version: 66.09
glider: 143
mission: 13
dive: 92
start: 10 19 111 2 59 34
data:
$ID,143
$MISSION,13
$DIVE,92
$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,-80631.242
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,191011,025349,6703.148,-5649.429,25,1.3,25,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.6
$GPS2,191011,025901,6703.125,-5649.439,26,1.3,27,-33.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,256.4,162339,-18.3,-10.000
$D_GRID,535
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,96,0.00,0.00,-76.65,0.000,2,0.000,0.000,122,2521,2211,0,0,0,0,0,0
$GC,99,-0.77,-146.0,3.0,-0.8,12,146,8.48,1.20,-33.38,0.000,4,0.262,0.076,2149,1817,3082,0,0,0,0,0,0
$GC,235,-0.77,-146.0,23.0,-16.0,35,244,0.00,1.17,0.00,0.000,6,0.000,0.059,2146,2500,3084,0,0,0,0,0,0
$GC,577,-0.77,-146.0,75.1,-15.0,96,584,0.00,1.15,0.00,0.000,4,0.000,0.070,2140,3215,3084,0,0,0,0,0,0
$GC,635,-0.77,-146.0,84.5,-15.5,106,642,0.00,1.10,0.00,0.000,6,0.000,0.034,2140,2504,3084,0,0,0,0,0,0
$GC,975,-0.77,-146.0,132.3,-13.2,167,984,0.00,1.17,0.00,0.000,4,0.000,0.068,2136,3208,3084,0,0,0,0,0,0
$GC,1076,-0.77,-146.0,145.7,-13.0,184,1082,0.00,1.08,0.00,0.000,6,0.000,0.034,2136,2509,3084,0,0,0,0,0,0
$GC,1413,-0.77,-146.0,190.9,-13.1,245,1420,0.00,1.17,0.00,0.000,4,0.000,0.068,2131,3214,3084,0,0,0,0,0,0
$GC,1477,-0.77,-146.0,199.0,-12.9,256,1484,0.00,1.08,0.00,0.000,6,0.000,0.033,2131,2511,3084,0,0,0,0,0,0
$GC,1815,-0.77,-146.0,240.1,-11.5,317,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2510,3082,0,0,0,0,0,0
$GC,2144,-0.77,-146.0,279.1,-11.8,355,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3082,0,0,0,0,0,0
$GC,2465,-0.77,-146.0,317.8,-12.4,385,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3082,0,0,0,0,0,0
$GC,2795,-0.77,-146.0,357.9,-11.3,416,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2511,3082,0,0,0,0,0,0
$GC,3122,-0.77,-146.0,392.8,-10.2,447,3125,0.00,1.17,0.00,0.000,4,0.000,0.066,2126,3220,3082,0,0,0,0,0,0
$GC,3213,-0.77,-146.0,402.9,-11.3,455,3217,0.00,1.10,0.00,0.000,6,0.000,0.034,2127,2499,3082,0,0,0,0,0,0
$GC,3544,-0.77,-146.0,439.1,-11.2,486,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3082,0,0,0,0,0,0
$GC,3865,-0.77,-146.0,473.7,-10.5,516,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3083,0,0,0,0,0,0
$GC,4200,-0.77,-146.0,510.5,-11.0,542,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2499,3084,0,0,0,0,0,0
$STATE,4226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4226,begin apogee
$GC,4232,-0.16,0.0,514.0,-11.0,543,4353,0.68,0.00,115.38,1.145,6,0.140,0.000,2344,2193,2485,0,0,0,0,0,0
$STATE,4354,end apogee,CONTROL_FINISHED_OK
$STATE,4354,begin climb
$GC,4357,0.77,146.0,517.1,0.0,546,4487,0.88,1.12,121.85,1.099,4,0.073,0.047,2648,1514,1888,0,0,0,0,0,0
$GC,4576,0.77,146.0,502.5,10.8,552,4583,0.00,1.20,0.00,0.000,6,0.000,0.045,2647,2213,1883,0,0,0,0,0,0
$GC,4901,0.77,146.0,452.7,13.7,583,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2213,1880,0,0,0,0,0,0
$GC,5220,0.77,146.0,410.5,13.3,613,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2213,1879,0,0,0,0,0,0
$GC,5540,0.77,146.0,366.3,13.4,643,5544,0.00,1.12,0.00,0.000,4,0.000,0.054,2647,2911,1878,0,0,0,0,0,0
