version: 66.09
glider: 143
mission: 13
dive: 88
start: 10 18 111 16 40 52
data:
$ID,143
$MISSION,13
$DIVE,88
$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,-80626.242
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,181011,163529,6703.938,-5657.979,35,0.9,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-68.8
$GPS2,181011,164019,6703.983,-5658.052,17,1.3,18,-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,182.6,7484,-18.3,-10.000
$D_GRID,552
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.00,0.000,2,0.000,0.000,115,2521,2064,0,0,0,0,0,0
$GC,90,-0.77,-146.0,3.2,-1.3,10,153,8.40,1.12,-46.05,0.000,4,0.257,0.101,2146,3206,3082,0,0,0,0,0,0
$GC,391,-0.77,-146.0,47.8,-15.3,62,398,0.00,1.10,0.00,0.000,6,0.000,0.035,2146,2499,3084,0,0,0,0,0,0
$GC,728,-0.77,-146.0,97.0,-14.1,123,734,0.00,1.08,0.00,0.000,4,0.000,0.047,2146,1815,3084,0,0,0,0,0,0
$GC,814,-0.77,-146.0,108.7,-13.7,138,821,0.00,1.17,0.00,0.000,6,0.000,0.059,2141,2500,3084,0,0,0,0,0,0
$GC,1153,-0.77,-146.0,156.8,-13.5,199,1160,0.00,1.15,0.00,0.000,4,0.000,0.072,2136,3216,3084,0,0,0,0,0,0
$GC,1380,-0.77,-146.0,186.2,-12.5,240,1386,0.00,1.10,0.00,0.000,6,0.000,0.036,2136,2504,3084,0,0,0,0,0,0
$GC,1716,-0.77,-146.0,227.9,-12.6,301,1725,0.00,1.20,0.00,0.000,4,0.000,0.070,2131,3220,3083,0,0,0,0,0,0
$GC,1817,-0.77,-146.0,241.4,-13.8,318,1823,0.00,1.10,0.00,0.000,6,0.000,0.036,2131,2511,3083,0,0,0,0,0,0
$GC,2146,-0.77,-146.0,287.1,-13.5,354,2150,0.00,1.10,0.00,0.000,4,0.000,0.048,2131,1809,3082,0,0,0,0,0,0
$GC,2269,-0.77,-146.0,304.4,-13.9,365,2273,0.00,1.20,0.00,0.000,6,0.000,0.059,2126,2512,3082,0,0,0,0,0,0
$GC,2600,-0.77,-146.0,348.5,-13.2,396,2604,0.00,1.10,0.00,0.000,4,0.000,0.069,2121,3209,3082,0,0,0,0,0,0
$GC,2723,-0.77,-146.0,364.4,-12.8,407,2727,0.08,1.08,0.00,0.000,6,0.162,0.034,2144,2502,3082,0,0,0,0,0,0
$GC,3054,-0.77,-146.0,399.8,-10.2,438,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2502,3082,0,0,0,0,0,0
$GC,3373,-0.77,-146.0,434.5,-10.8,468,3376,0.00,1.05,0.00,0.000,4,0.000,0.046,2145,1821,3082,0,0,0,0,0,0
$GC,3442,-0.77,-146.0,442.0,-10.6,474,3446,0.00,1.17,0.00,0.000,6,0.000,0.057,2141,2515,3082,0,0,0,0,0,0
$GC,3772,-0.77,-146.0,479.0,-11.1,505,3776,0.00,1.10,0.00,0.000,4,0.000,0.068,2136,3214,3083,0,0,0,0,0,0
$GC,3875,-0.77,-146.0,490.5,-11.8,514,3878,0.00,1.08,0.00,0.000,6,0.000,0.033,2137,2505,3083,0,0,0,0,0,0
$GC,4208,-0.77,-146.0,527.1,-10.8,530,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2505,3084,0,0,0,0,0,0
$STATE,4480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4480,begin apogee
$GC,4486,-0.16,0.0,554.4,-9.1,539,4608,0.65,0.00,116.47,1.180,6,0.142,0.000,2345,2188,2485,0,0,0,0,0,0
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4611,0.77,146.0,557.0,0.0,542,4744,0.88,1.15,123.53,1.159,4,0.076,0.053,2647,1510,1888,0,0,0,0,0,0
$GC,4877,0.77,146.0,531.2,14.6,550,4881,0.00,1.20,0.00,0.000,6,0.000,0.049,2648,2208,1882,0,0,0,0,0,0
$GC,5202,0.77,146.0,484.2,14.4,567,5206,0.00,1.15,0.00,0.000,4,0.000,0.056,2648,2905,1880,0,0,0,0,0,0
$GC,5340,0.77,146.0,464.5,14.8,579,5347,0.00,1.15,0.00,0.000,6,0.000,0.038,2653,2206,1879,0,0,0,0,0,0
