version: 66.09
glider: 143
mission: 13
dive: 87
start: 10 18 111 13 42 29
data:
$ID,143
$MISSION,13
$DIVE,87
$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,-80624.977
$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,25
$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
$GPS1,181011,133658,6703.263,-5658.559,21,1.1,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-68.4
$GPS2,181011,134155,6703.282,-5658.624,23,1.0,24,-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,157.3,7690,-18.3,-10.000
$D_GRID,601
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.35,0.000,2,0.000,0.000,123,2510,1941,0,0,0,0,0,0
$GC,83,-0.77,-146.0,3.1,-1.2,10,157,8.45,1.10,-58.47,0.000,4,0.259,0.096,2140,3216,3081,0,0,0,0,0,0
$GC,319,-0.77,-146.0,35.5,-14.7,50,328,0.00,1.12,0.00,0.000,6,0.000,0.036,2141,2498,3083,0,0,0,0,0,0
$GC,660,-0.77,-146.0,88.2,-15.8,111,667,0.00,1.08,0.00,0.000,4,0.000,0.048,2140,1815,3083,0,0,0,0,0,0
$GC,797,-0.77,-146.0,108.6,-13.7,135,803,0.00,1.20,0.00,0.000,6,0.000,0.059,2136,2514,3083,0,0,0,0,0,0
$GC,1134,-0.77,-146.0,157.0,-14.2,196,1141,0.00,1.12,0.00,0.000,4,0.000,0.071,2130,3217,3083,0,0,0,0,0,0
$GC,1352,-0.77,-146.0,188.1,-15.2,235,1358,0.00,1.10,0.00,0.000,6,0.000,0.037,2131,2509,3084,0,0,0,0,0,0
$GC,1689,-0.77,-146.0,235.4,-13.1,296,1695,0.00,1.10,0.00,0.000,4,0.000,0.047,2131,1811,3082,0,0,0,0,0,0
$GC,1801,-0.77,-146.0,249.7,-11.8,316,1808,0.00,1.20,0.00,0.000,6,0.000,0.060,2126,2511,3082,0,0,0,0,0,0
$GC,2127,-0.77,-146.0,291.1,-12.6,347,2131,0.00,1.12,0.00,0.000,4,0.000,0.070,2121,3218,3081,0,0,0,0,0,0
$GC,2199,-0.77,-146.0,299.9,-13.2,353,2208,0.08,1.10,0.00,0.000,6,0.165,0.035,2144,2501,3081,0,0,0,0,0,0
$GC,2524,-0.77,-146.0,336.5,-10.9,384,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2501,3081,0,0,0,0,0,0
$GC,2845,-0.77,-146.0,370.4,-10.2,414,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2501,3081,0,0,0,0,0,0
$GC,3162,-0.77,-146.0,401.9,-9.7,444,3166,0.00,1.17,0.00,0.000,4,0.000,0.066,2141,3213,3082,0,0,0,0,0,0
$GC,3220,-0.77,-146.0,407.7,-9.9,449,3223,0.00,1.08,0.00,0.000,6,0.000,0.033,2141,2508,3082,0,0,0,0,0,0
$GC,3550,-0.77,-146.0,442.1,-10.8,480,3554,0.00,1.08,0.00,0.000,4,0.000,0.046,2141,1813,3082,0,0,0,0,0,0
$GC,3666,-0.77,-146.0,454.1,-10.6,490,3675,0.00,1.17,0.00,0.000,6,0.000,0.057,2136,2509,3082,0,0,0,0,0,0
$GC,3992,-0.77,-146.0,489.6,-10.7,521,3995,0.00,1.12,0.00,0.000,4,0.000,0.067,2130,3222,3083,0,0,0,0,0,0
$GC,4070,-0.77,-146.0,498.1,-11.0,528,4074,0.00,1.10,0.00,0.000,6,0.000,0.032,2131,2499,3083,0,0,0,0,0,0
$GC,4399,-0.77,-146.0,534.7,-11.0,540,4403,0.00,1.05,0.00,0.000,4,0.000,0.045,2130,1814,3084,0,0,0,0,0,0
$GC,4488,-0.77,-146.0,541.8,-10.9,542,4492,0.00,1.17,0.00,0.000,6,0.000,0.055,2126,2511,3084,0,0,0,0,0,0
$GC,4807,-0.77,-146.0,578.9,-10.7,553,4811,0.00,1.10,0.00,0.000,4,0.000,0.067,2120,3214,3084,0,0,0,0,0,0
$STATE,4909,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4909,begin apogee
$GC,4916,-0.16,0.0,590.3,-11.1,556,5039,0.70,0.00,116.78,1.200,6,0.143,0.000,2344,2191,2485,0,0,0,0,0,0
$STATE,5039,end apogee,CONTROL_FINISHED_OK
$STATE,5039,begin climb
$GC,5042,0.77,146.0,592.2,0.0,559,5174,0.85,1.20,123.97,1.164,4,0.060,0.048,2650,1499,1889,0,0,0,0,0,0
$GC,5426,0.77,146.0,564.2,14.3,570,5435,0.00,1.20,0.00,0.000,6,0.000,0.048,2651,2206,1881,0,0,0,0,0,0
$GC,5739,0.77,146.0,517.0,14.3,581,5743,0.00,1.17,0.00,0.000,4,0.000,0.048,2655,1496,1880,0,0,0,0,0,0
