version: 66.09
glider: 143
mission: 13
dive: 162
start: 10 31 111 19 48 27
data:
$ID,143
$MISSION,13
$DIVE,162
$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,-80719.734
$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,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
$GPS1,311011,194255,6649.394,-6007.412,37,1.3,37,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-72.5
$GPS2,311011,194754,6649.357,-6007.551,15,1.0,15,-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,251.5,16751,-16.9,-9.167
$D_GRID,609
$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,15,-0.73,-146.0,0.0,0.0,0,38,0.00,0.00,-20.48,0.000,2,0.000,0.000,121,2518,1536,0,0,0,0,0,0
$GC,41,-0.73,-146.0,3.0,-1.9,3,178,8.62,1.10,-118.97,0.000,4,0.259,0.096,2160,3219,3081,0,0,0,0,0,0
$GC,431,-0.73,-146.0,51.8,-16.5,62,438,0.00,1.12,0.00,0.000,6,0.000,0.037,2160,2504,3083,0,0,0,0,0,0
$GC,769,-0.73,-146.0,97.7,-12.4,113,778,0.00,1.17,0.00,0.000,4,0.000,0.067,2155,3203,3083,0,0,0,0,0,0
$GC,824,-0.73,-146.0,104.7,-12.4,121,833,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2501,3083,0,0,0,0,0,0
$GC,1163,-0.73,-146.0,151.2,-15.4,172,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2500,3083,0,0,0,0,0,0
$GC,1500,-0.73,-146.0,202.6,-14.4,223,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2500,3083,0,0,0,0,0,0
$GC,1838,-0.73,-146.0,243.4,-12.1,274,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2500,3083,0,0,0,0,0,0
$GC,2165,-0.73,-146.0,281.5,-12.1,304,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2500,3083,0,0,0,0,0,0
$GC,2478,-0.73,-146.0,319.5,-12.2,329,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2500,3083,0,0,0,0,0,0
$GC,2796,-0.73,-146.0,357.0,-12.0,354,2799,0.00,1.08,0.00,0.000,4,0.000,0.047,2155,1812,3082,0,0,0,0,0,0
$GC,2930,-0.73,-146.0,372.8,-11.6,364,2933,0.00,1.17,0.00,0.000,6,0.000,0.056,2151,2503,3082,0,0,0,0,0,0
$GC,3260,-0.73,-146.0,411.2,-11.5,390,3263,0.00,1.12,0.00,0.000,4,0.000,0.069,2145,3213,3082,0,0,0,0,0,0
$GC,3352,-0.73,-146.0,422.1,-11.7,397,3356,0.00,1.10,0.00,0.000,6,0.000,0.034,2146,2499,3082,0,0,0,0,0,0
$GC,3681,-0.73,-146.0,460.1,-11.9,423,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2499,3082,0,0,0,0,0,0
$GC,3998,-0.73,-146.0,494.6,-10.6,448,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2499,3083,0,0,0,0,0,0
$GC,4323,-0.73,-146.0,529.3,-10.6,461,4326,0.00,1.17,0.00,0.000,4,0.000,0.065,2141,3212,3083,0,0,0,0,0,0
$GC,4427,-0.73,-146.0,540.3,-10.8,464,4432,0.00,1.10,0.00,0.000,6,0.000,0.032,2141,2502,3083,0,0,0,0,0,0
$GC,4760,-0.73,-146.0,578.9,-12.0,475,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2502,3083,0,0,0,0,0,0
$STATE,5034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5034,begin apogee
$GC,5040,-0.16,0.0,610.4,-11.2,484,5166,0.62,0.00,119.10,1.296,6,0.131,0.000,2344,2188,2485,0,0,0,0,0,0
$STATE,5167,end apogee,CONTROL_FINISHED_OK
$STATE,5167,begin climb
$GC,5169,0.73,146.0,614.2,0.0,488,5305,0.85,1.20,128.20,1.237,4,0.074,0.049,2635,1509,1889,0,0,0,0,0,0
$GC,5451,0.73,146.0,592.3,11.9,497,5455,0.00,1.23,0.00,0.000,6,0.000,0.046,2634,2209,1882,0,0,0,0,0,0
$GC,5790,0.73,146.0,553.2,11.7,508,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2209,1879,0,0,0,0,0,0
$GC,6098,0.73,146.0,517.2,11.4,518,6102,0.00,1.15,0.00,0.000,4,0.000,0.056,2635,2906,1878,0,0,0,0,0,0
$GC,6309,0.73,146.0,491.5,11.9,527,6313,0.00,1.15,0.00,0.000,6,0.000,0.037,2639,2204,1877,0,0,0,0,0,0
$GC,6639,0.73,146.0,453.5,11.7,553,6643,0.00,1.20,0.00,0.000,4,0.000,0.053,2639,2908,1877,0,0,0,0,0,0
