version: 66.09
glider: 143
mission: 13
dive: 169
start: 11 1 111 17 12 32
data:
$ID,143
$MISSION,13
$DIVE,169
$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,-80728.562
$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,37
$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
$GPS1,011111,170506,6646.852,-6013.128,29,1.1,29,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-73.3
$GPS2,011111,171201,6646.776,-6013.320,20,0.8,20,-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,145.7,151285,-16.9,-9.167
$D_GRID,565
$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,-26.42,0.000,2,0.000,0.000,118,2527,1617,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-2.6,4,154,8.73,1.25,-91.90,0.000,4,0.264,0.075,2158,1806,3082,0,0,0,0,0,0
$GC,409,-0.73,-146.0,53.0,-16.2,58,415,0.00,1.23,0.00,0.000,6,0.000,0.058,2155,2510,3085,0,0,0,0,0,0
$GC,746,-0.73,-146.0,104.8,-15.2,109,755,0.00,1.15,0.00,0.000,4,0.000,0.044,2155,1818,3085,0,0,0,0,0,0
$GC,848,-0.73,-146.0,120.1,-15.4,124,855,0.00,1.20,0.00,0.000,6,0.000,0.059,2150,2510,3085,0,0,0,0,0,0
$GC,1185,-0.73,-146.0,170.4,-14.1,175,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2510,3085,0,0,0,0,0,0
$GC,1523,-0.73,-146.0,216.4,-12.6,226,1529,0.00,1.15,0.00,0.000,4,0.000,0.046,2150,1815,3085,0,0,0,0,0,0
$GC,1556,-0.73,-146.0,221.0,-12.9,231,1563,0.00,1.20,0.00,0.000,6,0.000,0.057,2146,2514,3085,0,0,0,0,0,0
$GC,1890,-0.73,-146.0,263.7,-12.8,274,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2514,3085,0,0,0,0,0,0
$GC,2204,-0.73,-146.0,305.5,-12.8,299,2207,0.00,1.15,0.00,0.000,4,0.000,0.046,2146,1817,3084,0,0,0,0,0,0
$GC,2283,-0.73,-146.0,315.2,-12.7,305,2287,0.00,1.20,0.00,0.000,6,0.000,0.058,2142,2516,3084,0,0,0,0,0,0
$GC,2613,-0.73,-146.0,356.2,-12.4,331,2617,0.00,1.12,0.00,0.000,4,0.000,0.071,2136,3218,3084,0,0,0,0,0,0
$GC,2658,-0.73,-146.0,361.4,-12.7,334,2667,0.12,1.15,0.00,0.000,6,0.173,0.036,2165,2497,3084,0,0,0,0,0,0
$GC,2981,-0.73,-146.0,398.3,-11.2,360,2985,0.00,1.08,0.00,0.000,4,0.000,0.046,2166,1810,3084,0,0,0,0,0,0
$GC,3023,-0.73,-146.0,402.9,-11.0,363,3026,0.00,1.20,0.00,0.000,6,0.000,0.057,2163,2512,3084,0,0,0,0,0,0
$GC,3353,-0.73,-146.0,437.6,-10.0,389,3356,0.00,1.12,0.00,0.000,4,0.000,0.070,2158,3217,3084,0,0,0,0,0,0
$GC,3431,-0.73,-146.0,446.2,-10.7,395,3435,0.00,1.10,0.00,0.000,6,0.000,0.034,2158,2508,3084,0,0,0,0,0,0
$GC,3762,-0.73,-146.0,479.3,-9.9,421,3765,0.00,1.17,0.00,0.000,4,0.000,0.067,2153,3213,3084,0,0,0,0,0,0
$GC,3819,-0.73,-146.0,484.8,-10.0,425,3829,0.00,1.12,0.00,0.000,6,0.000,0.034,2153,2499,3084,0,0,0,0,0,0
$GC,4138,-0.73,-146.0,519.3,-10.2,442,4142,0.00,1.20,0.00,0.000,4,0.000,0.066,2148,3221,3084,0,0,0,0,0,0
$GC,4222,-0.73,-146.0,526.4,-10.2,444,4227,0.00,1.12,0.00,0.000,6,0.000,0.032,2148,2503,3084,0,0,0,0,0,0
$GC,4543,-0.73,-146.0,563.6,-9.8,455,4546,0.00,1.05,0.00,0.000,4,0.000,0.043,2148,1819,3085,0,0,0,0,0,0
$STATE,4574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4574,begin apogee
$GC,4581,-0.16,0.0,567.1,-10.0,456,4706,0.60,0.00,118.95,1.272,6,0.133,0.000,2340,2210,2484,0,0,0,0,0,0
$STATE,4707,end apogee,CONTROL_FINISHED_OK
$STATE,4707,begin climb
$GC,4709,0.73,146.0,572.6,0.0,460,4845,0.85,1.33,127.82,1.213,4,0.076,0.047,2631,1503,1889,0,0,0,0,0,0
$GC,4991,0.73,146.0,551.2,12.6,469,4995,0.00,1.23,0.00,0.000,6,0.000,0.047,2632,2202,1882,0,0,0,0,0,0
$GC,5331,0.73,146.0,515.0,11.1,480,5334,0.00,1.17,0.00,0.000,4,0.000,0.057,2631,2901,1878,0,0,0,0,0,0
$GC,5375,0.73,146.0,511.2,11.3,481,5380,0.00,1.20,0.00,0.000,6,0.000,0.037,2636,2198,1879,0,0,0,0,0,0
$GC,5704,0.73,146.0,473.7,10.3,502,5708,0.00,1.23,0.00,0.000,4,0.000,0.054,2636,2905,1877,0,0,0,0,0,0
