version: 66.09
glider: 143
mission: 13
dive: 90
start: 10 18 111 21 59 58
data:
$ID,143
$MISSION,13
$DIVE,90
$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,-80628.742
$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,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
$GPS1,181011,215435,6703.850,-5656.061,34,0.9,34,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-73.4
$GPS2,181011,215924,6703.832,-5656.005,18,1.2,19,-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,176.1,5982,-18.3,-10.000
$D_GRID,553
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.77,-146.0,0.0,0.0,0,88,0.00,0.00,-70.85,0.000,2,0.000,0.000,115,2519,2116,0,0,0,0,0,0
$GC,91,-0.77,-146.0,3.1,-1.2,11,146,8.50,1.17,-40.85,0.000,4,0.259,0.099,2144,3221,3081,0,0,0,0,0,0
$GC,284,-0.77,-146.0,32.4,-18.4,44,290,0.00,1.12,0.00,0.000,6,0.000,0.035,2144,2503,3083,0,0,0,0,0,0
$GC,622,-0.77,-146.0,85.1,-14.2,105,629,0.00,1.08,0.00,0.000,4,0.000,0.047,2144,1819,3084,0,0,0,0,0,0
$GC,703,-0.77,-146.0,95.8,-13.2,119,710,0.00,1.17,0.00,0.000,6,0.000,0.059,2140,2500,3084,0,0,0,0,0,0
$GC,1040,-0.77,-146.0,142.1,-13.6,180,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2500,3084,0,0,0,0,0,0
$GC,1376,-0.77,-146.0,187.4,-13.6,241,1382,0.00,1.15,0.00,0.000,4,0.000,0.072,2134,3217,3083,0,0,0,0,0,0
$GC,1580,-0.77,-146.0,216.7,-13.9,278,1589,0.00,1.10,0.00,0.000,6,0.000,0.035,2134,2506,3083,0,0,0,0,0,0
$GC,1923,-0.77,-146.0,262.5,-12.7,331,1927,0.00,1.08,0.00,0.000,4,0.000,0.049,2134,1819,3082,0,0,0,0,0,0
$GC,2017,-0.77,-146.0,274.1,-12.5,339,2024,0.00,1.20,0.00,0.000,6,0.000,0.060,2129,2519,3081,0,0,0,0,0,0
$GC,2343,-0.77,-146.0,316.8,-13.2,370,2346,0.00,1.10,0.00,0.000,4,0.000,0.070,2124,3211,3081,0,0,0,0,0,0
$GC,2458,-0.77,-146.0,331.3,-12.9,380,2465,0.00,1.08,0.00,0.000,6,0.000,0.034,2124,2511,3081,0,0,0,0,0,0
$GC,2785,-0.77,-146.0,373.3,-12.2,411,2789,0.00,1.08,0.00,0.000,4,0.000,0.047,2124,1816,3081,0,0,0,0,0,0
$GC,2885,-0.77,-146.0,385.5,-11.8,420,2889,0.10,1.17,0.00,0.000,6,0.158,0.058,2150,2509,3081,0,0,0,0,0,0
$GC,3216,-0.77,-146.0,420.6,-10.3,451,3220,0.00,1.12,0.00,0.000,4,0.000,0.069,2147,3220,3082,0,0,0,0,0,0
$GC,3343,-0.77,-146.0,434.3,-11.0,462,3353,0.00,1.10,0.00,0.000,6,0.000,0.032,2146,2499,3082,0,0,0,0,0,0
$GC,3671,-0.77,-146.0,470.0,-9.8,493,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3083,0,0,0,0,0,0
$GC,3998,-0.77,-146.0,504.4,-11.3,522,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2499,3083,0,0,0,0,0,0
$GC,4304,-0.77,-146.0,535.3,-9.7,532,4307,0.00,1.05,0.00,0.000,4,0.000,0.044,2147,1814,3084,0,0,0,0,0,0
$GC,4372,-0.77,-146.0,542.1,-9.7,534,4376,0.00,1.17,0.00,0.000,6,0.000,0.055,2142,2513,3084,0,0,0,0,0,0
$STATE,4406,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4406,begin apogee
$GC,4412,-0.16,0.0,545.3,-9.7,535,4539,0.62,0.00,116.18,1.178,6,0.142,0.000,2341,2179,2485,0,0,0,0,0,0
$STATE,4540,end apogee,CONTROL_FINISHED_OK
$STATE,4540,begin climb
$GC,4542,0.77,146.0,549.2,0.0,539,4675,0.88,1.12,123.50,1.154,4,0.072,0.052,2648,1514,1888,0,0,0,0,0,0
$GC,4697,0.81,183.1,542.8,8.3,543,4735,0.00,1.23,33.35,1.091,6,0.000,0.047,2648,2209,1738,0,0,0,0,0,0
