version: 66.09
glider: 143
mission: 13
dive: 82
start: 10 17 111 21 43 58
data:
$ID,143
$MISSION,13
$DIVE,82
$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,-80618.664
$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,18
$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
$GPS1,171011,213801,6701.990,-5708.150,49,2.0,50,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-69.0
$GPS2,171011,214326,6701.978,-5708.070,32,2.0,32,-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,161.1,14617,-18.3,-10.000
$D_GRID,727
$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,-146.0,0.0,0.0,0,74,0.00,0.00,-56.30,0.000,2,0.000,0.000,125,2510,1855,0,0,0,0,0,0
$GC,77,-0.77,-146.0,3.0,-1.7,9,161,8.40,1.20,-69.40,0.000,4,0.257,0.100,2142,3221,3082,0,0,0,0,0,0
$GC,293,-0.77,-146.0,31.9,-18.8,46,300,0.00,1.15,0.00,0.000,6,0.000,0.041,2142,2502,3084,0,0,0,0,0,0
$GC,630,-0.77,-146.0,88.5,-15.5,107,639,0.00,1.10,0.00,0.000,4,0.000,0.050,2142,1814,3084,0,0,0,0,0,0
$GC,806,-0.77,-146.0,114.3,-14.5,138,813,0.00,1.23,0.00,0.000,6,0.000,0.063,2137,2516,3085,0,0,0,0,0,0
$GC,1145,-0.77,-146.0,164.0,-15.0,199,1154,0.00,1.12,0.00,0.000,4,0.000,0.075,2132,3213,3085,0,0,0,0,0,0
$GC,1305,-0.77,-146.0,187.0,-14.2,227,1314,0.00,1.12,0.00,0.000,6,0.000,0.041,2132,2501,3085,0,0,0,0,0,0
$GC,1647,-0.77,-146.0,234.7,-14.3,288,1654,0.00,1.20,0.00,0.000,4,0.000,0.072,2127,3213,3084,0,0,0,0,0,0
$GC,1739,-0.77,-146.0,247.8,-14.2,304,1746,0.00,1.10,0.00,0.000,6,0.000,0.041,2127,2515,3084,0,0,0,0,0,0
$GC,2077,-0.77,-146.0,294.8,-13.4,365,2084,0.00,1.10,0.00,0.000,4,0.000,0.050,2127,1818,3084,0,0,0,0,0,0
$GC,2258,-0.77,-146.0,318.8,-13.1,385,2261,0.00,1.20,0.00,0.000,6,0.000,0.063,2123,2512,3084,0,0,0,0,0,0
$GC,2590,-0.77,-146.0,364.3,-13.7,416,2594,0.12,1.12,0.00,0.000,4,0.189,0.073,2148,3213,3083,0,0,0,0,0,0
$GC,2647,-0.77,-146.0,371.3,-11.8,421,2651,0.00,1.10,0.00,0.000,6,0.000,0.037,2148,2508,3083,0,0,0,0,0,0
$GC,2979,-0.77,-146.0,408.8,-10.8,452,2982,0.00,1.10,0.00,0.000,4,0.000,0.050,2148,1809,3083,0,0,0,0,0,0
$GC,3094,-0.77,-146.0,421.1,-10.6,462,3102,0.00,1.20,0.00,0.000,6,0.000,0.060,2143,2509,3083,0,0,0,0,0,0
$GC,3420,-0.77,-146.0,457.7,-11.1,493,3424,0.00,1.12,0.00,0.000,4,0.000,0.073,2138,3214,3083,0,0,0,0,0,0
$GC,3510,-0.77,-146.0,468.0,-11.5,501,3513,0.00,1.10,0.00,0.000,6,0.000,0.037,2138,2502,3083,0,0,0,0,0,0
$GC,3848,-0.77,-146.0,507.2,-11.6,529,3852,0.00,1.08,0.00,0.000,4,0.000,0.048,2138,1811,3083,0,0,0,0,0,0
$GC,3903,-0.77,-146.0,511.1,-11.5,530,3907,0.00,1.20,0.00,0.000,6,0.000,0.059,2134,2512,3083,0,0,0,0,0,0
$GC,4222,-0.77,-146.0,548.4,-10.7,541,4226,0.00,1.12,0.00,0.000,4,0.000,0.071,2127,3220,3084,0,0,0,0,0,0
$GC,4278,-0.77,-146.0,552.2,-10.6,542,4281,0.00,1.10,0.00,0.000,6,0.000,0.035,2128,2509,3085,0,0,0,0,0,0
