version: 66.09
glider: 143
mission: 13
dive: 77
start: 10 17 111 3 13 34
data:
$ID,143
$MISSION,13
$DIVE,77
$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,-80612.352
$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
$GPS1,171011,030606,6657.603,-5721.654,41,0.8,41,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-69.6
$GPS2,171011,031302,6657.657,-5721.833,17,0.9,17,-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,127.1,26360,-18.3,-10.000
$D_GRID,788
$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,16,-0.77,-146.0,0.0,0.0,0,80,0.00,0.00,-61.83,0.000,2,0.000,0.000,122,2510,1931,0,0,0,0,0,0
$GC,83,-0.77,-146.0,3.1,-0.8,10,159,8.65,1.15,-59.42,0.000,4,0.268,0.099,2141,3222,3081,0,0,0,0,0,0
$GC,165,-0.77,-146.0,8.8,-13.4,22,172,0.00,1.15,0.00,0.000,6,0.000,0.041,2141,2505,3082,0,0,0,0,0,0
$GC,503,-0.77,-146.0,67.4,-15.8,83,512,0.00,1.20,0.00,0.000,4,0.000,0.072,2136,3211,3084,0,0,0,0,0,0
$GC,568,-0.77,-146.0,77.6,-16.3,94,575,0.00,1.12,0.00,0.000,6,0.000,0.040,2136,2500,3083,0,0,0,0,0,0
$GC,908,-0.77,-146.0,130.8,-14.8,155,917,0.00,1.20,0.00,0.000,4,0.000,0.073,2132,3207,3083,0,0,0,0,0,0
$GC,1011,-0.77,-146.0,145.9,-14.0,173,1018,0.00,1.10,0.00,0.000,6,0.000,0.041,2131,2512,3084,0,0,0,0,0,0
$GC,1349,-0.77,-146.0,196.1,-15.0,234,1356,0.00,1.10,0.00,0.000,4,0.000,0.051,2132,1816,3083,0,0,0,0,0,0
$GC,1445,-0.77,-146.0,210.2,-14.6,251,1454,0.00,1.20,0.00,0.000,6,0.000,0.065,2127,2506,3083,0,0,0,0,0,0
$GC,1787,-0.77,-146.0,260.2,-14.3,312,1794,0.00,1.15,0.00,0.000,4,0.000,0.076,2121,3218,3083,0,0,0,0,0,0
$GC,1872,-0.77,-146.0,272.7,-14.5,327,1881,0.00,1.12,0.00,0.000,6,0.000,0.041,2121,2504,3083,0,0,0,0,0,0
$GC,2213,-0.77,-146.0,320.3,-13.2,375,2215,0.12,0.00,0.00,0.000,6,0.188,0.000,2150,2504,3083,0,0,0,0,0,0
$GC,2532,-0.77,-146.0,356.3,-11.3,405,2536,0.00,1.20,0.00,0.000,4,0.000,0.072,2147,3214,3082,0,0,0,0,0,0
$GC,2612,-0.77,-146.0,365.4,-11.3,412,2616,0.00,1.10,0.00,0.000,6,0.000,0.037,2147,2508,3082,0,0,0,0,0,0
$GC,2943,-0.77,-146.0,403.0,-11.0,443,2946,0.00,1.10,0.00,0.000,4,0.000,0.050,2147,1810,3082,0,0,0,0,0,0
$GC,3010,-0.77,-146.0,410.4,-10.8,449,3014,0.00,1.20,0.00,0.000,6,0.000,0.063,2142,2508,3082,0,0,0,0,0,0
$GC,3341,-0.77,-146.0,447.3,-10.9,480,3345,0.00,1.12,0.00,0.000,4,0.000,0.073,2137,3213,3082,0,0,0,0,0,0
$GC,3423,-0.77,-146.0,456.6,-11.8,487,3433,0.00,1.10,0.00,0.000,6,0.000,0.037,2137,2505,3082,0,0,0,0,0,0
$GC,3749,-0.77,-146.0,493.9,-11.6,518,3753,0.00,1.08,0.00,0.000,4,0.000,0.050,2137,1818,3082,0,0,0,0,0,0
$GC,3798,-0.77,-146.0,499.1,-11.6,522,3806,0.00,1.20,0.00,0.000,6,0.000,0.061,2132,2514,3082,0,0,0,0,0,0
$GC,4111,-0.77,-146.0,536.7,-11.9,533,4114,0.00,1.12,0.00,0.000,4,0.000,0.074,2127,3220,3083,0,0,0,0,0,0
$GC,4215,-0.77,-146.0,549.7,-12.5,536,4218,0.00,1.10,0.00,0.000,6,0.000,0.038,2127,2511,3082,0,0,0,0,0,0
$GC,4555,-0.77,-146.0,593.5,-12.8,547,4559,0.00,1.10,0.00,0.000,4,0.000,0.050,2127,1810,3083,0,0,0,0,0,0
