version: 66.09
glider: 143
mission: 13
dive: 161
start: 10 31 111 16 31 8
data:
$ID,143
$MISSION,13
$DIVE,161
$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,-80718.477
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,311011,162521,6650.461,-6007.788,56,2.0,56,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-70.5
$GPS2,311011,163035,6650.399,-6007.930,41,1.0,41,-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,217.1,17755,-16.9,-9.167
$D_GRID,616
$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,-26.20,0.000,2,0.000,0.000,122,2517,1614,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-2.4,4,157,8.60,1.17,-95.30,0.000,4,0.260,0.099,2156,3217,3082,0,0,0,0,0,0
$GC,411,-0.73,-146.0,53.8,-16.9,58,420,0.00,1.12,0.00,0.000,6,0.000,0.036,2157,2499,3084,0,0,0,0,0,0
$GC,751,-0.73,-146.0,105.8,-14.6,109,758,0.00,1.20,0.00,0.000,4,0.000,0.066,2152,3214,3085,0,0,0,0,0,0
$GC,1010,-0.73,-146.0,144.4,-14.5,148,1017,0.00,1.10,0.00,0.000,6,0.000,0.035,2152,2505,3084,0,0,0,0,0,0
$GC,1347,-0.73,-146.0,193.1,-13.2,199,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2506,3084,0,0,0,0,0,0
$GC,1684,-0.73,-146.0,236.2,-12.5,250,1693,0.00,1.08,0.00,0.000,4,0.000,0.047,2152,1819,3084,0,0,0,0,0,0
$GC,1727,-0.73,-146.0,241.4,-11.8,256,1733,0.00,1.17,0.00,0.000,6,0.000,0.059,2147,2504,3084,0,0,0,0,0,0
$GC,2054,-0.73,-146.0,281.0,-11.5,287,2057,0.00,1.12,0.00,0.000,4,0.000,0.045,2148,1819,3084,0,0,0,0,0,0
$GC,2098,-0.73,-146.0,285.7,-11.4,290,2108,0.00,1.20,0.00,0.000,6,0.000,0.057,2143,2512,3085,0,0,0,0,0,0
$GC,2423,-0.73,-146.0,325.8,-12.2,316,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2512,3084,0,0,0,0,0,0
$GC,2737,-0.73,-146.0,364.3,-11.7,341,2741,0.00,1.15,0.00,0.000,4,0.000,0.044,2143,1811,3084,0,0,0,0,0,0
$GC,2888,-0.73,-146.0,380.6,-11.1,352,2896,0.00,1.23,0.00,0.000,6,0.000,0.057,2138,2520,3084,0,0,0,0,0,0
$GC,3212,-0.73,-146.0,418.9,-11.6,378,3216,0.00,1.15,0.00,0.000,4,0.000,0.044,2138,1818,3084,0,0,0,0,0,0
$GC,3283,-0.73,-146.0,426.9,-11.9,383,3292,0.12,1.20,0.00,0.000,6,0.174,0.056,2163,2512,3084,0,0,0,0,0,0
$GC,3607,-0.73,-146.0,461.1,-10.4,409,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2513,3084,0,0,0,0,0,0
$GC,3924,-0.73,-146.0,493.6,-9.9,434,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2513,3084,0,0,0,0,0,0
$GC,4243,-0.73,-146.0,526.5,-10.4,448,4246,0.00,1.12,0.00,0.000,4,0.000,0.042,2163,1818,3085,0,0,0,0,0,0
$GC,4309,-0.73,-146.0,533.5,-10.5,450,4313,0.00,1.17,0.00,0.000,6,0.000,0.056,2161,2512,3084,0,0,0,0,0,0
$GC,4648,-0.73,-146.0,569.7,-10.6,461,4652,0.00,1.12,0.00,0.000,4,0.000,0.069,2155,3223,3085,0,0,0,0,0,0
$GC,4787,-0.73,-146.0,583.4,-10.4,465,4790,0.00,1.10,0.00,0.000,6,0.000,0.031,2155,2499,3085,0,0,0,0,0,0
$STATE,5117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5117,begin apogee
$GC,5124,-0.16,0.0,617.2,-9.6,476,5250,0.57,0.00,119.43,1.298,6,0.132,0.000,2342,2182,2485,0,0,0,0,0,0
$STATE,5251,end apogee,CONTROL_FINISHED_OK
$STATE,5251,begin climb
$GC,5253,0.73,146.0,620.2,0.0,480,5387,0.85,0.00,128.10,1.240,6,0.072,0.000,2631,2181,1889,0,0,0,0,0,0
$GC,5682,0.73,146.0,581.7,11.9,494,5686,0.00,1.30,0.00,0.000,4,0.000,0.054,2631,2911,1879,0,0,0,0,0,0
$GC,5767,0.73,146.0,573.7,12.2,496,5772,0.00,1.20,0.00,0.000,6,0.000,0.037,2636,2211,1878,0,0,0,0,0,0
$GC,6088,0.73,146.0,534.9,11.4,507,6092,0.00,1.23,0.00,0.000,4,0.000,0.054,2636,2915,1878,0,0,0,0,0,0
$GC,6298,0.73,146.0,510.6,12.4,513,6303,0.00,1.20,0.00,0.000,6,0.000,0.037,2641,2197,1877,0,0,0,0,0,0
