version: 66.09
glider: 143
mission: 13
dive: 163
start: 10 31 111 23 3 48
data:
$ID,143
$MISSION,13
$DIVE,163
$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,-80721
$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,24
$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
$GPS1,311011,225836,6645.665,-6008.809,33,0.8,33,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-72.3
$GPS2,311011,230319,6645.586,-6008.801,19,0.8,19,-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,335.8,12921,-16.9,-9.167
$D_GRID,578
$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,-146.0,0.0,0.0,0,50,0.00,0.00,-31.70,0.000,2,0.000,0.000,124,2508,1689,0,0,0,0,0,0
$GC,53,-0.73,-146.0,3.1,-1.8,5,151,8.73,1.20,-79.82,0.000,4,0.262,0.099,2156,3220,3082,0,0,0,0,0,0
$GC,171,-0.73,-146.0,12.6,-17.5,22,178,0.00,1.12,0.00,0.000,6,0.000,0.037,2157,2511,3083,0,0,0,0,0,0
$GC,509,-0.73,-146.0,72.7,-15.9,73,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2511,3084,0,0,0,0,0,0
$GC,847,-0.73,-146.0,119.8,-13.6,124,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2511,3084,0,0,0,0,0,0
$GC,1183,-0.73,-146.0,166.9,-13.3,175,1192,0.00,1.10,0.00,0.000,4,0.000,0.047,2157,1814,3084,0,0,0,0,0,0
$GC,1205,-0.73,-146.0,170.0,-13.9,178,1212,0.00,1.20,0.00,0.000,6,0.000,0.059,2152,2510,3085,0,0,0,0,0,0
$GC,1543,-0.73,-146.0,217.2,-13.6,229,1549,0.00,1.12,0.00,0.000,4,0.000,0.070,2147,3213,3084,0,0,0,0,0,0
$GC,1556,-0.73,-146.0,219.1,-13.5,231,1565,0.00,1.10,0.00,0.000,6,0.000,0.036,2147,2511,3084,0,0,0,0,0,0
$GC,1897,-0.73,-146.0,266.2,-13.6,274,1900,0.00,1.17,0.00,0.000,4,0.000,0.067,2142,3213,3084,0,0,0,0,0,0
$GC,1954,-0.73,-146.0,273.4,-13.6,278,1962,0.00,1.12,0.00,0.000,6,0.000,0.034,2142,2499,3084,0,0,0,0,0,0
$GC,2281,-0.73,-146.0,317.3,-12.5,304,2284,0.00,1.08,0.00,0.000,4,0.000,0.046,2142,1812,3084,0,0,0,0,0,0
$GC,2373,-0.73,-146.0,328.7,-11.9,311,2377,0.00,1.20,0.00,0.000,6,0.000,0.057,2137,2514,3084,0,0,0,0,0,0
$GC,2702,-0.73,-146.0,369.4,-11.9,337,2705,0.00,1.15,0.00,0.000,4,0.000,0.045,2138,1813,3084,0,0,0,0,0,0
$GC,2714,-0.73,-146.0,370.9,-11.5,338,2719,0.10,1.20,0.00,0.000,6,0.155,0.057,2163,2514,3084,0,0,0,0,0,0
$GC,3045,-0.73,-146.0,403.4,-9.1,364,3049,0.00,1.12,0.00,0.000,4,0.000,0.070,2160,3221,3084,0,0,0,0,0,0
$GC,3111,-0.73,-146.0,409.7,-9.3,369,3115,0.00,1.10,0.00,0.000,6,0.000,0.034,2159,2512,3083,0,0,0,0,0,0
$GC,3444,-0.73,-146.0,439.8,-9.1,395,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2512,3084,0,0,0,0,0,0
