version: 66.09
glider: 143
mission: 13
dive: 170
start: 11 1 111 20 20 27
data:
$ID,143
$MISSION,13
$DIVE,170
$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,-80729.828
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,011111,201135,6646.915,-6011.082,34,0.9,34,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-72.6
$GPS2,011111,201954,6646.875,-6011.339,19,0.9,20,-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,141.8,149846,-16.9,-9.167
$D_GRID,576
$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,-146.0,0.0,0.0,0,47,0.00,0.00,-29.02,0.000,2,0.000,0.000,117,2513,1650,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.1,-2.6,4,156,8.62,1.23,-91.20,0.000,4,0.262,0.096,2160,3212,3083,0,0,0,0,0,0
$GC,409,-0.73,-146.0,50.0,-16.2,58,419,0.00,1.12,0.00,0.000,6,0.000,0.037,2160,2499,3085,0,0,0,0,0,0
$GC,750,-0.73,-146.0,101.4,-15.2,109,756,0.00,1.20,0.00,0.000,4,0.000,0.066,2155,3213,3085,0,0,0,0,0,0
$GC,791,-0.73,-146.0,107.4,-15.3,115,798,0.00,1.10,0.00,0.000,6,0.000,0.037,2155,2512,3085,0,0,0,0,0,0
$GC,1128,-0.73,-146.0,158.3,-14.0,166,1138,0.00,1.10,0.00,0.000,4,0.000,0.047,2155,1814,3085,0,0,0,0,0,0
$GC,1171,-0.73,-146.0,164.1,-13.9,172,1178,0.00,1.17,0.00,0.000,6,0.000,0.057,2151,2497,3085,0,0,0,0,0,0
$GC,1511,-0.73,-146.0,208.3,-11.4,223,1518,0.00,1.15,0.00,0.000,4,0.000,0.072,2145,3213,3085,0,0,0,0,0,0
$GC,1630,-0.73,-146.0,223.3,-12.3,241,1637,0.00,1.10,0.00,0.000,6,0.000,0.037,2145,2514,3085,0,0,0,0,0,0
$GC,1969,-0.73,-146.0,267.5,-13.4,283,1973,0.00,1.10,0.00,0.000,4,0.000,0.046,2145,1812,3085,0,0,0,0,0,0
$GC,2014,-0.73,-146.0,273.1,-13.4,286,2024,0.00,1.23,0.00,0.000,6,0.000,0.056,2141,2518,3085,0,0,0,0,0,0
$GC,2337,-0.73,-146.0,318.0,-13.7,312,2341,0.00,1.10,0.00,0.000,4,0.000,0.070,2135,3210,3085,0,0,0,0,0,0
$GC,2416,-0.73,-146.0,329.0,-13.8,318,2421,0.08,1.10,0.00,0.000,6,0.158,0.037,2158,2501,3085,0,0,0,0,0,0
$GC,2745,-0.73,-146.0,367.3,-11.3,344,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2501,3084,0,0,0,0,0,0
$GC,3061,-0.73,-146.0,401.1,-11.0,369,3065,0.00,1.20,0.00,0.000,4,0.000,0.067,2155,3220,3084,0,0,0,0,0,0
$GC,3114,-0.73,-146.0,407.0,-11.0,373,3118,0.00,1.10,0.00,0.000,6,0.000,0.034,2155,2513,3084,0,0,0,0,0,0
$GC,3446,-0.73,-146.0,442.2,-10.8,399,3449,0.00,1.17,0.00,0.000,4,0.000,0.067,2151,3216,3084,0,0,0,0,0,0
$GC,3513,-0.73,-146.0,449.8,-11.0,404,3517,0.00,1.10,0.00,0.000,6,0.000,0.034,2150,2505,3084,0,0,0,0,0,0
$GC,3844,-0.73,-146.0,487.6,-11.4,430,3847,0.00,1.17,0.00,0.000,4,0.000,0.067,2146,3213,3084,0,0,0,0,0,0
$GC,3954,-0.73,-146.0,499.3,-10.7,438,3970,0.00,1.12,0.00,0.000,6,0.000,0.034,2146,2498,3084,0,0,0,0,0,0
$GC,4269,-0.73,-146.0,534.0,-10.9,449,4272,0.00,1.05,0.00,0.000,4,0.000,0.044,2146,1818,3084,0,0,0,0,0,0
$GC,4359,-0.73,-146.0,541.0,-10.6,451,4367,0.00,1.20,0.00,0.000,6,0.000,0.056,2141,2513,3084,0,0,0,0,0,0
$STATE,4671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4671,begin apogee
$GC,4678,-0.16,0.0,578.4,-11.0,462,4803,0.62,0.00,119.22,1.281,6,0.137,0.000,2342,2186,2485,0,0,0,0,0,0
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4806,0.73,146.0,582.1,0.0,466,4942,0.85,1.23,127.93,1.220,4,0.073,0.051,2636,1499,1889,0,0,0,0,0,0
$GC,5139,0.73,146.0,557.4,11.5,476,5144,0.00,1.25,0.00,0.000,6,0.000,0.047,2636,2206,1882,0,0,0,0,0,0
$GC,5460,0.73,146.0,518.3,11.5,487,5464,0.00,1.17,0.00,0.000,4,0.000,0.048,2641,1506,1879,0,0,0,0,0,0
$GC,5478,0.73,146.0,518.3,11.5,487,5482,0.00,1.20,0.00,0.000,6,0.000,0.047,2640,2203,1879,0,0,0,0,0,0
$GC,5797,0.73,146.0,478.9,11.7,505,5800,0.00,1.17,0.00,0.000,4,0.000,0.058,2641,2914,1879,0,0,0,0,0,0
