version: 66.09
glider: 143
mission: 13
dive: 81
start: 10 17 111 18 8 17
data:
$ID,143
$MISSION,13
$DIVE,81
$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,-80617.414
$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,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
$GPS1,171011,180223,6701.454,-5710.454,49,0.8,49,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-67.5
$GPS2,171011,180743,6701.508,-5710.419,15,1.3,15,-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,158.8,16424,-18.3,-10.000
$D_GRID,735
$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,15,-0.77,-146.0,0.0,0.0,0,85,0.00,0.00,-67.68,0.000,2,0.000,0.000,117,2511,2023,0,0,0,0,0,0
$GC,88,-0.77,-146.0,3.1,-1.1,10,157,8.55,1.12,-53.20,0.000,4,0.262,0.097,2144,3222,3080,0,0,0,0,0,0
$GC,328,-0.77,-146.0,38.0,-17.4,51,335,0.00,1.15,0.00,0.000,6,0.000,0.040,2145,2502,3082,0,0,0,0,0,0
$GC,667,-0.77,-146.0,90.8,-15.3,112,674,0.00,1.20,0.00,0.000,4,0.000,0.069,2140,3211,3082,0,0,0,0,0,0
$GC,801,-0.77,-146.0,110.2,-14.2,136,808,0.00,1.12,0.00,0.000,6,0.000,0.038,2140,2501,3082,0,0,0,0,0,0
$GC,1140,-0.77,-146.0,156.2,-13.2,197,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3082,0,0,0,0,0,0
$GC,1483,-0.77,-146.0,203.1,-13.3,258,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2501,3082,0,0,0,0,0,0
$GC,1819,-0.77,-146.0,248.9,-14.0,319,1825,0.00,1.08,0.00,0.000,4,0.000,0.050,2140,1817,3083,0,0,0,0,0,0
$GC,1887,-0.77,-146.0,258.1,-13.1,331,1894,0.00,1.20,0.00,0.000,6,0.000,0.062,2135,2511,3083,0,0,0,0,0,0
$GC,2224,-0.77,-146.0,303.5,-14.1,390,2228,0.00,1.12,0.00,0.000,4,0.000,0.073,2130,3213,3082,0,0,0,0,0,0
$GC,2375,-0.77,-146.0,324.1,-13.7,403,2382,0.00,1.10,0.00,0.000,6,0.000,0.038,2130,2512,3082,0,0,0,0,0,0
$GC,2701,-0.77,-146.0,370.3,-13.6,434,2705,0.00,1.10,0.00,0.000,4,0.000,0.049,2130,1812,3082,0,0,0,0,0,0
$GC,2828,-0.77,-146.0,386.8,-12.9,445,2838,0.00,1.20,0.00,0.000,6,0.000,0.061,2125,2509,3082,0,0,0,0,0,0
$GC,3154,-0.77,-146.0,430.0,-12.9,476,3157,0.00,1.12,0.00,0.000,4,0.000,0.072,2120,3215,3081,0,0,0,0,0,0
$GC,3243,-0.77,-146.0,442.0,-13.6,484,3247,0.10,1.10,0.00,0.000,6,0.159,0.037,2150,2500,3081,0,0,0,0,0,0
$GC,3573,-0.77,-146.0,479.0,-10.9,515,3577,0.00,1.08,0.00,0.000,4,0.000,0.048,2150,1812,3082,0,0,0,0,0,0
$GC,3656,-0.77,-146.0,487.5,-10.7,522,3663,0.00,1.20,0.00,0.000,6,0.000,0.058,2148,2516,3082,0,0,0,0,0,0
$GC,3994,-0.77,-146.0,523.7,-10.6,541,3997,0.00,1.12,0.00,0.000,4,0.000,0.072,2142,3223,3082,0,0,0,0,0,0
$GC,4061,-0.77,-146.0,531.0,-10.8,543,4065,0.00,1.10,0.00,0.000,6,0.000,0.035,2142,2510,3082,0,0,0,0,0,0
$GC,4404,-0.77,-146.0,567.6,-10.7,554,4407,0.00,1.08,0.00,0.000,4,0.000,0.048,2142,1817,3083,0,0,0,0,0,0
$GC,4472,-0.77,-146.0,575.1,-10.6,556,4476,0.00,1.17,0.00,0.000,6,0.000,0.059,2138,2508,3082,0,0,0,0,0,0
