version: 66.09
glider: 143
mission: 13
dive: 93
start: 10 19 111 5 37 49
data:
$ID,143
$MISSION,13
$DIVE,93
$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,-80632.492
$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,40
$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
$GPS1,191011,052854,6702.813,-5651.617,40,0.8,40,-33.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-72.2
$GPS2,191011,053714,6702.848,-5651.597,16,1.1,17,-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,252.9,160686,-18.3,-10.000
$D_GRID,567
$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,-146.0,0.0,0.0,0,94,0.00,0.00,-76.32,0.000,2,0.000,0.000,124,2520,2189,0,0,0,0,0,0
$GC,97,-0.77,-146.0,3.2,-1.7,12,147,8.45,1.20,-35.15,0.000,4,0.261,0.076,2146,1816,3082,0,0,0,0,0,0
$GC,176,-0.77,-146.0,13.3,-16.6,24,182,0.00,1.17,0.00,0.000,6,0.000,0.057,2144,2496,3084,0,0,0,0,0,0
$GC,513,-0.77,-146.0,69.3,-16.4,85,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2497,3085,0,0,0,0,0,0
$GC,854,-0.77,-146.0,119.7,-14.5,146,861,0.00,1.15,0.00,0.000,4,0.000,0.070,2139,3216,3085,0,0,0,0,0,0
$GC,991,-0.77,-146.0,138.8,-14.0,170,997,0.00,1.10,0.00,0.000,6,0.000,0.034,2139,2504,3085,0,0,0,0,0,0
$GC,1328,-0.77,-146.0,184.7,-12.7,231,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2504,3084,0,0,0,0,0,0
$GC,1665,-0.77,-146.0,227.7,-11.5,292,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2504,3083,0,0,0,0,0,0
$GC,2002,-0.77,-146.0,267.0,-11.0,340,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2504,3082,0,0,0,0,0,0
$GC,2324,-0.77,-146.0,305.1,-12.4,370,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2504,3082,0,0,0,0,0,0
$GC,2650,-0.77,-146.0,346.3,-12.4,401,2654,0.00,1.17,0.00,0.000,4,0.000,0.067,2134,3214,3082,0,0,0,0,0,0
$GC,2721,-0.77,-146.0,354.4,-12.1,407,2727,0.00,1.08,0.00,0.000,6,0.000,0.033,2134,2508,3082,0,0,0,0,0,0
$GC,3047,-0.77,-146.0,390.3,-10.3,438,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2508,3082,0,0,0,0,0,0
$GC,3364,-0.77,-146.0,424.1,-10.7,468,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2508,3083,0,0,0,0,0,0
$GC,3687,-0.77,-146.0,458.0,-10.9,498,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2508,3083,0,0,0,0,0,0
$GC,4014,-0.77,-146.0,494.2,-11.7,529,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2508,3084,0,0,0,0,0,0
$GC,4340,-0.77,-146.0,530.9,-11.1,543,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2134,2508,3085,0,0,0,0,0,0
$STATE,4614,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4614,begin apogee
$GC,4621,-0.16,0.0,561.2,-11.5,552,4743,0.65,0.00,116.60,1.183,6,0.141,0.000,2342,2188,2485,0,0,0,0,0,0
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4744,begin climb
$GC,4746,0.77,146.0,565.2,0.0,555,4879,0.90,1.15,123.40,1.158,4,0.073,0.052,2654,1511,1889,0,0,0,0,0,0
$GC,4957,0.77,146.0,550.3,11.3,561,4961,0.00,1.20,0.00,0.000,6,0.000,0.047,2654,2208,1884,0,0,0,0,0,0
$GC,5282,0.77,146.0,501.0,14.2,572,5285,0.00,1.15,0.00,0.000,4,0.000,0.055,2654,2903,1880,0,0,0,0,0,0
$GC,5361,0.77,146.0,489.5,14.5,577,5364,0.00,1.15,0.00,0.000,6,0.000,0.038,2659,2205,1879,0,0,0,0,0,0
