version: 66.09
glider: 143
mission: 13
dive: 91
start: 10 19 111 0 32 45
data:
$ID,143
$MISSION,13
$DIVE,91
$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,-80629.992
$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,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
$GPS1,191011,002735,6703.241,-5652.752,29,0.8,29,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-71.7
$GPS2,191011,003212,6703.206,-5652.702,17,1.1,18,-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,161.7,3417,-18.3,-10.000
$D_GRID,528
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-146.0,0.0,0.0,0,87,0.00,0.00,-68.78,0.000,2,0.000,0.000,122,2521,2076,0,0,0,0,0,0
$GC,90,-0.77,-146.0,3.1,-1.4,11,153,8.43,1.15,-45.40,0.000,4,0.259,0.101,2140,3214,3083,0,0,0,0,0,0
$GC,303,-0.77,-146.0,34.2,-16.3,47,310,0.00,1.10,0.00,0.000,6,0.000,0.034,2140,2506,3084,0,0,0,0,0,0
$GC,641,-0.77,-146.0,85.4,-14.0,108,648,0.00,1.08,0.00,0.000,4,0.000,0.049,2140,1823,3085,0,0,0,0,0,0
$GC,853,-0.77,-146.0,112.9,-12.6,146,862,0.00,1.17,0.00,0.000,6,0.000,0.060,2135,2504,3085,0,0,0,0,0,0
$GC,1194,-0.77,-146.0,158.9,-13.0,207,1201,0.00,1.15,0.00,0.000,4,0.000,0.072,2130,3221,3085,0,0,0,0,0,0
$GC,1359,-0.77,-146.0,180.5,-12.4,236,1366,0.00,1.10,0.00,0.000,6,0.000,0.036,2130,2514,3085,0,0,0,0,0,0
$GC,1696,-0.77,-146.0,222.3,-11.8,297,1703,0.00,1.10,0.00,0.000,4,0.000,0.050,2130,1812,3084,0,0,0,0,0,0
$GC,1865,-0.77,-146.0,242.3,-12.5,327,1871,0.00,1.20,0.00,0.000,6,0.000,0.060,2125,2513,3084,0,0,0,0,0,0
$GC,2196,-0.77,-146.0,282.6,-12.1,363,2200,0.00,1.12,0.00,0.000,4,0.000,0.071,2120,3217,3082,0,0,0,0,0,0
$GC,2309,-0.77,-146.0,297.1,-13.0,373,2313,0.08,1.10,0.00,0.000,6,0.162,0.037,2143,2500,3082,0,0,0,0,0,0
$GC,2639,-0.77,-146.0,335.2,-11.3,404,2643,0.00,1.05,0.00,0.000,4,0.000,0.048,2144,1825,3082,0,0,0,0,0,0
$GC,2707,-0.77,-146.0,342.8,-11.0,410,2711,0.00,1.17,0.00,0.000,6,0.000,0.058,2141,2516,3082,0,0,0,0,0,0
$GC,3038,-0.77,-146.0,381.1,-11.4,441,3041,0.00,1.10,0.00,0.000,4,0.000,0.069,2135,3213,3083,0,0,0,0,0,0
$GC,3208,-0.77,-146.0,399.6,-11.2,456,3221,0.00,1.08,0.00,0.000,6,0.000,0.033,2135,2511,3082,0,0,0,0,0,0
$GC,3537,-0.77,-146.0,436.4,-10.8,487,3541,0.00,1.08,0.00,0.000,4,0.000,0.048,2135,1817,3083,0,0,0,0,0,0
$GC,3616,-0.77,-146.0,445.2,-10.8,494,3620,0.00,1.17,0.00,0.000,6,0.000,0.057,2131,2513,3083,0,0,0,0,0,0
$GC,3947,-0.77,-146.0,482.5,-11.4,525,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2513,3084,0,0,0,0,0,0
$GC,4259,-0.77,-146.0,517.1,-10.7,545,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2512,3085,0,0,0,0,0,0
$STATE,4288,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4288,begin apogee
$GC,4294,-0.16,0.0,520.4,-10.6,546,4416,0.65,0.00,115.88,1.161,6,0.140,0.000,2339,2196,2485,0,0,0,0,0,0
$STATE,4417,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4419,0.77,146.0,523.5,0.0,549,4550,0.90,1.12,122.82,1.134,4,0.076,0.050,2649,1503,1888,0,0,0,0,0,0
$GC,4572,0.81,178.4,517.7,8.5,553,4612,0.00,1.23,29.02,1.069,6,0.000,0.047,2648,2203,1756,0,0,0,0,0,0
$GC,4926,0.81,178.4,458.2,15.9,581,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2203,1750,0,0,0,0,0,0
