version: 66.09
glider: 143
mission: 13
dive: 72
start: 10 16 111 8 17 46
data:
$ID,143
$MISSION,13
$DIVE,72
$N_DIVES,112
$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,5
$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,-80606.031
$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
$GPS1,161011,081205,6654.041,-5742.929,31,0.9,31,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-71.9
$GPS2,161011,081713,6654.026,-5742.910,19,0.9,20,-33.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,135.2,42995,-18.3,-10.000
$D_GRID,779
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-45.58,0.000,2,0.000,0.000,124,2518,1710,0,0,0,0,0,0
$GC,67,-0.77,-146.0,3.1,-1.3,6,170,8.50,0.00,-85.47,0.000,6,0.262,0.000,2143,2518,3083,0,0,0,0,0,0
$GC,370,-0.77,-146.0,43.3,-18.3,58,377,0.00,1.12,0.00,0.000,4,0.000,0.076,2140,3209,3084,0,0,0,0,0,0
$GC,517,-0.77,-146.0,68.9,-16.6,84,524,0.00,1.12,0.00,0.000,6,0.000,0.040,2140,2498,3084,0,0,0,0,0,0
$GC,721,-0.77,-146.0,100.5,-15.8,121,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2499,3085,0,0,0,0,0,0
$GC,931,-0.77,-146.0,132.4,-16.0,158,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2498,3085,0,0,0,0,0,0
$GC,1136,-0.77,-146.0,162.8,-13.9,195,1142,0.00,1.20,0.00,0.000,4,0.000,0.073,2136,3207,3085,0,0,0,0,0,0
$GC,1215,-0.77,-146.0,174.5,-14.5,209,1223,0.00,1.10,0.00,0.000,6,0.000,0.041,2135,2509,3085,0,0,0,0,0,0
$GC,1425,-0.77,-146.0,205.1,-14.0,246,1431,0.00,1.10,0.00,0.000,4,0.000,0.051,2135,1815,3085,0,0,0,0,0,0
$GC,1526,-0.77,-146.0,219.9,-14.4,264,1532,0.00,1.20,0.00,0.000,6,0.000,0.065,2131,2506,3085,0,0,0,0,0,0
$GC,1730,-0.77,-146.0,249.4,-14.4,301,1739,0.00,1.15,0.00,0.000,4,0.000,0.076,2125,3216,3085,0,0,0,0,0,0
$GC,1852,-0.77,-146.0,267.0,-15.3,322,1858,0.00,1.10,0.00,0.000,6,0.000,0.040,2125,2514,3084,0,0,0,0,0,0
$GC,2059,-0.77,-146.0,295.4,-13.2,359,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2514,3084,0,0,0,0,0,0
$GC,2259,-0.77,-146.0,320.9,-13.1,381,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2514,3084,0,0,0,0,0,0
$GC,2471,-0.77,-146.0,347.5,-12.5,401,2475,0.00,1.17,0.00,0.000,4,0.000,0.073,2121,3212,3084,0,0,0,0,0,0
$GC,2529,-0.77,-146.0,354.7,-12.6,406,2538,0.08,1.10,0.00,0.000,6,0.170,0.040,2143,2506,3084,0,0,0,0,0,0
$GC,2750,-0.77,-146.0,380.9,-11.8,427,2754,0.00,1.08,0.00,0.000,4,0.000,0.050,2144,1822,3084,0,0,0,0,0,0
$GC,2796,-0.77,-146.0,386.3,-11.7,431,2799,0.00,1.20,0.00,0.000,6,0.000,0.065,2141,2517,3083,0,0,0,0,0,0
$GC,3020,-0.77,-146.0,413.1,-12.3,452,3024,0.00,1.12,0.00,0.000,4,0.000,0.076,2136,3217,3084,0,0,0,0,0,0
$GC,3121,-0.77,-146.0,425.4,-12.1,461,3125,0.00,1.10,0.00,0.000,6,0.000,0.038,2136,2507,3084,0,0,0,0,0,0
$GC,3347,-0.77,-146.0,453.2,-12.0,482,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2507,3084,0,0,0,0,0,0
$GC,3560,-0.77,-146.0,478.9,-12.1,502,3564,0.00,1.20,0.00,0.000,4,0.000,0.073,2131,3221,3084,0,0,0,0,0,0
$GC,3639,-0.77,-146.0,488.9,-12.3,509,3642,0.00,1.10,0.00,0.000,6,0.000,0.037,2131,2511,3084,0,0,0,0,0,0
$GC,3860,-0.77,-146.0,515.4,-12.0,522,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3084,0,0,0,0,0,0
$GC,4167,-0.77,-146.0,551.3,-11.6,532,4171,0.00,1.17,0.00,0.000,4,0.000,0.073,2126,3213,3084,0,0,0,0,0,0
$GC,4249,-0.77,-146.0,559.7,-11.8,534,4254,0.00,1.10,0.00,0.000,6,0.000,0.037,2126,2504,3084,0,0,0,0,0,0
