version: 66.09
glider: 143
mission: 13
dive: 78
start: 10 17 111 7 7 59
data:
$ID,143
$MISSION,13
$DIVE,78
$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,-80613.617
$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,33
$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
$GPS1,171011,070159,6658.681,-5719.143,41,0.8,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-70.8
$GPS2,171011,070725,6658.701,-5719.119,15,0.7,17,-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,149.0,23841,-18.3,-10.000
$D_GRID,787
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-46.67,0.000,2,0.000,0.000,123,2510,1708,0,0,0,0,0,0
$GC,67,-0.77,-146.0,3.1,-1.3,7,172,8.52,1.15,-87.88,0.000,4,0.262,0.101,2141,3207,3081,0,0,0,0,0,0
$GC,356,-0.77,-146.0,39.5,-16.2,56,365,0.00,1.12,0.00,0.000,6,0.000,0.041,2141,2502,3083,0,0,0,0,0,0
$GC,698,-0.77,-146.0,99.7,-18.6,117,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2501,3084,0,0,0,0,0,0
$GC,1034,-0.77,-146.0,154.6,-15.4,178,1041,0.00,1.10,0.00,0.000,4,0.000,0.052,2141,1811,3084,0,0,0,0,0,0
$GC,1158,-0.77,-146.0,172.9,-14.6,200,1167,0.00,1.23,0.00,0.000,6,0.000,0.064,2137,2515,3084,0,0,0,0,0,0
$GC,1499,-0.77,-146.0,218.7,-12.4,261,1506,0.00,1.12,0.00,0.000,4,0.000,0.076,2131,3212,3084,0,0,0,0,0,0
$GC,1606,-0.77,-146.0,233.6,-13.8,280,1615,0.00,1.12,0.00,0.000,6,0.000,0.041,2131,2502,3083,0,0,0,0,0,0
$GC,1948,-0.77,-146.0,278.2,-11.9,341,1955,0.00,1.10,0.00,0.000,4,0.000,0.052,2131,1810,3083,0,0,0,0,0,0
$GC,2011,-0.77,-146.0,285.6,-11.4,352,2020,0.00,1.23,0.00,0.000,6,0.000,0.064,2126,2517,3083,0,0,0,0,0,0
$GC,2344,-0.77,-146.0,324.0,-12.0,394,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2517,3083,0,0,0,0,0,0
$GC,2665,-0.77,-146.0,364.2,-12.6,424,2669,0.00,1.17,0.00,0.000,4,0.000,0.051,2126,1813,3083,0,0,0,0,0,0
$GC,2770,-0.77,-146.0,377.5,-12.8,433,2777,0.00,1.20,0.00,0.000,6,0.000,0.063,2122,2507,3083,0,0,0,0,0,0
$GC,3095,-0.77,-146.0,420.7,-13.0,464,3097,0.12,0.00,0.00,0.000,6,0.189,0.000,2151,2507,3083,0,0,0,0,0,0
$GC,3414,-0.77,-146.0,455.8,-11.0,494,3418,0.00,1.15,0.00,0.000,4,0.000,0.049,2151,1811,3083,0,0,0,0,0,0
$GC,3495,-0.77,-146.0,464.3,-10.6,501,3499,0.00,1.20,0.00,0.000,6,0.000,0.060,2148,2512,3083,0,0,0,0,0,0
$GC,3826,-0.77,-146.0,500.0,-11.1,532,3830,0.00,1.12,0.00,0.000,4,0.000,0.074,2143,3213,3083,0,0,0,0,0,0
$GC,3881,-0.77,-146.0,504.1,-11.2,533,3885,0.00,1.10,0.00,0.000,6,0.000,0.038,2143,2505,3083,0,0,0,0,0,0
$GC,4200,-0.77,-146.0,542.3,-11.3,544,4203,0.00,1.08,0.00,0.000,4,0.000,0.050,2143,1818,3083,0,0,0,0,0,0
$GC,4310,-0.77,-146.0,553.8,-11.4,547,4314,0.00,1.20,0.00,0.000,6,0.000,0.061,2138,2518,3083,0,0,0,0,0,0
$GC,4643,-0.77,-146.0,593.1,-11.7,558,4647,0.00,1.10,0.00,0.000,4,0.000,0.074,2133,3210,3083,0,0,0,0,0,0
$GC,4712,-0.77,-146.0,601.6,-11.8,560,4716,0.00,1.10,0.00,0.000,6,0.000,0.038,2133,2500,3083,0,0,0,0,0,0
$GC,5053,-0.77,-146.0,641.6,-11.7,571,5057,0.00,1.08,0.00,0.000,4,0.000,0.050,2133,1813,3083,0,0,0,0,0,0