$GC,5996,0.77,146.0,480.9,13.9,596,6000,0.00,1.17,0.00,0.000,6,0.000,0.048,2656,2206,1879,0,0,0,0,0,0
$GC,6328,0.77,146.0,436.5,13.1,627,6332,0.00,1.12,0.00,0.000,4,0.000,0.056,2656,2902,1879,0,0,0,0,0,0
$GC,6351,0.77,146.0,433.2,13.5,629,6354,0.00,1.15,0.00,0.000,6,0.000,0.038,2660,2194,1878,0,0,0,0,0,0
$GC,6681,0.77,146.0,389.3,13.4,660,6685,0.00,1.20,0.00,0.000,4,0.000,0.053,2660,2904,1878,0,0,0,0,0,0
$GC,6752,0.77,146.0,380.1,14.0,666,6761,0.00,1.12,0.00,0.000,6,0.000,0.037,2665,2203,1878,0,0,0,0,0,0
$GC,7078,0.77,146.0,337.2,12.6,697,7081,0.00,1.17,0.00,0.000,4,0.000,0.053,2665,2902,1878,0,0,0,0,0,0
$GC,7191,0.77,146.0,322.1,13.3,707,7195,0.00,1.12,0.00,0.000,6,0.000,0.037,2670,2200,1878,0,0,0,0,0,0
$GC,7522,0.77,146.0,279.0,12.7,738,7525,0.00,1.17,0.00,0.000,4,0.000,0.054,2670,2900,1878,0,0,0,0,0,0
$GC,7571,0.77,146.0,273.1,13.1,742,7580,0.00,1.12,0.00,0.000,6,0.000,0.037,2675,2195,1877,0,0,0,0,0,0
$GC,7904,0.77,146.0,229.2,13.0,787,7911,0.00,1.20,0.00,0.000,4,0.000,0.053,2675,2913,1878,0,0,0,0,0,0
$GC,8077,0.77,146.0,206.6,12.6,818,8086,0.10,1.15,0.00,0.000,6,0.157,0.037,2649,2193,1878,0,0,0,0,0,0
$GC,8419,0.79,161.1,171.0,9.3,879,8438,0.00,1.02,12.02,0.894,4,0.000,0.048,2652,1491,1827,0,0,0,0,0,0
$GC,8494,0.79,161.1,162.9,10.7,892,8501,0.00,1.15,0.00,0.000,6,0.000,0.049,2653,2199,1827,0,0,0,0,0,0
$GC,8834,0.79,165.2,128.0,9.8,953,8841,0.00,0.00,4.85,0.734,6,0.000,0.000,2653,2199,1811,0,0,0,0,0,0
$GC,9173,0.80,173.9,96.4,9.6,1014,9188,0.00,1.12,8.88,0.854,4,0.000,0.054,2652,2915,1776,0,0,0,0,0,0
$GC,9436,0.80,173.9,69.7,11.0,1061,9443,0.00,1.15,0.00,0.000,6,0.000,0.040,2657,2204,1774,0,0,0,0,0,0
$GC,9777,0.83,192.5,38.5,9.1,1122,9799,0.00,1.15,16.55,0.878,4,0.000,0.052,2662,1487,1700,0,0,0,0,0,0
$GC,9966,0.84,203.7,20.7,9.5,1155,9979,0.00,1.17,5.97,0.721,6,0.000,0.050,2662,2203,1652,0,0,0,0,0,0
$STATE,10191,end climb,SURFACE_DEPTH_REACHED
$STATE,10191,begin surface coast
$FINISH,1.7,1.023056
$STATE,10214,end surface coast,CONTROL_FINISHED_OK
$STATE,10214,begin surface
$SM_CCo,10230,68.15,0.080,0,0,1056,350.04
$SM_GC,2.62,6.90,0.52,68.15,0.050,0.060,0.080,115,2517,1056,-7.08,-0.71,350.04,0,0,0,0,0,0
$RAFOS_CLK,629
$RAFOS,3,1318955104,16.433332,16.417778,60,59,58,0,0,0,975,206,215,0,0,0
$RAFOS,2,1318954624,16.299999,16.284445,60,56,55,0,0,0,210,124,174,0,0,0
$RAFOS,1,1318954146,16.166666,16.151667,61,59,55,0,0,0,174,218,132,0,0,0
$RAFOS,0,1318953665,16.033333,16.018055,68,62,57,0,0,0,215,149,195,0,0,0
$RAFOS_FIX,6704.713379,-5706.170410,181011,121220,4,72,0.80
$IRIDIUM_FIX,6631.12,-5658.34,181011,101041
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.78
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,16.50
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,400.9,200.6
$24V_AH,23.5,11.442
$10V_AH,10.3,9.596
$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,17.075,46.500,289.025,68.150,0.000,0.000,0.000,179.775,5.500,0.000,25.064,3249.374,4460.925,495.720,2199.022,198.850,0.000,1708.738,0.000,1997.296,1440.000,10.801,0.000
$DEVICE_MAMPS,259.335,96.390,1199.520,80.325,0.000,0.000,0.000,258.419,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.887,686.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,46696,1199
$CAP_FILE_SIZE,119964,0
$CFSIZE,260165632,241868800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1462.9
$CURRENT,0.288,330.5,1
$GPS,181011,163529,6703.938,-5657.979,35,0.9,35,-33.5