version: 66.09
glider: 143
mission: 13
dive: 79
start: 10 17 111 10 46 44
data:
$ID,143
$MISSION,13
$DIVE,79
$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,-80614.883
$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,35
$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
$GPS1,171011,104054,6658.467,-5714.807,49,0.7,49,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-67.8
$GPS2,171011,104613,6658.453,-5714.774,17,1.3,18,-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,118.8,21090,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-56.12,0.000,2,0.000,0.000,123,2514,1847,0,0,0,0,0,0
$GC,78,-0.77,-146.0,3.0,-1.1,9,163,8.60,1.20,-66.65,0.000,4,0.265,0.101,2142,3226,3083,0,0,0,0,0,0
$GC,411,-0.77,-146.0,53.3,-17.7,66,418,0.00,1.15,0.00,0.000,6,0.000,0.040,2142,2502,3085,0,0,0,0,0,0
$GC,749,-0.77,-146.0,105.3,-13.8,127,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2502,3085,0,0,0,0,0,0
$GC,1089,-0.77,-146.0,151.2,-12.5,188,1096,0.00,1.20,0.00,0.000,4,0.000,0.071,2137,3212,3086,0,0,0,0,0,0
$GC,1219,-0.77,-146.0,168.0,-12.4,211,1228,0.00,1.12,0.00,0.000,6,0.000,0.041,2137,2501,3085,0,0,0,0,0,0
$GC,1559,-0.77,-146.0,213.1,-13.9,272,1566,0.00,1.10,0.00,0.000,4,0.000,0.052,2137,1809,3085,0,0,0,0,0,0
$GC,1711,-0.77,-146.0,233.8,-13.8,299,1720,0.00,1.23,0.00,0.000,6,0.000,0.063,2132,2516,3085,0,0,0,0,0,0
$GC,2053,-0.77,-146.0,280.0,-12.9,360,2059,0.00,1.17,0.00,0.000,4,0.000,0.050,2132,1809,3085,0,0,0,0,0,0
$GC,2123,-0.77,-146.0,289.0,-12.1,372,2129,0.00,1.20,0.00,0.000,6,0.000,0.063,2127,2504,3085,0,0,0,0,0,0
$GC,2452,-0.77,-146.0,330.8,-12.3,410,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2504,3085,0,0,0,0,0,0
$GC,2774,-0.77,-146.0,370.8,-12.9,440,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2504,3085,0,0,0,0,0,0
$GC,3100,-0.77,-146.0,412.0,-12.2,471,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2504,3084,0,0,0,0,0,0
$GC,3419,-0.77,-146.0,451.6,-12.3,501,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2504,3085,0,0,0,0,0,0
$GC,3738,-0.77,-146.0,491.3,-12.4,531,3741,0.00,1.15,0.00,0.000,4,0.000,0.050,2128,1809,3085,0,0,0,0,0,0
$GC,3783,-0.77,-146.0,497.0,-12.1,535,3787,0.00,1.20,0.00,0.000,6,0.000,0.061,2123,2511,3085,0,0,0,0,0,0
$GC,4124,-0.77,-146.0,539.1,-12.3,548,4128,0.00,1.12,0.00,0.000,4,0.000,0.073,2117,3214,3085,0,0,0,0,0,0
$GC,4219,-0.77,-146.0,547.8,-12.4,550,4228,0.10,1.10,0.00,0.000,6,0.161,0.038,2148,2500,3085,0,0,0,0,0,0
$GC,4532,-0.77,-146.0,584.1,-10.4,561,4536,0.00,1.08,0.00,0.000,4,0.000,0.050,2148,1814,3085,0,0,0,0,0,0
$GC,4582,-0.77,-146.0,587.8,-10.6,562,4586,0.00,1.20,0.00,0.000,6,0.000,0.061,2145,2514,3085,0,0,0,0,0,0
$GC,4907,-0.77,-146.0,624.0,-10.6,573,4910,0.00,1.12,0.00,0.000,4,0.000,0.073,2140,3218,3085,0,0,0,0,0,0
