version: 66.09
glider: 143
mission: 13
dive: 173
start: 11 2 111 5 42 43
data:
$ID,143
$MISSION,13
$DIVE,173
$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,-80733.602
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,021111,053721,6645.294,-6006.262,35,1.3,35,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.5
$GPS2,021111,054212,6645.226,-6006.315,23,0.9,23,-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,97.2,146947,-16.9,-9.167
$D_GRID,610
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-25.80,0.000,2,0.000,0.000,119,2523,1611,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-2.7,4,155,8.68,1.23,-92.22,0.000,4,0.262,0.071,2163,1810,3082,0,0,0,0,0,0
$GC,295,-0.73,-146.0,33.4,-18.0,41,304,0.00,1.20,0.00,0.000,6,0.000,0.057,2161,2502,3084,0,0,0,0,0,0
$GC,636,-0.73,-146.0,90.0,-15.9,92,642,0.00,1.15,0.00,0.000,4,0.000,0.045,2160,1813,3084,0,0,0,0,0,0
$GC,735,-0.73,-146.0,105.0,-14.2,107,742,0.00,1.20,0.00,0.000,6,0.000,0.057,2156,2507,3085,0,0,0,0,0,0
$GC,1075,-0.73,-146.0,152.5,-13.1,158,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2508,3084,0,0,0,0,0,0
$GC,1412,-0.73,-146.0,195.7,-13.4,209,1420,0.00,1.12,0.00,0.000,4,0.000,0.070,2150,3213,3084,0,0,0,0,0,0
$GC,1460,-0.73,-146.0,202.3,-13.3,216,1467,0.00,1.10,0.00,0.000,6,0.000,0.036,2150,2508,3084,0,0,0,0,0,0
$GC,1798,-0.73,-146.0,245.0,-12.3,267,1805,0.00,1.10,0.00,0.000,4,0.000,0.047,2150,1810,3084,0,0,0,0,0,0
$GC,1864,-0.73,-146.0,253.4,-12.6,275,1868,0.00,1.20,0.00,0.000,6,0.000,0.058,2146,2510,3084,0,0,0,0,0,0
$GC,2195,-0.73,-146.0,295.7,-12.8,301,2198,0.00,1.12,0.00,0.000,4,0.000,0.070,2140,3214,3084,0,0,0,0,0,0
$GC,2235,-0.73,-146.0,300.9,-12.7,304,2239,0.00,1.10,0.00,0.000,6,0.000,0.036,2140,2512,3084,0,0,0,0,0,0
$GC,2566,-0.73,-146.0,344.0,-13.0,330,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,2880,-0.73,-146.0,384.7,-13.0,355,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,3195,-0.73,-146.0,424.5,-12.3,380,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,3511,-0.73,-146.0,461.5,-11.7,405,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2512,3084,0,0,0,0,0,0
$GC,3832,-0.73,-146.0,500.6,-12.8,430,3835,0.00,1.17,0.00,0.000,4,0.000,0.067,2136,3214,3084,0,0,0,0,0,0
$GC,3870,-0.73,-146.0,505.4,-12.4,431,3876,0.12,1.12,0.00,0.000,6,0.171,0.033,2165,2498,3084,0,0,0,0,0,0
$GC,4205,-0.73,-146.0,540.2,-9.8,442,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2498,3084,0,0,0,0,0,0
$GC,4510,-0.73,-146.0,570.2,-9.6,452,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2498,3085,0,0,0,0,0,0
$GC,4818,-0.73,-146.0,598.5,-10.1,462,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2498,3085,0,0,0,0,0,0
$STATE,4967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4967,begin apogee
$GC,4973,-0.16,0.0,611.7,-8.7,467,5099,0.52,0.00,119.53,1.294,6,0.128,0.000,2341,2182,2485,0,0,0,0,0,0
$STATE,5100,end apogee,CONTROL_FINISHED_OK
$STATE,5100,begin climb
$GC,5102,0.73,146.0,617.1,0.0,471,5236,0.88,0.00,128.55,1.239,6,0.067,0.000,2637,2181,1889,0,0,0,0,0,0
$GC,5552,0.73,146.0,579.1,11.6,486,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2181,1880,0,0,0,0,0,0
$GC,5856,0.73,146.0,543.7,11.4,496,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2182,1878,0,0,0,0,0,0
$GC,6164,0.73,146.0,509.3,11.1,506,6167,0.00,1.05,0.00,0.000,4,0.000,0.051,2641,1507,1878,0,0,0,0,0,0
$GC,6201,0.73,146.0,505.3,11.3,507,6206,0.00,1.20,0.00,0.000,6,0.000,0.045,2641,2220,1877,0,0,0,0,0,0
$GC,6528,0.73,146.0,466.9,11.9,530,6531,0.00,1.10,0.00,0.000,4,0.000,0.055,2641,2901,1877,0,0,0,0,0,0
