version: 66.09
glider: 143
mission: 13
dive: 166
start: 11 1 111 8 14 35
data:
$ID,143
$MISSION,13
$DIVE,166
$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,-80724.781
$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,18
$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
$GPS1,011111,080850,6645.918,-6017.077,23,1.2,23,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-67.8
$GPS2,011111,081405,6645.899,-6017.265,39,0.8,39,-33.9
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,125.4,154403,-16.9,-9.167
$D_GRID,541
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,118,2508,1567,0,0,0,0,0,0
$GC,95,-0.73,-146.0,3.0,-1.0,11,228,8.62,1.20,-116.70,0.000,4,0.259,0.074,2162,1813,3082,0,0,0,0,0,0
$GC,380,-0.73,-146.0,32.4,-17.4,54,387,0.00,1.23,0.00,0.000,6,0.000,0.059,2160,2518,3085,0,0,0,0,0,0
$GC,717,-0.73,-146.0,82.1,-13.7,105,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2518,3085,0,0,0,0,0,0
$GC,1056,-0.73,-146.0,129.1,-14.3,156,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2518,3085,0,0,0,0,0,0
$GC,1392,-0.73,-146.0,178.7,-14.7,207,1401,0.00,1.12,0.00,0.000,4,0.000,0.071,2154,3219,3085,0,0,0,0,0,0
$GC,1509,-0.73,-146.0,195.1,-14.1,224,1516,0.00,1.12,0.00,0.000,6,0.000,0.037,2154,2501,3085,0,0,0,0,0,0
$GC,1845,-0.73,-146.0,241.6,-13.2,275,1854,0.00,1.08,0.00,0.000,4,0.000,0.047,2154,1815,3085,0,0,0,0,0,0
$GC,1909,-0.73,-146.0,250.1,-13.3,284,1915,0.00,1.17,0.00,0.000,6,0.000,0.057,2150,2505,3085,0,0,0,0,0,0
$GC,2232,-0.73,-146.0,296.6,-14.6,310,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2504,3085,0,0,0,0,0,0
$GC,2547,-0.73,-146.0,342.1,-14.1,335,2551,0.00,1.12,0.00,0.000,4,0.000,0.072,2144,3209,3085,0,0,0,0,0,0
$GC,2654,-0.73,-146.0,356.9,-13.9,343,2658,0.00,1.10,0.00,0.000,6,0.000,0.037,2145,2503,3085,0,0,0,0,0,0
$GC,2984,-0.73,-146.0,399.6,-12.2,369,2988,0.00,1.08,0.00,0.000,4,0.000,0.046,2144,1814,3084,0,0,0,0,0,0
$GC,3042,-0.73,-146.0,406.1,-12.2,373,3050,0.00,1.23,0.00,0.000,6,0.000,0.056,2140,2522,3084,0,0,0,0,0,0
$GC,3367,-0.73,-146.0,443.9,-11.1,399,3371,0.00,1.10,0.00,0.000,4,0.000,0.070,2134,3216,3084,0,0,0,0,0,0
$GC,3439,-0.73,-146.0,451.4,-11.3,404,3443,0.08,1.10,0.00,0.000,6,0.158,0.035,2157,2501,3084,0,0,0,0,0,0
$GC,3767,-0.73,-146.0,484.5,-9.8,430,3771,0.00,1.20,0.00,0.000,4,0.000,0.066,2154,3222,3084,0,0,0,0,0,0
$GC,3837,-0.73,-146.0,491.0,-10.0,435,3848,0.00,1.12,0.00,0.000,6,0.000,0.033,2154,2504,3084,0,0,0,0,0,0
$GC,4179,-0.73,-146.0,525.7,-10.0,451,4182,0.00,1.08,0.00,0.000,4,0.000,0.044,2154,1811,3085,0,0,0,0,0,0
$GC,4263,-0.73,-146.0,532.4,-10.1,453,4268,0.00,1.23,0.00,0.000,6,0.000,0.054,2149,2524,3084,0,0,0,0,0,0
$STATE,4338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4338,begin apogee
$GC,4344,-0.16,0.0,541.3,-9.5,456,4468,0.60,0.00,119.05,1.258,6,0.143,0.000,2339,2182,2485,0,0,0,0,0,0
$STATE,4469,end apogee,CONTROL_FINISHED_OK
$STATE,4469,begin climb
$GC,4471,0.73,146.0,544.7,0.0,460,4607,0.85,1.17,126.65,1.198,4,0.076,0.053,2632,1511,1888,0,0,0,0,0,0
$GC,4738,0.73,146.0,527.6,10.1,468,4743,0.00,1.25,0.00,0.000,6,0.000,0.047,2632,2210,1881,0,0,0,0,0,0
$GC,5062,0.73,146.0,490.3,10.3,483,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2210,1878,0,0,0,0,0,0
$GC,5379,0.73,146.0,458.0,10.1,508,5383,0.00,1.15,0.00,0.000,4,0.000,0.056,2632,2906,1877,0,0,0,0,0,0
$GC,5433,0.73,146.0,452.5,10.3,512,5437,0.00,1.15,0.00,0.000,6,0.000,0.037,2637,2208,1876,0,0,0,0,0,0
$GC,5764,0.73,146.0,419.0,10.0,538,5767,0.00,1.20,0.00,0.000,4,0.000,0.054,2637,2905,1876,0,0,0,0,0,0
