,167,0,0,0
$RAFOS_FIX,6654.869629,-5817.837402,231011,080840,3,98,0.80
$IRIDIUM_FIX,6625.71,-5817.09,231011,101037
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.16
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.40
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,903.2,45.8
$24V_AH,22.6,15.068
$10V_AH,10.2,12.297
$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,17.025,29.300,328.275,56.650,0.000,0.000,0.000,284.300,9.250,0.000,18.414,3273.880,9732.636,525.119,2199.104,203.089,0.000,1804.658,0.000,1892.912,2520.000,26.748,0.000
$DEVICE_MAMPS,257.805,71.145,1454.265,84.150,0.000,0.000,0.000,261.415,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,861.489,655.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150308
$DATA_FILE_SIZE,46620,1199
$CAP_FILE_SIZE,125419,0
$CFSIZE,260165632,239812608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.2
$CURRENT,0.098, 49.3,1
$GPS,231011,144805,6652.104,-5821.660,26,0.8,27,-33.6