$GC,4576,-0.77,-146.0,601.0,-12.1,545,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2504,3084,0,0,0,0,0,0
$GC,4880,-0.77,-146.0,638.1,-12.0,555,4884,0.00,1.17,0.00,0.000,4,0.000,0.072,2122,3211,3085,0,0,0,0,0,0
$GC,4963,-0.77,-146.0,646.5,-12.1,557,4969,0.08,1.08,0.00,0.000,6,0.166,0.036,2144,2508,3084,0,0,0,0,0,0
$GC,5288,-0.77,-146.0,682.8,-10.3,568,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2508,3085,0,0,0,0,0,0
$GC,5595,-0.77,-146.0,714.1,-10.1,578,5599,0.00,1.17,0.00,0.000,4,0.000,0.073,2141,3213,3085,0,0,0,0,0,0
$GC,5697,-0.77,-146.0,724.7,-10.3,581,5701,0.00,1.08,0.00,0.000,6,0.000,0.037,2141,2512,3085,0,0,0,0,0,0
$GC,6038,-0.77,-146.0,759.7,-10.1,592,6042,0.00,1.17,0.00,0.000,4,0.000,0.073,2137,3214,3085,0,0,0,0,0,0
$GC,6093,-0.77,-146.0,763.5,-10.2,593,6097,0.00,1.08,0.00,0.000,6,0.000,0.035,2137,2512,3085,0,0,0,0,0,0
$STATE,6196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6196,begin apogee
$GC,6202,-0.16,0.0,776.8,-10.7,597,6331,0.65,0.00,121.12,1.366,6,0.143,0.000,2344,2188,2485,0,0,0,0,0,0
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6332,begin climb
$GC,6334,0.77,146.0,781.5,0.0,601,6470,0.90,1.12,128.93,1.329,4,0.069,0.056,2654,1507,1888,0,0,0,0,0,0
$GC,6537,0.78,153.1,769.1,9.7,607,6548,0.00,1.25,7.07,1.050,6,0.000,0.054,2654,2203,1860,0,0,0,0,0,0
$GC,6863,0.78,153.1,723.2,13.8,618,6866,0.00,1.20,0.00,0.000,4,0.000,0.062,2654,2915,1855,0,0,0,0,0,0
$GC,6911,0.78,153.1,717.8,14.1,619,6916,0.00,1.20,0.00,0.000,6,0.000,0.042,2659,2208,1853,0,0,0,0,0,0
$GC,7236,0.78,153.1,669.8,13.9,630,7239,0.00,1.23,0.00,0.000,4,0.000,0.059,2659,2914,1853,0,0,0,0,0,0
$GC,7258,0.78,153.1,669.8,13.9,630,7261,0.00,1.20,0.00,0.000,6,0.000,0.044,2664,2200,1853,0,0,0,0,0,0
$GC,7576,0.78,153.1,622.5,13.9,641,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2201,1852,0,0,0,0,0,0
$GC,7884,0.78,153.1,579.5,14.1,651,7887,0.00,1.23,0.00,0.000,4,0.000,0.060,2664,2908,1851,0,0,0,0,0,0
$GC,7945,0.78,153.1,574.4,14.1,652,7952,0.00,1.17,0.00,0.000,6,0.000,0.044,2669,2201,1851,0,0,0,0,0,0
$GC,8259,0.78,153.1,527.0,13.7,663,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,1851,0,0,0,0,0,0
$GC,8569,0.78,153.1,485.1,13.2,679,8572,0.00,1.23,0.00,0.000,4,0.000,0.060,2669,2911,1850,0,0,0,0,0,0
$GC,8596,0.78,153.1,481.8,13.2,681,8603,0.00,1.17,0.00,0.000,6,0.000,0.044,2674,2197,1850,0,0,0,0,0,0
$GC,8815,0.78,153.1,452.3,13.2,702,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2197,1850,0,0,0,0,0,0
$GC,9028,0.78,153.1,424.6,13.3,722,9031,0.00,1.10,0.00,0.000,4,0.000,0.057,2679,1494,1850,0,0,0,0,0,0
$GC,9041,0.78,153.1,423.2,13.0,723,9045,0.00,1.17,0.00,0.000,6,0.000,0.055,2679,2205,1850,0,0,0,0,0,0
$GC,9265,0.78,153.1,393.6,13.2,744,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2205,1850,0,0,0,0,0,0
$GC,9478,0.78,153.1,366.6,12.6,764,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2205,1850,0,0,0,0,0,0
$GC,9690,0.78,153.1,340.2,12.5,784,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2204,1849,0,0,0,0,0,0
$GC,9902,0.78,153.1,314.2,12.4,804,9906,0.00,1.12,0.00,0.000,4,0.000,0.063,2679,2898,1850,0,0,0,0,0,0
$GC,9939,0.78,153.1,309.8,12.6,807,9943,0.10,1.15,0.00,0.000,6,0.166,0.044,2654,2197,1850,0,0,0,0,0,0
$GC,10163,0.78,153.1,283.8,11.3,840,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2196,1850,0,0,0,0,0,0