$GC,5724,0.77,146.0,341.2,13.8,659,5733,0.00,1.12,0.00,0.000,6,0.000,0.037,2652,2211,1878,0,0,0,0,0,0
$GC,6049,0.77,146.0,296.1,14.0,690,6053,0.00,1.17,0.00,0.000,4,0.000,0.052,2652,2910,1877,0,0,0,0,0,0
$GC,6126,0.77,146.0,284.9,14.4,697,6129,0.00,1.15,0.00,0.000,6,0.000,0.037,2657,2191,1877,0,0,0,0,0,0
$GC,6453,0.77,146.0,240.0,12.6,734,6461,0.00,1.20,0.00,0.000,4,0.000,0.053,2657,2907,1877,0,0,0,0,0,0
$GC,6550,0.77,146.0,227.2,13.4,751,6559,0.00,1.12,0.00,0.000,6,0.000,0.037,2662,2202,1877,0,0,0,0,0,0
$GC,6891,0.77,146.0,187.5,10.7,812,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2202,1877,0,0,0,0,0,0
$GC,7227,0.77,146.0,152.1,10.9,873,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2202,1878,0,0,0,0,0,0
$GC,7564,0.78,154.0,118.8,9.6,934,7579,0.00,1.17,6.20,0.786,4,0.000,0.052,2662,2919,1856,0,0,0,0,0,0
$GC,7795,0.78,154.0,94.2,10.3,975,7804,0.00,1.15,0.00,0.000,6,0.000,0.040,2666,2201,1856,0,0,0,0,0,0
$GC,8137,0.82,185.5,60.5,8.6,1036,8170,0.00,1.12,27.17,0.878,4,0.000,0.053,2672,1496,1728,0,0,0,0,0,0
$GC,8227,0.82,185.5,51.6,10.5,1051,8236,0.00,1.17,0.00,0.000,6,0.000,0.049,2672,2209,1726,0,0,0,0,0,0
$GC,8571,0.86,220.6,21.2,8.4,1112,8598,0.00,1.12,18.48,0.805,4,0.000,0.049,2677,1497,1584,0,0,0,0,0,0
$GC,8655,0.86,221.9,13.2,9.9,1126,8661,0.00,1.17,0.00,0.000,6,0.000,0.050,2677,2206,1582,0,0,0,0,0,0
$STATE,8765,end climb,SURFACE_DEPTH_REACHED
$STATE,8765,begin surface coast
$FINISH,1.5,1.014138
$STATE,8785,end surface coast,CONTROL_FINISHED_OK
$STATE,8785,begin surface
$SM_CCo,8802,60.10,0.077,0,0,1057,350.04
$SM_GC,2.37,6.90,0.52,60.10,0.045,0.060,0.077,125,2518,1057,-7.06,-0.68,350.04,0,0,0,0,0,0
$RAFOS_CLK,525
$RAFOS,6,1318999743,4.833333,4.817500,67,64,58,0,0,0,838,173,246,0,0,0
$RAFOS,5,1318999265,4.700000,4.684722,105,58,54,0,0,0,642,213,144,0,0,0
$RAFOS,4,1318998784,4.566667,4.551111,61,59,58,0,0,0,186,877,227,0,0,0
$RAFOS,3,1318998307,4.433333,4.418611,65,62,58,0,0,0,982,145,112,0,0,0
$RAFOS,2,1318997829,4.300000,4.285833,63,62,61,0,0,0,204,192,138,0,0,0
$RAFOS,1,1318997369,4.166667,4.158056,59,58,53,0,0,0,179,138,219,0,0,0
$RAFOS,0,1318996864,4.033333,4.017778,68,67,66,0,0,0,197,216,1184,0,0,0
$RAFOS_FIX,6703.311035,-5655.770996,191011,040410,3,79,0.76
$IRIDIUM_FIX,6631.12,-5658.34,191011,000016
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.71
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.90
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,400.3,128.7
$24V_AH,23.6,11.919
$10V_AH,10.3,9.975
$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,16.925,28.525,289.075,60.100,0.000,0.000,0.000,195.925,5.500,0.000,27.875,3099.516,3446.260,484.303,1989.399,176.495,0.000,1596.533,0.000,1770.999,2520.000,9.303,0.000
$DEVICE_MAMPS,261.630,76.500,1145.205,77.265,0.000,0.000,0.000,251.678,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.205,663.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150320
$DATA_FILE_SIZE,43370,1149
$CAP_FILE_SIZE,104338,0
$CFSIZE,260165632,241594368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1463.9
$CURRENT,0.178, 12.9,1
$GPS,191011,052854,6702.813,-5651.617,40,0.8,40,-33.5