$GC,4598,-0.77,-146.0,590.5,-11.3,553,4601,0.00,1.08,0.00,0.000,4,0.000,0.048,2128,1816,3085,0,0,0,0,0,0
$GC,4681,-0.77,-146.0,598.2,-11.1,555,4685,0.00,1.17,0.00,0.000,6,0.000,0.059,2123,2508,3085,0,0,0,0,0,0
$GC,5006,-0.77,-146.0,636.9,-11.8,566,5009,0.00,1.12,0.00,0.000,4,0.000,0.070,2118,3218,3085,0,0,0,0,0,0
$GC,5107,-0.77,-146.0,649.7,-12.3,569,5111,0.10,1.10,0.00,0.000,6,0.158,0.035,2149,2499,3085,0,0,0,0,0,0
$GC,5450,-0.77,-146.0,685.0,-10.1,580,5454,0.00,1.05,0.00,0.000,4,0.000,0.047,2149,1820,3085,0,0,0,0,0,0
$GC,5573,-0.77,-146.0,695.7,-10.1,583,5577,0.00,1.17,0.00,0.000,6,0.000,0.058,2146,2516,3086,0,0,0,0,0,0
$STATE,5859,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5859,begin apogee
$GC,5865,-0.16,0.0,726.5,-10.5,593,5994,0.60,0.00,120.30,1.329,6,0.140,0.000,2339,2192,2485,0,0,0,0,0,0
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5997,0.77,146.0,731.7,0.0,597,6135,0.90,1.20,127.62,1.294,4,0.071,0.053,2650,1503,1888,0,0,0,0,0,0
$GC,6386,0.77,146.0,694.9,14.1,608,6393,0.00,1.20,0.00,0.000,6,0.000,0.051,2650,2199,1881,0,0,0,0,0,0
$GC,6699,0.77,146.0,651.1,12.6,619,6703,0.00,1.17,0.00,0.000,4,0.000,0.053,2655,1502,1878,0,0,0,0,0,0
$GC,6821,0.77,146.0,638.3,12.6,622,6825,0.00,1.20,0.00,0.000,6,0.000,0.051,2655,2209,1878,0,0,0,0,0,0
$GC,7141,0.77,146.0,593.7,13.1,633,7145,0.00,1.15,0.00,0.000,4,0.000,0.059,2655,2906,1877,0,0,0,0,0,0
$GC,7151,0.77,146.0,593.7,13.1,633,7156,0.00,1.17,0.00,0.000,6,0.000,0.041,2660,2201,1877,0,0,0,0,0,0
$GC,7483,0.77,146.0,547.8,13.2,644,7487,0.00,1.23,0.00,0.000,4,0.000,0.057,2660,2913,1877,0,0,0,0,0,0
$GC,7498,0.77,146.0,547.8,13.2,644,7502,0.00,1.17,0.00,0.000,6,0.000,0.042,2664,2202,1876,0,0,0,0,0,0
$GC,7822,0.77,146.0,501.5,13.6,655,7826,0.00,1.20,0.00,0.000,4,0.000,0.059,2664,2900,1876,0,0,0,0,0,0
$GC,7871,0.77,146.0,495.2,13.7,657,7878,0.00,1.15,0.00,0.000,6,0.000,0.043,2669,2200,1876,0,0,0,0,0,0
$GC,8198,0.77,146.0,448.9,13.8,688,8202,0.00,1.20,0.00,0.000,4,0.000,0.059,2669,2900,1875,0,0,0,0,0,0
$GC,8281,0.77,146.0,437.4,14.5,695,8290,0.00,1.15,0.00,0.000,6,0.000,0.044,2674,2202,1876,0,0,0,0,0,0
$GC,8606,0.77,146.0,391.1,14.6,726,8610,0.00,1.20,0.00,0.000,4,0.000,0.058,2674,2904,1875,0,0,0,0,0,0
$GC,8664,0.77,146.0,382.4,15.3,731,8669,0.10,1.15,0.00,0.000,6,0.168,0.042,2649,2200,1875,0,0,0,0,0,0
$GC,8994,0.77,146.0,337.4,12.9,762,8998,0.00,1.20,0.00,0.000,4,0.000,0.058,2648,2905,1875,0,0,0,0,0,0
$GC,9010,0.77,146.0,335.8,13.0,763,9019,0.00,1.15,0.00,0.000,6,0.000,0.041,2652,2199,1875,0,0,0,0,0,0
$GC,9337,0.77,146.0,294.5,11.9,798,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2198,1875,0,0,0,0,0,0
$GC,9672,0.77,146.0,254.8,11.3,859,9681,0.00,1.08,0.00,0.000,4,0.000,0.054,2657,1496,1875,0,0,0,0,0,0
