version: 66.09
glider: 143
mission: 13
dive: 155
start: 10 30 111 16 42 38
data:
$ID,143
$MISSION,13
$DIVE,155
$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,-2
$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,-80710.914
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,301011,163704,6653.112,-5949.341,39,1.2,43,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-72.4
$GPS2,301011,164206,6653.129,-5949.441,19,0.9,20,-34.0
$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,226.7,31642,-16.9,-9.167
$D_GRID,836
$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,16,-0.73,-146.0,0.0,0.0,0,47,0.00,0.00,-28.45,0.000,2,0.000,0.000,119,2511,1652,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.1,-2.1,4,151,8.55,1.20,-83.03,0.000,4,0.256,0.070,2161,1808,3082,0,0,0,0,0,0
$GC,397,-0.73,-146.0,52.5,-13.9,56,404,0.00,1.23,0.00,0.000,6,0.000,0.057,2158,2514,3084,0,0,0,0,0,0
$GC,734,-0.73,-146.0,101.6,-14.4,107,741,0.00,1.12,0.00,0.000,4,0.000,0.070,2153,3214,3084,0,0,0,0,0,0
$GC,835,-0.73,-146.0,115.8,-14.6,122,841,0.00,1.12,0.00,0.000,6,0.000,0.034,2153,2497,3084,0,0,0,0,0,0
$GC,1172,-0.73,-146.0,164.7,-13.6,173,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2497,3084,0,0,0,0,0,0
$GC,1510,-0.73,-146.0,206.6,-11.5,224,1517,0.00,1.08,0.00,0.000,4,0.000,0.047,2153,1812,3084,0,0,0,0,0,0
$GC,1557,-0.73,-146.0,212.0,-11.7,231,1563,0.00,1.20,0.00,0.000,6,0.000,0.057,2149,2513,3084,0,0,0,0,0,0
$GC,1893,-0.73,-146.0,255.3,-13.4,279,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2512,3084,0,0,0,0,0,0
$GC,2208,-0.73,-146.0,296.3,-13.1,304,2212,0.00,1.12,0.00,0.000,4,0.000,0.070,2143,3217,3083,0,0,0,0,0,0
$GC,2280,-0.73,-146.0,305.1,-13.4,309,2290,0.00,1.10,0.00,0.000,6,0.000,0.034,2142,2514,3083,0,0,0,0,0,0
$GC,2604,-0.73,-146.0,348.3,-12.6,335,2608,0.00,1.10,0.00,0.000,4,0.000,0.047,2143,1811,3083,0,0,0,0,0,0
$GC,2670,-0.73,-146.0,356.6,-12.3,340,2674,0.00,1.20,0.00,0.000,6,0.000,0.057,2139,2513,3083,0,0,0,0,0,0
$GC,3002,-0.73,-146.0,394.1,-11.6,366,3006,0.00,1.15,0.00,0.000,4,0.000,0.044,2139,1811,3083,0,0,0,0,0,0
$GC,3069,-0.73,-146.0,402.1,-11.5,371,3073,0.10,1.20,0.00,0.000,6,0.158,0.057,2163,2516,3083,0,0,0,0,0,0
$GC,3397,-0.73,-146.0,433.9,-9.7,397,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2516,3083,0,0,0,0,0,0
$GC,3715,-0.73,-146.0,464.8,-9.5,422,3718,0.00,1.10,0.00,0.000,4,0.000,0.070,2161,3211,3083,0,0,0,0,0,0
$GC,3786,-0.73,-146.0,471.4,-10.0,427,3793,0.00,1.12,0.00,0.000,6,0.000,0.032,2161,2493,3083,0,0,0,0,0,0
$GC,4115,-0.73,-146.0,503.5,-9.3,452,4119,0.00,1.05,0.00,0.000,4,0.000,0.046,2160,1815,3084,0,0,0,0,0,0
$GC,4173,-0.73,-146.0,506.7,-9.3,453,4183,0.00,1.20,0.00,0.000,6,0.000,0.055,2156,2512,3084,0,0,0,0,0,0
$GC,4487,-0.73,-146.0,539.8,-9.9,464,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2512,3084,0,0,0,0,0,0
$GC,4795,-0.73,-146.0,569.9,-9.9,474,4799,0.00,1.10,0.00,0.000,4,0.000,0.068,2151,3211,3084,0,0,0,0,0,0
