version: 66.09
glider: 143
mission: 13
dive: 168
start: 11 1 111 14 13 20
data:
$ID,143
$MISSION,13
$DIVE,168
$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,-80727.305
$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,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
$GPS1,011111,140805,6645.378,-6014.034,28,1.0,28,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-72.8
$GPS2,011111,141248,6645.349,-6013.999,18,0.8,18,-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,87.3,152311,-16.9,-9.167
$D_GRID,556
$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,-26.23,0.000,2,0.000,0.000,122,2521,1617,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.0,-1.9,4,170,8.65,1.23,-105.65,0.000,4,0.262,0.073,2162,1810,3082,0,0,0,0,0,0
$GC,384,-0.73,-146.0,45.1,-15.9,54,390,0.00,1.23,0.00,0.000,6,0.000,0.058,2159,2514,3085,0,0,0,0,0,0
$GC,721,-0.73,-146.0,97.8,-15.2,105,730,0.00,1.12,0.00,0.000,4,0.000,0.070,2154,3213,3085,0,0,0,0,0,0
$GC,758,-0.73,-146.0,103.4,-15.6,110,764,0.00,1.12,0.00,0.000,6,0.000,0.037,2154,2499,3085,0,0,0,0,0,0
$GC,1095,-0.73,-146.0,154.7,-14.2,161,1104,0.00,1.08,0.00,0.000,4,0.000,0.047,2154,1815,3085,0,0,0,0,0,0
$GC,1132,-0.73,-146.0,159.6,-13.4,166,1138,0.00,1.20,0.00,0.000,6,0.000,0.058,2149,2511,3085,0,0,0,0,0,0
$GC,1469,-0.73,-146.0,207.9,-14.2,217,1478,0.00,1.12,0.00,0.000,4,0.000,0.070,2144,3214,3085,0,0,0,0,0,0
$GC,1524,-0.73,-146.0,215.8,-13.9,225,1533,0.00,1.10,0.00,0.000,6,0.000,0.036,2144,2512,3085,0,0,0,0,0,0
$GC,1861,-0.73,-146.0,259.8,-12.5,270,1865,0.00,1.10,0.00,0.000,4,0.000,0.047,2144,1812,3084,0,0,0,0,0,0
$GC,1919,-0.73,-146.0,266.6,-12.5,274,1927,0.00,1.23,0.00,0.000,6,0.000,0.057,2139,2516,3084,0,0,0,0,0,0
$GC,2244,-0.73,-146.0,309.6,-13.5,300,2247,0.00,1.15,0.00,0.000,4,0.000,0.044,2139,1816,3084,0,0,0,0,0,0
$GC,2283,-0.73,-146.0,315.1,-13.2,303,2288,0.08,1.20,0.00,0.000,6,0.159,0.057,2158,2517,3084,0,0,0,0,0,0
$GC,2612,-0.73,-146.0,354.1,-11.5,329,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2516,3084,0,0,0,0,0,0
$GC,2929,-0.73,-146.0,389.9,-11.8,354,2932,0.00,1.12,0.00,0.000,4,0.000,0.070,2155,3220,3084,0,0,0,0,0,0
$GC,3000,-0.73,-146.0,397.7,-11.5,359,3008,0.00,1.12,0.00,0.000,6,0.000,0.034,2154,2506,3084,0,0,0,0,0,0
$GC,3325,-0.73,-146.0,433.9,-10.8,385,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2506,3084,0,0,0,0,0,0
$GC,3642,-0.73,-146.0,467.7,-11.2,410,3645,0.00,1.08,0.00,0.000,4,0.000,0.046,2155,1815,3084,0,0,0,0,0,0
$GC,3712,-0.73,-146.0,475.5,-11.1,415,3720,0.00,1.23,0.00,0.000,6,0.000,0.057,2150,2522,3084,0,0,0,0,0,0
$GC,4057,-0.73,-146.0,514.7,-11.6,437,4061,0.00,1.10,0.00,0.000,4,0.000,0.070,2145,3213,3084,0,0,0,0,0,0
$GC,4148,-0.73,-146.0,523.6,-12.8,439,4156,0.00,1.10,0.00,0.000,6,0.000,0.032,2145,2506,3084,0,0,0,0,0,0
$STATE,4399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4399,begin apogee
$GC,4404,-0.16,0.0,556.1,-11.6,448,4531,0.62,0.00,118.75,1.263,6,0.135,0.000,2344,2194,2485,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4532,begin climb
$GC,4534,0.73,146.0,560.0,0.0,452,4669,0.85,1.23,127.30,1.206,4,0.073,0.051,2640,1507,1889,0,0,0,0,0,0
$GC,4851,0.73,146.0,537.8,11.6,462,4855,0.00,1.23,0.00,0.000,6,0.000,0.047,2640,2207,1881,0,0,0,0,0,0
$GC,5190,0.73,146.0,496.8,12.0,473,5194,0.00,1.17,0.00,0.000,4,0.000,0.057,2639,2905,1878,0,0,0,0,0,0
$GC,5364,0.73,146.0,475.4,12.6,486,5368,0.00,1.17,0.00,0.000,6,0.000,0.038,2645,2200,1878,0,0,0,0,0,0
$GC,5694,0.73,146.0,435.0,11.9,512,5697,0.00,1.10,0.00,0.000,4,0.000,0.050,2650,1495,1877,0,0,0,0,0,0