$GC,5876,0.73,146.0,454.8,11.2,515,5880,0.00,1.17,0.00,0.000,6,0.000,0.037,2641,2191,1877,0,0,0,0,0,0
$GC,6207,0.73,146.0,419.4,11.2,541,6210,0.00,1.23,0.00,0.000,4,0.000,0.054,2641,2906,1877,0,0,0,0,0,0
$GC,6277,0.73,146.0,411.7,11.5,546,6285,0.00,1.17,0.00,0.000,6,0.000,0.037,2646,2197,1877,0,0,0,0,0,0
$GC,6601,0.73,146.0,378.2,9.7,572,6605,0.00,1.20,0.00,0.000,4,0.000,0.054,2646,2899,1876,0,0,0,0,0,0
$GC,6764,0.73,146.0,361.0,10.9,584,6772,0.00,1.17,0.00,0.000,6,0.000,0.037,2650,2188,1877,0,0,0,0,0,0
$GC,7090,0.73,146.0,327.5,9.8,610,7094,0.00,1.05,0.00,0.000,4,0.000,0.051,2656,1500,1876,0,0,0,0,0,0
$GC,7198,0.73,146.0,316.6,10.7,618,7202,0.00,1.15,0.00,0.000,6,0.000,0.047,2656,2204,1875,0,0,0,0,0,0
$GC,7528,0.73,146.0,282.2,10.4,644,7531,0.00,1.12,0.00,0.000,4,0.000,0.057,2655,2902,1876,0,0,0,0,0,0
$GC,7559,0.73,146.0,279.1,10.7,646,7567,0.00,1.15,0.00,0.000,6,0.000,0.037,2660,2199,1876,0,0,0,0,0,0
$GC,7886,0.73,146.0,244.6,10.3,675,7892,0.00,1.20,0.00,0.000,4,0.000,0.055,2660,2908,1876,0,0,0,0,0,0
$GC,7933,0.73,146.0,239.4,10.5,682,7941,0.10,1.15,0.00,0.000,6,0.158,0.038,2634,2197,1876,0,0,0,0,0,0
$GC,8273,0.76,175.5,209.5,7.9,733,8301,0.00,1.12,23.92,1.041,4,0.000,0.050,2638,1495,1769,0,0,0,0,0,0
$GC,8341,0.76,175.5,203.3,9.3,743,8348,0.00,1.17,0.00,0.000,6,0.000,0.048,2638,2203,1767,0,0,0,0,0,0
$GC,8682,0.77,181.0,173.6,8.9,794,8695,0.00,1.15,6.18,0.884,4,0.000,0.054,2638,2907,1745,0,0,0,0,0,0
$GC,8736,0.77,181.0,168.6,9.7,802,8742,0.00,1.15,0.00,0.000,6,0.000,0.037,2643,2203,1745,0,0,0,0,0,0
$GC,9074,0.77,181.0,136.4,9.5,853,9083,0.00,1.17,0.00,0.000,4,0.000,0.054,2643,2899,1744,0,0,0,0,0,0
$GC,9182,0.77,181.0,125.4,10.0,869,9190,0.00,1.15,0.00,0.000,6,0.000,0.039,2648,2195,1744,0,0,0,0,0,0
$GC,9522,0.78,187.8,93.3,8.9,920,9537,0.00,1.05,7.25,0.903,4,0.000,0.047,2653,1490,1718,0,0,0,0,0,0
$GC,9578,0.80,209.7,88.5,8.2,928,9605,0.00,1.17,20.12,0.977,6,0.000,0.048,2653,2205,1628,0,0,0,0,0,0
$GC,9938,0.83,231.7,57.7,8.2,982,9966,0.00,1.15,19.10,0.958,4,0.000,0.047,2657,1495,1540,0,0,0,0,0,0
$GC,10164,0.85,245.9,38.9,8.6,1016,10186,0.00,1.17,13.50,0.929,6,0.000,0.048,2657,2202,1482,0,0,0,0,0,0
$GC,10517,0.89,281.5,11.2,7.7,1069,10540,0.00,1.20,17.98,0.106,4,0.000,0.058,2658,2914,1336,0,0,0,0,0,0
$STATE,10617,end climb,SURFACE_DEPTH_REACHED
$STATE,10617,begin surface coast
$FINISH,1.8,1.015352
$STATE,10638,end surface coast,CONTROL_FINISHED_OK
$STATE,10638,begin surface
$SM_CCo,10655,7.95,0.090,0,0,1261,300.00
$SM_GC,4.14,6.88,0.68,7.95,0.045,0.046,0.090,117,2514,1261,-7.07,1.24,300.00,0,0,0,0,0,0
$RAFOS_CLK,692
$RAFOS,0,1320177661,20.033333,20.016945,131,67,59,0,0,0,640,196,210,0,0,0
$RAFOS_FIX,6645.838867,-6008.112793,011111,161600,5,116,0.53
$IRIDIUM_FIX,6620.33,-6008.55,011111,171746
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.83
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.30
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,401.3,202.2
$24V_AH,22.7,21.435
$10V_AH,10.2,16.761
$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,17.275,54.925,354.825,7.950,0.000,0.000,0.000,242.900,5.750,0.000,20.891,2922.392,5416.358,516.890,2037.287,192.568,0.000,1709.917,0.000,1770.566,720.000,9.497,0.000
$DEVICE_MAMPS,263.925,74.970,1272.195,89.505,0.000,0.000,0.000,256.921,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.161,614.395,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150312
$DATA_FILE_SIZE,40079,1087
$CAP_FILE_SIZE,116649,0
$CFSIZE,260165632,236326912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.9
$CURRENT,0.168,306.3,1
$GPS,011111,201135,6646.915,-6011.082,34,0.9,34,-33.9