version: 66.09
glider: 143
mission: 13
dive: 96
start: 10 19 111 14 46 39
data:
$ID,143
$MISSION,13
$DIVE,96
$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,-80636.273
$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,24
$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
$GPS1,191011,144011,6701.425,-5702.609,47,0.7,47,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-63.5
$GPS2,191011,144606,6701.375,-5702.853,54,0.7,55,-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,246.6,152059,-18.3,-10.000
$D_GRID,710
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.77,-146.0,0.0,0.0,0,98,0.00,0.00,-78.97,0.000,2,0.000,0.000,124,2520,2204,0,0,0,0,0,0
$GC,101,-0.77,-146.0,3.1,-1.1,12,150,8.55,1.17,-34.72,0.000,4,0.265,0.100,2140,3219,3082,0,0,0,0,0,0
$GC,400,-0.77,-146.0,52.3,-15.0,64,407,0.00,1.12,0.00,0.000,6,0.000,0.036,2141,2504,3084,0,0,0,0,0,0
$GC,738,-0.77,-146.0,104.1,-15.8,125,745,0.00,1.20,0.00,0.000,4,0.000,0.069,2136,3216,3085,0,0,0,0,0,0
$GC,945,-0.77,-146.0,135.8,-15.5,162,955,0.00,1.10,0.00,0.000,6,0.000,0.037,2136,2511,3085,0,0,0,0,0,0
$GC,1289,-0.77,-146.0,184.7,-13.8,223,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2511,3085,0,0,0,0,0,0
$GC,1626,-0.77,-146.0,230.3,-13.7,284,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2511,3084,0,0,0,0,0,0
$GC,1962,-0.77,-146.0,273.6,-12.3,329,1965,0.00,1.17,0.00,0.000,4,0.000,0.069,2131,3213,3084,0,0,0,0,0,0
$GC,2085,-0.77,-146.0,288.4,-12.2,340,2089,0.00,1.10,0.00,0.000,6,0.000,0.035,2131,2501,3083,0,0,0,0,0,0
$GC,2419,-0.77,-146.0,328.8,-12.8,371,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2501,3083,0,0,0,0,0,0
$GC,2745,-0.77,-146.0,368.8,-12.0,402,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2501,3083,0,0,0,0,0,0
$GC,3065,-0.77,-146.0,408.1,-12.7,432,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2501,3083,0,0,0,0,0,0
$GC,3383,-0.77,-146.0,447.6,-12.5,462,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2501,3083,0,0,0,0,0,0
$GC,3701,-0.77,-146.0,486.9,-12.5,492,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2501,3083,0,0,0,0,0,0
$GC,4030,-0.77,-146.0,525.5,-11.5,510,4034,0.00,1.17,0.00,0.000,4,0.000,0.066,2127,3213,3083,0,0,0,0,0,0
$GC,4101,-0.77,-146.0,533.3,-11.6,512,4106,0.00,1.08,0.00,0.000,6,0.000,0.031,2126,2505,3083,0,0,0,0,0,0
$GC,4438,-0.77,-146.0,572.2,-11.6,523,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,4743,-0.77,-146.0,607.9,-11.5,533,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$GC,5051,-0.77,-146.0,642.0,-11.0,543,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2505,3084,0,0,0,0,0,0
$GC,5355,-0.77,-146.0,675.5,-10.9,553,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2505,3084,0,0,0,0,0,0
$GC,5663,-0.77,-146.0,708.8,-11.0,563,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2505,3084,0,0,0,0,0,0
$STATE,5690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5690,begin apogee
$GC,5696,-0.16,0.0,712.2,-10.9,564,5825,0.68,0.00,119.62,1.304,6,0.142,0.000,2342,2196,2484,0,0,0,0,0,0
$STATE,5826,end apogee,CONTROL_FINISHED_OK
$STATE,5826,begin climb
$GC,5828,0.77,146.0,717.1,0.0,568,5965,0.90,1.23,126.38,1.251,4,0.071,0.054,2654,1497,1888,0,0,0,0,0,0
$GC,6156,0.77,146.0,684.9,13.8,578,6159,0.00,1.23,0.00,0.000,6,0.000,0.049,2654,2207,1881,0,0,0,0,0,0
$GC,6497,0.77,146.0,638.2,13.3,589,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2208,1879,0,0,0,0,0,0
$GC,6804,0.77,146.0,597.3,13.3,599,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2208,1878,0,0,0,0,0,0
$GC,7109,0.77,146.0,557.7,12.7,609,7113,0.00,1.15,0.00,0.000,4,0.000,0.057,2654,2912,1877,0,0,0,0,0,0
$GC,7164,0.77,146.0,553.2,12.7,610,7168,0.00,1.17,0.00,0.000,6,0.000,0.040,2659,2201,1876,0,0,0,0,0,0