$GC,5044,0.81,183.1,483.7,15.1,561,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2209,1730,0,0,0,0,0,0
$GC,5367,0.81,183.1,432.6,15.9,591,5371,0.00,1.15,0.00,0.000,4,0.000,0.054,2648,2913,1730,0,0,0,0,0,0
$GC,5401,0.81,183.1,426.4,16.0,594,5405,0.00,1.15,0.00,0.000,6,0.000,0.038,2653,2211,1729,0,0,0,0,0,0
$GC,5732,0.81,183.1,376.0,14.9,625,5736,0.00,1.20,0.00,0.000,4,0.000,0.053,2653,2914,1729,0,0,0,0,0,0
$GC,5801,0.81,183.1,365.7,15.5,631,5805,0.00,1.17,0.00,0.000,6,0.000,0.038,2657,2193,1729,0,0,0,0,0,0
$GC,6132,0.81,183.1,314.1,15.8,662,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2192,1728,0,0,0,0,0,0
$GC,6452,0.81,183.1,265.0,15.3,692,6456,0.00,1.23,0.00,0.000,4,0.000,0.054,2658,2916,1728,0,0,0,0,0,0
$GC,6490,0.81,183.1,259.2,15.8,695,6497,0.00,1.17,0.00,0.000,6,0.000,0.039,2662,2192,1728,0,0,0,0,0,0
$GC,6825,0.81,183.1,210.2,13.2,751,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2191,1728,0,0,0,0,0,0
$GC,7162,0.81,183.1,166.9,13.0,812,7169,0.00,1.20,0.00,0.000,4,0.000,0.054,2662,2907,1728,0,0,0,0,0,0
$GC,7214,0.81,183.1,159.8,13.8,821,7220,0.00,1.15,0.00,0.000,6,0.000,0.039,2667,2191,1728,0,0,0,0,0,0
$GC,7550,0.81,183.1,118.7,11.4,882,7559,0.00,1.20,0.00,0.000,4,0.000,0.054,2667,2906,1728,0,0,0,0,0,0
$GC,7653,0.81,183.1,106.1,11.9,900,7660,0.00,1.15,0.00,0.000,6,0.000,0.040,2672,2191,1728,0,0,0,0,0,0
$GC,7990,0.81,183.1,70.5,10.5,961,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2191,1728,0,0,0,0,0,0
$GC,8324,0.87,231.0,39.1,7.8,1022,8371,0.00,1.10,38.25,0.882,4,0.000,0.054,2677,1500,1542,0,0,0,0,0,0
$GC,8511,0.87,231.0,20.6,10.1,1054,8520,0.00,1.17,0.00,0.000,6,0.000,0.050,2677,2208,1538,0,0,0,0,0,0
$STATE,8689,end climb,SURFACE_DEPTH_REACHED
$STATE,8689,begin surface coast
$FINISH,1.6,1.024893
$STATE,8709,end surface coast,CONTROL_FINISHED_OK
$STATE,8709,begin surface
$SM_CCo,8726,55.47,0.079,0,0,1056,350.04
$SM_GC,2.60,6.88,0.52,55.47,0.044,0.062,0.079,122,2517,1056,-7.07,-0.62,350.04,0,0,0,0,0,0
$RAFOS_CLK,531
$RAFOS,2,1318983422,0.300000,0.283889,73,60,56,0,0,0,204,1083,144,0,0,0
$RAFOS,1,1318982945,0.166667,0.151389,62,60,59,0,0,0,210,198,1051,0,0,0
$RAFOS,0,1318982461,0.033333,0.016944,83,59,58,0,0,0,1208,204,141,0,0,0
$RAFOS_FIX,6702.621094,-5700.179688,181011,202013,3,72,0.91
$IRIDIUM_FIX,6636.54,-5702.96,181011,191940
$TT8_MAMPS,0.029211,0.029211
$HUMID,55.55
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.80
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,450.4,107.7
$24V_AH,23.5,11.737
$10V_AH,10.3,9.825
$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,16.975,35.425,311.275,55.475,0.000,0.000,0.000,179.650,5.250,0.000,20.318,2913.734,3580.814,483.253,1928.093,175.816,0.000,1573.522,0.000,1732.484,1440.000,11.013,0.000
$DEVICE_MAMPS,259.335,98.685,1178.100,78.795,0.000,0.000,0.000,252.427,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.085,624.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150224
$DATA_FILE_SIZE,43273,1089
$CAP_FILE_SIZE,104732,0
$CFSIZE,260165632,241709056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1463.9
$CURRENT,0.143, 23.0,1
$GPS,191011,002735,6703.241,-5652.752,29,0.8,29,-33.5