$GC,6817,0.73,146.0,432.1,12.6,566,6824,0.00,1.15,0.00,0.000,6,0.000,0.037,2644,2200,1877,0,0,0,0,0,0
$GC,7140,0.73,146.0,392.4,11.7,592,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,1877,0,0,0,0,0,0
$GC,7455,0.73,146.0,357.0,11.0,617,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2200,1875,0,0,0,0,0,0
$GC,7773,0.73,146.0,324.1,10.6,642,7777,0.00,1.08,0.00,0.000,4,0.000,0.050,2650,1497,1875,0,0,0,0,0,0
$GC,8011,0.73,146.0,298.9,10.5,660,8015,0.00,1.15,0.00,0.000,6,0.000,0.047,2650,2206,1875,0,0,0,0,0,0
$GC,8343,0.73,146.0,264.2,11.0,686,8347,0.00,1.12,0.00,0.000,4,0.000,0.057,2649,2910,1875,0,0,0,0,0,0
$GC,8401,0.73,146.0,258.0,11.1,690,8408,0.00,1.17,0.00,0.000,6,0.000,0.037,2654,2191,1875,0,0,0,0,0,0
$GC,8734,0.73,146.0,222.9,9.6,736,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2191,1875,0,0,0,0,0,0
$GC,9071,0.76,172.3,193.9,8.1,787,9099,0.00,1.17,21.00,1.027,4,0.000,0.051,2654,2907,1783,0,0,0,0,0,0
$GC,9178,0.76,172.3,183.4,10.5,803,9185,0.00,1.15,0.00,0.000,6,0.000,0.037,2659,2202,1781,0,0,0,0,0,0
$GC,9517,0.76,172.3,149.7,9.9,854,9524,0.00,1.08,0.00,0.000,4,0.000,0.050,2664,1496,1780,0,0,0,0,0,0
$GC,9692,0.76,177.8,133.0,8.9,880,9707,0.00,1.15,6.15,0.871,6,0.000,0.048,2664,2201,1760,0,0,0,0,0,0
$GC,10039,0.77,179.1,103.1,9.1,932,10045,0.00,1.12,0.00,0.000,4,0.000,0.057,2664,2904,1758,0,0,0,0,0,0
$GC,10066,0.77,179.1,100.6,9.4,936,10072,0.00,1.15,0.00,0.000,6,0.000,0.038,2669,2195,1758,0,0,0,0,0,0
$GC,10404,0.79,197.1,69.3,8.4,987,10427,0.00,1.25,17.77,0.970,4,0.000,0.054,2668,2908,1680,0,0,0,0,0,0
$GC,10679,0.79,197.1,45.3,9.2,1028,10686,0.00,1.15,0.00,0.000,6,0.000,0.039,2673,2204,1678,0,0,0,0,0,0
$GC,11016,0.88,274.4,20.9,5.9,1079,11064,0.00,0.00,43.58,0.900,6,0.000,0.000,2674,2203,1365,0,0,0,0,0,0
$STATE,11240,end climb,SURFACE_DEPTH_REACHED
$STATE,11240,begin surface coast
$FINISH,1.9,1.025403
$STATE,11268,end surface coast,CONTROL_FINISHED_OK
$STATE,11268,begin surface
$SM_CCo,11284,10.88,0.090,0,0,1261,300.00
$SM_GC,4.09,6.95,0.57,10.88,0.043,0.054,0.090,125,2506,1261,-7.06,-0.90,300.00,0,0,0,0,0,0
$RAFOS_CLK,740
$RAFOS,6,1320094148,20.833334,20.818890,99,59,58,0,0,0,786,228,776,0,0,0
$RAFOS,5,1320093662,20.700001,20.683889,65,61,59,0,0,0,163,221,212,0,0,0
$RAFOS,4,1320093184,20.566668,20.551111,91,65,56,0,0,0,688,198,141,0,0,0
$RAFOS,3,1320092704,20.433332,20.417778,104,65,63,0,0,0,773,165,193,0,0,0
$RAFOS,2,1320092222,20.299999,20.283890,115,68,60,0,0,0,654,190,170,0,0,0
$RAFOS,1,1320091747,20.166666,20.151945,91,61,60,0,0,0,513,208,150,0,0,0
$RAFOS,0,1320091267,20.033333,20.018612,88,57,56,0,0,0,620,210,144,0,0,0
$RAFOS_FIX,6646.203125,-6003.778809,311011,202032,6,98,2.94
$IRIDIUM_FIX,6620.33,-6010.56,311011,161604
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.91
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,600.0,44.3
$24V_AH,22.7,20.636
$10V_AH,10.3,16.225
$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,17.050,33.125,335.800,10.875,0.000,0.000,0.000,191.775,6.750,0.000,16.284,3031.198,5905.860,484.145,2024.871,191.193,0.000,1623.286,0.000,1816.583,2520.000,22.172,0.000
$DEVICE_MAMPS,259.335,96.390,1295.910,90.270,0.000,0.000,0.000,253.925,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.309,634.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150348
$DATA_FILE_SIZE,43302,1117
$CAP_FILE_SIZE,110554,0
$CFSIZE,260165632,236777472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.9
$CURRENT,0.360,161.3,1
$GPS,311011,225836,6645.665,-6008.809,33,0.8,33,-33.9