version: 66.09
glider: 143
mission: 13
dive: 89
start: 10 18 111 19 24 39
data:
$ID,143
$MISSION,13
$DIVE,89
$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,-80627.492
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,181011,191853,6704.231,-5657.562,39,0.9,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-68.3
$GPS2,181011,192406,6704.261,-5657.533,16,1.4,17,-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,187.2,7269,-18.3,-10.000
$D_GRID,539
$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,16,-0.77,-146.0,0.0,0.0,0,90,0.00,0.00,-70.78,0.000,2,0.000,0.000,122,2516,2103,0,0,0,0,0,0
$GC,93,-0.77,-146.0,3.1,-0.8,11,147,8.50,1.17,-41.33,0.000,4,0.263,0.099,2140,3218,3082,0,0,0,0,0,0
$GC,366,-0.77,-146.0,46.6,-15.8,58,373,0.00,1.12,0.00,0.000,6,0.000,0.036,2141,2498,3084,0,0,0,0,0,0
$GC,703,-0.77,-146.0,98.9,-15.1,119,710,0.00,1.20,0.00,0.000,4,0.000,0.068,2136,3211,3085,0,0,0,0,0,0
$GC,815,-0.77,-146.0,116.1,-15.8,139,822,0.00,1.10,0.00,0.000,6,0.000,0.035,2136,2502,3085,0,0,0,0,0,0
$GC,1155,-0.77,-146.0,169.2,-14.4,200,1161,0.00,1.08,0.00,0.000,4,0.000,0.048,2136,1817,3085,0,0,0,0,0,0
$GC,1302,-0.77,-146.0,189.8,-13.6,226,1309,0.00,1.17,0.00,0.000,6,0.000,0.060,2132,2501,3084,0,0,0,0,0,0
$GC,1641,-0.77,-146.0,236.3,-12.9,287,1648,0.00,1.15,0.00,0.000,4,0.000,0.071,2126,3220,3084,0,0,0,0,0,0
$GC,1897,-0.77,-146.0,270.5,-13.1,320,1901,0.00,1.10,0.00,0.000,6,0.000,0.034,2126,2508,3083,0,0,0,0,0,0
$GC,2228,-0.77,-146.0,313.0,-12.8,351,2231,0.00,1.08,0.00,0.000,4,0.000,0.047,2126,1817,3083,0,0,0,0,0,0
$GC,2310,-0.77,-146.0,322.9,-12.3,358,2317,0.00,1.17,0.00,0.000,6,0.000,0.059,2121,2509,3082,0,0,0,0,0,0
$GC,2636,-0.77,-146.0,365.6,-13.3,389,2640,0.12,1.15,0.00,0.000,4,0.184,0.069,2147,3218,3082,0,0,0,0,0,0
$GC,2726,-0.77,-146.0,376.1,-11.6,397,2729,0.00,1.10,0.00,0.000,6,0.000,0.033,2147,2499,3082,0,0,0,0,0,0
$GC,3057,-0.77,-146.0,413.5,-11.3,428,3060,0.00,1.05,0.00,0.000,4,0.000,0.045,2147,1818,3082,0,0,0,0,0,0
$GC,3127,-0.77,-146.0,420.9,-10.9,434,3135,0.00,1.17,0.00,0.000,6,0.000,0.057,2143,2509,3082,0,0,0,0,0,0
$GC,3453,-0.77,-146.0,456.6,-10.5,465,3457,0.00,1.12,0.00,0.000,4,0.000,0.068,2137,3220,3083,0,0,0,0,0,0
$GC,3576,-0.77,-146.0,469.3,-10.3,476,3580,0.00,1.10,0.00,0.000,6,0.000,0.032,2138,2498,3083,0,0,0,0,0,0
$GC,3917,-0.77,-146.0,503.1,-10.2,506,3921,0.00,1.17,0.00,0.000,4,0.000,0.063,2132,3214,3084,0,0,0,0,0,0
$GC,4006,-0.77,-146.0,510.5,-10.4,508,4010,0.00,1.08,0.00,0.000,6,0.000,0.031,2132,2505,3084,0,0,0,0,0,0
$STATE,4262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4262,begin apogee
$GC,4268,-0.16,0.0,539.1,-10.5,517,4390,0.65,0.00,116.40,1.175,6,0.142,0.000,2340,2185,2485,0,0,0,0,0,0
$STATE,4391,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4393,0.77,146.0,543.6,0.0,520,4524,0.90,1.15,123.50,1.147,4,0.077,0.052,2649,1506,1889,0,0,0,0,0,0
$GC,4562,0.77,146.0,534.2,10.1,525,4567,0.00,1.23,0.00,0.000,6,0.000,0.047,2649,2209,1885,0,0,0,0,0,0
$GC,4886,0.77,146.0,483.9,14.4,541,4890,0.00,1.15,0.00,0.000,4,0.000,0.056,2649,2903,1880,0,0,0,0,0,0
$GC,4899,0.77,146.0,482.1,14.6,542,4903,0.00,1.15,0.00,0.000,6,0.000,0.037,2654,2211,1880,0,0,0,0,0,0