$GC,4989,-0.77,-146.0,631.4,-10.8,575,4993,0.00,1.10,0.00,0.000,6,0.000,0.037,2140,2506,3085,0,0,0,0,0,0
$GC,5315,-0.77,-146.0,668.6,-10.9,586,5318,0.00,1.08,0.00,0.000,4,0.000,0.050,2140,1818,3085,0,0,0,0,0,0
$GC,5364,-0.77,-146.0,672.4,-10.8,587,5368,0.00,1.20,0.00,0.000,6,0.000,0.062,2135,2517,3085,0,0,0,0,0,0
$GC,5689,-0.77,-146.0,709.8,-11.1,598,5692,0.00,1.15,0.00,0.000,4,0.000,0.047,2135,1815,3085,0,0,0,0,0,0
$GC,5758,-0.77,-146.0,717.3,-10.9,600,5762,0.00,1.17,0.00,0.000,6,0.000,0.060,2131,2506,3085,0,0,0,0,0,0
$GC,6099,-0.77,-146.0,755.0,-11.0,611,6103,0.00,1.12,0.00,0.000,4,0.000,0.073,2125,3214,3086,0,0,0,0,0,0
$GC,6168,-0.77,-146.0,762.3,-10.7,613,6172,0.00,1.08,0.00,0.000,6,0.000,0.034,2125,2507,3086,0,0,0,0,0,0
$STATE,6231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6232,begin apogee
$GC,6238,-0.16,0.0,769.5,-10.7,615,6367,0.68,0.00,120.70,1.359,6,0.148,0.000,2339,2199,2484,0,0,0,0,0,0
$STATE,6367,end apogee,CONTROL_FINISHED_OK
$STATE,6368,begin climb
$GC,6370,0.77,146.0,773.8,0.0,619,6505,0.90,1.30,128.38,1.323,4,0.075,0.057,2644,2907,1888,0,0,0,0,0,0
$GC,6655,0.77,146.0,751.0,13.3,627,6663,0.00,1.20,0.00,0.000,6,0.000,0.041,2648,2213,1881,0,0,0,0,0,0
$GC,6969,0.77,146.0,705.9,13.0,638,6973,0.00,1.15,0.00,0.000,4,0.000,0.055,2654,1500,1878,0,0,0,0,0,0
$GC,7013,0.77,146.0,701.4,13.1,639,7017,0.00,1.20,0.00,0.000,6,0.000,0.051,2653,2204,1877,0,0,0,0,0,0
$GC,7346,0.77,146.0,656.1,13.2,650,7350,0.00,1.17,0.00,0.000,4,0.000,0.051,2658,1498,1876,0,0,0,0,0,0
$GC,7407,0.77,146.0,651.2,13.1,651,7414,0.00,1.17,0.00,0.000,6,0.000,0.051,2658,2198,1876,0,0,0,0,0,0
$GC,7721,0.77,146.0,606.0,13.2,662,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2198,1876,0,0,0,0,0,0
$GC,8027,0.77,146.0,565.8,13.0,672,8030,0.00,1.17,0.00,0.000,4,0.000,0.061,2658,2913,1875,0,0,0,0,0,0
$GC,8048,0.77,146.0,565.8,13.0,672,8052,0.00,1.17,0.00,0.000,6,0.000,0.041,2663,2201,1875,0,0,0,0,0,0
$GC,8367,0.77,146.0,521.7,13.0,683,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2201,1875,0,0,0,0,0,0
$GC,8679,0.77,146.0,481.4,12.6,701,8683,0.00,1.20,0.00,0.000,4,0.000,0.059,2662,2901,1875,0,0,0,0,0,0
$GC,8740,0.77,146.0,473.5,13.6,706,8747,0.00,1.15,0.00,0.000,6,0.000,0.044,2667,2202,1875,0,0,0,0,0,0
$GC,9066,0.77,146.0,429.3,13.4,737,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,1875,0,0,0,0,0,0
$GC,9385,0.77,146.0,387.3,13.1,767,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,1874,0,0,0,0,0,0
$GC,9705,0.77,146.0,345.8,12.9,797,9709,0.00,1.20,0.00,0.000,4,0.000,0.058,2667,2907,1874,0,0,0,0,0,0
$GC,9740,0.77,146.0,340.7,13.8,800,9744,0.00,1.17,0.00,0.000,6,0.000,0.042,2672,2186,1874,0,0,0,0,0,0
$GC,10066,0.77,146.0,297.8,12.5,832,10075,0.00,1.23,0.00,0.000,4,0.000,0.058,2672,2908,1874,0,0,0,0,0,0
$GC,10093,0.77,146.0,294.2,13.4,836,10102,0.08,1.15,0.00,0.000,6,0.169,0.041,2654,2200,1874,0,0,0,0,0,0