$GC,5794,0.73,146.0,416.2,9.9,540,5802,0.00,1.17,0.00,0.000,6,0.000,0.037,2642,2198,1876,0,0,0,0,0,0
$GC,6119,0.73,146.0,382.8,10.4,566,6123,0.00,1.20,0.00,0.000,4,0.000,0.054,2642,2901,1875,0,0,0,0,0,0
$GC,6147,0.73,146.0,379.8,10.8,568,6151,0.00,1.15,0.00,0.000,6,0.000,0.037,2646,2195,1875,0,0,0,0,0,0
$GC,6477,0.73,146.0,342.8,11.9,594,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2195,1875,0,0,0,0,0,0
$GC,6793,0.73,146.0,307.4,10.9,619,6797,0.00,1.20,0.00,0.000,4,0.000,0.054,2646,2902,1875,0,0,0,0,0,0
$GC,7048,0.73,146.0,279.6,10.9,638,7057,0.00,1.15,0.00,0.000,6,0.000,0.037,2651,2197,1875,0,0,0,0,0,0
$GC,7374,0.73,146.0,248.2,9.3,665,7381,0.00,1.20,0.00,0.000,4,0.000,0.054,2651,2907,1875,0,0,0,0,0,0
$GC,7561,0.73,146.0,230.3,9.2,693,7567,0.00,1.12,0.00,0.000,6,0.000,0.038,2656,2205,1875,0,0,0,0,0,0
$GC,7900,0.73,152.3,198.8,8.9,744,7908,0.00,1.12,4.07,0.770,4,0.000,0.050,2661,1490,1864,0,0,0,0,0,0
$GC,7988,0.77,180.1,191.2,8.0,757,8022,0.00,1.15,25.45,1.034,6,0.000,0.048,2661,2200,1749,0,0,0,0,0,0
$GC,8356,0.77,184.8,157.4,9.0,812,8363,0.00,0.00,5.03,0.819,6,0.000,0.000,2661,2200,1730,0,0,0,0,0,0
$GC,8694,0.77,184.8,123.3,9.7,863,8703,0.00,1.12,0.00,0.000,4,0.000,0.048,2665,1501,1730,0,0,0,0,0,0
$GC,8710,0.77,184.8,121.6,9.9,865,8716,0.00,1.15,0.00,0.000,6,0.000,0.047,2665,2201,1730,0,0,0,0,0,0
$GC,9048,0.83,234.7,94.7,7.1,916,9102,0.00,1.23,42.72,0.989,4,0.000,0.057,2666,2914,1527,0,0,0,0,0,0
$GC,9214,0.83,234.7,79.0,10.9,941,9221,0.00,1.17,0.00,0.000,6,0.000,0.037,2670,2205,1523,0,0,0,0,0,0
$GC,9553,0.83,234.7,40.8,9.7,992,9559,0.00,1.20,0.00,0.000,4,0.000,0.053,2670,2909,1521,0,0,0,0,0,0
$GC,9573,0.83,234.7,38.6,9.7,995,9581,0.00,1.17,0.00,0.000,6,0.000,0.037,2675,2195,1520,0,0,0,0,0,0
$GC,9911,0.85,249.2,11.2,8.6,1046,9926,0.00,0.00,6.47,0.107,6,0.000,0.000,2675,2196,1468,0,0,0,0,0,0
$STATE,10017,end climb,SURFACE_DEPTH_REACHED
$STATE,10017,begin surface coast
$FINISH,2.0,1.025394
$STATE,10040,end surface coast,CONTROL_FINISHED_OK
$STATE,10040,begin surface
$SM_CCo,10056,23.75,0.090,0,0,1261,300.00
$SM_GC,3.07,6.93,0.60,23.75,0.049,0.051,0.090,116,2523,1261,-7.08,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,657
$RAFOS,6,1320137352,8.833333,8.820000,122,58,57,0,0,0,776,139,157,0,0,0
$RAFOS,5,1320136867,8.700000,8.685278,75,62,58,0,0,0,919,190,204,0,0,0
$RAFOS,4,1320136387,8.566667,8.551945,91,67,65,0,0,0,697,218,148,0,0,0
$RAFOS,3,1320135904,8.433333,8.417778,59,58,58,0,0,0,771,139,795,0,0,0
$RAFOS,2,1320135422,8.300000,8.283889,107,73,59,0,0,0,659,215,146,0,0,0
$RAFOS,0,1320134464,8.033334,8.017777,82,65,61,0,0,0,608,202,141,0,0,0
$RAFOS_FIX,6644.914062,-6009.742188,011111,080843,5,95,5.83
$IRIDIUM_FIX,6614.97,-6023.41,011111,050552
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.40
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,451.4,124.5
$24V_AH,22.8,21.092
$10V_AH,10.2,16.527
$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,17.075,42.900,329.450,23.750,0.000,0.000,0.000,186.025,5.500,0.000,39.866,2855.678,4893.869,561.341,1919.928,187.701,0.000,1660.460,0.000,1697.105,1800.000,11.058,0.000
$DEVICE_MAMPS,258.570,74.205,1258.425,89.505,0.000,0.000,0.000,259.168,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.425,609.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,40065,1065
$CAP_FILE_SIZE,108575,0
$CFSIZE,260165632,236527616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.3
$CURRENT,0.223,215.9,1
$GPS,011111,110354,6644.935,-6015.091,14,0.9,14,-33.9