version: 66.09
glider: 143
mission: 13
dive: 83
start: 10 18 111 1 14 47
data:
$ID,143
$MISSION,13
$DIVE,83
$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,-80619.93
$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,24
$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
$GPS1,181011,010835,6702.093,-5704.944,33,0.8,33,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-68.5
$GPS2,181011,011413,6702.101,-5704.944,17,1.3,17,-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,160.8,12349,-18.3,-10.000
$D_GRID,698
$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,14,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,76,0.00,0.00,-57.17,0.000,2,0.000,0.000,119,2521,1874,0,0,0,0,0,0
$GC,78,-0.77,-146.0,3.0,-0.9,9,164,8.43,1.17,-70.22,0.000,4,0.258,0.102,2142,3218,3082,0,0,0,0,0,0
$GC,379,-0.77,-146.0,44.5,-16.2,61,386,0.00,1.12,0.00,0.000,6,0.000,0.041,2142,2508,3084,0,0,0,0,0,0
$GC,717,-0.77,-146.0,96.1,-15.1,122,725,0.00,1.10,0.00,0.000,4,0.000,0.050,2142,1816,3085,0,0,0,0,0,0
$GC,888,-0.77,-146.0,120.5,-14.0,152,895,0.00,1.20,0.00,0.000,6,0.000,0.063,2138,2505,3085,0,0,0,0,0,0
$GC,1226,-0.77,-146.0,167.9,-13.7,213,1232,0.00,1.15,0.00,0.000,4,0.000,0.075,2132,3216,3085,0,0,0,0,0,0
$GC,1278,-0.77,-146.0,175.2,-13.9,222,1286,0.00,1.12,0.00,0.000,6,0.000,0.040,2133,2502,3085,0,0,0,0,0,0
$GC,1622,-0.77,-146.0,223.5,-13.6,283,1628,0.00,1.10,0.00,0.000,4,0.000,0.052,2133,1809,3084,0,0,0,0,0,0
$GC,1781,-0.77,-146.0,243.9,-12.1,311,1788,0.00,1.23,0.00,0.000,6,0.000,0.064,2128,2517,3084,0,0,0,0,0,0
$GC,2119,-0.77,-146.0,289.2,-13.4,372,2126,0.00,1.12,0.00,0.000,4,0.000,0.076,2122,3214,3083,0,0,0,0,0,0
$GC,2171,-0.77,-146.0,296.4,-13.6,381,2178,0.08,1.10,0.00,0.000,6,0.168,0.040,2145,2510,3082,0,0,0,0,0,0
$GC,2499,-0.77,-146.0,337.3,-12.1,414,2503,0.00,1.10,0.00,0.000,4,0.000,0.051,2145,1813,3083,0,0,0,0,0,0
$GC,2588,-0.77,-146.0,348.2,-12.3,422,2592,0.00,1.20,0.00,0.000,6,0.000,0.063,2142,2510,3083,0,0,0,0,0,0
$GC,2920,-0.77,-146.0,389.6,-12.9,453,2923,0.00,1.12,0.00,0.000,4,0.000,0.073,2137,3213,3083,0,0,0,0,0,0
$GC,2998,-0.77,-146.0,399.5,-12.5,460,3002,0.00,1.10,0.00,0.000,6,0.000,0.037,2138,2507,3083,0,0,0,0,0,0
$GC,3332,-0.77,-146.0,439.4,-12.0,491,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2507,3083,0,0,0,0,0,0
$GC,3658,-0.77,-146.0,477.3,-11.8,522,3662,0.00,1.17,0.00,0.000,4,0.000,0.070,2132,3213,3083,0,0,0,0,0,0
$GC,3716,-0.77,-146.0,484.0,-11.5,527,3720,0.00,1.10,0.00,0.000,6,0.000,0.036,2132,2501,3083,0,0,0,0,0,0
$GC,4040,-0.77,-146.0,521.3,-11.5,546,4044,0.00,1.08,0.00,0.000,4,0.000,0.049,2132,1816,3084,0,0,0,0,0,0