$GC,10436,0.77,146.0,255.7,10.7,897,10443,0.00,1.20,0.00,0.000,4,0.000,0.059,2654,2905,1874,0,0,0,0,0,0
$GC,10676,0.77,146.0,228.6,11.6,940,10685,0.00,1.15,0.00,0.000,6,0.000,0.042,2657,2195,1874,0,0,0,0,0,0
$GC,11017,0.77,146.0,193.2,10.7,1001,11024,0.00,1.08,0.00,0.000,4,0.000,0.055,2662,1494,1874,0,0,0,0,0,0
$GC,11223,0.77,146.0,172.3,10.3,1038,11230,0.00,1.15,0.00,0.000,6,0.000,0.054,2662,2201,1874,0,0,0,0,0,0
$GC,11564,0.80,175.2,138.9,8.7,1099,11592,0.00,1.20,23.12,0.962,4,0.000,0.053,2667,1493,1770,0,0,0,0,0,0
$GC,11689,0.83,198.6,127.9,8.9,1120,11716,0.00,1.17,20.65,0.945,6,0.000,0.054,2667,2200,1674,0,0,0,0,0,0
$GC,12050,0.83,198.6,91.5,10.2,1184,12059,0.00,1.15,0.00,0.000,4,0.000,0.062,2667,2904,1670,0,0,0,0,0,0
$GC,12307,0.83,198.6,63.3,11.6,1230,12313,0.00,1.17,0.00,0.000,6,0.000,0.043,2672,2194,1669,0,0,0,0,0,0
$GC,12646,0.86,223.3,30.0,8.9,1291,12674,0.00,1.25,19.42,0.914,4,0.000,0.060,2672,2902,1573,0,0,0,0,0,0
$GC,12825,0.87,232.1,11.8,9.6,1322,12833,0.00,1.17,4.07,0.105,6,0.000,0.044,2677,2198,1538,0,0,0,0,0,0
$STATE,12926,end climb,SURFACE_DEPTH_REACHED
$STATE,12926,begin surface coast
$FINISH,1.6,1.025150
$STATE,12949,end surface coast,CONTROL_FINISHED_OK
$STATE,12949,begin surface
$SM_CCo,12966,56.25,0.084,0,0,1057,350.04
$SM_GC,2.55,7.00,0.60,56.25,0.052,0.069,0.084,117,2504,1057,-7.08,-0.85,350.04,0,0,0,0,0,0
$RAFOS_CLK,836
$RAFOS,6,1318855745,12.833333,12.818055,99,60,55,0,0,0,790,135,186,0,0,0
$RAFOS,5,1318855279,12.700000,12.688611,67,64,61,0,0,0,509,527,192,0,0,0
$RAFOS,4,1318854782,12.566667,12.550555,75,59,58,0,0,0,212,191,181,0,0,0
$RAFOS,3,1318854317,12.433333,12.421389,57,57,56,0,0,0,153,202,184,0,0,0
$RAFOS,2,1318853846,12.300000,12.290556,64,63,56,0,0,0,195,208,169,0,0,0
$RAFOS,1,1318853343,12.166667,12.150833,60,58,54,0,0,0,155,200,180,0,0,0
$RAFOS,0,1318852873,12.033333,12.020278,59,56,55,0,0,0,183,162,121,0,0,0
$RAFOS_FIX,6657.924805,-5719.539062,171011,121200,2,83,0.49
$IRIDIUM_FIX,6631.12,-5724.14,171011,070744
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.40
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,652.0,131.8
$24V_AH,23.1,10.587
$10V_AH,10.2,8.896
$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,17.350,54.675,316.350,56.250,0.000,0.000,0.000,205.675,7.500,0.000,18.928,3654.692,6524.110,534.342,2406.633,231.099,0.000,1883.290,0.000,2182.333,2520.000,18.137,0.000
$DEVICE_MAMPS,265.455,100.980,1358.640,84.150,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,963.132,802.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150332
$DATA_FILE_SIZE,53243,1344
$CAP_FILE_SIZE,138256,0
$CFSIZE,260165632,242425856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.9
$CURRENT,0.181,326.6,1
$GPS,171011,142517,6659.702,-5711.643,37,0.7,37,-33.5