$GC,4872,-0.73,-146.0,576.8,-10.2,476,4877,0.00,1.10,0.00,0.000,6,0.000,0.031,2151,2501,3084,0,0,0,0,0,0
$GC,5199,-0.73,-146.0,611.4,-10.2,487,5203,0.00,1.05,0.00,0.000,4,0.000,0.044,2151,1817,3084,0,0,0,0,0,0
$GC,5257,-0.73,-146.0,614.7,-10.1,488,5265,0.00,1.20,0.00,0.000,6,0.000,0.054,2146,2517,3084,0,0,0,0,0,0
$GC,5571,-0.73,-146.0,649.0,-10.1,499,5575,0.00,1.10,0.00,0.000,4,0.000,0.068,2141,3214,3085,0,0,0,0,0,0
$GC,5624,-0.73,-146.0,652.5,-10.1,500,5627,0.00,1.08,0.00,0.000,6,0.000,0.033,2140,2512,3085,0,0,0,0,0,0
$GC,5943,-0.73,-146.0,688.3,-10.7,511,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2510,3085,0,0,0,0,0,0
$GC,6250,-0.73,-146.0,721.0,-10.7,521,6253,0.00,1.15,0.00,0.000,4,0.000,0.065,2136,3210,3085,0,0,0,0,0,0
$GC,6333,-0.73,-146.0,728.0,-10.5,523,6338,0.12,1.10,0.00,0.000,6,0.171,0.031,2166,2498,3085,0,0,0,0,0,0
$GC,6655,-0.73,-146.0,759.2,-9.2,534,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2498,3085,0,0,0,0,0,0
$GC,6960,-0.73,-146.0,786.6,-8.5,544,6964,0.00,1.17,0.00,0.000,4,0.000,0.065,2163,3211,3086,0,0,0,0,0,0
$GC,7051,-0.73,-146.0,792.7,-8.7,546,7059,0.00,1.10,0.00,0.000,6,0.000,0.030,2163,2487,3085,0,0,0,0,0,0
$GC,7365,-0.73,-146.0,823.9,-9.2,557,7369,0.00,1.20,0.00,0.000,4,0.000,0.065,2158,3215,3085,0,0,0,0,0,0
$GC,7443,-0.73,-146.0,829.7,-9.0,559,7448,0.00,1.10,0.00,0.000,6,0.000,0.030,2158,2499,3085,0,0,0,0,0,0
$STATE,7524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7524,begin apogee
$GC,7530,-0.16,0.0,838.1,-8.9,562,7658,0.55,0.00,122.47,1.434,6,0.131,0.000,2340,2195,2485,0,0,0,0,0,0
$STATE,7659,end apogee,CONTROL_FINISHED_OK
$STATE,7659,begin climb
$GC,7662,0.73,146.0,842.4,0.0,566,7806,0.88,1.23,131.68,1.373,4,0.073,0.050,2639,1511,1888,0,0,0,0,0,0
$GC,7831,0.81,211.5,836.6,6.4,571,7903,0.00,1.27,61.72,1.325,6,0.000,0.044,2639,2208,1621,0,0,0,0,0,0
$GC,8205,0.81,211.5,777.1,15.9,584,8209,0.00,1.17,0.00,0.000,4,0.000,0.054,2639,2901,1614,0,0,0,0,0,0
$GC,8305,0.81,211.5,760.7,16.3,587,8309,0.00,1.17,0.00,0.000,6,0.000,0.037,2644,2208,1613,0,0,0,0,0,0
$GC,8646,0.81,211.5,707.8,15.6,598,8649,0.00,1.20,0.00,0.000,4,0.000,0.053,2644,2899,1611,0,0,0,0,0,0
$GC,8683,0.81,211.5,702.5,15.6,599,8688,0.00,1.20,0.00,0.000,6,0.000,0.037,2649,2190,1611,0,0,0,0,0,0
$GC,9019,0.81,211.5,649.3,16.0,610,9022,0.00,1.23,0.00,0.000,4,0.000,0.054,2649,2902,1610,0,0,0,0,0,0
$GC,9130,0.81,211.5,632.6,16.4,613,9134,0.00,1.17,0.00,0.000,6,0.000,0.038,2653,2199,1610,0,0,0,0,0,0
$GC,9457,0.81,211.5,575.4,17.4,624,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2199,1609,0,0,0,0,0,0
$GC,9764,0.81,211.5,522.9,16.6,634,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2199,1609,0,0,0,0,0,0
$GC,10080,0.81,211.5,471.0,16.2,652,10084,0.00,1.08,0.00,0.000,4,0.000,0.052,2658,1497,1608,0,0,0,0,0,0
$GC,10165,0.81,211.5,458.0,16.4,658,10172,0.00,1.15,0.00,0.000,6,0.000,0.047,2658,2201,1608,0,0,0,0,0,0
