version: 66.09
glider: 143
mission: 13
dive: 237
start: 11 13 111 16 8 45
data:
$ID,143
$MISSION,13
$DIVE,237
$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,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80825.836
$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,25
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,131111,160229,6658.906,-5809.738,149,0.9,149,-33.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-61.3
$GPS2,131111,160813,6658.980,-5809.562,18,1.4,18,-33.7
$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,243.2,103596,-16.9,-9.167
$D_GRID,980
$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
$STATE,13,begin dive
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$STATE,8844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8844,begin apogee
$GC,8851,-0.16,0.0,981.6,-9.6,615,8982,0.62,0.00,125.28,1.524,6,0.130,0.000,2342,2197,2485,0,0,0,0,0,0
$STATE,8983,end apogee,CONTROL_FINISHED_OK
$STATE,8983,begin climb
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$GC,9302,0.73,146.0,959.6,12.6,629,9306,0.00,1.23,0.00,0.000,6,0.000,0.046,2636,2202,1881,0,0,0,0,0,0
$GC,9635,0.73,146.0,917.2,12.6,640,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2202,1878,0,0,0,0,0,0
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$GC,10047,0.73,146.0,865.1,13.0,653,10052,0.00,1.17,0.00,0.000,6,0.000,0.035,2641,2195,1876,0,0,0,0,0,0
$GC,10381,0.73,146.0,822.5,12.3,664,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2195,1876,0,0,0,0,0,0
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$GC,15798,0.77,179.1,167.3,7.9,1039,15832,0.00,1.15,26.35,1.006,4,0.000,0.055,2643,2904,1754,0,0,0,0,0,0
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$GC,17381,0.89,279.6,10.0,11.9,1277,17390,0.00,1.17,0.00,0.000,6,0.000,0.041,2702,2199,1336,0,0,0,0,0,0
$FREEZE,7.25,-0.858,-1.766,0,1,0
$STATE,17395,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,17395,begin subsurface finish
$FINISH1,7.2,1.025859,80
$GC,17402,0.10,80.0,7.2,15.9,1279,17460,0.90,1.08,-50.97,0.000,4,0.159,0.071,2441,1490,2160,0,0,0,0,0,0
$FINISH2,3.1
$STATE,17461,end subsurface finish,CONTROL_FINISHED_OK
$STATE,17461,begin surface
$RAFOS_CLK,1147
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$RAFOS,5,1321216865,20.700001,20.684723,72,56,55,0,0,0,564,139,206,0,0,0
$RAFOS,4,1321216388,20.566668,20.552221,64,56,53,0,0,0,167,133,203,0,0,0
$RAFOS,3,1321215903,20.433332,20.417500,65,64,60,0,0,0,198,216,137,0,0,0
$RAFOS,2,1321215426,20.299999,20.285000,62,59,58,0,0,0,217,199,185,0,0,0
$RAFOS,1,1321214950,20.166666,20.152779,63,59,58,0,0,0,173,203,213,0,0,0
$RAFOS,0,1321214471,20.033333,20.019722,63,57,56,0,0,0,167,129,157,0,0,0
$RAFOS,6,1321202952,16.833334,16.820000,89,62,59,0,0,0,612,203,224,0,0,0
$RAFOS,5,1321202464,16.700001,16.684444,58,57,57,0,0,0,198,184,145,0,0,0
$RAFOS,4,1321201986,16.566668,16.551666,66,61,59,0,0,0,199,144,223,0,0,0
$RAFOS,3,1321201503,16.433332,16.417500,64,59,59,0,0,0,206,147,223,0,0,0
$RAFOS,2,1321201021,16.299999,16.283611,74,57,55,0,0,0,211,200,159,0,0,0
$RAFOS,1,1321200548,16.166666,16.152222,61,58,56,0,0,0,187,210,177,0,0,0
$RAFOS_FIX,6701.687500,-5740.834473,121111,040456,2,73,1.14
$IRIDIUM_FIX,6631.12,-5756.18,131111,111139
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.24
$INTERNAL_PRESSURE,9.92226
$TCM_TEMP,16.10
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.4,15.9
$ALTIM_BOTTOM_PING,951.7,59.9
$24V_AH,22.5,29.830
$10V_AH,10.1,22.822
$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,11.525,38.300,373.225,0.000,0.000,0.000,0.000,228.075,8.250,0.000,18.880,3473.841,11213.552,567.443,2311.890,237.996,0.000,1893.452,0.000,2056.744,4680.000,30.180,0.000
$DEVICE_MAMPS,266.220,71.145,1523.880,0.000,0.000,0.000,0.000,265.160,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,927.562,693.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,49971,1288
$CAP_FILE_SIZE,141225,0
$CFSIZE,260165632,231587840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1455.3
$CURRENT,125.062,210.1,1
$GPS,131111,160813,6658.980,-5809.562,18,1.4,18,-33.7