version: 66.09
glider: 143
mission: 13
dive: 76
start: 10 16 111 23 22 46
data:
$ID,143
$MISSION,13
$DIVE,76
$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,-80611.086
$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,40
$R_STBD_OVSHOOT,27
$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
$GPS1,161011,231629,6656.070,-5725.194,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-70.7
$GPS2,161011,232213,6656.111,-5725.179,23,1.9,24,-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,102.5,29726,-18.3,-10.000
$D_GRID,767
$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,-146.0,0.0,0.0,0,74,0.00,0.00,-54.60,0.000,2,0.000,0.000,118,2498,1828,0,0,0,0,0,0
$GC,77,-0.77,-146.0,3.0,-1.6,9,166,8.55,1.25,-74.62,0.000,4,0.262,0.100,2141,3209,3082,0,0,0,0,0,0
$GC,285,-0.77,-146.0,29.0,-18.9,44,292,0.00,1.10,0.00,0.000,6,0.000,0.039,2141,2516,3084,0,0,0,0,0,0
$GC,492,-0.77,-146.0,67.6,-17.8,81,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2516,3084,0,0,0,0,0,0
$GC,698,-0.77,-146.0,100.9,-15.3,118,705,0.00,1.12,0.00,0.000,4,0.000,0.050,2141,1811,3085,0,0,0,0,0,0
$GC,750,-0.77,-146.0,109.0,-15.3,127,759,0.00,1.20,0.00,0.000,6,0.000,0.063,2137,2498,3085,0,0,0,0,0,0
$GC,959,-0.77,-146.0,140.2,-14.4,164,966,0.00,1.17,0.00,0.000,4,0.000,0.076,2132,3217,3085,0,0,0,0,0,0
$GC,1170,-0.77,-146.0,170.9,-13.6,202,1177,0.00,1.12,0.00,0.000,6,0.000,0.041,2131,2506,3085,0,0,0,0,0,0
$GC,1375,-0.77,-146.0,200.5,-14.5,239,1384,0.00,1.10,0.00,0.000,4,0.000,0.052,2131,1815,3085,0,0,0,0,0,0
$GC,1419,-0.77,-146.0,206.9,-13.9,246,1425,0.00,1.23,0.00,0.000,6,0.000,0.064,2127,2517,3085,0,0,0,0,0,0
$GC,1625,-0.77,-146.0,236.3,-13.9,283,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2517,3085,0,0,0,0,0,0
$GC,1833,-0.77,-146.0,264.7,-13.0,320,1840,0.00,1.17,0.00,0.000,4,0.000,0.050,2126,1813,3085,0,0,0,0,0,0
$GC,1881,-0.77,-146.0,271.3,-13.8,328,1888,0.00,1.23,0.00,0.000,6,0.000,0.064,2122,2518,3084,0,0,0,0,0,0
$GC,2087,-0.77,-146.0,299.9,-13.8,365,2094,0.12,0.00,0.00,0.000,6,0.193,0.000,2150,2518,3084,0,0,0,0,0,0
$GC,2286,-0.77,-146.0,323.8,-12.1,384,2290,0.00,1.12,0.00,0.000,4,0.000,0.076,2147,3214,3084,0,0,0,0,0,0
$GC,2334,-0.77,-146.0,329.7,-12.5,388,2341,0.00,1.10,0.00,0.000,6,0.000,0.038,2147,2510,3084,0,0,0,0,0,0
$GC,2555,-0.77,-146.0,356.9,-12.0,409,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3084,0,0,0,0,0,0
$GC,2768,-0.77,-146.0,382.0,-12.0,429,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2509,3084,0,0,0,0,0,0
$GC,2978,-0.77,-146.0,406.2,-10.9,449,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2510,3084,0,0,0,0,0,0
$GC,3191,-0.77,-146.0,429.7,-11.3,469,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2510,3084,0,0,0,0,0,0
$GC,3404,-0.77,-146.0,453.0,-10.6,489,3408,0.00,1.20,0.00,0.000,4,0.000,0.073,2142,3222,3084,0,0,0,0,0,0
$GC,3472,-0.77,-146.0,460.7,-11.3,495,3475,0.00,1.12,0.00,0.000,6,0.000,0.038,2142,2501,3084,0,0,0,0,0,0
$GC,3698,-0.77,-146.0,485.8,-11.2,516,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2501,3084,0,0,0,0,0,0
$GC,3915,-0.77,-146.0,510.4,-11.2,531,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2501,3084,0,0,0,0,0,0
