version: 66.09
glider: 143
mission: 13
dive: 217
start: 11 10 111 4 31 9
data:
$ID,143
$MISSION,13
$DIVE,217
$N_DIVES,0
$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,360
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$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,300
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80789.219
$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,47
$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
$GPS1,101111,042535,6702.750,-5652.714,42,0.8,42,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-66.3
$GPS2,101111,043037,6702.715,-5652.732,21,1.2,21,-33.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.228,-0.110
$KALMAN_X,-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
$KALMAN_Y,5142783.5,-2598.4,-4936.8,2293075.0,39671.3
$MHEAD_RNG_PITCHd_Wd,268.7,159822,-16.9,-9.167
$D_GRID,600
$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,-0.73,-146.0,0.0,0.0,0,65,0.00,0.00,-47.42,0.000,2,0.000,0.000,121,2527,1968,0,0,0,0,0,0
$GC,68,-0.73,-146.0,3.1,-1.1,7,145,8.43,1.15,-59.12,0.000,4,0.249,0.094,2160,3212,3083,0,0,0,0,0,0
$GC,397,-0.73,-146.0,50.8,-16.1,56,404,0.00,1.08,0.00,0.000,6,0.000,0.028,2160,2503,3084,0,0,0,0,0,0
$GC,736,-0.73,-146.0,99.7,-14.0,107,743,0.00,1.17,0.00,0.000,4,0.000,0.060,2155,3216,3084,0,0,0,0,0,0
$GC,817,-0.73,-146.0,110.8,-13.5,119,824,0.00,1.08,0.00,0.000,6,0.000,0.028,2155,2499,3084,0,0,0,0,0,0
$GC,1155,-0.73,-146.0,151.1,-10.9,170,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2499,3084,0,0,0,0,0,0
$GC,1494,-0.73,-146.0,190.1,-12.0,221,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2499,3084,0,0,0,0,0,0
$GC,1831,-0.73,-146.0,228.3,-11.3,272,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2499,3082,0,0,0,0,0,0
$GC,2162,-0.73,-146.0,264.8,-11.3,313,2166,0.00,1.15,0.00,0.000,4,0.000,0.060,2151,3204,3082,0,0,0,0,0,0
$GC,2281,-0.73,-146.0,278.5,-11.3,322,2285,0.00,1.02,0.00,0.000,6,0.000,0.027,2151,2520,3082,0,0,0,0,0,0
$GC,2610,-0.73,-146.0,313.8,-10.2,348,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2520,3082,0,0,0,0,0,0
$GC,2926,-0.73,-146.0,346.2,-10.1,373,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2519,3082,0,0,0,0,0,0
$GC,3241,-0.73,-146.0,378.2,-10.2,398,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2520,3083,0,0,0,0,0,0
$GC,3558,-0.73,-146.0,411.0,-10.5,423,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2520,3083,0,0,0,0,0,0
$GC,3872,-0.73,-146.0,443.6,-10.1,448,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2519,3083,0,0,0,0,0,0
$GC,4188,-0.73,-146.0,476.3,-10.4,473,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2520,3084,0,0,0,0,0,0
$GC,4521,-0.73,-146.0,510.6,-10.3,495,4524,0.00,1.12,0.00,0.000,4,0.000,0.059,2146,3213,3084,0,0,0,0,0,0
$GC,4632,-0.73,-146.0,521.2,-10.4,498,4636,0.00,1.08,0.00,0.000,6,0.000,0.027,2147,2498,3084,0,0,0,0,0,0
$GC,4959,-0.73,-146.0,557.0,-10.5,509,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2498,3085,0,0,0,0,0,0
$GC,5266,-0.73,-146.0,588.4,-10.2,519,5270,0.00,1.15,0.00,0.000,4,0.000,0.058,2142,3210,3085,0,0,0,0,0,0
$STATE,5298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5298,begin apogee
$GC,5305,-0.16,0.0,591.9,-10.1,520,5431,0.62,0.00,117.03,1.224,6,0.133,0.000,2344,2201,2485,0,0,0,0,0,0
$STATE,5432,end apogee,CONTROL_FINISHED_OK
$STATE,5432,begin climb
$GC,5434,0.73,146.0,596.7,0.0,524,5566,0.82,1.17,124.43,1.179,4,0.066,0.044,2637,1507,1889,0,0,0,0,0,0