$GC,3768,-0.73,-146.0,469.4,-8.9,421,3772,0.00,1.08,0.00,0.000,4,0.000,0.046,2160,1819,3084,0,0,0,0,0,0
$GC,3800,-0.73,-146.0,471.9,-9.0,423,3811,0.00,1.20,0.00,0.000,6,0.000,0.057,2155,2513,3084,0,0,0,0,0,0
$GC,4130,-0.73,-146.0,503.9,-10.4,448,4133,0.00,1.12,0.00,0.000,4,0.000,0.070,2150,3221,3085,0,0,0,0,0,0
$GC,4141,-0.73,-146.0,503.9,-10.4,448,4145,0.00,1.12,0.00,0.000,6,0.000,0.032,2150,2501,3084,0,0,0,0,0,0
$GC,4468,-0.73,-146.0,538.9,-10.5,459,4472,0.00,1.20,0.00,0.000,4,0.000,0.066,2145,3217,3084,0,0,0,0,0,0
$GC,4567,-0.73,-146.0,551.0,-12.0,462,4571,0.00,1.10,0.00,0.000,6,0.000,0.034,2145,2502,3084,0,0,0,0,0,0
$STATE,4812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4812,begin apogee
$GC,4818,-0.16,0.0,579.0,-12.2,470,4946,0.60,0.00,118.95,1.274,6,0.136,0.000,2339,2187,2485,0,0,0,0,0,0
$STATE,4946,end apogee,CONTROL_FINISHED_OK
$STATE,4947,begin climb
$GC,4949,0.73,146.0,584.3,0.0,474,5085,0.85,1.40,127.70,1.216,4,0.072,0.052,2627,2904,1889,0,0,0,0,0,0
$GC,5335,0.73,146.0,556.8,11.1,486,5340,0.00,1.23,0.00,0.000,6,0.000,0.037,2633,2201,1880,0,0,0,0,0,0
$GC,5669,0.73,146.0,516.6,11.3,497,5672,0.00,1.23,0.00,0.000,4,0.000,0.052,2633,2905,1878,0,0,0,0,0,0
$GC,5827,0.73,146.0,500.6,12.0,501,5834,0.00,1.17,0.00,0.000,6,0.000,0.037,2638,2199,1877,0,0,0,0,0,0
$GC,6151,0.73,146.0,461.0,11.2,527,6155,0.00,1.23,0.00,0.000,4,0.000,0.053,2637,2912,1877,0,0,0,0,0,0
$GC,6327,0.73,146.0,440.4,11.9,540,6335,0.00,1.20,0.00,0.000,6,0.000,0.037,2642,2188,1877,0,0,0,0,0,0
$GC,6652,0.73,146.0,403.9,11.0,566,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2188,1876,0,0,0,0,0,0
$GC,6966,0.73,146.0,369.1,10.9,591,6969,0.00,1.23,0.00,0.000,4,0.000,0.054,2642,2908,1876,0,0,0,0,0,0
$GC,7024,0.73,146.0,363.4,10.7,595,7034,0.00,1.17,0.00,0.000,6,0.000,0.037,2647,2194,1876,0,0,0,0,0,0
$GC,7348,0.73,146.0,327.9,10.8,621,7352,0.00,1.08,0.00,0.000,4,0.000,0.050,2653,1493,1875,0,0,0,0,0,0
$GC,7552,0.73,146.0,306.7,10.6,636,7560,0.00,1.20,0.00,0.000,6,0.000,0.047,2653,2219,1875,0,0,0,0,0,0
$GC,7877,0.73,146.0,272.9,10.6,662,7880,0.00,1.17,0.00,0.000,4,0.000,0.047,2657,1492,1875,0,0,0,0,0,0
$GC,7987,0.73,146.0,261.5,10.5,670,7995,0.00,1.17,0.00,0.000,6,0.000,0.047,2657,2206,1875,0,0,0,0,0,0
$GC,8320,0.73,146.0,226.8,9.8,713,8327,0.00,1.12,0.00,0.000,4,0.000,0.057,2657,2907,1875,0,0,0,0,0,0
$GC,8580,0.73,146.0,200.2,9.6,752,8587,0.00,1.15,0.00,0.000,6,0.000,0.038,2662,2194,1875,0,0,0,0,0,0