$GC,4610,-0.77,-146.0,597.8,-12.9,548,4614,0.08,1.20,0.00,0.000,6,0.166,0.062,2144,2510,3083,0,0,0,0,0,0
$GC,4929,-0.77,-146.0,635.1,-10.6,559,4932,0.00,1.12,0.00,0.000,4,0.000,0.073,2141,3217,3083,0,0,0,0,0,0
$GC,5056,-0.77,-146.0,645.9,-10.6,562,5063,0.00,1.10,0.00,0.000,6,0.000,0.036,2141,2506,3083,0,0,0,0,0,0
$GC,5369,-0.77,-146.0,680.3,-10.0,573,5373,0.00,1.08,0.00,0.000,4,0.000,0.049,2141,1815,3083,0,0,0,0,0,0
$GC,5419,-0.77,-146.0,683.8,-10.1,574,5423,0.00,1.20,0.00,0.000,6,0.000,0.061,2137,2514,3083,0,0,0,0,0,0
$GC,5746,-0.77,-146.0,718.4,-10.1,585,5750,0.00,1.12,0.00,0.000,4,0.000,0.073,2131,3221,3083,0,0,0,0,0,0
$GC,5841,-0.77,-146.0,725.9,-10.4,587,5850,0.00,1.10,0.00,0.000,6,0.000,0.036,2132,2508,3083,0,0,0,0,0,0
$GC,6154,-0.77,-146.0,762.5,-10.9,598,6158,0.00,1.08,0.00,0.000,4,0.000,0.048,2131,1814,3083,0,0,0,0,0,0
$GC,6192,-0.77,-146.0,766.3,-10.9,599,6197,0.00,1.20,0.00,0.000,6,0.000,0.060,2127,2514,3083,0,0,0,0,0,0
$STATE,6404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6404,begin apogee
$GC,6410,-0.16,0.0,790.6,-11.3,606,6540,0.68,0.00,121.20,1.378,6,0.146,0.000,2340,2192,2485,0,0,0,0,0,0
$STATE,6540,end apogee,CONTROL_FINISHED_OK
$STATE,6540,begin climb
$GC,6543,0.77,146.0,795.6,0.0,610,6679,0.90,1.17,129.55,1.343,4,0.073,0.054,2649,1499,1888,0,0,0,0,0,0
$GC,6879,0.77,146.0,766.6,12.9,620,6884,0.00,1.23,0.00,0.000,6,0.000,0.053,2648,2204,1880,0,0,0,0,0,0
$GC,7204,0.77,146.0,723.2,12.9,631,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2204,1878,0,0,0,0,0,0
$GC,7510,0.77,146.0,683.6,12.9,641,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2204,1877,0,0,0,0,0,0
$GC,7816,0.77,146.0,644.2,12.8,651,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2204,1876,0,0,0,0,0,0
$GC,8122,0.77,146.0,604.7,12.9,661,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2203,1875,0,0,0,0,0,0
$GC,8429,0.77,146.0,564.5,13.3,671,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2204,1875,0,0,0,0,0,0
$GC,8735,0.77,146.0,523.3,13.3,681,8739,0.00,1.15,0.00,0.000,4,0.000,0.062,2648,2907,1875,0,0,0,0,0,0
$GC,8778,0.77,146.0,518.8,13.3,682,8782,0.00,1.15,0.00,0.000,6,0.000,0.043,2653,2207,1875,0,0,0,0,0,0
$GC,9108,0.77,146.0,475.8,11.9,704,9112,0.00,1.10,0.00,0.000,4,0.000,0.056,2658,1500,1874,0,0,0,0,0,0
$GC,9135,0.77,146.0,472.7,11.5,706,9142,0.00,1.15,0.00,0.000,6,0.000,0.053,2659,2198,1874,0,0,0,0,0,0
$GC,9461,0.77,146.0,433.5,11.6,737,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2198,1874,0,0,0,0,0,0
$GC,9781,0.77,146.0,395.8,12.0,767,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2198,1874,0,0,0,0,0,0
$GC,10100,0.77,146.0,356.0,12.4,797,10103,0.00,1.15,0.00,0.000,4,0.000,0.063,2659,2909,1874,0,0,0,0,0,0
$GC,10115,0.77,146.0,354.4,12.4,798,10122,0.00,1.15,0.00,0.000,6,0.000,0.043,2663,2201,1874,0,0,0,0,0,0
$GC,10441,0.77,146.0,315.4,11.0,829,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2201,1874,0,0,0,0,0,0
$GC,10767,0.77,146.0,278.5,12.1,875,10776,0.00,1.20,0.00,0.000,4,0.000,0.060,2663,2907,1874,0,0,0,0,0,0