$GC,5691,0.77,146.0,442.3,14.2,608,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2205,1879,0,0,0,0,0,0
$GC,6013,0.77,146.0,398.3,13.1,638,6016,0.00,1.17,0.00,0.000,4,0.000,0.053,2659,2899,1878,0,0,0,0,0,0
$GC,6081,0.77,146.0,388.4,14.1,644,6084,0.00,1.12,0.00,0.000,6,0.000,0.038,2663,2203,1878,0,0,0,0,0,0
$GC,6411,0.77,146.0,343.9,13.8,675,6415,0.00,1.17,0.00,0.000,4,0.000,0.053,2663,2900,1878,0,0,0,0,0,0
$GC,6501,0.77,146.0,331.4,14.5,683,6505,0.00,1.12,0.00,0.000,6,0.000,0.039,2668,2201,1878,0,0,0,0,0,0
$GC,6832,0.77,146.0,286.4,13.8,714,6836,0.00,1.20,0.00,0.000,4,0.000,0.054,2668,2913,1878,0,0,0,0,0,0
$GC,6926,0.77,146.0,273.6,13.9,722,6933,0.00,1.15,0.00,0.000,6,0.000,0.038,2673,2199,1878,0,0,0,0,0,0
$GC,7255,0.77,146.0,228.7,13.6,767,7262,0.00,1.17,0.00,0.000,4,0.000,0.053,2673,2901,1878,0,0,0,0,0,0
$GC,7346,0.77,146.0,216.2,13.6,783,7353,0.00,1.12,0.00,0.000,6,0.000,0.039,2678,2198,1878,0,0,0,0,0,0
$GC,7683,0.77,146.0,172.6,12.6,844,7690,0.00,1.17,0.00,0.000,4,0.000,0.053,2678,2903,1878,0,0,0,0,0,0
$GC,7809,0.77,146.0,156.7,11.9,866,7816,0.10,1.12,0.00,0.000,6,0.162,0.039,2652,2200,1878,0,0,0,0,0,0
$GC,8147,0.77,146.0,121.8,10.2,927,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2200,1878,0,0,0,0,0,0
$GC,8485,0.80,168.0,89.6,9.0,988,8507,0.00,1.23,17.58,0.882,4,0.000,0.054,2652,2908,1800,0,0,0,0,0,0
$GC,8734,0.84,201.8,67.7,8.4,1032,8767,0.00,1.15,28.75,0.875,6,0.000,0.039,2655,2195,1662,0,0,0,0,0,0
$GC,9100,0.84,206.7,35.7,9.8,1097,9110,0.00,1.25,4.35,0.671,4,0.000,0.053,2655,2912,1641,0,0,0,0,0,0
$GC,9320,0.88,238.8,15.1,8.5,1136,9342,0.00,1.15,16.38,0.106,6,0.000,0.038,2659,2203,1510,0,0,0,0,0,0
$STATE,9453,end climb,SURFACE_DEPTH_REACHED
$STATE,9453,begin surface coast
$FINISH,1.5,1.025623
$STATE,9471,end surface coast,CONTROL_FINISHED_OK
$STATE,9471,begin surface
$SM_CCo,9488,51.58,0.079,0,0,1058,350.04
$SM_GC,2.28,6.88,0.57,51.58,0.049,0.054,0.079,119,2511,1058,-7.07,-0.82,350.04,0,0,0,0,0,0
$RAFOS_CLK,576
$RAFOS,1,1319011749,8.166667,8.152500,64,61,61,0,0,0,1021,198,184,0,0,0
$RAFOS,0,1319011263,8.033334,8.017500,75,60,58,0,0,0,1182,148,211,0,0,0
$RAFOS_FIX,6703.311035,-5655.770996,191011,040410,3,79,0.76
$IRIDIUM_FIX,6631.12,-5646.10,191011,050538
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.10
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.70
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,400.6,172.3
$24V_AH,23.5,12.012
$10V_AH,10.2,10.063
$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,16.975,28.900,307.050,51.575,0.000,0.000,0.000,333.325,8.000,0.000,18.150,3152.542,4138.492,463.004,2139.270,182.786,0.000,1726.641,0.000,1801.456,720.000,9.421,0.000
$DEVICE_MAMPS,260.865,75.735,1182.690,78.795,0.000,0.000,0.000,253.176,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.330,658.798,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150256
$DATA_FILE_SIZE,43363,1162
$CAP_FILE_SIZE,108001,0
$CFSIZE,260165632,241532928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1463.0
$CURRENT,0.157,353.4,1
$GPS,191011,081836,6702.287,-5654.699,36,0.8,36,-33.5