$GC,5667,0.77,146.0,417.9,14.3,610,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2206,1879,0,0,0,0,0,0
$GC,5985,0.77,146.0,373.9,13.8,640,5989,0.00,1.20,0.00,0.000,4,0.000,0.053,2652,2914,1878,0,0,0,0,0,0
$GC,6030,0.77,146.0,367.2,14.2,644,6034,0.00,1.15,0.00,0.000,6,0.000,0.037,2657,2199,1878,0,0,0,0,0,0
$GC,6361,0.77,146.0,321.9,13.6,675,6365,0.00,1.20,0.00,0.000,4,0.000,0.054,2657,2910,1877,0,0,0,0,0,0
$GC,6399,0.77,146.0,317.0,13.8,678,6406,0.00,1.15,0.00,0.000,6,0.000,0.038,2662,2194,1878,0,0,0,0,0,0
$GC,6724,0.77,146.0,273.7,12.4,709,6728,0.00,1.08,0.00,0.000,4,0.000,0.050,2667,1492,1878,0,0,0,0,0,0
$GC,6747,0.77,146.0,270.6,13.0,711,6751,0.00,1.15,0.00,0.000,6,0.000,0.048,2667,2203,1877,0,0,0,0,0,0
$GC,7079,0.77,146.0,228.9,12.5,756,7086,0.00,1.12,0.00,0.000,4,0.000,0.054,2667,2911,1878,0,0,0,0,0,0
$GC,7335,0.77,146.0,198.3,11.4,802,7342,0.00,1.15,0.00,0.000,6,0.000,0.038,2672,2194,1877,0,0,0,0,0,0
$GC,7672,0.77,146.0,157.9,11.5,863,7679,0.00,1.08,0.00,0.000,4,0.000,0.052,2678,1492,1878,0,0,0,0,0,0
$GC,7767,0.77,146.0,146.8,11.3,880,7775,0.08,1.15,0.00,0.000,6,0.155,0.048,2654,2206,1878,0,0,0,0,0,0
$GC,8106,0.77,146.0,110.8,10.2,941,8114,0.00,1.12,0.00,0.000,4,0.000,0.049,2657,1499,1878,0,0,0,0,0,0
$GC,8162,0.77,147.6,105.3,9.9,950,8168,0.00,1.12,0.00,0.000,6,0.000,0.049,2657,2199,1878,0,0,0,0,0,0
$GC,8499,0.84,205.9,75.5,7.3,1011,8552,0.00,1.20,47.90,0.895,4,0.000,0.057,2657,2907,1645,0,0,0,0,0,0
$GC,8801,0.87,225.7,47.4,9.1,1064,8822,0.00,1.15,16.75,0.857,6,0.000,0.039,2662,2205,1564,0,0,0,0,0,0
$GC,9155,0.89,241.7,16.7,9.3,1127,9168,0.00,1.23,7.80,0.115,4,0.000,0.054,2662,2905,1499,0,0,0,0,0,0
$GC,9230,0.89,241.7,9.1,11.6,1140,9236,0.00,1.15,0.00,0.000,6,0.000,0.041,2666,2204,1496,0,0,0,0,0,0
$STATE,9296,end climb,SURFACE_DEPTH_REACHED
$STATE,9296,begin surface coast
$FINISH,1.7,1.005231
$STATE,9319,end surface coast,CONTROL_FINISHED_OK
$STATE,9319,begin surface
$SM_CCo,9335,50.85,0.080,0,0,1057,350.04
$SM_GC,2.50,6.90,0.57,50.85,0.048,0.056,0.080,122,2513,1057,-7.06,-0.85,350.04,0,0,0,0,0,0
$RAFOS_CLK,570
$RAFOS,6,1318956543,16.833334,16.817499,96,66,59,0,0,0,836,119,201,0,0,0
$RAFOS,5,1318956075,16.700001,16.687500,67,64,62,0,0,0,582,222,197,0,0,0
$RAFOS_FIX,6701.717773,-5700.861328,181011,161632,3,74,517.92
$IRIDIUM_FIX,6631.12,-5633.87,181011,131341
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,16.60
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,450.5,124.8
$24V_AH,23.5,11.539
$10V_AH,10.3,9.674
$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,16.975,42.000,312.450,50.850,0.000,0.000,0.000,179.925,5.750,0.000,19.237,3103.275,3895.823,475.659,2038.535,180.225,0.000,1616.187,0.000,1839.905,720.000,11.060,0.000
$DEVICE_MAMPS,257.040,100.980,1180.395,79.560,0.000,0.000,0.000,261.415,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.801,666.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150296
$DATA_FILE_SIZE,43372,1156
$CAP_FILE_SIZE,111181,0
$CFSIZE,260165632,241819648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1463.0
$CURRENT,0.330,336.8,1
$GPS,181011,191853,6704.231,-5657.562,39,0.9,39,-33.5