version: 66.09
glider: 143
mission: 13
dive: 73
start: 10 16 111 12 4 59
data:
$ID,143
$MISSION,13
$DIVE,73
$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,-80607.297
$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,36
$R_STBD_OVSHOOT,21
$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
$GPS1,161011,115525,6653.828,-5737.047,38,0.8,38,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-70.9
$GPS2,161011,120424,6653.836,-5737.157,16,1.1,16,-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,103.7,39347,-18.3,-10.000
$D_GRID,771
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,78,0.00,0.00,-60.15,0.000,2,0.000,0.000,115,2512,1915,0,0,0,0,0,0
$GC,81,-0.77,-146.0,3.1,-1.2,9,159,8.52,1.20,-60.05,0.000,4,0.263,0.103,2143,3223,3082,0,0,0,0,0,0
$GC,408,-0.77,-146.0,53.4,-16.9,65,417,0.00,1.12,0.00,0.000,6,0.000,0.039,2142,2509,3084,0,0,0,0,0,0
$GC,618,-0.77,-146.0,85.9,-15.5,102,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2509,3084,0,0,0,0,0,0
$GC,822,-0.77,-146.0,117.8,-15.5,139,828,0.00,1.20,0.00,0.000,4,0.000,0.072,2138,3217,3084,0,0,0,0,0,0
$GC,975,-0.77,-146.0,141.5,-14.6,166,982,0.00,1.12,0.00,0.000,6,0.000,0.040,2138,2501,3084,0,0,0,0,0,0
$GC,1180,-0.77,-146.0,171.8,-14.1,203,1187,0.00,1.08,0.00,0.000,4,0.000,0.050,2138,1819,3084,0,0,0,0,0,0
$GC,1215,-0.77,-146.0,176.8,-13.8,209,1224,0.00,1.20,0.00,0.000,6,0.000,0.063,2133,2511,3084,0,0,0,0,0,0
$GC,1426,-0.77,-146.0,206.1,-13.5,246,1433,0.00,1.12,0.00,0.000,4,0.000,0.075,2128,3210,3084,0,0,0,0,0,0
$GC,1554,-0.77,-146.0,225.2,-15.3,269,1563,0.00,1.10,0.00,0.000,6,0.000,0.040,2128,2509,3083,0,0,0,0,0,0
$GC,1763,-0.77,-146.0,255.4,-14.7,306,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2509,3084,0,0,0,0,0,0
$GC,1967,-0.77,-146.0,285.4,-14.4,343,1974,0.00,1.10,0.00,0.000,4,0.000,0.050,2128,1812,3083,0,0,0,0,0,0
$GC,2041,-0.77,-146.0,295.6,-13.6,356,2048,0.00,1.20,0.00,0.000,6,0.000,0.063,2123,2508,3084,0,0,0,0,0,0
$GC,2252,-0.77,-146.0,324.4,-13.7,378,2256,0.00,1.15,0.00,0.000,4,0.000,0.075,2118,3222,3083,0,0,0,0,0,0
$GC,2309,-0.77,-146.0,332.9,-14.2,383,2313,0.10,1.12,0.00,0.000,6,0.163,0.040,2149,2499,3083,0,0,0,0,0,0
$GC,2535,-0.77,-146.0,358.0,-10.9,404,2539,0.00,1.08,0.00,0.000,4,0.000,0.050,2149,1815,3083,0,0,0,0,0,0
$GC,2592,-0.77,-146.0,364.3,-10.6,409,2595,0.00,1.20,0.00,0.000,6,0.000,0.062,2145,2513,3083,0,0,0,0,0,0
$GC,2818,-0.77,-146.0,388.6,-10.8,430,2821,0.00,1.12,0.00,0.000,4,0.000,0.074,2140,3215,3083,0,0,0,0,0,0
$GC,2885,-0.77,-146.0,396.5,-11.4,436,2889,0.00,1.10,0.00,0.000,6,0.000,0.037,2140,2505,3083,0,0,0,0,0,0
$GC,3111,-0.77,-146.0,422.8,-11.9,457,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2505,3083,0,0,0,0,0,0
$GC,3322,-0.77,-146.0,448.3,-12.0,477,3326,0.00,1.08,0.00,0.000,4,0.000,0.050,2140,1817,3083,0,0,0,0,0,0
$GC,3367,-0.77,-146.0,453.7,-12.2,481,3371,0.00,1.20,0.00,0.000,6,0.000,0.063,2135,2516,3083,0,0,0,0,0,0
$GC,3593,-0.77,-146.0,481.0,-12.4,502,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2516,3083,0,0,0,0,0,0
$GC,3812,-0.77,-146.0,507.7,-12.2,519,3816,0.00,1.12,0.00,0.000,4,0.000,0.075,2130,3219,3083,0,0,0,0,0,0