$GC,5247,0.81,178.4,407.0,16.2,611,5250,0.00,1.15,0.00,0.000,4,0.000,0.049,2653,1503,1749,0,0,0,0,0,0
$GC,5262,0.81,178.4,404.7,16.1,612,5270,0.00,1.15,0.00,0.000,6,0.000,0.045,2653,2201,1748,0,0,0,0,0,0
$GC,5589,0.81,178.4,352.7,15.3,643,5593,0.00,1.15,0.00,0.000,4,0.000,0.055,2653,2910,1748,0,0,0,0,0,0
$GC,5681,0.81,178.4,338.0,16.5,651,5685,0.00,1.15,0.00,0.000,6,0.000,0.039,2658,2205,1748,0,0,0,0,0,0
$GC,6011,0.81,178.4,284.5,16.1,682,6015,0.00,1.17,0.00,0.000,4,0.000,0.053,2658,2900,1747,0,0,0,0,0,0
$GC,6034,0.81,178.4,280.9,15.9,684,6038,0.00,1.15,0.00,0.000,6,0.000,0.039,2662,2192,1747,0,0,0,0,0,0
$GC,6363,0.81,178.4,231.1,14.3,726,6372,0.00,1.20,0.00,0.000,4,0.000,0.054,2662,2902,1747,0,0,0,0,0,0
$GC,6517,0.81,178.4,209.1,14.1,753,6524,0.00,1.12,0.00,0.000,6,0.000,0.040,2667,2201,1747,0,0,0,0,0,0
$GC,6854,0.81,178.4,165.1,12.6,814,6863,0.00,1.08,0.00,0.000,4,0.000,0.054,2672,1499,1747,0,0,0,0,0,0
$GC,6942,0.81,178.4,154.0,12.7,829,6949,0.00,1.15,0.00,0.000,6,0.000,0.050,2672,2207,1747,0,0,0,0,0,0
$GC,7281,0.81,178.4,111.9,12.2,890,7290,0.00,1.12,0.00,0.000,4,0.000,0.056,2672,2912,1747,0,0,0,0,0,0
$GC,7315,0.81,178.4,107.7,12.9,895,7321,0.00,1.15,0.00,0.000,6,0.000,0.040,2677,2197,1747,0,0,0,0,0,0
$GC,7652,0.81,178.4,63.5,13.4,956,7659,0.00,1.08,0.00,0.000,4,0.000,0.054,2682,1494,1747,0,0,0,0,0,0
$GC,7698,0.81,178.4,57.9,11.7,964,7705,0.00,1.15,0.00,0.000,6,0.000,0.049,2682,2205,1747,0,0,0,0,0,0
$GC,8037,0.85,213.5,26.6,8.4,1025,8064,0.00,1.15,20.12,0.842,4,0.000,0.049,2688,1498,1612,0,0,0,0,0,0
$GC,8168,0.85,213.5,13.8,10.5,1047,8174,0.00,1.15,0.00,0.000,6,0.000,0.049,2687,2201,1610,0,0,0,0,0,0
$STATE,8280,end climb,SURFACE_DEPTH_REACHED
$STATE,8280,begin surface coast
$FINISH,1.5,1.014375
$STATE,8298,end surface coast,CONTROL_FINISHED_OK
$STATE,8298,begin surface
$SM_CCo,8315,63.17,0.078,0,0,1057,350.04
$SM_GC,2.28,6.95,0.52,63.17,0.052,0.058,0.078,122,2518,1057,-7.07,-0.71,350.04,0,0,0,0,0,0
$RAFOS_CLK,501
$RAFOS,6,1318985342,0.833333,0.817222,75,59,57,0,0,0,856,218,181,0,0,0
$RAFOS,5,1318984862,0.700000,0.683889,113,56,56,0,0,0,671,217,190,0,0,0
$RAFOS,4,1318984393,0.566667,0.553611,75,66,57,0,0,0,835,208,191,0,0,0
$RAFOS,3,1318983903,0.433333,0.417500,75,61,59,0,0,0,998,218,162,0,0,0
$RAFOS_FIX,6702.958008,-5655.054199,191011,000025,5,84,195.52
$IRIDIUM_FIX,6636.54,-5702.96,181011,212118
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.07
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,17.00
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,400.6,134.3
$24V_AH,23.5,11.830
$10V_AH,10.3,9.898
$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,17.000,39.600,287.850,63.175,0.000,0.000,0.000,170.225,4.750,0.000,18.571,2917.917,3235.764,482.650,1865.151,178.728,0.000,1545.141,0.000,1682.665,1080.000,9.314,0.000
$DEVICE_MAMPS,259.335,100.980,1160.505,78.030,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.280,616.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40045,1070
$CAP_FILE_SIZE,103679,0
$CFSIZE,260165632,241655808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1463.3
$CURRENT,0.164, 13.3,1
$GPS,191011,025349,6703.148,-5649.429,25,1.3,25,-33.5