version: 66.09
glider: 143
mission: 13
dive: 165
start: 11 1 111 5 12 19
data:
$ID,143
$MISSION,13
$DIVE,165
$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,-80723.523
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,011111,050706,6646.068,-6012.822,46,0.9,46,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-71.3
$GPS2,011111,051148,6646.015,-6012.966,20,0.8,20,-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,284.5,10239,-16.9,-9.167
$D_GRID,555
$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,-26.17,0.000,2,0.000,0.000,121,2524,1612,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-2.4,4,156,8.60,1.15,-93.57,0.000,4,0.259,0.100,2160,3210,3082,0,0,0,0,0,0
$GC,303,-0.73,-146.0,35.2,-19.0,42,313,0.00,1.12,0.00,0.000,6,0.000,0.037,2160,2499,3083,0,0,0,0,0,0
$GC,644,-0.73,-146.0,90.8,-14.5,93,651,0.00,1.20,0.00,0.000,4,0.000,0.065,2155,3211,3084,0,0,0,0,0,0
$GC,704,-0.73,-146.0,99.7,-15.2,102,713,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2511,3084,0,0,0,0,0,0
$GC,1044,-0.73,-146.0,150.2,-14.4,153,1050,0.00,1.17,0.00,0.000,4,0.000,0.066,2150,3211,3084,0,0,0,0,0,0
$GC,1111,-0.73,-146.0,159.8,-14.6,163,1118,0.00,1.10,0.00,0.000,6,0.000,0.036,2150,2505,3084,0,0,0,0,0,0
$GC,1449,-0.73,-146.0,209.3,-15.1,214,1458,0.00,1.17,0.00,0.000,4,0.000,0.066,2146,3207,3084,0,0,0,0,0,0
$GC,1491,-0.73,-146.0,215.7,-15.3,220,1498,0.00,1.08,0.00,0.000,6,0.000,0.035,2146,2516,3084,0,0,0,0,0,0
$GC,1829,-0.73,-146.0,263.8,-12.8,264,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2516,3084,0,0,0,0,0,0
$GC,2145,-0.73,-146.0,304.2,-12.3,289,2149,0.00,1.15,0.00,0.000,4,0.000,0.067,2141,3205,3084,0,0,0,0,0,0
$GC,2317,-0.73,-146.0,326.6,-13.4,302,2321,0.00,1.10,0.00,0.000,6,0.000,0.036,2141,2499,3083,0,0,0,0,0,0
$GC,2646,-0.73,-146.0,365.9,-12.0,328,2649,0.00,1.17,0.00,0.000,4,0.000,0.066,2136,3205,3083,0,0,0,0,0,0
$GC,2725,-0.73,-146.0,375.1,-11.7,334,2729,0.00,1.08,0.00,0.000,6,0.000,0.034,2137,2511,3083,0,0,0,0,0,0
$GC,3055,-0.73,-146.0,412.1,-11.7,360,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2511,3084,0,0,0,0,0,0
$GC,3371,-0.73,-146.0,450.7,-12.5,385,3375,0.00,1.15,0.00,0.000,4,0.000,0.065,2132,3204,3083,0,0,0,0,0,0
$GC,3442,-0.73,-146.0,459.4,-13.0,390,3453,0.12,1.10,0.00,0.000,6,0.168,0.032,2162,2500,3083,0,0,0,0,0,0
$GC,3765,-0.73,-146.0,495.2,-11.3,416,3769,0.00,1.05,0.00,0.000,4,0.000,0.044,2162,1818,3084,0,0,0,0,0,0
$GC,3843,-0.73,-146.0,501.7,-9.6,421,3848,0.00,1.20,0.00,0.000,6,0.000,0.055,2159,2514,3083,0,0,0,0,0,0
$GC,4170,-0.73,-146.0,538.3,-11.1,432,4174,0.00,1.10,0.00,0.000,4,0.000,0.068,2154,3211,3084,0,0,0,0,0,0
$GC,4221,-0.73,-146.0,541.9,-11.1,433,4226,0.00,1.10,0.00,0.000,6,0.000,0.031,2154,2502,3084,0,0,0,0,0,0
$STATE,4356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4356,begin apogee
$GC,4361,-0.16,0.0,558.2,-10.5,438,4488,0.57,0.00,118.68,1.264,6,0.132,0.000,2341,2186,2484,0,0,0,0,0,0
$STATE,4489,end apogee,CONTROL_FINISHED_OK
$STATE,4489,begin climb
$GC,4491,0.73,146.0,563.4,0.0,442,4626,0.85,1.20,127.30,1.210,4,0.073,0.050,2635,1510,1889,0,0,0,0,0,0
$GC,4808,0.73,146.0,541.3,11.4,452,4812,0.00,1.20,0.00,0.000,6,0.000,0.047,2635,2201,1881,0,0,0,0,0,0
$GC,5147,0.73,146.0,500.5,12.1,463,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2201,1879,0,0,0,0,0,0
