version: 66.09
glider: 143
mission: 13
dive: 160
start: 10 31 111 12 58 56
data:
$ID,143
$MISSION,13
$DIVE,160
$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,-80717.219
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,311011,125335,6648.847,-6002.260,33,0.7,33,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-71.7
$GPS2,311011,125825,6648.806,-6002.226,20,0.8,20,-33.9
$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,283.7,19538,-16.9,-9.167
$D_GRID,657
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-26.25,0.000,2,0.000,0.000,116,2511,1614,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-1.7,4,149,8.50,1.17,-86.28,0.000,4,0.257,0.099,2155,3213,3082,0,0,0,0,0,0
$GC,323,-0.73,-146.0,40.8,-17.7,45,332,0.00,1.10,0.00,0.000,6,0.000,0.037,2155,2512,3084,0,0,0,0,0,0
$GC,663,-0.73,-146.0,92.2,-15.1,96,670,0.00,1.17,0.00,0.000,4,0.000,0.068,2150,3211,3084,0,0,0,0,0,0
$GC,742,-0.73,-146.0,104.8,-16.1,108,749,0.00,1.10,0.00,0.000,6,0.000,0.035,2150,2505,3084,0,0,0,0,0,0
$GC,1080,-0.73,-146.0,153.0,-12.6,159,1087,0.00,1.17,0.00,0.000,4,0.000,0.068,2146,3207,3084,0,0,0,0,0,0
$GC,1120,-0.73,-146.0,158.1,-12.6,165,1129,0.00,1.08,0.00,0.000,6,0.000,0.036,2146,2514,3084,0,0,0,0,0,0
$GC,1458,-0.73,-146.0,201.8,-12.6,216,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2514,3084,0,0,0,0,0,0
$GC,1797,-0.73,-146.0,245.6,-12.7,267,1803,0.00,1.17,0.00,0.000,4,0.000,0.069,2141,3214,3084,0,0,0,0,0,0
$GC,1891,-0.73,-146.0,257.8,-12.8,277,1895,0.00,1.10,0.00,0.000,6,0.000,0.036,2141,2504,3084,0,0,0,0,0,0
$GC,2222,-0.73,-146.0,300.5,-12.7,303,2226,0.00,1.17,0.00,0.000,4,0.000,0.068,2137,3209,3083,0,0,0,0,0,0
$GC,2306,-0.73,-146.0,310.9,-12.7,309,2317,0.12,1.10,0.00,0.000,6,0.171,0.034,2166,2505,3084,0,0,0,0,0,0
$GC,2630,-0.73,-146.0,348.1,-11.4,335,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2505,3084,0,0,0,0,0,0
$GC,2947,-0.73,-146.0,384.1,-11.3,360,2950,0.00,1.17,0.00,0.000,4,0.000,0.067,2163,3213,3084,0,0,0,0,0,0
$GC,2991,-0.73,-146.0,388.7,-11.3,363,2999,0.00,1.10,0.00,0.000,6,0.000,0.032,2163,2504,3084,0,0,0,0,0,0
$GC,3316,-0.73,-146.0,424.9,-10.9,389,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2504,3084,0,0,0,0,0,0
$GC,3631,-0.73,-146.0,457.6,-10.5,414,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2504,3084,0,0,0,0,0,0
$GC,3946,-0.73,-146.0,489.6,-10.1,439,3950,0.00,1.17,0.00,0.000,4,0.000,0.067,2158,3211,3084,0,0,0,0,0,0
$GC,4062,-0.73,-146.0,500.9,-10.5,447,4067,0.00,1.10,0.00,0.000,6,0.000,0.031,2158,2501,3084,0,0,0,0,0,0
$GC,4385,-0.73,-146.0,533.2,-9.7,458,4388,0.00,1.17,0.00,0.000,4,0.000,0.065,2154,3213,3084,0,0,0,0,0,0
$GC,4442,-0.73,-146.0,536.7,-9.8,459,4450,0.00,1.10,0.00,0.000,6,0.000,0.031,2154,2499,3085,0,0,0,0,0,0
$GC,4758,-0.73,-146.0,568.4,-8.7,470,4762,0.00,1.17,0.00,0.000,4,0.000,0.065,2149,3213,3085,0,0,0,0,0,0
$GC,4862,-0.73,-146.0,577.3,-8.8,473,4867,0.00,1.08,0.00,0.000,6,0.000,0.031,2149,2499,3085,0,0,0,0,0,0
$GC,5196,-0.73,-146.0,613.6,-11.5,484,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2499,3085,0,0,0,0,0,0
$GC,5504,-0.73,-146.0,642.8,-9.5,494,5507,0.00,1.17,0.00,0.000,4,0.000,0.064,2144,3213,3086,0,0,0,0,0,0
$GC,5561,-0.73,-146.0,646.9,-10.1,495,5572,0.00,1.10,0.00,0.000,6,0.000,0.031,2144,2500,3086,0,0,0,0,0,0
$STATE,5629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5630,begin apogee
$GC,5635,-0.16,0.0,658.4,-12.2,498,5762,0.62,0.00,120.03,1.322,6,0.138,0.000,2344,2199,2485,0,0,0,0,0,0
$STATE,5763,end apogee,CONTROL_FINISHED_OK
$STATE,5763,begin climb
$GC,5765,0.73,146.0,666.6,0.0,502,5901,0.82,1.17,128.43,1.268,4,0.064,0.046,2635,1504,1889,0,0,0,0,0,0
$GC,6151,0.73,146.0,639.9,11.9,514,6156,0.00,1.23,0.00,0.000,6,0.000,0.047,2635,2205,1880,0,0,0,0,0,0
