version: 66.09
glider: 143
mission: 13
dive: 95
start: 10 19 111 11 29 10
data:
$ID,143
$MISSION,13
$DIVE,95
$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,-80635.008
$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,38
$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
$GPS1,191011,112335,6701.292,-5657.819,27,0.7,27,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-69.4
$GPS2,191011,112836,6701.263,-5657.788,18,1.1,19,-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,273.5,155639,-18.3,-10.000
$D_GRID,676
$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,14,begin dive
$GC,16,-0.77,-146.0,0.0,0.0,0,100,0.00,0.00,-81.85,0.000,2,0.000,0.000,121,2522,2259,0,0,0,0,0,0
$GC,103,-0.77,-146.0,3.2,-1.4,13,148,8.43,1.15,-31.15,0.000,4,0.257,0.099,2142,3211,3082,0,0,0,0,0,0
$GC,310,-0.77,-146.0,37.8,-17.6,48,319,0.00,1.10,0.00,0.000,6,0.000,0.034,2142,2504,3084,0,0,0,0,0,0
$GC,652,-0.77,-146.0,88.6,-15.3,109,659,0.00,1.20,0.00,0.000,4,0.000,0.068,2137,3215,3084,0,0,0,0,0,0
$GC,833,-0.77,-146.0,117.6,-16.2,141,840,0.00,1.10,0.00,0.000,6,0.000,0.034,2137,2506,3084,0,0,0,0,0,0
$GC,1170,-0.77,-146.0,166.9,-14.2,202,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2506,3084,0,0,0,0,0,0
$GC,1507,-0.77,-146.0,212.4,-12.2,263,1513,0.00,1.17,0.00,0.000,4,0.000,0.070,2133,3208,3083,0,0,0,0,0,0
$GC,1591,-0.77,-146.0,222.9,-12.3,278,1598,0.00,1.08,0.00,0.000,6,0.000,0.034,2133,2511,3083,0,0,0,0,0,0
$GC,1925,-0.77,-146.0,265.1,-12.1,328,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2511,3082,0,0,0,0,0,0
$GC,2245,-0.77,-146.0,305.9,-12.7,358,2248,0.00,1.17,0.00,0.000,4,0.000,0.067,2128,3217,3083,0,0,0,0,0,0
$GC,2317,-0.77,-146.0,314.6,-12.7,364,2325,0.00,1.10,0.00,0.000,6,0.000,0.033,2128,2502,3082,0,0,0,0,0,0
$GC,2642,-0.77,-146.0,354.7,-12.1,395,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2502,3082,0,0,0,0,0,0
$GC,2962,-0.77,-146.0,393.6,-12.5,425,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2502,3083,0,0,0,0,0,0
$GC,3279,-0.77,-146.0,433.9,-12.6,455,3282,0.00,1.17,0.00,0.000,4,0.000,0.065,2124,3212,3083,0,0,0,0,0,0
$GC,3340,-0.77,-146.0,441.0,-12.4,460,3349,0.00,1.08,0.00,0.000,6,0.000,0.031,2123,2505,3083,0,0,0,0,0,0
$GC,3665,-0.77,-146.0,481.7,-12.2,491,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2505,3083,0,0,0,0,0,0
$GC,3977,-0.77,-146.0,516.8,-10.8,511,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2505,3084,0,0,0,0,0,0
$GC,4285,-0.77,-146.0,549.6,-10.8,521,4288,0.00,1.17,0.00,0.000,4,0.000,0.066,2119,3215,3084,0,0,0,0,0,0
$GC,4348,-0.77,-146.0,553.6,-10.8,522,4356,0.10,1.08,0.00,0.000,6,0.154,0.031,2150,2496,3084,0,0,0,0,0,0
$GC,4662,-0.77,-146.0,588.5,-10.3,533,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2496,3084,0,0,0,0,0,0
$GC,4967,-0.77,-146.0,619.4,-10.2,543,4971,0.00,1.17,0.00,0.000,4,0.000,0.065,2147,3210,3085,0,0,0,0,0,0
$GC,5017,-0.77,-146.0,623.1,-10.4,544,5021,0.00,1.05,0.00,0.000,6,0.000,0.031,2147,2520,3085,0,0,0,0,0,0
$GC,5341,-0.77,-146.0,659.0,-10.5,555,5345,0.00,1.12,0.00,0.000,4,0.000,0.064,2142,3208,3085,0,0,0,0,0,0
$GC,5424,-0.77,-146.0,666.6,-10.8,557,5428,0.00,1.05,0.00,0.000,6,0.000,0.030,2142,2509,3085,0,0,0,0,0,0
$STATE,5501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5501,begin apogee
$GC,5507,-0.16,0.0,676.9,-11.1,560,5636,0.62,0.00,118.93,1.280,6,0.135,0.000,2345,2190,2484,0,0,0,0,0,0
$STATE,5637,end apogee,CONTROL_FINISHED_OK
$STATE,5637,begin climb
$GC,5639,0.77,146.0,679.0,0.0,564,5775,0.88,1.15,126.03,1.247,4,0.070,0.052,2651,1514,1888,0,0,0,0,0,0
