version: 66.09
glider: 143
mission: 13
dive: 84
start: 10 18 111 4 37 46
data:
$ID,143
$MISSION,13
$DIVE,84
$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,-80621.195
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,181011,043123,6703.083,-5703.474,25,0.8,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-66.9
$GPS2,181011,043712,6703.172,-5703.472,17,1.1,18,-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,170.1,11177,-18.3,-10.000
$D_GRID,661
$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,-146.0,0.0,0.0,0,72,0.00,0.00,-53.70,0.000,2,0.000,0.000,119,2514,1826,0,0,0,0,0,0
$GC,75,-0.77,-146.0,3.1,-1.5,8,161,8.23,1.17,-68.93,0.000,4,0.250,0.102,2143,3219,3083,0,0,0,0,0,0
$GC,410,-0.77,-146.0,51.0,-14.5,66,419,0.00,1.12,0.00,0.000,6,0.000,0.039,2143,2506,3084,0,0,0,0,0,0
$GC,752,-0.77,-146.0,102.6,-14.5,127,759,0.00,1.10,0.00,0.000,4,0.000,0.050,2143,1814,3085,0,0,0,0,0,0
$GC,815,-0.77,-146.0,111.6,-13.6,138,824,0.00,1.20,0.00,0.000,6,0.000,0.061,2138,2507,3085,0,0,0,0,0,0
$GC,1156,-0.77,-146.0,159.9,-14.2,199,1163,0.00,1.15,0.00,0.000,4,0.000,0.048,2138,1814,3085,0,0,0,0,0,0
$GC,1213,-0.77,-146.0,168.3,-14.3,209,1220,0.00,1.20,0.00,0.000,6,0.000,0.061,2134,2510,3085,0,0,0,0,0,0
$GC,1551,-0.77,-146.0,214.2,-13.2,270,1560,0.00,1.15,0.00,0.000,4,0.000,0.048,2134,1816,3084,0,0,0,0,0,0
$GC,1622,-0.77,-146.0,223.9,-13.4,282,1631,0.00,1.20,0.00,0.000,6,0.000,0.062,2129,2512,3084,0,0,0,0,0,0
$GC,1966,-0.77,-146.0,270.0,-13.6,343,1973,0.00,1.12,0.00,0.000,4,0.000,0.074,2124,3214,3083,0,0,0,0,0,0
$GC,2090,-0.77,-146.0,286.9,-13.8,365,2096,0.00,1.10,0.00,0.000,6,0.000,0.039,2124,2511,3083,0,0,0,0,0,0
$GC,2425,-0.77,-146.0,331.7,-12.9,405,2429,0.00,1.10,0.00,0.000,4,0.000,0.050,2123,1812,3083,0,0,0,0,0,0
$GC,2494,-0.77,-146.0,340.3,-12.7,411,2498,0.10,1.20,0.00,0.000,6,0.163,0.061,2149,2512,3083,0,0,0,0,0,0
$GC,2824,-0.77,-146.0,376.0,-10.3,442,2828,0.00,1.12,0.00,0.000,4,0.000,0.071,2146,3218,3083,0,0,0,0,0,0
$GC,2918,-0.77,-146.0,385.8,-10.7,450,2927,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2504,3083,0,0,0,0,0,0
$GC,3244,-0.77,-146.0,422.3,-11.4,481,3247,0.00,1.08,0.00,0.000,4,0.000,0.047,2146,1812,3083,0,0,0,0,0,0
$GC,3337,-0.77,-146.0,432.4,-11.3,489,3344,0.00,1.17,0.00,0.000,6,0.000,0.058,2141,2507,3083,0,0,0,0,0,0
$GC,3663,-0.77,-146.0,469.1,-11.2,520,3667,0.00,1.12,0.00,0.000,4,0.000,0.070,2136,3216,3084,0,0,0,0,0,0