$GC,4089,-0.77,-146.0,525.3,-11.6,547,4093,0.00,1.20,0.00,0.000,6,0.000,0.059,2128,2516,3083,0,0,0,0,0,0
$GC,4414,-0.77,-146.0,564.8,-11.5,558,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2516,3083,0,0,0,0,0,0
$GC,4720,-0.77,-146.0,599.4,-11.1,568,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2516,3084,0,0,0,0,0,0
$GC,5026,-0.77,-146.0,634.4,-11.7,578,5029,0.00,1.15,0.00,0.000,4,0.000,0.047,2128,1812,3085,0,0,0,0,0,0
$GC,5086,-0.77,-146.0,638.2,-11.7,579,5093,0.00,1.17,0.00,0.000,6,0.000,0.057,2123,2507,3085,0,0,0,0,0,0
$GC,5399,-0.77,-146.0,677.1,-11.8,590,5403,0.00,1.12,0.00,0.000,4,0.000,0.070,2118,3216,3085,0,0,0,0,0,0
$GC,5492,-0.77,-146.0,685.1,-11.8,592,5500,0.10,1.10,0.00,0.000,6,0.155,0.034,2149,2497,3085,0,0,0,0,0,0
$STATE,5620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5620,begin apogee
$GC,5626,-0.16,0.0,700.8,-9.7,597,5755,0.60,0.00,119.30,1.291,6,0.136,0.000,2344,2203,2484,0,0,0,0,0,0
$STATE,5756,end apogee,CONTROL_FINISHED_OK
$STATE,5756,begin climb
$GC,5758,0.77,146.0,703.4,0.0,601,5893,0.90,1.17,126.57,1.265,4,0.071,0.050,2650,1499,1888,0,0,0,0,0,0
$GC,6144,0.77,146.0,661.4,14.1,613,6148,0.00,1.23,0.00,0.000,6,0.000,0.051,2650,2206,1880,0,0,0,0,0,0
$GC,6480,0.77,146.0,614.1,13.7,624,6484,0.00,1.17,0.00,0.000,4,0.000,0.051,2655,1502,1879,0,0,0,0,0,0
$GC,6736,0.77,146.0,581.9,13.6,631,6740,0.00,1.17,0.00,0.000,6,0.000,0.051,2655,2205,1877,0,0,0,0,0,0
$GC,7054,0.77,146.0,533.6,14.5,642,7058,0.00,1.15,0.00,0.000,4,0.000,0.051,2659,1504,1877,0,0,0,0,0,0
$GC,7081,0.77,146.0,533.6,14.5,642,7091,0.00,1.17,0.00,0.000,6,0.000,0.050,2659,2211,1877,0,0,0,0,0,0
$GC,7400,0.77,146.0,485.7,13.4,659,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2211,1877,0,0,0,0,0,0
$GC,7718,0.77,146.0,442.2,13.3,689,7722,0.00,1.12,0.00,0.000,4,0.000,0.060,2659,2902,1877,0,0,0,0,0,0
$GC,7789,0.77,146.0,432.1,14.5,695,7796,0.00,1.12,0.00,0.000,6,0.000,0.041,2664,2208,1876,0,0,0,0,0,0
$GC,8114,0.77,146.0,387.5,13.3,726,8118,0.00,1.17,0.00,0.000,4,0.000,0.056,2664,2902,1875,0,0,0,0,0,0
$GC,8130,0.77,146.0,385.8,13.3,727,8137,0.00,1.15,0.00,0.000,6,0.000,0.041,2669,2197,1875,0,0,0,0,0,0
$GC,8455,0.77,146.0,343.2,12.5,758,8459,0.00,1.20,0.00,0.000,4,0.000,0.057,2669,2905,1876,0,0,0,0,0,0
$GC,8470,0.77,146.0,341.7,12.5,759,8477,0.00,1.15,0.00,0.000,6,0.000,0.041,2674,2198,1876,0,0,0,0,0,0
$GC,8796,0.77,146.0,301.4,11.7,790,8799,0.00,1.20,0.00,0.000,4,0.000,0.056,2674,2907,1876,0,0,0,0,0,0
$GC,8818,0.77,146.0,298.5,12.6,793,8826,0.10,1.15,0.00,0.000,6,0.166,0.041,2649,2195,1875,0,0,0,0,0,0
