version: 66.09
glider: 143
mission: 13
dive: 171
start: 11 1 111 23 23 38
data:
$ID,143
$MISSION,13
$DIVE,171
$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,-80731.086
$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,35
$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
$GPS1,011111,231823,6645.000,-6008.543,39,0.8,39,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-73.7
$GPS2,011111,232307,6644.950,-6008.534,19,1.0,19,-33.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,65.9,148623,-16.9,-9.167
$D_GRID,587
$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,-146.0,0.0,0.0,0,53,0.00,0.00,-34.47,0.000,2,0.000,0.000,116,2503,1728,0,0,0,0,0,0
$GC,56,-0.73,-146.0,3.1,-1.9,5,149,8.62,1.15,-75.30,0.000,4,0.260,0.079,2157,1811,3082,0,0,0,0,0,0
$GC,222,-0.73,-146.0,22.0,-17.8,30,229,0.00,1.23,0.00,0.000,6,0.000,0.060,2155,2511,3084,0,0,0,0,0,0
$GC,560,-0.73,-146.0,77.1,-15.2,81,567,0.00,1.12,0.00,0.000,4,0.000,0.070,2149,3210,3084,0,0,0,0,0,0
$GC,693,-0.73,-146.0,98.2,-15.2,101,700,0.00,1.12,0.00,0.000,6,0.000,0.037,2149,2499,3084,0,0,0,0,0,0
$GC,1033,-0.73,-146.0,149.5,-14.5,152,1039,0.00,1.08,0.00,0.000,4,0.000,0.047,2149,1817,3085,0,0,0,0,0,0
$GC,1105,-0.73,-146.0,160.9,-15.5,163,1114,0.00,1.20,0.00,0.000,6,0.000,0.057,2145,2511,3084,0,0,0,0,0,0
$GC,1445,-0.73,-146.0,212.1,-13.8,214,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2511,3084,0,0,0,0,0,0
$GC,1780,-0.73,-146.0,256.6,-12.7,261,1783,0.00,1.12,0.00,0.000,4,0.000,0.070,2140,3214,3084,0,0,0,0,0,0
$GC,1797,-0.73,-146.0,258.4,-13.0,262,1805,0.00,1.12,0.00,0.000,6,0.000,0.037,2139,2509,3084,0,0,0,0,0,0
$GC,2123,-0.73,-146.0,299.3,-12.3,288,2127,0.00,1.10,0.00,0.000,4,0.000,0.047,2139,1810,3084,0,0,0,0,0,0
$GC,2168,-0.73,-146.0,304.3,-12.1,291,2178,0.12,1.23,0.00,0.000,6,0.179,0.058,2164,2512,3084,0,0,0,0,0,0
$GC,2491,-0.73,-146.0,338.4,-10.5,317,2494,0.00,1.12,0.00,0.000,4,0.000,0.070,2161,3216,3083,0,0,0,0,0,0
$GC,2575,-0.73,-146.0,346.8,-10.7,323,2585,0.00,1.12,0.00,0.000,6,0.000,0.034,2160,2504,3084,0,0,0,0,0,0
$GC,2898,-0.73,-146.0,381.0,-10.3,349,2902,0.00,1.08,0.00,0.000,4,0.000,0.046,2161,1815,3083,0,0,0,0,0,0
$GC,2951,-0.73,-146.0,386.2,-10.0,353,2955,0.00,1.20,0.00,0.000,6,0.000,0.058,2156,2516,3084,0,0,0,0,0,0
$GC,3279,-0.73,-146.0,420.3,-10.3,379,3283,0.00,1.10,0.00,0.000,4,0.000,0.070,2150,3211,3084,0,0,0,0,0,0
$GC,3310,-0.73,-146.0,423.0,-10.4,381,3318,0.00,1.10,0.00,0.000,6,0.000,0.033,2150,2509,3083,0,0,0,0,0,0