$GC,3756,-0.77,-146.0,479.1,-11.0,528,3764,0.00,1.10,0.00,0.000,6,0.000,0.033,2136,2501,3084,0,0,0,0,0,0
$GC,4080,-0.77,-146.0,513.9,-10.6,551,4084,0.00,1.05,0.00,0.000,4,0.000,0.047,2136,1819,3085,0,0,0,0,0,0
$GC,4208,-0.77,-146.0,525.2,-10.8,554,4218,0.00,1.17,0.00,0.000,6,0.000,0.057,2132,2510,3086,0,0,0,0,0,0
$GC,4522,-0.77,-146.0,561.9,-10.9,565,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2510,3086,0,0,0,0,0,0
$GC,4830,-0.77,-146.0,594.5,-10.9,575,4833,0.00,1.10,0.00,0.000,4,0.000,0.069,2126,3210,3087,0,0,0,0,0,0
$GC,4890,-0.77,-146.0,598.5,-10.9,576,4898,0.00,1.08,0.00,0.000,6,0.000,0.032,2126,2504,3087,0,0,0,0,0,0
$GC,5205,-0.77,-146.0,636.8,-11.6,587,5209,0.00,1.17,0.00,0.000,4,0.000,0.067,2121,3216,3088,0,0,0,0,0,0
$STATE,5238,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5238,begin apogee
$GC,5245,-0.16,0.0,641.0,-11.9,588,5374,0.70,0.00,118.20,1.244,6,0.148,0.000,2343,2204,2485,0,0,0,0,0,0
$STATE,5375,end apogee,CONTROL_FINISHED_OK
$STATE,5375,begin climb
$GC,5377,0.77,146.0,646.3,0.0,592,5507,0.88,0.00,125.50,1.218,6,0.070,0.000,2643,2204,1889,0,0,0,0,0,0
$GC,5806,0.77,146.0,591.0,14.1,606,5810,0.00,1.25,0.00,0.000,4,0.000,0.056,2644,2912,1881,0,0,0,0,0,0
$GC,5957,0.77,146.0,571.9,14.3,610,5961,0.00,1.17,0.00,0.000,6,0.000,0.037,2648,2204,1880,0,0,0,0,0,0
$GC,6281,0.77,146.0,524.8,13.9,621,6285,0.00,1.23,0.00,0.000,4,0.000,0.055,2648,2915,1879,0,0,0,0,0,0
$GC,6351,0.77,146.0,515.0,14.0,623,6354,0.00,1.17,0.00,0.000,6,0.000,0.038,2653,2197,1878,0,0,0,0,0,0
$GC,6681,0.77,146.0,469.3,13.2,646,6684,0.00,1.10,0.00,0.000,4,0.000,0.051,2658,1492,1878,0,0,0,0,0,0
$GC,6726,0.77,146.0,463.2,13.1,650,6730,0.00,1.17,0.00,0.000,6,0.000,0.050,2658,2206,1878,0,0,0,0,0,0
$GC,7056,0.77,146.0,418.0,13.7,681,7060,0.00,1.12,0.00,0.000,4,0.000,0.057,2658,2904,1878,0,0,0,0,0,0
$GC,7102,0.77,146.0,411.3,14.4,685,7106,0.00,1.15,0.00,0.000,6,0.000,0.039,2663,2196,1878,0,0,0,0,0,0
$GC,7433,0.77,146.0,363.8,14.3,716,7436,0.00,1.20,0.00,0.000,4,0.000,0.054,2663,2904,1877,0,0,0,0,0,0
$GC,7461,0.77,146.0,360.4,14.2,718,7470,0.00,1.15,0.00,0.000,6,0.000,0.040,2668,2195,1877,0,0,0,0,0,0
$GC,7786,0.77,146.0,313.8,13.6,749,7790,0.00,1.20,0.00,0.000,4,0.000,0.055,2668,2905,1877,0,0,0,0,0,0
$GC,7835,0.77,146.0,307.3,14.8,753,7841,0.00,1.15,0.00,0.000,6,0.000,0.039,2673,2193,1877,0,0,0,0,0,0
$GC,8169,0.77,146.0,259.7,13.9,810,8178,0.00,1.20,0.00,0.000,4,0.000,0.054,2673,2905,1877,0,0,0,0,0,0