$GC,10805,0.77,146.0,274.0,12.4,881,10812,0.00,1.15,0.00,0.000,6,0.000,0.044,2668,2200,1874,0,0,0,0,0,0
$GC,11142,0.77,146.0,236.6,10.1,942,11149,0.00,1.20,0.00,0.000,4,0.000,0.060,2668,2905,1874,0,0,0,0,0,0
$GC,11398,0.77,146.0,210.0,11.1,988,11405,0.00,1.15,0.00,0.000,6,0.000,0.043,2673,2196,1874,0,0,0,0,0,0
$GC,11737,0.77,146.0,173.4,10.9,1049,11744,0.00,1.08,0.00,0.000,4,0.000,0.057,2678,1496,1874,0,0,0,0,0,0
$GC,11758,0.77,146.0,171.4,10.2,1052,11766,0.08,1.15,0.00,0.000,6,0.165,0.054,2655,2202,1874,0,0,0,0,0,0
$GC,12098,0.81,180.3,139.7,8.4,1113,12132,0.00,1.15,26.95,0.964,4,0.000,0.052,2658,1495,1749,0,0,0,0,0,0
$GC,12270,0.81,180.3,122.1,10.9,1143,12279,0.00,1.17,0.00,0.000,6,0.000,0.055,2658,2199,1747,0,0,0,0,0,0
$GC,12613,0.82,190.0,88.3,9.6,1204,12627,0.00,1.20,8.88,0.887,4,0.000,0.056,2663,1495,1710,0,0,0,0,0,0
$GC,12754,0.85,208.4,75.0,9.2,1229,12776,0.00,1.17,16.95,0.919,6,0.000,0.055,2663,2199,1634,0,0,0,0,0,0
$GC,13112,0.88,238.3,44.5,8.6,1292,13145,0.00,1.15,26.05,0.919,4,0.000,0.061,2663,2909,1512,0,0,0,0,0,0
$GC,13289,0.88,238.3,25.6,10.5,1323,13298,0.00,1.20,0.00,0.000,6,0.000,0.044,2668,2197,1507,0,0,0,0,0,0
$STATE,13511,end climb,SURFACE_DEPTH_REACHED
$STATE,13511,begin surface coast
$FINISH,1.7,1.024189
$STATE,13529,end surface coast,CONTROL_FINISHED_OK
$STATE,13529,begin surface
$SM_CCo,13545,52.83,0.085,0,0,1057,350.04
$SM_GC,2.70,6.90,0.60,52.83,0.044,0.063,0.085,123,2507,1057,-7.07,-0.82,350.04,0,0,0,0,0,0
$RAFOS_CLK,873
$RAFOS,6,1318826955,4.833333,4.820833,91,55,55,0,0,0,717,190,130,0,0,0
$RAFOS,5,1318826489,4.700000,4.691389,65,59,59,0,0,0,438,188,162,0,0,0
$RAFOS,4,1318825987,4.566667,4.551944,105,70,65,0,0,0,783,140,204,0,0,0
$RAFOS,3,1318825522,4.433333,4.422778,113,67,67,0,0,0,821,208,146,0,0,0
$RAFOS,2,1318825047,4.300000,4.290833,105,60,59,0,0,0,859,132,211,0,0,0
$RAFOS,1,1318824541,4.166667,4.150278,72,65,55,0,0,0,990,213,198,0,0,0
$RAFOS,0,1318824070,4.033333,4.019444,80,55,55,0,0,0,1071,217,195,0,0,0
$RAFOS_FIX,6658.036621,-5724.372559,171011,040453,7,90,0.44
$IRIDIUM_FIX,6631.12,-5719.52,171011,030352
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.91
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.50
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,652.5,167.0
$24V_AH,23.0,10.353
$10V_AH,10.2,8.711
$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,17.400,58.500,329.575,52.825,0.000,0.000,0.000,243.100,7.250,0.000,18.019,3757.040,6989.787,554.201,2500.532,234.610,0.000,1969.670,0.000,2237.009,2520.000,18.232,0.000
$DEVICE_MAMPS,267.750,99.450,1377.765,84.915,0.000,0.000,0.000,266.658,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.693,798.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150288
$DATA_FILE_SIZE,53310,1366
$CAP_FILE_SIZE,145027,0
$CFSIZE,260165632,242569216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3
$SOUNDSPEED,1456.8
$CURRENT,0.236,321.5,1
$GPS,171011,070159,6658.681,-5719.143,41,0.8,41,-33.5