$GC,4224,-0.77,-146.0,544.0,-11.0,541,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2501,3084,0,0,0,0,0,0
$GC,4527,-0.77,-146.0,578.1,-11.2,551,4531,0.00,1.20,0.00,0.000,4,0.000,0.070,2138,3217,3084,0,0,0,0,0,0
$GC,4576,-0.77,-146.0,582.1,-11.2,552,4581,0.00,1.10,0.00,0.000,6,0.000,0.037,2138,2503,3084,0,0,0,0,0,0
$GC,4901,-0.77,-146.0,620.1,-11.1,563,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2502,3084,0,0,0,0,0,0
$GC,5207,-0.77,-146.0,653.8,-11.0,573,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2502,3085,0,0,0,0,0,0
$GC,5513,-0.77,-146.0,688.2,-11.0,583,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2502,3085,0,0,0,0,0,0
$GC,5820,-0.77,-146.0,722.4,-11.5,593,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2502,3085,0,0,0,0,0,0
$GC,6126,-0.77,-146.0,755.9,-10.8,603,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2502,3085,0,0,0,0,0,0
$STATE,6246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6246,begin apogee
$GC,6252,-0.16,0.0,768.9,-10.7,607,6382,0.65,0.00,120.93,1.361,6,0.145,0.000,2344,2195,2484,0,0,0,0,0,0
$STATE,6383,end apogee,CONTROL_FINISHED_OK
$STATE,6383,begin climb
$GC,6385,0.77,146.0,773.5,0.0,611,6521,0.88,1.15,128.57,1.331,4,0.071,0.055,2648,1508,1889,0,0,0,0,0,0
$GC,6650,0.77,146.0,752.8,12.4,619,6654,0.00,1.23,0.00,0.000,6,0.000,0.053,2648,2200,1882,0,0,0,0,0,0
$GC,6986,0.77,146.0,709.8,12.5,630,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2200,1878,0,0,0,0,0,0
$GC,7292,0.77,146.0,671.7,12.3,640,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1877,0,0,0,0,0,0
$GC,7598,0.77,146.0,634.1,12.2,650,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2201,1877,0,0,0,0,0,0
$GC,7904,0.77,146.0,596.5,12.4,660,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2201,1876,0,0,0,0,0,0
$GC,8211,0.77,146.0,558.9,12.1,670,8215,0.00,1.15,0.00,0.000,4,0.000,0.062,2648,2903,1875,0,0,0,0,0,0
$GC,8278,0.77,146.0,550.2,12.4,672,8282,0.00,1.15,0.00,0.000,6,0.000,0.043,2653,2206,1875,0,0,0,0,0,0
$GC,8619,0.77,146.0,507.6,12.5,683,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1875,0,0,0,0,0,0
$GC,8937,0.77,146.0,467.3,12.7,709,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1875,0,0,0,0,0,0
$GC,9149,0.77,146.0,440.6,12.1,729,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1874,0,0,0,0,0,0
$GC,9361,0.77,146.0,414.5,11.9,749,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2206,1874,0,0,0,0,0,0
$GC,9573,0.77,146.0,388.8,11.9,769,9577,0.00,1.20,0.00,0.000,4,0.000,0.059,2653,2909,1874,0,0,0,0,0,0
$GC,9656,0.77,146.0,378.9,12.4,776,9665,0.00,1.17,0.00,0.000,6,0.000,0.043,2658,2191,1874,0,0,0,0,0,0
$GC,9877,0.77,146.0,352.3,11.7,797,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2191,1874,0,0,0,0,0,0
$GC,10089,0.77,146.0,327.7,11.8,817,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2191,1874,0,0,0,0,0,0
$GC,10301,0.77,146.0,303.2,11.4,837,10305,0.00,1.23,0.00,0.000,4,0.000,0.059,2657,2913,1874,0,0,0,0,0,0
$GC,10446,0.77,146.0,286.0,12.2,860,10455,0.00,1.17,0.00,0.000,6,0.000,0.044,2663,2190,1874,0,0,0,0,0,0
$GC,10656,0.77,146.0,262.0,11.0,897,10663,0.00,1.08,0.00,0.000,4,0.000,0.056,2668,1495,1874,0,0,0,0,0,0
$GC,10763,0.77,146.0,249.8,11.2,916,10772,0.00,1.17,0.00,0.000,6,0.000,0.054,2668,2211,1874,0,0,0,0,0,0
