version: 66.09
glider: 143
mission: 13
dive: 164
start: 11 1 111 2 10 1
data:
$ID,143
$MISSION,13
$DIVE,164
$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,-80722.266
$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
$GPS1,011111,020424,6644.898,-6010.572,24,0.8,24,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-72.9
$GPS2,011111,020929,6644.829,-6010.537,39,0.8,39,-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,341.2,11416,-16.9,-9.167
$D_GRID,561
$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,17,-0.73,-146.0,0.0,0.0,0,48,0.00,0.00,-29.33,0.000,2,0.000,0.000,124,2518,1657,0,0,0,0,0,0
$GC,51,-0.73,-146.0,3.1,-3.1,4,151,8.57,1.17,-85.75,0.000,4,0.257,0.098,2155,3216,3081,0,0,0,0,0,0
$GC,159,-0.73,-146.0,9.6,-16.1,19,166,0.00,1.12,0.00,0.000,6,0.000,0.036,2155,2505,3082,0,0,0,0,0,0
$GC,498,-0.73,-146.0,67.3,-13.0,70,504,0.00,1.10,0.00,0.000,4,0.000,0.046,2155,1812,3084,0,0,0,0,0,0
$GC,531,-0.73,-146.0,72.2,-14.1,75,538,0.00,1.20,0.00,0.000,6,0.000,0.057,2150,2506,3084,0,0,0,0,0,0
$GC,870,-0.73,-146.0,120.1,-14.1,126,876,0.00,1.15,0.00,0.000,4,0.000,0.070,2145,3219,3084,0,0,0,0,0,0
$GC,898,-0.73,-146.0,124.4,-15.5,130,905,0.00,1.12,0.00,0.000,6,0.000,0.037,2145,2505,3084,0,0,0,0,0,0
$GC,1235,-0.73,-146.0,176.3,-15.5,181,1244,0.00,1.20,0.00,0.000,4,0.000,0.067,2140,3218,3084,0,0,0,0,0,0
$GC,1283,-0.73,-146.0,183.6,-15.7,188,1290,0.00,1.12,0.00,0.000,6,0.000,0.036,2141,2500,3084,0,0,0,0,0,0
$GC,1622,-0.73,-146.0,235.1,-15.3,239,1629,0.00,1.17,0.00,0.000,4,0.000,0.066,2136,3204,3084,0,0,0,0,0,0
$GC,1700,-0.73,-146.0,247.4,-15.9,251,1708,0.08,1.08,0.00,0.000,6,0.161,0.036,2158,2512,3084,0,0,0,0,0,0
$GC,2026,-0.73,-146.0,288.2,-11.4,278,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2512,3084,0,0,0,0,0,0
$GC,2340,-0.73,-146.0,323.0,-10.6,303,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2512,3084,0,0,0,0,0,0
$GC,2655,-0.73,-146.0,355.6,-10.1,328,2659,0.00,1.10,0.00,0.000,4,0.000,0.047,2159,1810,3084,0,0,0,0,0,0
$GC,2669,-0.73,-146.0,356.9,-10.0,329,2672,0.00,1.20,0.00,0.000,6,0.000,0.057,2156,2514,3084,0,0,0,0,0,0
$GC,2999,-0.73,-146.0,391.8,-10.6,355,3003,0.00,1.12,0.00,0.000,4,0.000,0.070,2151,3220,3084,0,0,0,0,0,0
$GC,3016,-0.73,-146.0,393.2,-10.6,356,3024,0.00,1.12,0.00,0.000,6,0.000,0.033,2151,2504,3084,0,0,0,0,0,0
$GC,3343,-0.73,-146.0,429.5,-11.0,382,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2504,3083,0,0,0,0,0,0
$GC,3658,-0.73,-146.0,464.1,-11.4,407,3662,0.00,1.17,0.00,0.000,4,0.000,0.065,2146,3213,3084,0,0,0,0,0,0
$GC,3716,-0.73,-146.0,470.6,-11.6,411,3724,0.00,1.10,0.00,0.000,6,0.000,0.032,2146,2506,3083,0,0,0,0,0,0
$GC,4038,-0.73,-146.0,508.4,-11.7,434,4042,0.00,1.17,0.00,0.000,4,0.000,0.067,2141,3213,3084,0,0,0,0,0,0
$GC,4175,-0.73,-146.0,524.7,-12.2,438,4180,0.00,1.10,0.00,0.000,6,0.000,0.033,2141,2511,3084,0,0,0,0,0,0
$GC,4509,-0.73,-146.0,559.3,-10.0,449,4512,0.00,1.17,0.00,0.000,4,0.000,0.066,2137,3220,3085,0,0,0,0,0,0
$STATE,4541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4541,begin apogee
$GC,4548,-0.16,0.0,563.0,-10.6,450,4673,0.65,0.00,118.65,1.267,6,0.144,0.000,2343,2194,2485,0,0,0,0,0,0
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4674,begin climb
$GC,4676,0.73,146.0,568.6,0.0,454,4811,0.85,1.17,127.50,1.209,4,0.070,0.048,2638,1501,1887,0,0,0,0,0,0
$GC,4982,0.73,146.0,547.6,12.0,463,4987,0.00,1.25,0.00,0.000,6,0.000,0.046,2638,2209,1880,0,0,0,0,0,0
$GC,5304,0.73,146.0,508.3,11.3,474,5308,0.00,1.17,0.00,0.000,4,0.000,0.056,2638,2911,1878,0,0,0,0,0,0
$GC,5355,0.73,146.0,503.9,11.7,475,5360,0.00,1.20,0.00,0.000,6,0.000,0.036,2643,2205,1876,0,0,0,0,0,0