$GC,3891,-0.77,-146.0,516.4,-12.4,521,3895,0.00,1.10,0.00,0.000,6,0.000,0.037,2130,2509,3083,0,0,0,0,0,0
$GC,4221,-0.77,-146.0,559.2,-12.4,532,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2509,3083,0,0,0,0,0,0
$GC,4529,-0.77,-146.0,595.4,-11.8,542,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2509,3084,0,0,0,0,0,0
$GC,4834,-0.77,-146.0,631.8,-11.8,552,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2509,3084,0,0,0,0,0,0
$GC,5141,-0.77,-146.0,667.0,-11.3,562,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2509,3084,0,0,0,0,0,0
$GC,5446,-0.77,-146.0,700.3,-10.7,572,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2509,3084,0,0,0,0,0,0
$GC,5754,-0.77,-146.0,734.4,-11.3,582,5758,0.00,1.17,0.00,0.000,4,0.000,0.071,2126,3213,3084,0,0,0,0,0,0
$GC,5810,-0.77,-146.0,738.5,-11.4,583,5814,0.00,1.10,0.00,0.000,6,0.000,0.037,2125,2501,3084,0,0,0,0,0,0
$STATE,6097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6097,begin apogee
$GC,6103,-0.16,0.0,773.6,-11.3,593,6232,0.68,0.00,120.82,1.362,6,0.143,0.000,2340,2192,2485,0,0,0,0,0,0
$STATE,6233,end apogee,CONTROL_FINISHED_OK
$STATE,6233,begin climb
$GC,6235,0.77,146.0,778.9,0.0,597,6371,0.90,1.12,128.65,1.331,4,0.070,0.054,2651,1512,1888,0,0,0,0,0,0
$GC,6500,0.77,146.0,758.1,12.8,605,6504,0.00,1.23,0.00,0.000,6,0.000,0.053,2650,2203,1881,0,0,0,0,0,0
$GC,6836,0.77,146.0,713.7,13.3,616,6839,0.00,1.20,0.00,0.000,4,0.000,0.062,2650,2909,1878,0,0,0,0,0,0
$GC,6863,0.77,146.0,713.7,13.3,616,6870,0.00,1.17,0.00,0.000,6,0.000,0.043,2655,2214,1877,0,0,0,0,0,0
$GC,7177,0.77,146.0,668.0,13.4,627,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2214,1876,0,0,0,0,0,0
$GC,7482,0.77,146.0,628.3,13.0,637,7486,0.00,1.15,0.00,0.000,4,0.000,0.056,2660,1492,1875,0,0,0,0,0,0
$GC,7559,0.77,146.0,619.6,12.9,639,7563,0.00,1.20,0.00,0.000,6,0.000,0.054,2661,2204,1875,0,0,0,0,0,0
$GC,7889,0.77,146.0,575.1,12.9,650,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2205,1875,0,0,0,0,0,0
$GC,8195,0.77,146.0,536.7,12.4,660,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2205,1874,0,0,0,0,0,0
$GC,8502,0.77,146.0,499.7,11.9,670,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2205,1874,0,0,0,0,0,0
$GC,8714,0.77,146.0,473.9,12.4,690,8718,0.00,1.15,0.00,0.000,4,0.000,0.063,2660,2908,1874,0,0,0,0,0,0
$GC,8759,0.77,146.0,468.1,12.8,694,8763,0.00,1.17,0.00,0.000,6,0.000,0.043,2665,2193,1874,0,0,0,0,0,0
$GC,8985,0.77,146.0,440.7,12.5,715,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2193,1874,0,0,0,0,0,0
$GC,9197,0.77,146.0,414.7,12.4,735,9201,0.00,1.23,0.00,0.000,4,0.000,0.060,2665,2905,1873,0,0,0,0,0,0
$GC,9257,0.77,146.0,407.5,12.4,740,9264,0.00,1.15,0.00,0.000,6,0.000,0.044,2670,2201,1873,0,0,0,0,0,0
$GC,9476,0.77,146.0,380.2,12.2,761,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2201,1873,0,0,0,0,0,0
$GC,9689,0.77,146.0,355.2,11.4,781,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,1873,0,0,0,0,0,0
$GC,9902,0.77,146.0,329.8,12.2,801,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,1873,0,0,0,0,0,0
$GC,10114,0.77,146.0,303.2,12.4,821,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2200,1873,0,0,0,0,0,0
$GC,10333,0.77,146.0,275.3,12.4,858,10342,0.00,1.20,0.00,0.000,4,0.000,0.060,2670,2906,1873,0,0,0,0,0,0