$GC,4813,-0.77,-146.0,610.6,-10.4,567,4816,0.00,1.12,0.00,0.000,4,0.000,0.071,2132,3217,3083,0,0,0,0,0,0
$GC,4891,-0.77,-146.0,618.0,-10.6,569,4895,0.00,1.10,0.00,0.000,6,0.000,0.035,2132,2505,3083,0,0,0,0,0,0
$GC,5220,-0.77,-146.0,655.1,-11.2,580,5224,0.00,1.08,0.00,0.000,4,0.000,0.048,2132,1814,3083,0,0,0,0,0,0
$GC,5281,-0.77,-146.0,659.1,-11.3,581,5290,0.00,1.20,0.00,0.000,6,0.000,0.060,2127,2517,3083,0,0,0,0,0,0
$GC,5594,-0.77,-146.0,698.0,-11.6,592,5598,0.00,1.10,0.00,0.000,4,0.000,0.073,2122,3214,3083,0,0,0,0,0,0
$GC,5740,-0.77,-146.0,714.5,-12.3,596,5744,0.00,1.08,0.00,0.000,6,0.000,0.035,2122,2512,3083,0,0,0,0,0,0
$STATE,5884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5884,begin apogee
$GC,5890,-0.16,0.0,733.2,-12.1,601,6019,0.68,0.00,119.80,1.341,6,0.145,0.000,2338,2198,2484,0,0,0,0,0,0
$STATE,6020,end apogee,CONTROL_FINISHED_OK
$STATE,6020,begin climb
$GC,6022,0.77,146.0,737.5,0.0,605,6158,0.90,1.15,127.93,1.300,4,0.076,0.053,2647,1507,1888,0,0,0,0,0,0
$GC,6216,0.77,146.0,722.1,11.7,611,6220,0.00,1.25,0.00,0.000,6,0.000,0.053,2647,2206,1883,0,0,0,0,0,0
$GC,6557,0.77,146.0,677.2,13.1,622,6561,0.00,1.17,0.00,0.000,4,0.000,0.060,2647,2902,1878,0,0,0,0,0,0
$GC,6625,0.77,146.0,669.1,12.0,624,6629,0.00,1.17,0.00,0.000,6,0.000,0.041,2652,2209,1877,0,0,0,0,0,0
$GC,6967,0.77,146.0,626.0,12.8,635,6971,0.00,1.23,0.00,0.000,4,0.000,0.057,2652,2910,1877,0,0,0,0,0,0
$GC,6989,0.77,146.0,626.0,12.8,635,6993,0.00,1.20,0.00,0.000,6,0.000,0.041,2656,2190,1876,0,0,0,0,0,0
$GC,7309,0.77,146.0,582.5,12.9,646,7312,0.00,1.25,0.00,0.000,4,0.000,0.059,2656,2910,1876,0,0,0,0,0,0
$GC,7319,0.77,146.0,582.5,12.9,646,7323,0.00,1.17,0.00,0.000,6,0.000,0.042,2661,2202,1876,0,0,0,0,0,0
$GC,7649,0.77,146.0,537.5,13.0,657,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,1876,0,0,0,0,0,0
$GC,7957,0.77,146.0,498.0,12.8,667,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2202,1876,0,0,0,0,0,0
$GC,8274,0.77,146.0,458.6,12.1,697,8278,0.00,1.10,0.00,0.000,4,0.000,0.057,2667,1496,1875,0,0,0,0,0,0
$GC,8286,0.77,146.0,457.1,12.5,698,8289,0.00,1.17,0.00,0.000,6,0.000,0.054,2666,2205,1875,0,0,0,0,0,0
$GC,8616,0.77,146.0,415.8,12.8,729,8620,0.00,1.15,0.00,0.000,4,0.000,0.062,2667,2911,1874,0,0,0,0,0,0
$GC,8641,0.77,146.0,412.8,13.0,731,8645,0.00,1.17,0.00,0.000,6,0.000,0.043,2671,2193,1874,0,0,0,0,0,0
$GC,8971,0.77,146.0,370.0,13.2,762,8975,0.00,1.23,0.00,0.000,4,0.000,0.058,2671,2912,1874,0,0,0,0,0,0
$GC,8986,0.77,146.0,368.3,13.0,763,8993,0.00,1.17,0.00,0.000,6,0.000,0.042,2676,2194,1873,0,0,0,0,0,0
$GC,9312,0.77,146.0,325.4,12.4,794,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2194,1874,0,0,0,0,0,0
$GC,9635,0.77,146.0,284.4,12.3,835,9642,0.00,1.08,0.00,0.000,4,0.000,0.056,2681,1497,1874,0,0,0,0,0,0
$GC,9771,0.77,146.0,267.7,12.5,859,9778,0.10,1.15,0.00,0.000,6,0.164,0.054,2652,2201,1874,0,0,0,0,0,0