$GC,6744,0.73,146.0,441.3,11.8,546,6752,0.00,1.15,0.00,0.000,6,0.000,0.036,2646,2203,1876,0,0,0,0,0,0
$GC,7069,0.73,146.0,403.1,10.8,572,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2202,1876,0,0,0,0,0,0
$GC,7383,0.73,146.0,368.3,10.8,597,7386,0.00,1.17,0.00,0.000,4,0.000,0.052,2646,2901,1876,0,0,0,0,0,0
$GC,7546,0.73,146.0,350.6,11.1,609,7557,0.00,1.15,0.00,0.000,6,0.000,0.036,2651,2196,1876,0,0,0,0,0,0
$GC,7871,0.73,146.0,315.5,10.8,635,7875,0.00,1.20,0.00,0.000,4,0.000,0.051,2651,2912,1876,0,0,0,0,0,0
$GC,7912,0.73,146.0,311.4,10.5,638,7916,0.00,1.15,0.00,0.000,6,0.000,0.035,2657,2194,1876,0,0,0,0,0,0
$GC,8242,0.73,146.0,277.1,9.7,664,8246,0.00,1.20,0.00,0.000,4,0.000,0.053,2656,2908,1876,0,0,0,0,0,0
$GC,8368,0.73,146.0,264.9,10.1,673,8377,0.00,1.12,0.00,0.000,6,0.000,0.036,2661,2204,1876,0,0,0,0,0,0
$GC,8699,0.73,146.0,232.9,9.3,712,8706,0.00,1.08,0.00,0.000,4,0.000,0.050,2666,1495,1876,0,0,0,0,0,0
$GC,8903,0.73,146.0,211.8,10.2,743,8911,0.10,1.15,0.00,0.000,6,0.150,0.046,2635,2210,1876,0,0,0,0,0,0
$GC,9243,0.78,188.3,184.3,7.4,794,9284,0.00,1.17,34.65,1.031,4,0.000,0.055,2634,2910,1717,0,0,0,0,0,0
$GC,9425,0.78,188.3,167.4,9.6,821,9434,0.00,1.17,0.00,0.000,6,0.000,0.037,2638,2194,1714,0,0,0,0,0,0
$GC,9765,0.78,188.3,134.1,9.5,872,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2194,1713,0,0,0,0,0,0
$GC,10102,0.78,188.3,103.2,9.5,923,10109,0.00,1.08,0.00,0.000,4,0.000,0.050,2643,1491,1712,0,0,0,0,0,0
$GC,10123,0.78,188.3,101.4,9.2,926,10130,0.00,1.15,0.00,0.000,6,0.000,0.047,2643,2199,1711,0,0,0,0,0,0
$GC,10462,0.80,205.6,71.2,8.4,977,10483,0.00,1.10,15.23,0.962,4,0.000,0.052,2643,2906,1646,0,0,0,0,0,0
$GC,10525,0.80,205.6,65.5,10.0,986,10532,0.00,1.15,0.00,0.000,6,0.000,0.037,2648,2202,1644,0,0,0,0,0,0
$GC,10862,0.83,233.5,34.9,8.0,1037,10890,0.00,1.15,24.33,0.953,4,0.000,0.050,2653,1491,1533,0,0,0,0,0,0
$GC,10943,0.87,265.8,28.5,7.8,1049,10972,0.00,1.17,24.05,0.919,6,0.000,0.045,2653,2200,1400,0,0,0,0,0,0
$STATE,11259,end climb,SURFACE_DEPTH_REACHED
$STATE,11260,begin surface coast
$FINISH,1.8,1.012938
$STATE,11283,end surface coast,CONTROL_FINISHED_OK
$STATE,11283,begin surface
$SM_CCo,11299,15.30,0.090,0,0,1261,300.00
$SM_GC,3.97,6.93,0.52,15.30,0.047,0.058,0.090,122,2511,1261,-7.06,-0.88,300.00,0,0,0,0,0,0
$RAFOS_CLK,740
$RAFOS,5,1320223264,8.700000,8.684444,69,64,59,0,0,0,223,907,119,0,0,0
$RAFOS,4,1320222783,8.566667,8.550834,147,64,54,0,0,0,679,202,146,0,0,0
$RAFOS,3,1320222306,8.433333,8.418333,89,62,62,0,0,0,737,215,177,0,0,0
$RAFOS,2,1320221824,8.300000,8.284445,99,54,54,0,0,0,630,191,135,0,0,0
$RAFOS,1,1320221346,8.166667,8.151667,154,67,60,0,0,0,498,198,208,0,0,0
$RAFOS,0,1320220869,8.033334,8.019167,123,67,62,0,0,0,617,210,191,0,0,0
$RAFOS_FIX,6644.238281,-6000.983887,021111,080820,4,114,0.45
$IRIDIUM_FIX,6614.97,-6008.55,021111,020220
$TT8_MAMPS,0.02996,0.02996
$HUMID,57.52
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,601.1,56.1
$24V_AH,22.7,21.892
$10V_AH,10.3,17.077
$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,17.225,37.700,346.325,15.300,0.000,0.000,0.000,176.050,6.000,0.000,23.773,2984.224,6033.361,501.178,1914.165,191.581,0.000,1582.094,0.000,1714.460,2520.000,22.272,0.000
$DEVICE_MAMPS,262.395,71.145,1293.615,89.505,0.000,0.000,0.000,257.670,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.906,623.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150272
$DATA_FILE_SIZE,40078,1100
$CAP_FILE_SIZE,109998,0
$CFSIZE,260165632,236072960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.5
$CURRENT,0.113,266.1,1
$GPS,021111,085258,6646.068,-6003.789,38,1.1,41,-33.9