$GC,3633,-0.73,-146.0,458.7,-11.1,407,3637,0.00,1.08,0.00,0.000,4,0.000,0.045,2151,1817,3083,0,0,0,0,0,0
$GC,3739,-0.73,-146.0,470.2,-10.7,415,3743,0.00,1.17,0.00,0.000,6,0.000,0.057,2146,2505,3084,0,0,0,0,0,0
$GC,4083,-0.73,-146.0,506.7,-10.7,439,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2505,3085,0,0,0,0,0,0
$GC,4384,-0.73,-146.0,539.8,-11.0,449,4388,0.00,1.12,0.00,0.000,4,0.000,0.070,2141,3213,3084,0,0,0,0,0,0
$GC,4435,-0.73,-146.0,543.5,-11.0,450,4440,0.00,1.10,0.00,0.000,6,0.000,0.032,2141,2509,3084,0,0,0,0,0,0
$GC,4756,-0.73,-146.0,580.6,-10.5,461,4760,0.00,1.17,0.00,0.000,4,0.000,0.066,2136,3216,3084,0,0,0,0,0,0
$STATE,4820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4820,begin apogee
$GC,4827,-0.16,0.0,587.3,-10.2,463,4953,0.65,0.00,119.28,1.280,6,0.139,0.000,2344,2188,2485,0,0,0,0,0,0
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4956,0.73,146.0,591.2,0.0,467,5092,0.82,1.23,128.10,1.222,4,0.070,0.050,2633,1502,1889,0,0,0,0,0,0
$GC,5272,0.73,146.0,565.9,11.3,477,5276,0.00,1.23,0.00,0.000,6,0.000,0.047,2633,2203,1882,0,0,0,0,0,0
$GC,5611,0.73,146.0,527.1,11.4,488,5615,0.00,1.17,0.00,0.000,4,0.000,0.057,2633,2904,1880,0,0,0,0,0,0
$GC,5867,0.73,146.0,500.3,11.3,495,5875,0.00,1.20,0.00,0.000,6,0.000,0.037,2638,2191,1877,0,0,0,0,0,0
$GC,6194,0.73,146.7,464.5,9.1,521,6198,0.00,1.08,0.00,0.000,4,0.000,0.050,2644,1498,1877,0,0,0,0,0,0
$GC,6252,0.73,146.7,458.9,10.0,525,6260,0.00,1.20,0.00,0.000,6,0.000,0.047,2644,2210,1877,0,0,0,0,0,0
$GC,6576,0.73,146.7,425.9,9.7,551,6580,0.00,1.17,0.00,0.000,4,0.000,0.047,2648,1493,1876,0,0,0,0,0,0
$GC,6726,0.73,146.7,410.3,10.6,562,6734,0.00,1.20,0.00,0.000,6,0.000,0.047,2648,2213,1876,0,0,0,0,0,0
$GC,7051,0.73,146.7,374.3,11.6,588,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2213,1876,0,0,0,0,0,0
$GC,7367,0.73,146.7,337.1,11.9,613,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2213,1876,0,0,0,0,0,0
$GC,7680,0.73,146.7,299.1,12.3,638,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2213,1876,0,0,0,0,0,0
$GC,7997,0.73,146.7,259.3,12.1,663,8000,0.00,1.10,0.00,0.000,4,0.000,0.057,2648,2900,1876,0,0,0,0,0,0
$GC,8054,0.73,146.7,252.9,11.9,667,8063,0.00,1.15,0.00,0.000,6,0.000,0.037,2653,2197,1876,0,0,0,0,0,0
$GC,8393,0.73,146.7,215.9,10.2,717,8400,0.00,1.08,0.00,0.000,4,0.000,0.050,2658,1494,1876,0,0,0,0,0,0
$GC,8486,0.74,159.3,206.9,8.6,731,8502,0.00,1.15,10.45,0.981,6,0.000,0.047,2658,2204,1835,0,0,0,0,0,0
$GC,8832,0.75,169.9,175.5,8.7,783,8849,0.00,1.17,10.73,0.973,4,0.000,0.056,2658,2911,1792,0,0,0,0,0,0