$GC,5170,-0.77,-146.0,653.5,-11.7,574,5174,0.00,1.20,0.00,0.000,6,0.000,0.060,2128,2511,3083,0,0,0,0,0,0
$GC,5497,-0.77,-146.0,692.3,-11.2,585,5500,0.00,1.12,0.00,0.000,4,0.000,0.073,2123,3217,3084,0,0,0,0,0,0
$GC,5571,-0.77,-146.0,700.5,-11.4,587,5575,0.00,1.10,0.00,0.000,6,0.000,0.037,2123,2507,3084,0,0,0,0,0,0
$GC,5907,-0.77,-146.0,739.2,-11.1,598,5911,0.00,1.08,0.00,0.000,4,0.000,0.050,2123,1817,3084,0,0,0,0,0,0
$GC,5996,-0.77,-146.0,746.7,-10.9,600,6001,0.10,1.17,0.00,0.000,6,0.157,0.062,2149,2504,3084,0,0,0,0,0,0
$GC,6315,-0.77,-146.0,780.5,-10.1,611,6318,0.00,1.12,0.00,0.000,4,0.000,0.074,2146,3211,3084,0,0,0,0,0,0
$STATE,6382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6382,begin apogee
$GC,6389,-0.16,0.0,787.5,-10.1,613,6517,0.60,0.00,121.03,1.375,6,0.140,0.000,2340,2192,2485,0,0,0,0,0,0
$STATE,6518,end apogee,CONTROL_FINISHED_OK
$STATE,6518,begin climb
$GC,6520,0.77,146.0,792.1,0.0,617,6658,0.90,1.15,129.23,1.340,4,0.074,0.054,2648,1503,1888,0,0,0,0,0,0
$GC,6682,0.80,175.7,783.6,8.6,622,6715,0.00,1.27,28.05,1.258,6,0.000,0.054,2648,2205,1768,0,0,0,0,0,0
$GC,7021,0.80,175.7,735.8,14.2,633,7025,0.00,1.20,0.00,0.000,4,0.000,0.061,2648,2912,1761,0,0,0,0,0,0
$GC,7055,0.80,175.7,730.6,14.3,634,7059,0.00,1.23,0.00,0.000,6,0.000,0.042,2653,2200,1761,0,0,0,0,0,0
$GC,7397,0.80,175.7,681.2,14.5,645,7401,0.00,1.25,0.00,0.000,4,0.000,0.060,2653,2908,1759,0,0,0,0,0,0
$GC,7441,0.80,175.7,675.9,14.6,646,7445,0.00,1.20,0.00,0.000,6,0.000,0.043,2658,2197,1759,0,0,0,0,0,0
$GC,7772,0.80,175.7,626.7,14.3,657,7776,0.00,1.25,0.00,0.000,4,0.000,0.060,2658,2912,1758,0,0,0,0,0,0
$GC,7807,0.80,175.7,621.5,14.2,658,7810,0.00,1.20,0.00,0.000,6,0.000,0.044,2663,2196,1758,0,0,0,0,0,0
$GC,8149,0.80,175.7,571.9,14.5,669,8153,0.00,1.23,0.00,0.000,4,0.000,0.060,2663,2903,1757,0,0,0,0,0,0
$GC,8187,0.80,175.7,566.6,14.6,670,8191,0.00,1.17,0.00,0.000,6,0.000,0.044,2667,2196,1757,0,0,0,0,0,0
$GC,8524,0.80,175.7,516.7,14.8,681,8528,0.00,1.23,0.00,0.000,4,0.000,0.060,2667,2906,1757,0,0,0,0,0,0
$GC,8535,0.80,175.7,516.7,14.8,681,8538,0.00,1.17,0.00,0.000,6,0.000,0.043,2672,2196,1757,0,0,0,0,0,0
$GC,8865,0.80,175.7,465.8,15.0,705,8869,0.00,1.23,0.00,0.000,4,0.000,0.060,2672,2907,1756,0,0,0,0,0,0
$GC,8900,0.80,175.7,460.0,15.6,708,8903,0.00,1.17,0.00,0.000,6,0.000,0.044,2677,2194,1756,0,0,0,0,0,0
$GC,9230,0.80,175.7,409.2,15.2,739,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2194,1756,0,0,0,0,0,0
$GC,9552,0.80,175.7,360.5,15.1,769,9555,0.00,1.10,0.00,0.000,4,0.000,0.057,2683,1491,1756,0,0,0,0,0,0
$GC,9612,0.80,175.7,351.7,15.0,774,9619,0.00,1.17,0.00,0.000,6,0.000,0.054,2682,2204,1755,0,0,0,0,0,0
$GC,9939,0.80,175.7,303.2,14.5,805,9942,0.00,1.15,0.00,0.000,4,0.000,0.053,2687,1497,1756,0,0,0,0,0,0
$GC,10006,0.80,175.7,293.4,14.5,815,10013,0.00,1.15,0.00,0.000,6,0.000,0.054,2687,2198,1756,0,0,0,0,0,0
$GC,10343,0.80,175.7,248.0,13.0,876,10352,0.00,1.15,0.00,0.000,4,0.000,0.054,2692,1493,1756,0,0,0,0,0,0