$GC,8918,0.78,187.8,171.1,7.4,803,8954,0.00,0.00,34.35,1.023,6,0.000,0.000,2662,2194,1719,0,0,0,0,0,0
$GC,9285,0.78,187.8,134.1,10.2,858,9292,0.00,1.20,0.00,0.000,4,0.000,0.053,2662,2900,1714,0,0,0,0,0,0
$GC,9450,0.78,187.8,116.9,10.2,883,9459,0.00,1.15,0.00,0.000,6,0.000,0.038,2666,2197,1714,0,0,0,0,0,0
$GC,9790,0.79,200.1,85.2,8.6,934,9806,0.00,1.12,11.12,0.943,4,0.000,0.052,2672,1495,1669,0,0,0,0,0,0
$GC,9893,0.80,203.3,76.5,9.0,949,9901,0.00,1.17,4.20,0.734,6,0.000,0.048,2672,2206,1656,0,0,0,0,0,0
$GC,10233,0.80,203.3,44.0,10.7,1000,10240,0.00,1.12,0.00,0.000,4,0.000,0.057,2672,2907,1654,0,0,0,0,0,0
$GC,10341,0.88,268.6,35.9,6.4,1016,10402,0.00,1.15,55.47,0.951,6,0.000,0.038,2677,2201,1389,0,0,0,0,0,0
$STATE,10697,end climb,SURFACE_DEPTH_REACHED
$STATE,10697,begin surface coast
$FINISH,2.0,1.025386
$STATE,10719,end surface coast,CONTROL_FINISHED_OK
$STATE,10719,begin surface
$SM_CCo,10735,13.93,0.089,0,0,1261,300.00
$SM_GC,3.86,6.93,0.60,13.93,0.041,0.057,0.089,125,2514,1261,-7.06,-0.71,300.00,0,0,0,0,0,0
$RAFOS_CLK,700
$RAFOS,6,1320108541,0.833333,0.816944,118,64,56,0,0,0,829,159,212,0,0,0
$RAFOS,5,1320108072,0.700000,0.686667,99,73,61,0,0,0,882,216,151,0,0,0
$RAFOS,4,1320107588,0.566667,0.552222,80,64,58,0,0,0,680,205,162,0,0,0
$RAFOS,3,1320107106,0.433333,0.418333,66,56,54,0,0,0,216,166,202,0,0,0
$RAFOS,2,1320106632,0.300000,0.286667,99,61,59,0,0,0,583,197,144,0,0,0
$RAFOS,1,1320106147,0.166667,0.151944,83,62,61,0,0,0,512,121,210,0,0,0
$RAFOS,0,1320105665,0.033333,0.018056,83,60,58,0,0,0,616,201,119,0,0,0
$RAFOS_FIX,6644.972168,-6004.882324,011111,000022,6,94,0.61
$IRIDIUM_FIX,6625.71,-6007.84,311011,191937
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.07
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.10
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,500.6,110.6
$24V_AH,22.8,20.752
$10V_AH,10.3,16.301
$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,17.200,47.575,351.800,13.925,0.000,0.000,0.000,173.750,5.000,0.000,19.763,2932.108,5428.571,514.954,1977.556,199.471,0.000,1635.674,0.000,1784.696,2520.000,12.786,0.000
$DEVICE_MAMPS,262.395,98.685,1274.490,88.740,0.000,0.000,0.000,255.423,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.713,605.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150324
$DATA_FILE_SIZE,40049,1073
$CAP_FILE_SIZE,113824,0
$CFSIZE,260165632,236711936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.5
$CURRENT,0.308,157.7,1
$GPS,011111,020424,6644.898,-6010.572,24,0.8,24,-33.9