$GC,5800,0.73,146.0,422.5,11.5,520,5804,0.00,1.17,0.00,0.000,6,0.000,0.048,2650,2205,1878,0,0,0,0,0,0
$GC,6131,0.73,146.0,385.0,11.4,546,6135,0.00,1.15,0.00,0.000,4,0.000,0.057,2650,2910,1877,0,0,0,0,0,0
$GC,6212,0.73,146.0,375.5,11.6,552,6216,0.00,1.17,0.00,0.000,6,0.000,0.038,2654,2191,1877,0,0,0,0,0,0
$GC,6544,0.73,146.0,338.6,10.3,578,6547,0.00,1.08,0.00,0.000,4,0.000,0.050,2659,1494,1876,0,0,0,0,0,0
$GC,6614,0.73,146.0,331.2,10.6,583,6622,0.00,1.17,0.00,0.000,6,0.000,0.046,2660,2203,1876,0,0,0,0,0,0
$GC,6940,0.73,146.0,297.2,10.0,609,6944,0.00,1.15,0.00,0.000,4,0.000,0.047,2664,1494,1876,0,0,0,0,0,0
$GC,7117,0.73,146.0,279.8,9.7,622,7124,0.10,1.15,0.00,0.000,6,0.151,0.047,2634,2200,1876,0,0,0,0,0,0
$GC,7439,0.74,156.5,251.0,8.7,648,7452,0.00,0.00,7.93,0.959,6,0.000,0.000,2634,2200,1847,0,0,0,0,0,0
$GC,7782,0.75,162.2,220.7,8.9,699,7796,0.00,1.12,6.80,0.927,4,0.000,0.047,2637,1488,1823,0,0,0,0,0,0
$GC,7876,0.75,164.6,212.4,9.1,713,7886,0.00,1.17,4.05,0.753,6,0.000,0.050,2637,2201,1813,0,0,0,0,0,0
$GC,8216,0.77,182.2,181.8,8.4,764,8237,0.00,0.00,16.38,1.017,6,0.000,0.000,2637,2201,1742,0,0,0,0,0,0
$GC,8570,0.77,186.0,149.3,9.0,817,8580,0.00,1.20,4.72,0.801,4,0.000,0.059,2637,2915,1726,0,0,0,0,0,0
$GC,8826,0.79,200.7,126.5,8.5,855,8848,0.00,1.17,14.25,0.982,6,0.000,0.040,2642,2200,1666,0,0,0,0,0,0
$GC,9180,0.79,200.7,94.4,9.4,908,9186,0.00,1.10,0.00,0.000,4,0.000,0.054,2647,1493,1664,0,0,0,0,0,0
$GC,9286,0.79,200.7,83.9,10.1,924,9293,0.00,1.17,0.00,0.000,6,0.000,0.050,2647,2202,1664,0,0,0,0,0,0
$GC,9624,0.82,224.5,51.0,8.2,975,9651,0.00,1.12,20.58,0.967,4,0.000,0.049,2652,1497,1569,0,0,0,0,0,0
$GC,9902,0.89,280.7,30.1,6.8,1017,9952,0.08,1.17,43.30,0.943,6,0.064,0.051,2693,2200,1339,0,0,0,0,0,0
$STATE,10176,end climb,SURFACE_DEPTH_REACHED
$STATE,10176,begin surface coast
$FINISH,1.8,1.004848
$STATE,10189,end surface coast,CONTROL_FINISHED_OK
$STATE,10189,begin surface
$SM_CCo,10206,8.00,0.090,0,0,1261,300.00
$SM_GC,4.19,7.00,0.55,8.00,0.041,0.057,0.090,118,2524,1261,-7.08,-0.48,300.00,0,0,0,0,0,0
$RAFOS_CLK,664
$RAFOS,6,1320166143,16.833334,16.817499,114,60,59,0,0,0,811,183,194,0,0,0
$RAFOS,5,1320165666,16.700001,16.684999,82,56,56,0,0,0,917,219,121,0,0,0
$RAFOS,4,1320165189,16.566668,16.552500,130,67,66,0,0,0,674,170,221,0,0,0
$RAFOS,3,1320164704,16.433332,16.417778,123,57,56,0,0,0,775,170,131,0,0,0
$RAFOS,2,1320164224,16.299999,16.284445,69,67,65,0,0,0,208,229,638,0,0,0
$RAFOS,1,1320163743,16.166666,16.150833,67,67,58,0,0,0,219,535,169,0,0,0
$RAFOS,0,1320163262,16.033333,16.017221,131,59,57,0,0,0,635,217,194,0,0,0
$RAFOS_FIX,6645.838867,-6008.112793,011111,161600,5,116,0.53
$IRIDIUM_FIX,6614.97,-6013.96,011111,111135
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.52
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,450.8,146.1
$24V_AH,22.7,21.323
$10V_AH,10.3,16.680
$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,17.375,44.850,364.050,8.000,0.000,0.000,0.000,172.800,5.500,0.000,19.507,2853.691,5046.684,522.485,1909.296,187.867,0.000,1610.085,0.000,1720.163,2520.000,11.113,0.000
$DEVICE_MAMPS,261.630,72.675,1263.015,89.505,0.000,0.000,0.000,254.674,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.671,604.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150296
$DATA_FILE_SIZE,40068,1060
$CAP_FILE_SIZE,109769,0
$CFSIZE,260165632,236400640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.8
$CURRENT,0.219,297.7,1
$GPS,011111,170506,6646.852,-6013.128,29,1.1,29,-33.9