$GC,8247,0.77,146.0,248.9,14.1,823,8254,0.00,1.15,0.00,0.000,6,0.000,0.039,2677,2192,1877,0,0,0,0,0,0
$GC,8585,0.77,146.0,204.1,12.4,884,8592,0.00,1.20,0.00,0.000,4,0.000,0.055,2677,2904,1877,0,0,0,0,0,0
$GC,8665,0.77,146.0,194.3,11.9,898,8674,0.10,1.12,0.00,0.000,6,0.164,0.040,2652,2202,1877,0,0,0,0,0,0
$GC,9007,0.77,148.3,159.7,9.9,959,9014,0.00,1.17,0.00,0.000,4,0.000,0.055,2652,2907,1877,0,0,0,0,0,0
$GC,9021,0.78,153.5,158.2,9.8,961,9037,0.00,1.15,5.85,0.792,6,0.000,0.039,2655,2188,1858,0,0,0,0,0,0
$GC,9371,0.79,164.9,124.7,9.5,1023,9384,0.00,0.00,11.15,0.886,6,0.000,0.000,2655,2189,1812,0,0,0,0,0,0
$GC,9717,0.82,184.8,93.0,9.1,1085,9739,0.00,0.00,17.85,0.895,6,0.000,0.000,2655,2188,1730,0,0,0,0,0,0
$GC,10070,0.85,210.6,60.1,8.8,1148,10098,0.00,1.27,21.95,0.890,4,0.000,0.057,2655,2905,1626,0,0,0,0,0,0
$GC,10302,0.89,248.0,38.1,8.3,1189,10343,0.00,1.15,31.62,0.876,6,0.000,0.041,2659,2205,1473,0,0,0,0,0,0
$STATE,10640,end climb,SURFACE_DEPTH_REACHED
$STATE,10640,begin surface coast
$FINISH,1.7,1.014167
$STATE,10657,end surface coast,CONTROL_FINISHED_OK
$STATE,10657,begin surface
$SM_CCo,10673,47.85,0.080,0,0,1057,350.04
$SM_GC,2.76,6.95,0.57,47.85,0.050,0.062,0.080,124,2502,1057,-7.06,-0.99,350.04,0,0,0,0,0,0
$RAFOS_CLK,656
$RAFOS,6,1318913343,4.833333,4.817500,64,62,57,0,0,0,151,208,817,0,0,0
$RAFOS,5,1318912864,4.700000,4.684444,72,63,59,0,0,0,621,216,191,0,0,0
$RAFOS,3,1318911904,4.433333,4.417778,64,60,59,0,0,0,978,175,198,0,0,0
$RAFOS_FIX,6704.930664,-5710.124023,181011,040413,3,70,0.00
$IRIDIUM_FIX,6631.12,-5701.34,181011,010124
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.56
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,16.50
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,551.9,100.6
$24V_AH,23.3,11.152
$10V_AH,10.3,9.349
$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,16.950,51.775,332.125,47.850,0.000,0.000,0.000,236.450,7.250,0.000,18.479,3395.347,4658.265,563.599,2261.958,207.618,0.000,1846.323,0.000,2012.842,720.000,14.526,0.000
$DEVICE_MAMPS,250.155,101.745,1243.890,79.560,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.751,751.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150360
$DATA_FILE_SIZE,46651,1252
$CAP_FILE_SIZE,125322,0
$CFSIZE,260165632,242065408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1462.2
$CURRENT,0.338,332.8,1
$GPS,181011,073759,6703.748,-5702.229,35,0.9,35,-33.6