$GC,8957,0.76,172.6,164.2,9.1,801,8965,0.00,1.15,3.75,0.704,6,0.000,0.037,2663,2205,1781,0,0,0,0,0,0
$GC,9297,0.77,183.4,133.9,8.7,852,9313,0.00,1.15,11.23,0.960,4,0.000,0.050,2668,1489,1736,0,0,0,0,0,0
$GC,9505,0.77,183.4,114.6,9.3,883,9512,0.00,1.17,0.00,0.000,6,0.000,0.048,2668,2202,1735,0,0,0,0,0,0
$GC,9843,0.77,183.4,82.0,9.2,934,9850,0.00,1.15,0.00,0.000,4,0.000,0.048,2673,1491,1734,0,0,0,0,0,0
$GC,9997,0.77,183.4,67.9,9.4,957,10004,0.00,1.17,0.00,0.000,6,0.000,0.047,2673,2208,1734,0,0,0,0,0,0
$GC,10334,0.83,229.1,40.2,7.2,1008,10376,0.00,0.00,39.17,0.960,6,0.000,0.000,2673,2207,1550,0,0,0,0,0,0
$GC,10708,0.84,238.1,10.4,8.8,1064,10718,0.00,1.17,3.85,0.107,4,0.000,0.057,2672,2908,1514,0,0,0,0,0,0
$STATE,10802,end climb,SURFACE_DEPTH_REACHED
$STATE,10803,begin surface coast
$FINISH,1.7,1.002750
$STATE,10832,end surface coast,CONTROL_FINISHED_OK
$STATE,10832,begin surface
$SM_CCo,10849,29.83,0.088,0,0,1261,300.00
$SM_GC,2.40,6.93,0.68,29.83,0.046,0.037,0.088,120,2498,1261,-7.07,0.88,300.00,0,0,0,0,0,0
$RAFOS_CLK,703
$RAFOS,6,1320194947,0.833333,0.818611,123,54,51,0,0,0,789,195,216,0,0,0
$RAFOS,5,1320194480,0.700000,0.688889,62,60,59,0,0,0,166,213,222,0,0,0
$RAFOS,4,1320193986,0.566667,0.551667,74,63,59,0,0,0,679,214,177,0,0,0
$RAFOS,3,1320193502,0.433333,0.417222,75,59,58,0,0,0,763,231,174,0,0,0
$RAFOS,2,1320193032,0.300000,0.286667,74,63,59,0,0,0,577,206,588,0,0,0
$RAFOS,1,1320192550,0.166667,0.152778,90,54,52,0,0,0,490,237,121,0,0,0
$RAFOS,0,1320192067,0.033333,0.018611,131,65,61,0,0,0,619,231,210,0,0,0
$RAFOS_FIX,6643.816895,-6003.373047,021111,000044,5,95,1.12
$IRIDIUM_FIX,6620.33,-6013.28,011111,202024
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.75
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.10
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,550.7,74.5
$24V_AH,22.7,21.661
$10V_AH,10.3,16.925
$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,17.150,48.250,326.550,29.825,0.000,0.000,0.000,173.050,5.500,0.000,19.996,2967.843,5550.736,504.220,1966.096,196.490,0.000,1616.944,0.000,1774.804,2520.000,14.452,0.000
$DEVICE_MAMPS,260.100,78.795,1279.845,87.975,0.000,0.000,0.000,259.917,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.298,611.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150280
$DATA_FILE_SIZE,40105,1082
$CAP_FILE_SIZE,113869,0
$CFSIZE,260165632,236199936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.5
$CURRENT,0.355,185.4,1
$GPS,021111,022635,6644.310,-6007.157,34,1.0,34,-33.9