version: 66.09
glider: 143
mission: 13
dive: 94
start: 10 19 111 8 23 51
data:
$ID,143
$MISSION,13
$DIVE,94
$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,-80633.742
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,191011,081836,6702.287,-5654.699,36,0.8,36,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-70.6
$GPS2,191011,082318,6702.297,-5654.656,15,1.3,16,-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,254.2,158281,-18.3,-10.000
$D_GRID,628
$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,16,-0.77,-146.0,0.0,0.0,0,93,0.00,0.00,-74.62,0.000,2,0.000,0.000,118,2514,2153,0,0,0,0,0,0
$GC,96,-0.77,-146.0,3.0,-0.8,11,148,8.45,1.17,-39.17,0.000,4,0.260,0.097,2145,3220,3082,0,0,0,0,0,0
$GC,243,-0.77,-146.0,23.2,-16.3,35,250,0.00,1.10,0.00,0.000,6,0.000,0.034,2145,2512,3084,0,0,0,0,0,0
$GC,585,-0.77,-146.0,74.8,-15.3,96,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2512,3084,0,0,0,0,0,0
$GC,921,-0.77,-146.0,120.8,-13.2,157,928,0.00,1.17,0.00,0.000,4,0.000,0.069,2141,3213,3084,0,0,0,0,0,0
$GC,1100,-0.77,-146.0,144.9,-12.5,189,1107,0.00,1.10,0.00,0.000,6,0.000,0.034,2141,2501,3084,0,0,0,0,0,0
$GC,1437,-0.77,-146.0,189.2,-14.2,250,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2501,3084,0,0,0,0,0,0
$GC,1778,-0.77,-146.0,233.3,-12.1,311,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2501,3082,0,0,0,0,0,0
$GC,2114,-0.77,-146.0,272.2,-11.4,355,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2501,3082,0,0,0,0,0,0
$GC,2434,-0.77,-146.0,309.4,-11.8,385,2437,0.00,1.17,0.00,0.000,4,0.000,0.065,2136,3211,3082,0,0,0,0,0,0
$GC,2527,-0.77,-146.0,320.3,-11.9,393,2534,0.00,1.08,0.00,0.000,6,0.000,0.031,2136,2504,3082,0,0,0,0,0,0
$GC,2853,-0.77,-146.0,357.7,-11.3,424,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2504,3082,0,0,0,0,0,0
$GC,3173,-0.77,-146.0,394.2,-11.6,454,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2504,3082,0,0,0,0,0,0
$GC,3492,-0.77,-146.0,431.6,-11.8,484,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2503,3083,0,0,0,0,0,0
$GC,3808,-0.77,-146.0,469.7,-12.1,514,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2504,3083,0,0,0,0,0,0
$GC,4124,-0.77,-146.0,507.3,-11.6,540,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2504,3084,0,0,0,0,0,0
$GC,4431,-0.77,-146.0,542.2,-11.5,550,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2504,3085,0,0,0,0,0,0
$GC,4737,-0.77,-146.0,575.2,-10.7,560,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2504,3085,0,0,0,0,0,0
$GC,5043,-0.77,-146.0,608.2,-11.2,570,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2504,3085,0,0,0,0,0,0
$STATE,5133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5133,begin apogee
$GC,5139,-0.16,0.0,618.4,-11.3,573,5267,0.65,0.00,118.03,1.239,6,0.142,0.000,2344,2185,2484,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5271,0.77,146.0,622.9,0.0,577,5405,0.88,1.17,124.82,1.209,4,0.072,0.052,2649,1504,1888,0,0,0,0,0,0
$GC,5567,0.77,146.0,596.9,12.9,586,5571,0.00,1.20,0.00,0.000,6,0.000,0.047,2648,2205,1882,0,0,0,0,0,0
$GC,5903,0.77,146.0,554.2,12.3,597,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2204,1879,0,0,0,0,0,0
$GC,6210,0.77,146.0,517.2,11.9,607,6214,0.00,1.15,0.00,0.000,4,0.000,0.055,2648,2910,1879,0,0,0,0,0,0
$GC,6333,0.77,146.0,504.0,12.7,610,6337,0.00,1.15,0.00,0.000,6,0.000,0.039,2653,2208,1878,0,0,0,0,0,0