$GC,5230,0.77,146.0,431.9,15.5,573,5234,0.00,1.20,0.00,0.000,4,0.000,0.052,2654,2909,1879,0,0,0,0,0,0
$GC,5367,0.77,146.0,412.1,14.9,585,5376,0.00,1.15,0.00,0.000,6,0.000,0.037,2658,2200,1878,0,0,0,0,0,0
$GC,5692,0.77,146.0,366.9,13.4,616,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2200,1878,0,0,0,0,0,0
$GC,6016,0.77,146.0,323.9,13.5,646,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2201,1878,0,0,0,0,0,0
$GC,6342,0.77,146.0,280.3,12.9,677,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2200,1878,0,0,0,0,0,0
$GC,6663,0.77,146.0,237.2,13.4,715,6670,0.00,1.08,0.00,0.000,4,0.000,0.052,2664,1497,1878,0,0,0,0,0,0
$GC,6715,0.77,146.0,230.6,12.6,724,6722,0.00,1.15,0.00,0.000,6,0.000,0.049,2664,2205,1878,0,0,0,0,0,0
$GC,7051,0.77,146.0,188.6,11.6,785,7060,0.00,1.12,0.00,0.000,4,0.000,0.055,2664,2911,1878,0,0,0,0,0,0
$GC,7310,0.77,146.0,157.2,11.6,831,7317,0.00,1.15,0.00,0.000,6,0.000,0.037,2669,2193,1878,0,0,0,0,0,0
$GC,7646,0.77,146.0,119.7,10.3,892,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2193,1878,0,0,0,0,0,0
$GC,7982,0.81,177.9,88.8,8.5,953,8017,0.00,1.08,25.62,0.896,4,0.000,0.051,2674,1499,1758,0,0,0,0,0,0
$GC,8036,0.84,203.1,84.2,8.8,961,8063,0.00,1.15,21.90,0.871,6,0.000,0.049,2674,2197,1656,0,0,0,0,0,0
$GC,8395,0.87,231.7,46.1,8.7,1025,8430,0.00,1.20,23.98,0.865,4,0.000,0.056,2674,2906,1539,0,0,0,0,0,0
$GC,8522,0.87,231.7,32.7,11.2,1046,8529,0.00,1.17,0.00,0.000,6,0.000,0.040,2679,2200,1536,0,0,0,0,0,0
$STATE,8815,end climb,SURFACE_DEPTH_REACHED
$STATE,8815,begin surface coast
$FINISH,1.5,1.024922
$STATE,8833,end surface coast,CONTROL_FINISHED_OK
$STATE,8833,begin surface
$SM_CCo,8850,55.03,0.079,0,0,1057,350.04
$SM_GC,2.58,6.97,0.60,55.03,0.050,0.058,0.079,116,2516,1057,-7.08,-0.65,350.04,0,0,0,0,0,0
$RAFOS_CLK,537
$RAFOS,6,1318970947,20.833334,20.818611,75,63,60,0,0,0,803,215,813,0,0,0
$RAFOS,5,1318970463,20.700001,20.684166,70,67,61,0,0,0,203,646,170,0,0,0
$RAFOS,4,1318969987,20.566668,20.551945,60,59,58,0,0,0,180,216,861,0,0,0
$RAFOS,3,1318969507,20.433332,20.418612,75,66,54,0,0,0,967,213,222,0,0,0
$RAFOS,2,1318969022,20.299999,20.283890,59,57,56,0,0,0,210,151,198,0,0,0
$RAFOS,1,1318968546,20.166666,20.151667,67,58,56,0,0,0,1037,158,200,0,0,0
$RAFOS,0,1318968062,20.033333,20.017221,63,61,59,0,0,0,121,203,216,0,0,0
$RAFOS_FIX,6702.621094,-5700.179688,181011,202013,3,72,0.91
$IRIDIUM_FIX,6636.54,-5655.33,181011,161606
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.90
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.70
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,451.1,115.6
$24V_AH,23.5,11.637
$10V_AH,10.3,9.751
$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,17.150,37.500,311.400,55.025,0.000,0.000,0.000,204.025,5.750,0.000,18.334,2959.112,3643.791,479.468,1981.899,172.763,0.000,1604.435,0.000,1762.816,2520.000,12.444,0.000
$DEVICE_MAMPS,263.160,99.450,1175.040,78.795,0.000,0.000,0.000,252.427,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.712,628.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150332
$DATA_FILE_SIZE,43414,1102
$CAP_FILE_SIZE,106370,0
$CFSIZE,260165632,241766400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1463.8
$CURRENT,0.175,350.7,1
$GPS,181011,215435,6703.850,-5656.061,34,0.9,34,-33.5