$GC,10489,0.81,211.5,401.7,17.2,684,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2202,1608,0,0,0,0,0,0
$GC,10805,0.81,211.5,345.7,17.3,709,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2202,1608,0,0,0,0,0,0
$GC,11120,0.81,211.5,292.0,16.8,734,11124,0.00,1.12,0.00,0.000,4,0.000,0.058,2658,2902,1608,0,0,0,0,0,0
$GC,11138,0.81,211.5,289.6,16.6,735,11146,0.00,1.17,0.00,0.000,6,0.000,0.039,2664,2188,1608,0,0,0,0,0,0
$GC,11465,0.81,211.5,238.3,14.3,767,11472,0.00,1.05,0.00,0.000,4,0.000,0.052,2668,1498,1608,0,0,0,0,0,0
$GC,11513,0.81,211.5,231.7,14.5,774,11520,0.00,1.15,0.00,0.000,6,0.000,0.048,2668,2208,1608,0,0,0,0,0,0
$GC,11850,0.81,211.5,183.6,13.4,825,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2208,1608,0,0,0,0,0,0
$GC,12189,0.81,211.5,144.5,11.0,876,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2207,1608,0,0,0,0,0,0
$GC,12527,0.81,211.5,107.0,10.8,927,12534,0.00,1.12,0.00,0.000,4,0.000,0.058,2668,2911,1608,0,0,0,0,0,0
$GC,12754,0.81,211.5,80.2,12.3,961,12763,0.00,1.15,0.00,0.000,6,0.000,0.038,2673,2194,1608,0,0,0,0,0,0
$GC,13095,0.81,211.5,45.5,10.3,1012,13102,0.00,1.08,0.00,0.000,4,0.000,0.052,2679,1492,1608,0,0,0,0,0,0
$GC,13182,0.88,275.4,38.2,6.5,1025,13245,0.00,1.15,51.40,0.952,6,0.000,0.048,2679,2205,1361,0,0,0,0,0,0
$GC,13575,0.88,275.4,2.4,9.7,1084,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2206,1353,0,0,0,0,0,0
$STATE,13586,end climb,SURFACE_DEPTH_REACHED
$STATE,13587,begin surface coast
$FINISH,1.9,1.015065
$STATE,13613,end surface coast,CONTROL_FINISHED_OK
$STATE,13613,begin surface
$SM_CCo,13629,10.52,0.089,0,0,1262,300.00
$SM_GC,4.57,6.95,0.52,10.52,0.047,0.055,0.089,125,2519,1262,-7.06,-0.62,300.00,0,0,0,0,0,0
$RAFOS_CLK,893
$RAFOS,2,1320005825,20.299999,20.284721,127,67,59,0,0,0,644,215,146,0,0,0
$RAFOS,1,1320005343,20.166666,20.150833,99,64,58,0,0,0,572,163,206,0,0,0
$RAFOS,0,1320004861,20.033333,20.016945,107,66,63,0,0,0,708,207,196,0,0,0
$RAFOS,6,1319993347,16.833334,16.818611,89,67,62,0,0,0,731,194,139,0,0,0
$RAFOS,4,1319992383,16.566668,16.550833,70,67,59,0,0,0,650,220,202,0,0,0
$RAFOS_FIX,6650.571289,-5946.604004,301011,161610,5,96,0.00
$IRIDIUM_FIX,6620.33,-5941.47,301011,121219
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.16
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,16.20
$XPDR_PINGS,15
$24V_AH,22.5,19.808
$10V_AH,10.3,15.636
$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,17.150,53.600,367.275,10.525,0.000,0.000,0.000,186.550,7.000,0.000,20.644,3011.675,8149.724,543.080,2049.802,212.866,0.000,1729.824,0.000,1833.537,1800.000,26.163,0.000
$DEVICE_MAMPS,256.275,69.615,1433.610,88.740,0.000,0.000,0.000,267.407,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.777,599.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,39987,1090
$CAP_FILE_SIZE,126954,0
$CFSIZE,260165632,237236224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1453.4
$CURRENT,0.151,105.7,1
$GPS,301011,203153,6650.279,-5948.091,46,0.9,46,-33.9