$GC,7483,0.77,146.0,509.5,13.1,621,7486,0.00,1.20,0.00,0.000,4,0.000,0.056,2659,2905,1876,0,0,0,0,0,0
$GC,7573,0.77,146.0,496.7,14.1,625,7577,0.00,1.15,0.00,0.000,6,0.000,0.041,2664,2201,1876,0,0,0,0,0,0
$GC,7904,0.77,146.0,451.8,13.4,656,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2201,1875,0,0,0,0,0,0
$GC,8224,0.77,146.0,408.4,13.7,686,8228,0.00,1.20,0.00,0.000,4,0.000,0.055,2664,2909,1875,0,0,0,0,0,0
$GC,8303,0.77,146.0,397.6,13.5,693,8306,0.00,1.15,0.00,0.000,6,0.000,0.041,2669,2200,1875,0,0,0,0,0,0
$GC,8633,0.77,146.0,355.0,12.5,724,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2199,1875,0,0,0,0,0,0
$GC,8953,0.77,146.0,316.6,12.3,754,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2200,1875,0,0,0,0,0,0
$GC,9272,0.77,146.0,277.1,11.9,784,9276,0.00,1.20,0.00,0.000,4,0.000,0.057,2669,2910,1875,0,0,0,0,0,0
$GC,9397,0.77,146.0,262.2,11.8,795,9401,0.00,1.15,0.00,0.000,6,0.000,0.041,2674,2195,1875,0,0,0,0,0,0
$GC,9730,0.77,146.0,223.7,11.6,846,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2195,1875,0,0,0,0,0,0
$GC,10072,0.77,146.0,182.4,13.6,907,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2196,1875,0,0,0,0,0,0
$GC,10411,0.77,146.0,142.8,10.0,968,10417,0.00,1.20,0.00,0.000,4,0.000,0.055,2674,2911,1874,0,0,0,0,0,0
$GC,10506,0.77,146.0,132.5,11.2,985,10514,0.10,1.15,0.00,0.000,6,0.161,0.041,2648,2196,1874,0,0,0,0,0,0
$GC,10845,0.83,192.9,101.5,7.8,1046,10886,0.00,0.00,37.33,0.931,6,0.000,0.000,2648,2196,1697,0,0,0,0,0,0
$GC,11220,0.83,192.9,64.9,10.3,1112,11227,0.00,1.20,0.00,0.000,4,0.000,0.055,2648,2905,1693,0,0,0,0,0,0
$GC,11329,0.83,192.9,54.0,10.3,1131,11336,0.00,1.15,0.00,0.000,6,0.000,0.040,2651,2201,1693,0,0,0,0,0,0
$GC,11668,0.90,256.9,25.5,7.1,1192,11716,0.12,1.10,37.38,0.861,4,0.093,0.052,2705,1496,1435,0,0,0,0,0,0
$GC,11850,0.90,256.9,5.8,13.4,1223,11857,0.00,1.17,0.00,0.000,6,0.000,0.050,2705,2198,1427,0,0,0,0,0,0
$STATE,11878,end climb,SURFACE_DEPTH_REACHED
$STATE,11878,begin surface coast
$FINISH,1.6,1.013147
$STATE,11898,end surface coast,CONTROL_FINISHED_OK
$STATE,11898,begin surface
$SM_CCo,11914,43.15,0.082,0,0,1057,350.04
$SM_GC,2.33,7.15,0.55,43.15,0.054,0.058,0.082,122,2521,1057,-7.07,-0.54,350.04,0,0,0,0,0,0
$RAFOS_CLK,753
$RAFOS,6,1319042957,16.833334,16.821388,67,61,58,0,0,0,730,148,202,0,0,0
$RAFOS,5,1319042492,16.700001,16.692223,67,58,58,0,0,0,194,169,210,0,0,0
$RAFOS,4,1319042002,16.566668,16.556110,64,62,62,0,0,0,203,168,150,0,0,0
$RAFOS,3,1319041502,16.433332,16.417223,65,59,59,0,0,0,179,196,211,0,0,0
$RAFOS,2,1319041044,16.299999,16.290001,55,55,51,0,0,0,170,225,209,0,0,0
$RAFOS,1,1319040554,16.166666,16.153889,63,62,57,0,0,0,179,190,204,0,0,0
$RAFOS,0,1319040064,16.033333,16.017778,74,63,59,0,0,0,189,211,147,0,0,0
$RAFOS_FIX,6704.110840,-5658.216309,191011,080800,5,81,12.51
$IRIDIUM_FIX,6631.12,-5653.72,191011,111109
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.26
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,16.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,600.8,135.4
$24V_AH,23.2,12.334
$10V_AH,10.3,10.313
$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,17.500,28.950,320.700,43.150,0.000,0.000,0.000,209.800,6.750,0.000,55.551,3322.305,6104.438,466.667,2231.326,196.546,0.000,1696.008,0.000,1966.742,2520.000,16.388,0.000
$DEVICE_MAMPS,264.690,100.215,1303.560,81.855,0.000,0.000,0.000,253.925,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.756,691.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,46727,1231
$CAP_FILE_SIZE,118469,0
$CFSIZE,260165632,241340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1459.1
$CURRENT,0.263,350.7,1
$GPS,191011,180722,6701.335,-5706.875,38,1.2,38,-33.5