version: 66.09
glider: 143
mission: 13
dive: 85
start: 10 18 111 7 43 40
data:
$ID,143
$MISSION,13
$DIVE,85
$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,-80622.453
$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,38
$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
$GPS1,181011,073759,6703.748,-5702.229,35,0.9,35,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-64.2
$GPS2,181011,074307,6703.822,-5702.136,15,1.5,16,-33.6
$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,177.1,10321,-18.3,-10.000
$D_GRID,630
$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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.50,0.000,2,0.000,0.000,123,2505,1926,0,0,0,0,0,0
$GC,82,-0.77,-146.0,3.1,-1.8,10,151,8.48,1.20,-55.17,0.000,4,0.259,0.099,2145,3219,3082,0,0,0,0,0,0
$GC,390,-0.77,-146.0,51.5,-17.1,63,399,0.00,1.12,0.00,0.000,6,0.000,0.038,2144,2504,3084,0,0,0,0,0,0
$GC,732,-0.77,-146.0,100.3,-15.1,124,739,0.00,1.20,0.00,0.000,4,0.000,0.069,2140,3217,3084,0,0,0,0,0,0
$GC,847,-0.77,-146.0,117.8,-14.2,144,853,0.00,1.10,0.00,0.000,6,0.000,0.037,2140,2511,3085,0,0,0,0,0,0
$GC,1186,-0.77,-146.0,165.5,-13.2,205,1192,0.00,1.10,0.00,0.000,4,0.000,0.049,2140,1814,3084,0,0,0,0,0,0
$GC,1287,-0.77,-146.0,178.1,-11.9,223,1296,0.00,1.20,0.00,0.000,6,0.000,0.062,2135,2510,3085,0,0,0,0,0,0
$GC,1627,-0.77,-146.0,220.2,-12.9,284,1633,0.00,1.12,0.00,0.000,4,0.000,0.073,2130,3211,3084,0,0,0,0,0,0
$GC,1734,-0.77,-146.0,234.9,-13.8,303,1743,0.00,1.10,0.00,0.000,6,0.000,0.038,2130,2502,3083,0,0,0,0,0,0
$GC,2073,-0.77,-146.0,280.7,-13.2,344,2077,0.00,1.08,0.00,0.000,4,0.000,0.050,2130,1818,3082,0,0,0,0,0,0
$GC,2130,-0.77,-146.0,288.6,-13.5,349,2133,0.00,1.20,0.00,0.000,6,0.000,0.061,2125,2516,3082,0,0,0,0,0,0
$GC,2462,-0.77,-146.0,333.1,-12.8,380,2465,0.00,1.12,0.00,0.000,4,0.000,0.072,2120,3223,3082,0,0,0,0,0,0
$GC,2540,-0.77,-146.0,343.6,-13.2,387,2544,0.08,1.10,0.00,0.000,6,0.163,0.037,2143,2509,3082,0,0,0,0,0,0
$GC,2873,-0.77,-146.0,381.3,-11.0,418,2877,0.00,1.08,0.00,0.000,4,0.000,0.048,2144,1818,3082,0,0,0,0,0,0
$GC,2942,-0.77,-146.0,389.0,-11.0,424,2946,0.00,1.17,0.00,0.000,6,0.000,0.060,2141,2506,3082,0,0,0,0,0,0
$GC,3273,-0.77,-146.0,427.2,-11.3,455,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2506,3083,0,0,0,0,0,0
$GC,3591,-0.77,-146.0,463.2,-10.7,485,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2506,3083,0,0,0,0,0,0
$GC,3912,-0.77,-146.0,498.7,-11.1,515,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2506,3084,0,0,0,0,0,0
$GC,4238,-0.77,-146.0,533.7,-10.5,527,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2506,3085,0,0,0,0,0,0
$GC,4544,-0.77,-146.0,566.1,-10.9,537,4548,0.00,1.12,0.00,0.000,4,0.000,0.069,2136,3220,3085,0,0,0,0,0,0
$GC,4673,-0.77,-146.0,577.2,-10.8,540,4680,0.00,1.10,0.00,0.000,6,0.000,0.034,2135,2499,3086,0,0,0,0,0,0
$STATE,4954,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4954,begin apogee
$GC,4960,-0.16,0.0,611.6,-11.2,550,5088,0.65,0.00,117.57,1.216,6,0.141,0.000,2345,2198,2484,0,0,0,0,0,0
$STATE,5089,end apogee,CONTROL_FINISHED_OK
$STATE,5089,begin climb
$GC,5091,0.77,146.0,617.1,0.0,554,5224,0.88,1.38,124.25,1.195,4,0.068,0.054,2648,2925,1889,0,0,0,0,0,0
$GC,5283,0.77,146.0,602.2,11.3,560,5287,0.00,1.23,0.00,0.000,6,0.000,0.037,2653,2214,1884,0,0,0,0,0,0
$GC,5623,0.77,146.0,553.5,14.4,571,5627,0.00,1.23,0.00,0.000,4,0.000,0.054,2653,2917,1880,0,0,0,0,0,0
$GC,5734,0.77,146.0,538.0,14.9,574,5738,0.00,1.20,0.00,0.000,6,0.000,0.037,2658,2193,1879,0,0,0,0,0,0
$GC,6057,0.77,146.0,488.6,14.9,588,6061,0.00,1.25,0.00,0.000,4,0.000,0.054,2658,2924,1879,0,0,0,0,0,0