$GC,5686,0.73,146.0,463.1,11.6,501,5690,0.00,1.20,0.00,0.000,4,0.000,0.053,2643,2899,1876,0,0,0,0,0,0
$GC,5942,0.73,146.0,434.9,11.0,520,5950,0.00,1.17,0.00,0.000,6,0.000,0.036,2648,2194,1875,0,0,0,0,0,0
$GC,6269,0.73,146.0,402.6,10.2,546,6273,0.00,1.23,0.00,0.000,4,0.000,0.052,2648,2912,1875,0,0,0,0,0,0
$GC,6366,0.73,146.0,392.7,10.3,553,6376,0.00,1.17,0.00,0.000,6,0.000,0.035,2652,2198,1875,0,0,0,0,0,0
$GC,6692,0.73,146.0,358.5,10.2,579,6696,0.00,1.20,0.00,0.000,4,0.000,0.052,2652,2905,1875,0,0,0,0,0,0
$GC,6870,0.73,146.0,340.5,9.9,592,6877,0.00,1.15,0.00,0.000,6,0.000,0.036,2657,2195,1875,0,0,0,0,0,0
$GC,7194,0.73,146.0,308.3,9.6,618,7198,0.00,1.08,0.00,0.000,4,0.000,0.050,2662,1493,1875,0,0,0,0,0,0
$GC,7354,0.73,146.0,292.2,10.4,630,7358,0.00,1.15,0.00,0.000,6,0.000,0.047,2662,2202,1874,0,0,0,0,0,0
$GC,7683,0.73,146.0,257.2,10.6,656,7686,0.00,1.12,0.00,0.000,4,0.000,0.058,2662,2901,1874,0,0,0,0,0,0
$GC,7889,0.73,146.0,234.6,11.7,682,7896,0.10,1.12,0.00,0.000,6,0.155,0.039,2636,2204,1874,0,0,0,0,0,0
$GC,8227,0.73,146.0,201.2,9.7,733,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2204,1874,0,0,0,0,0,0
$GC,8566,0.76,172.6,171.7,8.0,784,8595,0.00,1.20,21.30,1.018,4,0.000,0.055,2636,2897,1780,0,0,0,0,0,0
$GC,8682,0.76,172.6,161.2,9.7,801,8690,0.00,1.15,0.00,0.000,6,0.000,0.038,2639,2196,1779,0,0,0,0,0,0
$GC,9022,0.80,204.0,131.9,7.8,852,9056,0.00,1.27,27.92,1.000,4,0.000,0.054,2639,2910,1652,0,0,0,0,0,0
$GC,9241,0.80,204.0,112.0,9.2,885,9250,0.00,1.17,0.00,0.000,6,0.000,0.037,2644,2198,1648,0,0,0,0,0,0
$GC,9581,0.84,236.4,83.4,7.8,936,9614,0.00,1.27,28.00,0.976,4,0.000,0.054,2644,2908,1520,0,0,0,0,0,0
$GC,9715,0.84,236.4,70.7,10.1,956,9722,0.00,1.17,0.00,0.000,6,0.000,0.039,2649,2202,1518,0,0,0,0,0,0
$GC,10053,0.84,240.4,37.1,9.0,1007,10061,0.00,1.15,4.12,0.718,4,0.000,0.050,2655,1489,1503,0,0,0,0,0,0
$GC,10195,0.89,283.3,26.2,7.4,1028,10230,0.00,1.17,27.62,0.918,6,0.000,0.048,2654,2200,1329,0,0,0,0,0,0
$STATE,10466,end climb,SURFACE_DEPTH_REACHED
$STATE,10466,begin surface coast
$FINISH,2.0,1.025384
$STATE,10494,end surface coast,CONTROL_FINISHED_OK
$STATE,10494,begin surface
$SM_CCo,10511,6.82,0.090,0,0,1261,300.00
$SM_GC,3.72,6.93,0.55,6.82,0.047,0.062,0.090,121,2521,1261,-7.06,-0.51,300.00,0,0,0,0,0,0
$RAFOS_CLK,687
$RAFOS,6,1320122946,4.833333,4.818333,105,59,59,0,0,0,813,203,162,0,0,0
$RAFOS,5,1320122462,4.700000,4.683889,107,59,56,0,0,0,949,145,215,0,0,0
$RAFOS,4,1320121987,4.566667,4.551944,98,59,57,0,0,0,690,203,190,0,0,0
$RAFOS,3,1320121507,4.433333,4.418611,139,65,60,0,0,0,760,198,220,0,0,0
$RAFOS,2,1320121031,4.300000,4.286389,58,55,55,0,0,0,204,174,594,0,0,0
$RAFOS,1,1320120553,4.166667,4.153611,74,72,58,0,0,0,202,485,162,0,0,0
$RAFOS,0,1320120063,4.033333,4.017500,107,62,61,0,0,0,633,160,197,0,0,0
$RAFOS_FIX,6645.538574,-6008.295410,011111,040412,5,111,0.25
$IRIDIUM_FIX,6614.97,-6011.26,311011,232318
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.56
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,451.3,152.7
$24V_AH,22.8,20.868
$10V_AH,10.3,16.378
$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,17.175,49.875,355.125,6.825,0.000,0.000,0.000,174.850,5.500,0.000,40.513,2938.487,5226.397,509.374,1973.266,197.372,0.000,1620.515,0.000,1758.835,2520.000,11.134,0.000
$DEVICE_MAMPS,257.040,97.920,1266.840,89.505,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,783.739,605.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40020,1073
$CAP_FILE_SIZE,113132,0
$CFSIZE,260165632,236646400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.1
$CURRENT,0.057, 77.4,1
$GPS,011111,050706,6646.068,-6012.822,46,0.9,46,-33.9