$GC,5868,0.73,146.0,470.9,12.0,510,5876,0.00,1.20,0.00,0.000,6,0.000,0.037,2645,2198,1877,0,0,0,0,0,0
$GC,6194,0.73,146.0,433.1,11.1,536,6198,0.00,1.23,0.00,0.000,4,0.000,0.055,2645,2908,1877,0,0,0,0,0,0
$GC,6317,0.73,146.0,419.6,11.2,545,6325,0.00,1.20,0.00,0.000,6,0.000,0.037,2650,2187,1877,0,0,0,0,0,0
$GC,6642,0.73,146.0,384.9,10.2,571,6645,0.00,1.08,0.00,0.000,4,0.000,0.050,2655,1493,1877,0,0,0,0,0,0
$GC,6695,0.73,146.0,378.9,11.0,575,6698,0.00,1.17,0.00,0.000,6,0.000,0.048,2655,2208,1877,0,0,0,0,0,0
$GC,7025,0.73,146.0,341.1,11.4,601,7028,0.00,1.12,0.00,0.000,4,0.000,0.058,2655,2904,1877,0,0,0,0,0,0
$GC,7281,0.73,146.0,311.3,12.4,620,7289,0.00,1.17,0.00,0.000,6,0.000,0.038,2660,2192,1877,0,0,0,0,0,0
$GC,7607,0.73,146.0,272.7,11.7,646,7611,0.00,1.20,0.00,0.000,4,0.000,0.055,2660,2900,1877,0,0,0,0,0,0
$GC,7673,0.73,146.0,264.7,11.7,651,7677,0.08,1.15,0.00,0.000,6,0.160,0.037,2642,2190,1876,0,0,0,0,0,0
$GC,8004,0.74,154.8,233.5,8.8,690,8019,0.00,1.20,6.90,0.927,4,0.000,0.054,2641,2911,1853,0,0,0,0,0,0
$GC,8048,0.75,164.4,229.8,8.8,696,8062,0.00,1.17,10.20,0.985,6,0.000,0.037,2645,2189,1814,0,0,0,0,0,0
$GC,8394,0.77,184.6,201.3,8.3,748,8421,0.00,0.00,18.62,1.024,6,0.000,0.000,2646,2189,1732,0,0,0,0,0,0
$GC,8751,0.77,184.6,164.9,10.4,802,8758,0.00,1.23,0.00,0.000,4,0.000,0.055,2645,2907,1729,0,0,0,0,0,0
$GC,8798,0.77,184.6,159.5,11.3,809,8805,0.00,1.17,0.00,0.000,6,0.000,0.038,2650,2191,1729,0,0,0,0,0,0
$GC,9136,0.77,184.6,125.4,9.2,860,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2191,1728,0,0,0,0,0,0
$GC,9473,0.79,196.9,93.9,8.7,911,9488,0.00,1.12,11.15,0.954,4,0.000,0.052,2655,1492,1682,0,0,0,0,0,0
$GC,9495,0.79,196.9,91.7,9.6,914,9502,0.00,1.17,0.00,0.000,6,0.000,0.050,2655,2200,1681,0,0,0,0,0,0
$GC,9833,0.80,207.7,59.6,8.7,965,9854,0.00,1.20,10.65,0.934,4,0.000,0.059,2655,2915,1637,0,0,0,0,0,0
$GC,10107,0.87,263.3,37.6,6.8,1006,10161,0.00,1.17,47.92,0.953,6,0.000,0.039,2660,2198,1411,0,0,0,0,0,0
$GC,10494,0.89,278.3,6.6,8.5,1064,10508,0.00,1.20,6.62,0.096,4,0.000,0.052,2660,2917,1350,0,0,0,0,0,0
$STATE,10539,end climb,SURFACE_DEPTH_REACHED
$STATE,10539,begin surface coast
$FINISH,1.8,1.014471
$STATE,10548,end surface coast,CONTROL_FINISHED_OK
$STATE,10548,begin surface
$SM_CCo,10565,9.93,0.090,0,0,1261,300.00
$SM_GC,4.02,6.90,0.70,9.93,0.044,0.044,0.090,117,2504,1261,-7.08,0.93,300.00,0,0,0,0,0,0
$RAFOS_CLK,688
$RAFOS,6,1320180541,20.833334,20.816944,91,60,55,0,0,0,822,140,222,0,0,0
$RAFOS,5,1320180063,20.700001,20.684166,67,66,64,0,0,0,175,933,204,0,0,0
$RAFOS,4,1320179588,20.566668,20.552221,123,70,64,0,0,0,680,213,224,0,0,0
$RAFOS,3,1320179101,20.433332,20.416945,90,63,60,0,0,0,782,208,220,0,0,0
$RAFOS,1,1320178142,20.166666,20.150555,106,66,61,0,0,0,548,201,219,0,0,0
$RAFOS_FIX,6645.852051,-6007.390137,011111,202023,5,108,10.62
$IRIDIUM_FIX,6620.33,-6005.83,011111,202023
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.24
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,500.6,113.9
$24V_AH,22.7,21.552
$10V_AH,10.1,16.848
$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,17.150,51.275,359.225,9.925,0.000,0.000,0.000,327.200,7.250,0.000,20.576,2887.382,5390.020,525.862,2092.122,203.223,0.000,1794.659,0.000,1752.962,1440.000,12.786,0.000
$DEVICE_MAMPS,262.395,96.390,1280.610,89.505,0.000,0.000,0.000,248.682,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.914,610.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150336
$DATA_FILE_SIZE,40046,1072
$CAP_FILE_SIZE,116245,0
$CFSIZE,260165632,236261376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1449.9
$CURRENT,0.282,194.5,1
$GPS,011111,231823,6645.000,-6008.543,39,0.8,39,-33.9