$GC,5961,0.77,146.0,647.5,13.9,573,5970,0.00,1.17,0.00,0.000,6,0.000,0.047,2651,2202,1881,0,0,0,0,0,0
$GC,6274,0.77,146.0,601.1,13.3,584,6277,0.00,1.15,0.00,0.000,4,0.000,0.055,2651,2901,1879,0,0,0,0,0,0
$GC,6413,0.77,146.0,582.8,13.6,588,6417,0.00,1.15,0.00,0.000,6,0.000,0.038,2656,2208,1878,0,0,0,0,0,0
$GC,6749,0.77,146.0,536.7,13.6,599,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2208,1877,0,0,0,0,0,0
$GC,7056,0.77,146.0,493.9,13.8,611,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2208,1877,0,0,0,0,0,0
$GC,7376,0.77,146.0,449.3,13.8,641,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2208,1876,0,0,0,0,0,0
$GC,7695,0.77,146.0,405.9,13.2,671,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2208,1876,0,0,0,0,0,0
$GC,8014,0.77,146.0,363.5,13.5,701,8017,0.00,1.17,0.00,0.000,4,0.000,0.054,2656,2904,1874,0,0,0,0,0,0
$GC,8096,0.77,146.0,352.5,13.5,708,8103,0.00,1.15,0.00,0.000,6,0.000,0.039,2661,2193,1875,0,0,0,0,0,0
$GC,8421,0.77,146.0,309.3,13.3,739,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2193,1875,0,0,0,0,0,0
$GC,8741,0.77,146.0,269.2,12.5,769,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2193,1874,0,0,0,0,0,0
$GC,9067,0.77,146.0,229.0,12.2,814,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2193,1873,0,0,0,0,0,0
$GC,9403,0.77,146.0,188.6,12.2,875,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2193,1874,0,0,0,0,0,0
$GC,9740,0.77,146.0,149.2,10.5,936,9746,0.00,1.20,0.00,0.000,4,0.000,0.055,2661,2908,1874,0,0,0,0,0,0
$GC,9967,0.77,150.1,125.2,9.8,977,9976,0.00,1.15,0.00,0.000,6,0.000,0.040,2665,2191,1874,0,0,0,0,0,0
$GC,10308,0.80,174.1,94.4,8.9,1038,10336,0.00,1.25,21.77,0.911,4,0.000,0.054,2665,2909,1774,0,0,0,0,0,0
$GC,10585,0.82,190.5,65.1,9.2,1087,10607,0.00,1.15,14.82,0.881,6,0.000,0.041,2670,2202,1707,0,0,0,0,0,0
$GC,10939,0.87,229.9,33.4,8.2,1150,10977,0.00,0.00,32.62,0.878,6,0.000,0.000,2670,2202,1546,0,0,0,0,0,0
$STATE,11275,end climb,SURFACE_DEPTH_REACHED
$STATE,11275,begin surface coast
$FINISH,1.5,1.006165
$STATE,11294,end surface coast,CONTROL_FINISHED_OK
$STATE,11294,begin surface
$SM_CCo,11310,56.50,0.081,0,0,1057,350.04
$SM_GC,2.53,6.93,0.60,56.50,0.047,0.058,0.081,125,2517,1057,-7.06,-0.59,350.04,0,0,0,0,0,0
$RAFOS_CLK,703
$RAFOS,6,1319028562,12.833333,12.822778,67,60,54,0,0,0,219,712,110,0,0,0
$RAFOS,5,1319028070,12.700000,12.686111,80,65,55,0,0,0,587,196,114,0,0,0
$RAFOS,4,1319027602,12.566667,12.556111,65,60,57,0,0,0,191,215,203,0,0,0
$RAFOS,3,1319027104,12.433333,12.417778,65,61,61,0,0,0,190,175,201,0,0,0
$RAFOS,2,1319026623,12.300000,12.284166,59,58,54,0,0,0,171,186,146,0,0,0
$RAFOS,1,1319026145,12.166667,12.151389,59,59,55,0,0,0,163,215,201,0,0,0
$RAFOS,0,1319025662,12.033333,12.017222,62,57,55,0,0,0,203,186,222,0,0,0
$RAFOS_FIX,6704.110840,-5658.216309,191011,080800,5,81,12.51
$IRIDIUM_FIX,6636.54,-5658.34,191011,080820
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.60
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,553.6,150.9
$24V_AH,23.3,12.225
$10V_AH,10.3,10.227
$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,16.950,30.750,314.175,56.500,0.000,0.000,0.000,193.025,6.000,0.000,19.783,3283.442,5553.604,488.145,2163.760,188.963,0.000,1686.630,0.000,1948.713,2520.000,14.665,0.000
$DEVICE_MAMPS,257.040,99.450,1279.845,81.090,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.207,684.702,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150324
$DATA_FILE_SIZE,46698,1213
$CAP_FILE_SIZE,116846,0
$CFSIZE,260165632,241401856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1460.8
$CURRENT,0.184,353.9,1
$GPS,191011,144011,6701.425,-5702.609,47,0.7,47,-33.5