$GC,6092,0.77,146.0,483.2,14.9,591,6095,0.00,1.17,0.00,0.000,6,0.000,0.037,2663,2201,1879,0,0,0,0,0,0
$GC,6422,0.77,146.0,434.8,14.6,622,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2201,1878,0,0,0,0,0,0
$GC,6744,0.77,146.0,390.9,13.6,652,6748,0.00,1.23,0.00,0.000,4,0.000,0.055,2663,2923,1877,0,0,0,0,0,0
$GC,6760,0.77,146.0,388.9,13.6,653,6767,0.00,1.17,0.00,0.000,6,0.000,0.039,2667,2194,1877,0,0,0,0,0,0
$GC,7087,0.77,146.0,343.8,13.8,684,7090,0.00,1.23,0.00,0.000,4,0.000,0.054,2668,2917,1877,0,0,0,0,0,0
$GC,7125,0.77,146.0,338.7,14.2,687,7134,0.00,1.15,0.00,0.000,6,0.000,0.038,2673,2200,1877,0,0,0,0,0,0
$GC,7450,0.77,146.0,294.2,13.4,718,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,1877,0,0,0,0,0,0
$GC,7772,0.77,146.0,253.2,12.6,748,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,1877,0,0,0,0,0,0
$GC,8107,0.77,146.0,212.7,12.0,807,8116,0.00,1.20,0.00,0.000,4,0.000,0.054,2673,2916,1877,0,0,0,0,0,0
$GC,8305,0.77,146.0,188.2,12.7,842,8312,0.08,1.15,0.00,0.000,6,0.159,0.040,2653,2199,1877,0,0,0,0,0,0
$GC,8645,0.77,150.6,152.3,9.8,903,8654,0.00,1.20,0.00,0.000,4,0.000,0.055,2653,2919,1877,0,0,0,0,0,0
$GC,8789,0.77,150.6,137.4,10.6,928,8796,0.00,1.15,0.00,0.000,6,0.000,0.039,2657,2199,1877,0,0,0,0,0,0
$GC,9127,0.83,193.8,105.6,8.0,989,9173,0.00,1.08,38.25,0.911,4,0.000,0.049,2662,1496,1694,0,0,0,0,0,0
$GC,9257,0.83,193.8,92.9,11.3,1011,9266,0.00,1.20,0.00,0.000,6,0.000,0.050,2662,2215,1691,0,0,0,0,0,0
$GC,9599,0.83,194.5,59.2,10.0,1072,9606,0.00,1.10,0.00,0.000,4,0.000,0.057,2662,2901,1688,0,0,0,0,0,0
$GC,9713,0.84,202.9,48.3,9.6,1092,9727,0.00,1.15,8.23,0.831,6,0.000,0.040,2667,2198,1657,0,0,0,0,0,0
$GC,10059,0.89,241.1,20.7,8.2,1154,10086,0.00,0.00,20.40,0.825,6,0.000,0.000,2667,2198,1501,0,0,0,0,0,0
$STATE,10231,end climb,SURFACE_DEPTH_REACHED
$STATE,10232,begin surface coast
$FINISH,1.8,1.025068
$STATE,10248,end surface coast,CONTROL_FINISHED_OK
$STATE,10248,begin surface
$SM_CCo,10265,50.80,0.080,0,0,1058,350.04
$SM_GC,2.60,6.97,0.60,50.80,0.053,0.066,0.080,129,2505,1058,-7.06,-0.82,350.04,0,0,0,0,0,0
$RAFOS_CLK,632
$RAFOS,6,1318927749,8.833333,8.819167,64,56,55,0,0,0,216,199,134,0,0,0
$RAFOS,5,1318927271,8.700000,8.686389,65,60,58,0,0,0,126,167,199,0,0,0
$RAFOS,4,1318926783,8.566667,8.550834,67,61,59,0,0,0,215,239,860,0,0,0
$RAFOS,3,1318926303,8.433333,8.417500,62,58,57,0,0,0,148,210,181,0,0,0
$RAFOS,2,1318925826,8.300000,8.285000,57,56,55,0,0,0,129,145,166,0,0,0
$RAFOS,1,1318925345,8.166667,8.151389,67,60,59,0,0,0,215,201,190,0,0,0
$RAFOS,0,1318924865,8.033334,8.018056,63,61,55,0,0,0,202,170,229,0,0,0
$RAFOS_FIX,6704.930664,-5710.124023,181011,040413,3,70,0.00
$IRIDIUM_FIX,6631.12,-5701.34,181011,040406
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.93
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,16.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,450.3,175.6
$24V_AH,23.4,11.253
$10V_AH,10.3,9.430
$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,17.125,40.625,308.700,50.800,0.000,0.000,0.000,197.425,5.500,0.000,16.674,3201.683,4660.306,494.401,2085.133,189.605,0.000,1671.996,0.000,1876.289,2520.000,11.196,0.000
$DEVICE_MAMPS,259.335,98.685,1216.350,80.325,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.855,681.707,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150344
$DATA_FILE_SIZE,46675,1187
$CAP_FILE_SIZE,115456,0
$CFSIZE,260165632,242003968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1462.0
$CURRENT,0.159,339.9,1
$GPS,181011,103705,6703.326,-5700.203,41,0.7,41,-33.5