$GC,9794,0.77,146.0,241.0,11.5,880,9800,0.00,1.15,0.00,0.000,6,0.000,0.052,2658,2202,1875,0,0,0,0,0,0
$GC,10135,0.78,157.4,204.8,9.5,941,10150,0.00,0.00,8.57,0.905,6,0.000,0.000,2657,2202,1842,0,0,0,0,0,0
$GC,10482,0.80,168.3,170.8,9.5,1003,10497,0.00,0.00,10.95,0.922,6,0.000,0.000,2657,2202,1798,0,0,0,0,0,0
$GC,10828,0.80,168.3,133.1,10.6,1065,10834,0.00,1.12,0.00,0.000,4,0.000,0.060,2657,2903,1796,0,0,0,0,0,0
$GC,10858,0.80,168.3,129.7,11.4,1070,10864,0.00,1.15,0.00,0.000,6,0.000,0.043,2662,2200,1796,0,0,0,0,0,0
$GC,11197,0.82,189.7,96.1,9.0,1131,11224,0.00,1.23,18.77,0.925,4,0.000,0.058,2662,2902,1710,0,0,0,0,0,0
$GC,11254,0.83,199.4,90.5,9.6,1140,11267,0.00,1.17,9.68,0.864,6,0.000,0.042,2667,2191,1671,0,0,0,0,0,0
$GC,11600,0.85,211.0,52.9,9.5,1202,11617,0.00,1.12,10.40,0.876,4,0.000,0.056,2672,1497,1625,0,0,0,0,0,0
$GC,11774,0.87,231.5,35.6,9.1,1232,11801,0.00,1.17,17.83,0.890,6,0.000,0.054,2672,2201,1541,0,0,0,0,0,0
$STATE,12097,end climb,SURFACE_DEPTH_REACHED
$STATE,12097,begin surface coast
$FINISH,1.7,1.025052
$STATE,12115,end surface coast,CONTROL_FINISHED_OK
$STATE,12115,begin surface
$SM_CCo,12132,56.15,0.083,0,0,1057,350.04
$SM_GC,2.64,7.05,0.55,56.15,0.056,0.067,0.083,120,2518,1057,-7.07,-0.57,350.04,0,0,0,0,0,0
$RAFOS_CLK,773
$RAFOS,6,1318898943,0.833333,0.817500,104,68,57,0,0,0,818,199,217,0,0,0
$RAFOS,5,1318898465,0.700000,0.684722,96,59,53,0,0,0,612,174,209,0,0,0
$RAFOS,4,1318897985,0.566667,0.551389,107,67,66,0,0,0,842,170,206,0,0,0
$RAFOS,3,1318897503,0.433333,0.417500,57,55,55,0,0,0,210,166,219,0,0,0
$RAFOS,2,1318897023,0.300000,0.284167,61,61,55,0,0,0,215,234,159,0,0,0
$RAFOS,1,1318896543,0.166667,0.150833,59,58,56,0,0,0,185,1020,150,0,0,0
$RAFOS,0,1318896062,0.033333,0.017222,66,54,52,0,0,0,187,198,134,0,0,0
$RAFOS_FIX,6700.400391,-5709.752441,181011,000022,3,102,0.29
$IRIDIUM_FIX,6631.12,-5713.57,171011,181806
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.36
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.40
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,601.9,137.3
$24V_AH,23.1,10.937
$10V_AH,10.3,9.169
$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,17.275,58.675,324.125,56.150,0.000,0.000,0.000,196.650,7.500,0.000,33.502,3525.530,5802.546,538.250,2430.382,228.679,0.000,1886.781,0.000,2197.909,2520.000,16.392,0.000
$DEVICE_MAMPS,257.040,100.215,1328.805,82.620,0.000,0.000,0.000,262.913,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,927.968,771.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150212
$DATA_FILE_SIZE,50072,1293
$CAP_FILE_SIZE,138744,0
$CFSIZE,260165632,242200576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1459.2
$CURRENT,0.185,351.4,1
$GPS,181011,010835,6702.093,-5704.944,33,0.8,33,-33.5