$GC,6621,0.73,146.0,470.8,12.2,535,6625,0.00,1.10,0.00,0.000,4,0.000,0.049,2646,1492,1877,0,0,0,0,0,0
$GC,6675,0.73,146.0,464.2,12.2,539,6679,0.00,1.17,0.00,0.000,6,0.000,0.047,2646,2209,1876,0,0,0,0,0,0
$GC,7006,0.73,146.0,424.6,11.9,565,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2209,1876,0,0,0,0,0,0
$GC,7320,0.73,146.0,388.7,11.2,590,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2209,1876,0,0,0,0,0,0
$GC,7637,0.73,146.0,354.8,9.9,615,7641,0.00,1.15,0.00,0.000,4,0.000,0.049,2651,1496,1875,0,0,0,0,0,0
$GC,7761,0.73,146.0,343.0,10.0,624,7768,0.00,1.17,0.00,0.000,6,0.000,0.047,2651,2209,1875,0,0,0,0,0,0
$GC,8086,0.73,146.0,310.0,10.9,650,8089,0.00,1.15,0.00,0.000,4,0.000,0.048,2655,1496,1875,0,0,0,0,0,0
$GC,8125,0.73,146.0,305.4,11.0,653,8129,0.00,1.15,0.00,0.000,6,0.000,0.047,2655,2205,1875,0,0,0,0,0,0
$GC,8457,0.73,146.0,269.1,10.6,679,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2205,1875,0,0,0,0,0,0
$GC,8775,0.73,146.0,236.1,9.7,714,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2205,1875,0,0,0,0,0,0
$GC,9115,0.73,146.0,204.3,9.2,765,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2205,1875,0,0,0,0,0,0
$GC,9452,0.73,146.0,173.8,9.6,816,9458,0.00,1.15,0.00,0.000,4,0.000,0.050,2660,1493,1875,0,0,0,0,0,0
$GC,9545,0.73,147.1,165.1,9.1,830,9554,0.00,1.15,0.00,0.000,6,0.000,0.048,2660,2205,1875,0,0,0,0,0,0
$GC,9885,0.73,147.2,132.6,9.2,881,9892,0.00,1.12,0.00,0.000,4,0.000,0.057,2660,2907,1875,0,0,0,0,0,0
$GC,9905,0.73,147.2,130.6,9.5,884,9913,0.08,1.15,0.00,0.000,6,0.157,0.038,2641,2191,1875,0,0,0,0,0,0
$GC,10245,0.83,229.0,108.4,5.7,935,10318,0.00,1.30,67.97,0.998,4,0.000,0.053,2640,2910,1550,0,0,0,0,0,0
$GC,10397,0.83,229.0,94.8,10.7,958,10406,0.00,1.17,0.00,0.000,6,0.000,0.037,2643,2204,1547,0,0,0,0,0,0
$GC,10737,0.83,229.0,61.7,9.3,1009,10744,0.00,1.17,0.00,0.000,4,0.000,0.054,2644,2895,1544,0,0,0,0,0,0
$GC,10995,0.88,275.9,40.4,7.2,1048,11044,0.08,1.15,38.97,0.948,6,0.067,0.038,2688,2192,1358,0,0,0,0,0,0
$STATE,11365,end climb,SURFACE_DEPTH_REACHED
$STATE,11365,begin surface coast
$FINISH,1.9,1.015072
$STATE,11384,end surface coast,CONTROL_FINISHED_OK
$STATE,11384,begin surface
$SM_CCo,11401,10.27,0.090,0,0,1262,300.00
$SM_GC,4.38,7.03,0.60,10.27,0.047,0.051,0.090,122,2514,1262,-7.07,-0.76,300.00,0,0,0,0,0,0
$RAFOS_CLK,748
$RAFOS,6,1320079742,16.833334,16.817223,83,68,56,0,0,0,811,156,192,0,0,0
$RAFOS,5,1320079266,16.700001,16.684999,105,65,63,0,0,0,917,206,163,0,0,0
$RAFOS,4,1320078786,16.566668,16.551666,106,61,56,0,0,0,693,196,212,0,0,0
$RAFOS,2,1320077824,16.299999,16.284445,65,58,56,0,0,0,210,177,190,0,0,0
$RAFOS_FIX,6647.983887,-6001.467285,311011,161612,4,108,23.81
$IRIDIUM_FIX,6620.33,-5953.65,311011,121225
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.95
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,602.2,76.4
$24V_AH,22.8,20.523
$10V_AH,10.3,16.146
$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,17.325,40.700,354.475,10.275,0.000,0.000,0.000,180.100,5.500,0.000,42.252,2981.231,6047.428,509.143,2012.642,195.141,0.000,1634.144,0.000,1790.587,1080.000,19.204,0.000
$DEVICE_MAMPS,260.100,98.685,1298.205,89.505,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.141,621.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150308
$DATA_FILE_SIZE,43344,1106
$CAP_FILE_SIZE,112224,0
$CFSIZE,260165632,236838912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.3
$CURRENT,0.145, 24.6,1
$GPS,311011,194255,6649.394,-6007.412,37,1.3,37,-34.0