$GC,10377,0.80,175.7,243.7,13.0,881,10385,0.10,1.15,0.00,0.000,6,0.172,0.054,2662,2198,1756,0,0,0,0,0,0
$GC,10716,0.80,175.7,202.1,12.8,942,10723,0.00,1.15,0.00,0.000,4,0.000,0.062,2662,2906,1755,0,0,0,0,0,0
$GC,10763,0.80,175.7,196.0,12.6,950,10770,0.00,1.15,0.00,0.000,6,0.000,0.043,2665,2198,1755,0,0,0,0,0,0
$GC,11102,0.80,175.7,153.4,11.6,1011,11109,0.00,1.20,0.00,0.000,4,0.000,0.060,2665,2904,1756,0,0,0,0,0,0
$GC,11165,0.80,175.7,146.2,11.7,1022,11172,0.00,1.15,0.00,0.000,6,0.000,0.043,2670,2196,1755,0,0,0,0,0,0
$GC,11502,0.80,175.7,108.0,11.2,1083,11509,0.00,1.20,0.00,0.000,4,0.000,0.060,2670,2902,1755,0,0,0,0,0,0
$GC,11740,0.80,175.7,81.0,11.1,1126,11747,0.00,1.15,0.00,0.000,6,0.000,0.044,2675,2194,1755,0,0,0,0,0,0
$GC,12077,0.87,232.6,53.3,7.4,1187,12130,0.00,1.08,45.95,0.929,4,0.000,0.056,2680,1496,1534,0,0,0,0,0,0
$GC,12190,0.87,232.6,43.0,10.6,1205,12197,0.00,1.20,0.00,0.000,6,0.000,0.055,2680,2203,1531,0,0,0,0,0,0
$GC,12527,0.87,232.6,5.2,11.6,1266,12534,0.00,1.15,0.00,0.000,4,0.000,0.063,2680,2901,1527,0,0,0,0,0,0
$GC,12551,0.87,232.6,2.1,13.2,1270,12558,0.00,1.15,0.00,0.000,6,0.000,0.037,2681,2200,1525,0,0,0,0,0,0
$STATE,12563,end climb,SURFACE_DEPTH_REACHED
$STATE,12563,begin surface coast
$FINISH,1.7,1.011450
$STATE,12592,end surface coast,CONTROL_FINISHED_OK
$STATE,12592,begin surface
$SM_CCo,12608,54.90,0.085,0,0,1057,350.04
$SM_GC,2.71,6.97,0.60,54.90,0.050,0.063,0.085,124,2510,1057,-7.07,-0.71,350.04,0,0,0,0,0,0
$RAFOS_CLK,813
$RAFOS,6,1318841346,8.833333,8.818334,113,64,62,0,0,0,776,210,147,0,0,0
$RAFOS,5,1318840865,8.700000,8.684722,123,66,62,0,0,0,579,199,152,0,0,0
$RAFOS,4,1318840386,8.566667,8.551666,123,59,59,0,0,0,801,199,181,0,0,0
$RAFOS,3,1318839917,8.433333,8.421389,123,64,62,0,0,0,857,202,223,0,0,0
$RAFOS,2,1318839446,8.300000,8.290556,67,59,59,0,0,0,207,119,221,0,0,0
$RAFOS,1,1318838943,8.166667,8.150833,72,61,60,0,0,0,992,133,178,0,0,0
$RAFOS,0,1318838468,8.033334,8.018888,62,56,55,0,0,0,215,175,187,0,0,0
$RAFOS_FIX,6658.989258,-5722.005371,171011,080842,5,111,0.42
$IRIDIUM_FIX,6631.12,-5719.52,171011,030345
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.24
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.40
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,700.5,103.8
$24V_AH,23.0,10.473
$10V_AH,10.2,8.803
$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,17.325,66.100,324.250,54.900,0.000,0.000,0.000,212.450,7.250,0.000,17.582,3535.170,6318.706,546.421,2382.657,227.075,0.000,1905.241,0.000,2152.285,2520.000,19.835,0.000
$DEVICE_MAMPS,262.395,100.980,1375.470,84.915,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.832,753.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150240
$DATA_FILE_SIZE,49976,1277
$CAP_FILE_SIZE,141334,0
$CFSIZE,260165632,242499584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.5
$CURRENT,0.086,323.9,1
$GPS,171011,104054,6658.467,-5714.807,49,0.7,49,-33.5