$GC,10398,0.77,146.0,266.4,14.1,869,10405,0.00,1.15,0.00,0.000,6,0.000,0.043,2675,2198,1873,0,0,0,0,0,0
$GC,10603,0.77,146.0,239.9,12.5,906,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2199,1873,0,0,0,0,0,0
$GC,10812,0.77,146.0,214.3,11.4,943,10818,0.00,1.20,0.00,0.000,4,0.000,0.059,2675,2908,1873,0,0,0,0,0,0
$GC,10853,0.77,146.0,209.2,11.7,950,10862,0.10,1.15,0.00,0.000,6,0.164,0.043,2650,2199,1873,0,0,0,0,0,0
$GC,11063,0.81,178.6,189.0,8.5,987,11096,0.00,1.12,25.52,0.993,4,0.000,0.055,2653,1491,1757,0,0,0,0,0,0
$GC,11177,0.83,195.6,178.5,9.2,1006,11200,0.00,1.20,15.32,0.954,6,0.000,0.054,2653,2209,1686,0,0,0,0,0,0
$GC,11398,0.83,195.6,154.7,10.7,1045,11405,0.00,1.15,0.00,0.000,4,0.000,0.062,2653,2905,1683,0,0,0,0,0,0
$GC,11466,0.83,195.6,147.3,10.9,1057,11473,0.00,1.17,0.00,0.000,6,0.000,0.042,2658,2196,1683,0,0,0,0,0,0
$GC,11673,0.84,201.9,126.7,9.7,1094,11682,0.00,0.00,6.47,0.851,6,0.000,0.000,2658,2196,1662,0,0,0,0,0,0
$GC,11883,0.84,201.9,105.1,10.1,1131,11889,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2195,1661,0,0,0,0,0,0
$GC,12089,0.84,201.9,83.8,10.5,1168,12095,0.00,1.23,0.00,0.000,4,0.000,0.060,2658,2914,1660,0,0,0,0,0,0
$GC,12343,0.84,201.9,54.7,10.6,1214,12352,0.00,1.17,0.00,0.000,6,0.000,0.042,2663,2196,1660,0,0,0,0,0,0
$GC,12555,0.86,223.3,34.6,9.0,1251,12582,0.00,1.27,18.80,0.917,4,0.000,0.060,2663,2913,1573,0,0,0,0,0,0
$GC,12731,0.88,232.9,17.9,9.6,1282,12741,0.00,1.17,4.75,0.122,6,0.000,0.042,2667,2201,1535,0,0,0,0,0,0
$STATE,12885,end climb,SURFACE_DEPTH_REACHED
$STATE,12885,begin surface coast
$FINISH,1.8,1.023557
$STATE,12903,end surface coast,CONTROL_FINISHED_OK
$STATE,12903,begin surface
$SM_CCo,12919,55.80,0.086,0,0,1057,350.04
$SM_GC,2.82,7.00,0.60,55.80,0.054,0.063,0.086,119,2511,1057,-7.07,-0.68,350.04,0,0,0,0,0,0
$RAFOS_CLK,839
$RAFOS,6,1318769343,12.833333,12.817500,67,60,56,0,0,0,765,175,212,0,0,0
$RAFOS,5,1318768870,12.700000,12.686111,114,69,56,0,0,0,515,219,116,0,0,0
$RAFOS,4,1318768382,12.566667,12.550555,123,62,59,0,0,0,771,217,193,0,0,0
$RAFOS,3,1318767901,12.433333,12.416945,147,61,59,0,0,0,884,165,177,0,0,0
$RAFOS,2,1318767421,12.300000,12.283611,90,67,62,0,0,0,954,198,221,0,0,0
$RAFOS,1,1318766947,12.166667,12.151944,68,62,60,0,0,0,912,224,124,0,0,0
$RAFOS_FIX,6655.014160,-5741.723145,161011,121256,6,102,2.50
$IRIDIUM_FIX,6625.71,-5720.82,161011,111117
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.00
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,653.1,141.3
$24V_AH,23.0,9.880
$10V_AH,10.2,8.334
$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,17.300,52.050,320.350,55.800,0.000,0.000,0.000,363.900,10.250,0.000,18.138,3578.411,6711.171,550.580,2459.983,238.424,0.000,2023.508,0.000,2080.635,2160.000,18.173,0.000
$DEVICE_MAMPS,263.160,103.275,1362.465,85.680,0.000,0.000,0.000,238.196,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.357,767.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50027,1312
$CAP_FILE_SIZE,143452,0
$CFSIZE,260165632,242876416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1457.4
$CURRENT,0.209,328.9,1
$GPS,161011,154301,6655.812,-5733.995,40,1.6,41,-33.5