$GC,6478,0.73,146.0,599.9,11.0,525,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2205,1878,0,0,0,0,0,0
$GC,6784,0.73,146.0,564.5,10.2,535,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2205,1877,0,0,0,0,0,0
$GC,7091,0.73,146.0,531.9,11.5,545,7094,0.00,1.15,0.00,0.000,4,0.000,0.056,2635,2911,1877,0,0,0,0,0,0
$GC,7190,0.73,146.0,519.8,12.1,548,7193,0.00,1.15,0.00,0.000,6,0.000,0.036,2640,2204,1876,0,0,0,0,0,0
$GC,7516,0.73,146.0,482.9,10.5,565,7520,0.00,1.20,0.00,0.000,4,0.000,0.053,2640,2910,1876,0,0,0,0,0,0
$GC,7600,0.73,146.0,474.2,10.7,571,7608,0.00,1.17,0.00,0.000,6,0.000,0.035,2645,2194,1876,0,0,0,0,0,0
$GC,7925,0.73,146.0,440.8,10.4,597,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2194,1876,0,0,0,0,0,0
$GC,8240,0.73,146.0,409.2,10.1,622,8244,0.00,1.20,0.00,0.000,4,0.000,0.054,2645,2904,1875,0,0,0,0,0,0
$GC,8483,0.73,146.0,383.4,11.0,640,8491,0.00,1.15,0.00,0.000,6,0.000,0.036,2650,2198,1876,0,0,0,0,0,0
$GC,8809,0.73,146.0,347.8,10.9,666,8813,0.00,1.20,0.00,0.000,4,0.000,0.054,2649,2910,1876,0,0,0,0,0,0
$GC,9009,0.73,146.0,324.9,11.5,681,9013,0.00,1.15,0.00,0.000,6,0.000,0.037,2654,2193,1876,0,0,0,0,0,0
$GC,9339,0.73,146.0,288.6,10.8,707,9343,0.00,1.20,0.00,0.000,4,0.000,0.054,2655,2908,1876,0,0,0,0,0,0
$GC,9596,0.73,146.0,260.9,10.8,726,9603,0.00,1.15,0.00,0.000,6,0.000,0.037,2659,2199,1876,0,0,0,0,0,0
$GC,9928,0.73,146.0,225.7,9.9,769,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,1876,0,0,0,0,0,0
$GC,10268,0.80,207.0,196.3,6.6,820,10321,0.00,0.00,50.08,1.040,6,0.000,0.000,2659,2199,1640,0,0,0,0,0,0
$GC,10654,0.80,207.0,159.1,11.3,878,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2199,1635,0,0,0,0,0,0
$GC,10990,0.80,207.0,118.1,11.9,929,10999,0.00,1.20,0.00,0.000,4,0.000,0.054,2659,2909,1635,0,0,0,0,0,0
$GC,11092,0.80,207.0,105.9,11.7,944,11099,0.00,1.15,0.00,0.000,6,0.000,0.037,2664,2200,1635,0,0,0,0,0,0
$GC,11430,0.80,207.0,71.0,9.6,995,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2200,1633,0,0,0,0,0,0
$GC,11768,0.84,239.3,40.4,7.8,1046,11802,0.00,1.20,27.00,0.959,4,0.000,0.053,2664,2908,1508,0,0,0,0,0,0
$GC,11962,0.88,274.0,23.9,7.7,1075,11989,0.00,1.15,20.75,0.903,6,0.000,0.037,2668,2205,1366,0,0,0,0,0,0
$STATE,12212,end climb,SURFACE_DEPTH_REACHED
$STATE,12212,begin surface coast
$FINISH,1.8,1.016052
$STATE,12233,end surface coast,CONTROL_FINISHED_OK
$STATE,12233,begin surface
$SM_CCo,12250,11.20,0.089,0,0,1261,300.00
$SM_GC,4.07,6.97,0.57,11.20,0.049,0.054,0.089,123,2514,1261,-7.06,-0.88,300.00,0,0,0,0,0,0
$RAFOS_CLK,804
$RAFOS,1,1320077344,16.166666,16.151112,137,69,65,0,0,0,548,214,196,0,0,0
$RAFOS,0,1320076865,16.033333,16.018055,70,63,61,0,0,0,195,215,643,0,0,0
$RAFOS,6,1320065341,12.833333,12.816944,67,65,62,0,0,0,796,194,205,0,0,0
$RAFOS_FIX,6647.121094,-5956.505371,311011,121216,7,104,0.00
$IRIDIUM_FIX,6620.33,-6003.10,311011,090926
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.91
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,650.9,51.8
$24V_AH,22.7,20.405
$10V_AH,10.3,16.068
$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,17.050,42.550,346.275,11.200,0.000,0.000,0.000,176.000,6.000,0.000,20.783,3056.126,6729.092,504.000,2086.722,200.515,0.000,1675.259,0.000,1887.449,1080.000,17.922,0.000
$DEVICE_MAMPS,257.040,99.450,1321.920,88.740,0.000,0.000,0.000,261.415,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.648,620.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150316
$DATA_FILE_SIZE,43364,1116
$CAP_FILE_SIZE,118417,0
$CFSIZE,260165632,236900352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.4
$CURRENT,0.352,358.9,1
$GPS,311011,162521,6650.461,-6007.788,56,2.0,56,-34.0