$GC,10368,0.78,153.1,261.0,11.7,877,10374,0.00,1.08,0.00,0.000,4,0.000,0.057,2657,1498,1850,0,0,0,0,0,0
$GC,10404,0.78,153.1,256.7,11.6,883,10411,0.00,1.15,0.00,0.000,6,0.000,0.054,2658,2199,1850,0,0,0,0,0,0
$GC,10612,0.78,153.1,232.1,11.4,920,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2199,1850,0,0,0,0,0,0
$GC,10817,0.78,153.1,209.6,11.2,957,10823,0.00,1.15,0.00,0.000,4,0.000,0.063,2658,2913,1850,0,0,0,0,0,0
$GC,10831,0.78,153.1,208.0,11.5,959,10838,0.00,1.17,0.00,0.000,6,0.000,0.044,2662,2190,1850,0,0,0,0,0,0
$GC,11038,0.78,153.1,185.7,10.6,996,11045,0.00,1.23,0.00,0.000,4,0.000,0.060,2662,2911,1849,0,0,0,0,0,0
$GC,11096,0.78,153.1,179.5,10.7,1006,11105,0.00,1.15,0.00,0.000,6,0.000,0.044,2667,2202,1850,0,0,0,0,0,0
$GC,11306,0.78,157.8,157.7,9.8,1043,11314,0.00,1.23,3.65,0.696,4,0.000,0.060,2667,2907,1841,0,0,0,0,0,0
$GC,11378,0.79,161.1,150.5,9.8,1055,11385,0.00,1.15,4.50,0.770,6,0.000,0.044,2672,2199,1828,0,0,0,0,0,0
$GC,11586,0.79,165.4,129.1,9.8,1092,11599,0.00,0.00,5.75,0.840,6,0.000,0.000,2672,2200,1810,0,0,0,0,0,0
$GC,11800,0.83,194.1,109.5,8.7,1130,11836,0.00,1.25,25.35,0.956,4,0.000,0.060,2672,2911,1692,0,0,0,0,0,0
$GC,12086,0.83,194.1,79.0,10.3,1180,12093,0.00,1.17,0.00,0.000,6,0.000,0.042,2677,2199,1689,0,0,0,0,0,0
$GC,12291,0.84,204.8,58.8,9.5,1217,12307,0.00,1.15,9.75,0.890,4,0.000,0.056,2682,1493,1650,0,0,0,0,0,0
$GC,12530,0.85,212.7,36.5,9.6,1259,12544,0.00,1.17,7.50,0.851,6,0.000,0.056,2682,2196,1617,0,0,0,0,0,0
$GC,12743,0.89,248.1,16.4,8.4,1297,12765,0.00,1.20,18.55,0.116,4,0.000,0.062,2682,2907,1473,0,0,0,0,0,0
$GC,12777,0.89,248.1,13.0,10.4,1302,12786,0.00,1.17,0.00,0.000,6,0.000,0.042,2687,2197,1471,0,0,0,0,0,0
$STATE,12875,end climb,SURFACE_DEPTH_REACHED
$STATE,12875,begin surface coast
$FINISH,1.8,1.019608
$STATE,12893,end surface coast,CONTROL_FINISHED_OK
$STATE,12893,begin surface
$SM_CCo,12910,47.80,0.086,0,0,1057,350.04
$SM_GC,2.52,6.97,0.60,47.80,0.048,0.062,0.086,116,2509,1057,-7.07,-0.74,350.04,0,0,0,0,0,0
$RAFOS_CLK,840
$RAFOS,6,1318754945,8.833333,8.818055,98,58,58,0,0,0,747,152,172,0,0,0
$RAFOS,5,1318754464,8.700000,8.684444,106,65,65,0,0,0,547,206,177,0,0,0
$RAFOS,4,1318753981,8.566667,8.550278,123,74,58,0,0,0,762,195,216,0,0,0
$RAFOS,3,1318753503,8.433333,8.417500,82,59,58,0,0,0,861,191,216,0,0,0
$RAFOS,1,1318752542,8.166667,8.150556,81,60,58,0,0,0,917,199,173,0,0,0
$RAFOS_FIX,6655.048828,-5745.868652,161011,080826,6,97,4.28
$IRIDIUM_FIX,6625.71,-5752.72,161011,040422
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.67
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,750.4,40.4
$24V_AH,23.0,9.765
$10V_AH,10.3,8.232
$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,17.275,61.275,332.175,47.800,0.000,0.000,0.000,189.600,8.250,0.000,20.836,3634.608,6489.792,566.937,2354.819,237.980,0.000,1908.997,0.000,2139.893,1440.000,24.364,0.000
$DEVICE_MAMPS,261.630,76.500,1365.525,85.680,0.000,0.000,0.000,270.403,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.472,780.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150320
$DATA_FILE_SIZE,49946,1322
$CAP_FILE_SIZE,148838,0
$CFSIZE,260165632,242950144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.4
$CURRENT,0.050, 32.5,1
$GPS,161011,115525,6653.828,-5737.047,38,0.8,38,-33.5