$GC,5790,0.73,146.0,563.1,12.7,535,5795,0.00,1.17,0.00,0.000,6,0.000,0.039,2637,2206,1883,0,0,0,0,0,0
$GC,6124,0.73,146.0,520.7,12.6,546,6128,0.00,1.12,0.00,0.000,4,0.000,0.050,2637,2908,1881,0,0,0,0,0,0
$GC,6201,0.73,146.0,512.2,12.6,548,6206,0.00,1.15,0.00,0.000,6,0.000,0.034,2642,2202,1879,0,0,0,0,0,0
$GC,6529,0.73,146.0,469.2,12.8,569,6533,0.00,1.17,0.00,0.000,4,0.000,0.046,2642,2908,1879,0,0,0,0,0,0
$GC,6613,0.73,146.0,458.8,13.2,575,6620,0.00,1.15,0.00,0.000,6,0.000,0.034,2647,2196,1878,0,0,0,0,0,0
$GC,6937,0.73,146.0,417.2,12.6,601,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,1878,0,0,0,0,0,0
$GC,7252,0.73,146.0,377.3,12.7,626,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,1877,0,0,0,0,0,0
$GC,7568,0.73,146.0,336.8,12.8,651,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,1878,0,0,0,0,0,0
$GC,7883,0.73,146.0,297.2,12.6,676,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,1878,0,0,0,0,0,0
$GC,8198,0.73,146.0,260.6,11.3,701,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2196,1878,0,0,0,0,0,0
$GC,8526,0.73,146.0,223.7,11.6,743,8532,0.00,1.17,0.00,0.000,4,0.000,0.047,2647,2910,1878,0,0,0,0,0,0
$GC,8652,0.73,146.0,208.2,11.8,762,8661,0.00,1.12,0.00,0.000,6,0.000,0.034,2651,2194,1878,0,0,0,0,0,0
$GC,8992,0.73,146.0,169.6,10.3,813,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2194,1878,0,0,0,0,0,0
$GC,9329,0.73,146.0,135.5,9.3,864,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2193,1878,0,0,0,0,0,0
$GC,9666,0.73,146.0,103.0,10.1,915,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2193,1878,0,0,0,0,0,0
$GC,10004,0.76,174.2,72.0,8.0,966,10032,0.00,0.00,22.73,0.898,6,0.000,0.000,2651,2194,1774,0,0,0,0,0,0
$GC,10362,0.82,223.0,46.9,7.1,1020,10409,0.00,0.00,40.83,0.890,6,0.000,0.000,2651,2193,1576,0,0,0,0,0,0
$GC,10740,0.94,323.2,15.4,4.9,1077,10794,0.15,0.00,50.30,0.100,6,0.082,0.000,2713,2193,1166,0,0,0,0,0,0
$STATE,10845,end climb,SURFACE_DEPTH_REACHED
$STATE,10848,begin surface coast
$FINISH,2.0,1.026054
$STATE,10861,end surface coast,CONTROL_FINISHED_OK
$STATE,10861,begin surface
$SM_CCo,10938,0.00,0.000,0,0,1158,325.51
$SM_GC,2.58,6.93,0.57,0.00,0.040,0.057,0.000,121,2499,1158,-7.06,-1.13,325.51,0,0,0,0,0,0
$RAFOS_CLK,657
$RAFOS,6,1320900542,4.833333,4.817222,56,56,55,0,0,0,117,174,205,0,0,0
$RAFOS,5,1320900063,4.700000,4.684166,99,63,62,0,0,0,633,216,135,0,0,0
$RAFOS,4,1320899585,4.566667,4.551389,63,57,56,0,0,0,143,212,863,0,0,0
$RAFOS_FIX,6700.041992,-5701.583984,091111,202044,3,88,2.03
$IRIDIUM_FIX,6631.12,-5646.10,101111,010121
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.67
$INTERNAL_PRESSURE,9.90272
$TCM_TEMP,17.00
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,501.2,104.8
$24V_AH,23.2,27.417
$10V_AH,10.3,21.054
$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,16.950,21.375,355.300,0.000,0.000,0.000,0.000,191.825,6.250,0.000,21.878,2945.045,5732.939,456.644,1943.398,169.673,0.000,1546.261,0.000,1728.153,1080.000,18.867,0.000
$DEVICE_MAMPS,249.390,94.095,1224.000,0.000,0.000,0.000,0.000,252.427,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.513,615.691,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40038,1095
$CAP_FILE_SIZE,102014,0
$CFSIZE,260165632,232984576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1465.5
$CURRENT,0.130,111.4,1
$GPS,101111,073435,6701.369,-5655.330,24,1.1,24,-33.5