$GC,5469,0.73,146.0,464.5,11.1,487,5473,0.00,1.15,0.00,0.000,4,0.000,0.048,2640,1504,1877,0,0,0,0,0,0
$GC,5660,0.73,146.0,445.1,10.4,501,5667,0.00,1.17,0.00,0.000,6,0.000,0.047,2640,2211,1877,0,0,0,0,0,0
$GC,5984,0.73,146.0,410.5,10.3,527,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2210,1878,0,0,0,0,0,0
$GC,6299,0.73,146.0,379.1,9.7,552,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2210,1877,0,0,0,0,0,0
$GC,6614,0.73,146.0,346.0,11.0,577,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2210,1878,0,0,0,0,0,0
$GC,6929,0.73,146.0,310.8,10.8,602,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2210,1877,0,0,0,0,0,0
$GC,7245,0.75,163.3,280.5,8.4,627,7261,0.00,0.00,14.02,1.044,6,0.000,0.000,2640,2211,1818,0,0,0,0,0,0
$GC,7573,0.76,177.2,252.5,8.6,653,7590,0.00,1.17,13.52,1.030,4,0.000,0.057,2640,2908,1762,0,0,0,0,0,0
$GC,7720,0.76,177.2,238.2,9.9,672,7727,0.00,1.15,0.00,0.000,6,0.000,0.037,2645,2205,1761,0,0,0,0,0,0
$GC,8057,0.76,177.2,205.7,9.5,723,8066,0.00,1.08,0.00,0.000,4,0.000,0.049,2650,1498,1760,0,0,0,0,0,0
$GC,8200,0.76,177.2,191.4,10.0,744,8207,0.00,1.15,0.00,0.000,6,0.000,0.047,2650,2201,1759,0,0,0,0,0,0
$GC,8538,0.76,178.0,157.9,9.1,795,8547,0.00,1.12,0.00,0.000,4,0.000,0.057,2650,2904,1759,0,0,0,0,0,0
$GC,8654,0.76,178.0,146.6,10.0,812,8661,0.00,1.15,0.00,0.000,6,0.000,0.039,2655,2197,1759,0,0,0,0,0,0
$GC,8992,0.79,197.1,118.0,8.4,863,9015,0.00,1.12,17.95,0.998,4,0.000,0.052,2660,1496,1681,0,0,0,0,0,0
$GC,9088,0.79,197.1,109.6,9.4,877,9095,0.00,1.17,0.00,0.000,6,0.000,0.048,2660,2206,1679,0,0,0,0,0,0
$GC,9427,0.79,197.1,77.0,10.2,928,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2206,1678,0,0,0,0,0,0
$GC,9763,0.83,229.0,47.0,7.8,979,9800,0.00,1.12,27.75,0.970,4,0.000,0.056,2660,2904,1549,0,0,0,0,0,0
$GC,9855,0.87,260.5,39.7,7.8,992,9889,0.00,1.17,28.12,0.942,6,0.000,0.041,2665,2201,1421,0,0,0,0,0,0
$GC,10220,0.89,278.5,7.9,8.4,1047,10236,0.00,1.10,8.48,0.099,4,0.000,0.049,2670,1497,1347,0,0,0,0,0,0
$STATE,10286,end climb,SURFACE_DEPTH_REACHED
$STATE,10287,begin surface coast
$FINISH,2.1,1.025436
$STATE,10308,end surface coast,CONTROL_FINISHED_OK
$STATE,10309,begin surface
$SM_CCo,10312,102.90,0.086,0,0,441,501.15
$SM_GC,2.53,6.95,1.75,0.00,0.044,0.054,0.000,118,2505,432,-7.07,-0.76,503.60,0,0,0,0,0,0
$RAFOS_CLK,688
$RAFOS_FIX,6645.538574,-6008.295410,011111,040412,5,111,0.25
$IRIDIUM_FIX,6614.97,-6006.54,011111,020206
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.37
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,16.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,551.7,32.9
$24V_AH,22.8,20.985
$10V_AH,10.3,16.452
$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,17.100,39.775,355.825,102.900,0.000,0.000,0.000,170.400,5.500,0.000,21.438,2867.197,5279.715,598.579,1883.066,181.424,0.000,1663.318,0.000,1689.718,360.000,17.275,0.000
$DEVICE_MAMPS,259.335,100.215,1263.780,86.445,0.000,0.000,0.000,253.925,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.393,600.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150284
$DATA_FILE_SIZE,40027,1060
$CAP_FILE_SIZE,107690,0
$CFSIZE,260165632,236584960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.9
$CURRENT,0.069, 20.7,1
$GPS,011111,080850,6645.918,-6017.077,23,1.2,23,-33.9