$GC,6664,0.77,146.0,459.5,12.7,641,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2208,1877,0,0,0,0,0,0
$GC,6986,0.77,146.0,418.4,13.2,671,6989,0.00,1.17,0.00,0.000,4,0.000,0.053,2653,2905,1876,0,0,0,0,0,0
$GC,7054,0.77,146.0,408.5,14.0,677,7058,0.00,1.15,0.00,0.000,6,0.000,0.037,2658,2193,1876,0,0,0,0,0,0
$GC,7385,0.77,146.0,364.1,13.3,708,7389,0.00,1.20,0.00,0.000,4,0.000,0.054,2658,2905,1875,0,0,0,0,0,0
$GC,7456,0.77,146.0,354.9,14.0,714,7466,0.00,1.15,0.00,0.000,6,0.000,0.038,2663,2191,1876,0,0,0,0,0,0
$GC,7782,0.77,146.0,311.5,13.9,745,7785,0.00,1.20,0.00,0.000,4,0.000,0.054,2663,2905,1875,0,0,0,0,0,0
$GC,7875,0.77,146.0,298.9,14.2,753,7883,0.00,1.12,0.00,0.000,6,0.000,0.039,2667,2202,1875,0,0,0,0,0,0
$GC,8201,0.77,146.0,255.0,12.5,784,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2202,1875,0,0,0,0,0,0
$GC,8529,0.77,146.0,215.4,11.0,840,8535,0.00,1.17,0.00,0.000,4,0.000,0.051,2667,2907,1875,0,0,0,0,0,0
$GC,8571,0.77,146.0,210.3,13.4,847,8578,0.00,1.15,0.00,0.000,6,0.000,0.039,2672,2188,1875,0,0,0,0,0,0
$GC,8910,0.77,146.0,169.3,11.3,908,8917,0.00,1.20,0.00,0.000,4,0.000,0.053,2672,2906,1875,0,0,0,0,0,0
$GC,9075,0.77,146.0,151.3,11.3,937,9082,0.00,1.12,0.00,0.000,6,0.000,0.039,2677,2201,1875,0,0,0,0,0,0
$GC,9412,0.77,146.0,116.2,10.3,998,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2201,1875,0,0,0,0,0,0
$GC,9755,0.79,162.7,80.5,9.2,1059,9774,0.00,1.17,12.88,0.874,4,0.000,0.051,2677,2914,1821,0,0,0,0,0,0
$GC,9887,0.79,162.7,67.4,10.1,1082,9896,0.00,1.15,0.00,0.000,6,0.000,0.040,2682,2201,1820,0,0,0,0,0,0
$GC,10231,0.90,254.7,45.1,5.8,1143,10315,0.00,1.25,75.70,0.876,4,0.000,0.054,2682,2901,1445,0,0,0,0,0,0
$GC,10567,0.90,254.7,8.3,13.5,1201,10574,0.00,1.15,0.00,0.000,6,0.000,0.037,2687,2203,1437,0,0,0,0,0,0
$STATE,10617,end climb,SURFACE_DEPTH_REACHED
$STATE,10618,begin surface coast
$FINISH,1.5,1.013859
$STATE,10635,end surface coast,CONTROL_FINISHED_OK
$STATE,10635,begin surface
$SM_CCo,10652,43.95,0.080,0,0,1058,350.04
$SM_GC,2.23,6.93,0.60,43.95,0.041,0.055,0.080,121,2520,1058,-7.07,-0.59,350.04,0,0,0,0,0,0
$RAFOS_CLK,658
$RAFOS,6,1319014141,8.833333,8.816944,72,58,55,0,0,0,842,219,190,0,0,0
$RAFOS,5,1319013663,8.700000,8.684167,128,64,59,0,0,0,647,114,188,0,0,0
$RAFOS,4,1319013185,8.566667,8.551389,67,64,60,0,0,0,861,187,216,0,0,0
$RAFOS,3,1319012705,8.433333,8.418056,67,62,59,0,0,0,211,187,152,0,0,0
$RAFOS_FIX,6704.110840,-5658.216309,191011,080800,5,81,12.51
$IRIDIUM_FIX,6636.54,-5650.71,191011,050551
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.36
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,16.80
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,450.2,181.9
$24V_AH,23.4,12.119
$10V_AH,10.3,10.143
$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,16.900,28.925,331.425,43.950,0.000,0.000,0.000,173.975,5.500,0.000,17.287,3266.137,4958.347,489.963,2100.511,186.928,0.000,1651.722,0.000,1909.196,1440.000,11.213,0.000
$DEVICE_MAMPS,260.100,97.155,1239.300,79.560,0.000,0.000,0.000,257.670,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.382,683.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150288
$DATA_FILE_SIZE,46643,1213
$CAP_FILE_SIZE,112003,0
$CFSIZE,260165632,241467392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1461.9
$CURRENT,0.081,353.4,1
$GPS,191011,112335,6701.292,-5657.819,27,0.7,27,-33.5