$GC,9158,0.77,146.0,259.5,11.6,854,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2195,1875,0,0,0,0,0,0
$GC,9501,0.77,146.0,222.7,10.1,915,9508,0.00,1.20,0.00,0.000,4,0.000,0.057,2648,2906,1876,0,0,0,0,0,0
$GC,9602,0.77,146.0,211.6,11.2,933,9609,0.00,1.15,0.00,0.000,6,0.000,0.041,2652,2191,1875,0,0,0,0,0,0
$GC,9939,0.77,146.0,178.7,10.2,994,9948,0.00,1.08,0.00,0.000,4,0.000,0.054,2657,1492,1875,0,0,0,0,0,0
$GC,10072,0.79,160.6,166.2,9.3,1017,10088,0.00,1.15,11.15,0.913,6,0.000,0.051,2657,2202,1830,0,0,0,0,0,0
$GC,10420,0.83,195.0,133.2,8.4,1079,10454,0.00,1.20,29.65,0.939,4,0.000,0.059,2657,2912,1690,0,0,0,0,0,0
$GC,10466,0.84,204.4,128.4,9.6,1086,10482,0.00,1.17,9.73,0.855,6,0.000,0.041,2662,2203,1650,0,0,0,0,0,0
$GC,10813,0.84,204.4,87.9,12.3,1148,10820,0.00,1.10,0.00,0.000,4,0.000,0.055,2667,1496,1646,0,0,0,0,0,0
$GC,10857,0.84,204.4,83.0,12.2,1155,10864,0.00,1.17,0.00,0.000,6,0.000,0.053,2667,2202,1646,0,0,0,0,0,0
$GC,11193,0.84,204.4,44.7,10.8,1216,11200,0.00,1.12,0.00,0.000,4,0.000,0.061,2667,2896,1645,0,0,0,0,0,0
$GC,11447,0.88,234.3,20.3,8.6,1262,11468,0.00,1.15,15.40,0.838,6,0.000,0.043,2672,2195,1528,0,0,0,0,0,0
$STATE,11620,end climb,SURFACE_DEPTH_REACHED
$STATE,11620,begin surface coast
$FINISH,1.7,1.016188
$STATE,11637,end surface coast,CONTROL_FINISHED_OK
$STATE,11637,begin surface
$SM_CCo,11655,54.42,0.083,0,0,1057,350.04
$SM_GC,2.63,7.03,0.60,54.42,0.057,0.060,0.083,121,2511,1057,-7.07,-0.74,350.04,0,0,0,0,0,0
$RAFOS_CLK,731
$RAFOS,2,1318911426,4.300000,4.285000,75,72,67,0,0,0,1031,209,218,0,0,0
$RAFOS,1,1318910945,4.166667,4.151389,63,63,59,0,0,0,163,214,177,0,0,0
$RAFOS,0,1318910462,4.033333,4.017222,63,59,57,0,0,0,193,214,155,0,0,0
$RAFOS_FIX,6700.400391,-5709.752441,181011,000022,3,102,0.29
$IRIDIUM_FIX,6636.54,-5710.59,171011,212147
$TT8_MAMPS,0.029211,0.029211
$HUMID,56.53
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.40
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,602.8,110.6
$24V_AH,23.2,11.044
$10V_AH,10.3,9.260
$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,17.225,53.950,311.800,54.425,0.000,0.000,0.000,223.850,8.000,0.000,18.516,3536.838,5384.880,544.218,2366.056,220.027,0.000,1873.608,0.000,2128.448,1440.000,16.320,0.000
$DEVICE_MAMPS,257.805,101.745,1290.555,82.620,0.000,0.000,0.000,256.172,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.941,779.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150260
$DATA_FILE_SIZE,49964,1296
$CAP_FILE_SIZE,132690,0
$CFSIZE,260165632,242126848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1459.9
$CURRENT,0.327,337.7,1
$GPS,181011,043123,6703.083,-5703.474,25,0.8,41,-33.5