$GC,10113,0.78,158.1,233.4,9.4,920,10126,0.00,1.17,8.77,0.934,4,0.000,0.061,2652,2907,1839,0,0,0,0,0,0
$GC,10157,0.79,162.6,229.2,9.8,927,10170,0.00,1.15,5.90,0.845,6,0.000,0.043,2655,2200,1821,0,0,0,0,0,0
$GC,10502,0.79,162.6,193.9,10.3,989,10508,0.00,1.20,0.00,0.000,4,0.000,0.058,2655,2907,1820,0,0,0,0,0,0
$GC,10691,0.79,162.6,173.3,11.0,1023,10698,0.00,1.15,0.00,0.000,6,0.000,0.043,2660,2200,1820,0,0,0,0,0,0
$GC,11030,0.81,182.2,139.3,9.1,1084,11052,0.00,1.25,17.62,0.952,4,0.000,0.058,2660,2909,1741,0,0,0,0,0,0
$GC,11299,0.81,182.2,111.4,10.3,1132,11306,0.00,1.17,0.00,0.000,6,0.000,0.042,2664,2194,1739,0,0,0,0,0,0
$GC,11636,0.82,191.8,78.2,9.6,1193,11652,0.00,1.25,9.00,0.887,4,0.000,0.059,2664,2904,1703,0,0,0,0,0,0
$GC,11659,0.83,197.8,76.0,9.7,1196,11672,0.00,1.17,6.82,0.818,6,0.000,0.044,2669,2196,1678,0,0,0,0,0,0
$GC,12004,0.86,220.9,43.8,8.9,1258,12032,0.00,1.12,20.10,0.916,4,0.000,0.058,2674,1499,1584,0,0,0,0,0,0
$GC,12066,0.91,259.6,38.6,8.2,1268,12105,0.00,1.17,33.72,0.904,6,0.000,0.054,2674,2195,1425,0,0,0,0,0,0
$STATE,12397,end climb,SURFACE_DEPTH_REACHED
$STATE,12398,begin surface coast
$FINISH,1.7,1.016284
$STATE,12416,end surface coast,CONTROL_FINISHED_OK
$STATE,12416,begin surface
$SM_CCo,12433,42.42,0.083,0,0,1058,350.04
$SM_GC,2.49,7.07,0.55,42.42,0.054,0.067,0.083,126,2505,1058,-7.06,-0.76,350.04,0,0,0,0,0,0
$RAFOS_CLK,793
$RAFOS,6,1318884543,20.833334,20.817499,60,56,53,0,0,0,207,133,183,0,0,0
$RAFOS,5,1318884069,20.700001,20.685833,91,62,55,0,0,0,582,205,182,0,0,0
$RAFOS,4,1318883590,20.566668,20.552778,73,59,59,0,0,0,803,208,194,0,0,0
$RAFOS,3,1318883105,20.433332,20.418056,79,57,55,0,0,0,211,137,192,0,0,0
$RAFOS,2,1318882636,20.299999,20.287777,58,57,56,0,0,0,225,204,193,0,0,0
$RAFOS,1,1318882141,20.166666,20.150278,67,67,60,0,0,0,201,1020,120,0,0,0
$RAFOS,0,1318881677,20.033333,20.021389,74,62,55,0,0,0,152,229,174,0,0,0
$RAFOS_FIX,6659.788086,-5712.961914,171011,202028,2,82,0.40
$IRIDIUM_FIX,6631.12,-5713.57,171011,141405
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.28
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,651.6,94.6
$24V_AH,23.1,10.824
$10V_AH,10.3,9.078
$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,17.400,58.725,349.675,42.425,0.000,0.000,0.000,208.500,7.500,0.000,16.877,3620.129,6013.331,530.522,2423.798,225.849,0.000,1895.117,0.000,2199.083,2520.000,18.046,0.000
$DEVICE_MAMPS,261.630,97.155,1341.045,83.385,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.756,795.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150320
$DATA_FILE_SIZE,50025,1330
$CAP_FILE_SIZE,140684,0
$CFSIZE,260165632,242274304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1457.8
$CURRENT,0.257,332.8,1
$GPS,171011,213801,6701.990,-5708.150,49,2.0,50,-33.5