$GC,10973,0.77,146.0,225.6,11.8,953,10980,0.00,1.12,0.00,0.000,4,0.000,0.063,2668,2908,1874,0,0,0,0,0,0
$GC,11031,0.77,146.0,218.4,12.0,963,11037,0.00,1.15,0.00,0.000,6,0.000,0.043,2673,2198,1874,0,0,0,0,0,0
$GC,11236,0.77,146.0,195.7,10.8,1000,11245,0.00,1.08,0.00,0.000,4,0.000,0.056,2678,1498,1874,0,0,0,0,0,0
$GC,11391,0.77,146.0,179.2,10.7,1027,11399,0.08,1.15,0.00,0.000,6,0.163,0.054,2655,2202,1874,0,0,0,0,0,0
$GC,11598,0.80,169.3,159.5,8.9,1064,11620,0.00,1.17,18.25,0.976,4,0.000,0.063,2654,2903,1793,0,0,0,0,0,0
$GC,11656,0.80,169.3,154.0,10.3,1073,11663,0.00,1.15,0.00,0.000,6,0.000,0.044,2658,2202,1792,0,0,0,0,0,0
$GC,11862,0.80,174.7,132.8,9.8,1110,11875,0.00,1.12,5.82,0.834,4,0.000,0.059,2663,1493,1772,0,0,0,0,0,0
$GC,11909,0.80,174.7,128.0,10.6,1118,11916,0.00,1.17,0.00,0.000,6,0.000,0.054,2663,2200,1771,0,0,0,0,0,0
$GC,12115,0.82,184.9,108.6,9.5,1155,12131,0.00,1.20,10.00,0.913,4,0.000,0.055,2668,1496,1731,0,0,0,0,0,0
$GC,12182,0.82,184.9,102.0,10.5,1166,12189,0.00,1.17,0.00,0.000,6,0.000,0.055,2668,2199,1729,0,0,0,0,0,0
$GC,12389,0.82,186.4,80.9,9.9,1203,12396,0.00,1.15,0.00,0.000,4,0.000,0.063,2668,2905,1729,0,0,0,0,0,0
$GC,12645,0.83,199.8,57.9,9.4,1249,12665,0.00,1.17,13.90,0.920,6,0.000,0.044,2673,2193,1670,0,0,0,0,0,0
$GC,12864,0.88,233.6,38.4,8.4,1288,12900,0.00,1.30,29.00,0.921,4,0.000,0.060,2672,2909,1531,0,0,0,0,0,0
$GC,13150,0.89,248.3,8.4,9.3,1338,13164,0.00,1.20,6.80,0.097,6,0.000,0.044,2677,2194,1471,0,0,0,0,0,0
$STATE,13214,end climb,SURFACE_DEPTH_REACHED
$STATE,13214,begin surface coast
$FINISH,1.8,1.025034
$STATE,13232,end surface coast,CONTROL_FINISHED_OK
$STATE,13233,begin surface
$SM_CCo,13249,48.38,0.085,0,0,1058,350.04
$SM_GC,2.44,6.97,0.60,48.38,0.047,0.059,0.085,123,2507,1058,-7.07,-0.88,350.04,0,0,0,0,0,0
$RAFOS_CLK,863
$RAFOS,6,1318812543,0.833333,0.817500,138,64,63,0,0,0,786,226,114,0,0,0
$RAFOS,5,1318812081,0.700000,0.689167,91,55,51,0,0,0,481,219,185,0,0,0
$RAFOS,4,1318811585,0.566667,0.551389,115,68,61,0,0,0,791,207,225,0,0,0
$RAFOS,3,1318811102,0.433333,0.417222,67,59,57,0,0,0,203,192,114,0,0,0
$RAFOS,2,1318810629,0.300000,0.285833,67,60,58,0,0,0,953,211,165,0,0,0
$RAFOS,1,1318810151,0.166667,0.153056,83,63,61,0,0,0,929,115,189,0,0,0
$RAFOS,0,1318809662,0.033333,0.017222,60,56,53,0,0,0,200,123,213,0,0,0
$RAFOS_FIX,6656.748535,-5727.554688,171011,000000,5,99,0.50
$IRIDIUM_FIX,6625.71,-5734.67,161011,191954
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.85
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.40
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,752.6,75.3
$24V_AH,23.0,10.235
$10V_AH,10.2,8.613
$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,17.250,47.650,333.275,48.375,0.000,0.000,0.000,223.075,8.250,0.000,24.572,3677.725,6849.654,561.264,2334.620,235.840,0.000,1897.692,0.000,2092.370,2520.000,21.516,0.000
$DEVICE_MAMPS,262.395,100.215,1360.935,84.915,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,969.499,794.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50028,1352
$CAP_FILE_SIZE,141529,0
$CFSIZE,260165632,242647040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1456.9
$CURRENT,0.118,319.8,1
$GPS,171011,030606,6657.603,-5721.654,41,0.8,41,-33.5