version: 66.09
glider: 143
mission: 13
dive: 172
start: 11 2 111 2 31 51
data:
$ID,143
$MISSION,13
$DIVE,172
$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,-80732.336
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,021111,022635,6644.310,-6007.157,34,1.0,34,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-73.8
$GPS2,021111,023119,6644.248,-6007.112,17,1.1,18,-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,65.3,147923,-16.9,-9.167
$D_GRID,604
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.73,-146.0,0.0,0.0,0,47,0.00,0.00,-28.33,0.000,2,0.000,0.000,120,2497,1642,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.1,-1.5,4,162,8.73,1.10,-94.18,0.000,4,0.265,0.078,2162,1817,3081,0,0,0,0,0,0
$GC,263,-0.73,-146.0,26.3,-17.9,36,270,0.00,1.20,0.00,0.000,6,0.000,0.057,2159,2507,3084,0,0,0,0,0,0
$GC,602,-0.73,-146.0,79.7,-14.5,87,609,0.00,1.15,0.00,0.000,4,0.000,0.069,2153,3221,3084,0,0,0,0,0,0
$GC,636,-0.73,-146.0,85.1,-15.7,92,642,0.00,1.12,0.00,0.000,6,0.000,0.037,2154,2511,3084,0,0,0,0,0,0
$GC,975,-0.73,-146.0,134.1,-14.3,143,981,0.00,1.10,0.00,0.000,4,0.000,0.047,2154,1815,3084,0,0,0,0,0,0
$GC,1003,-0.73,-146.0,138.2,-14.8,147,1009,0.00,1.20,0.00,0.000,6,0.000,0.057,2149,2511,3084,0,0,0,0,0,0
$GC,1341,-0.73,-146.0,188.2,-14.7,198,1349,0.00,1.15,0.00,0.000,4,0.000,0.044,2148,1815,3084,0,0,0,0,0,0
$GC,1369,-0.73,-146.0,192.5,-14.6,202,1378,0.00,1.20,0.00,0.000,6,0.000,0.056,2144,2513,3084,0,0,0,0,0,0
$GC,1709,-0.73,-146.0,243.4,-14.0,253,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2514,3084,0,0,0,0,0,0
$GC,2033,-0.73,-146.0,287.5,-12.9,282,2037,0.00,1.12,0.00,0.000,4,0.000,0.071,2139,3216,3083,0,0,0,0,0,0
$GC,2073,-0.73,-146.0,292.8,-13.1,285,2077,0.00,1.12,0.00,0.000,6,0.000,0.037,2139,2499,3083,0,0,0,0,0,0
$GC,2404,-0.73,-146.0,335.3,-13.6,311,2408,0.00,1.08,0.00,0.000,4,0.000,0.046,2139,1812,3083,0,0,0,0,0,0
$GC,2526,-0.73,-146.0,350.8,-12.5,320,2530,0.08,1.20,0.00,0.000,6,0.160,0.056,2157,2513,3083,0,0,0,0,0,0
$GC,2855,-0.73,-146.0,388.1,-11.0,346,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2513,3083,0,0,0,0,0,0
$GC,3173,-0.73,-146.0,422.3,-11.0,371,3177,0.00,1.12,0.00,0.000,4,0.000,0.070,2154,3219,3083,0,0,0,0,0,0
$GC,3228,-0.73,-146.0,428.4,-10.8,375,3231,0.00,1.10,0.00,0.000,6,0.000,0.034,2154,2509,3083,0,0,0,0,0,0
$GC,3557,-0.73,-146.0,464.1,-10.9,401,3561,0.00,1.08,0.00,0.000,4,0.000,0.045,2154,1817,3083,0,0,0,0,0,0
$GC,3576,-0.73,-146.0,465.8,-11.2,402,3586,0.00,1.17,0.00,0.000,6,0.000,0.055,2149,2509,3083,0,0,0,0,0,0
$GC,3907,-0.73,-146.0,503.8,-11.4,427,3910,0.00,1.12,0.00,0.000,4,0.000,0.068,2144,3220,3083,0,0,0,0,0,0
$GC,3924,-0.73,-146.0,503.8,-11.4,427,3930,0.00,1.12,0.00,0.000,6,0.000,0.032,2145,2504,3083,0,0,0,0,0,0
$GC,4246,-0.73,-146.0,539.6,-10.6,438,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2503,3083,0,0,0,0,0,0
$GC,4551,-0.73,-146.0,572.9,-10.5,448,4555,0.00,1.17,0.00,0.000,4,0.000,0.064,2140,3213,3084,0,0,0,0,0,0
$GC,4609,-0.73,-146.0,577.0,-10.4,449,4617,0.00,1.10,0.00,0.000,6,0.000,0.031,2140,2505,3084,0,0,0,0,0,0
$STATE,4859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4859,begin apogee
$GC,4866,-0.16,0.0,607.2,-10.2,458,4992,0.62,0.00,119.20,1.290,6,0.135,0.000,2342,2188,2485,0,0,0,0,0,0
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4995,0.73,146.0,611.8,0.0,462,5131,0.85,1.20,128.23,1.234,4,0.070,0.049,2639,1511,1889,0,0,0,0,0,0
$GC,5330,0.73,146.0,588.3,11.5,472,5334,0.00,1.20,0.00,0.000,6,0.000,0.045,2639,2203,1881,0,0,0,0,0,0
$GC,5649,0.73,146.0,552.7,11.1,483,5653,0.00,1.17,0.00,0.000,4,0.000,0.056,2639,2906,1878,0,0,0,0,0,0
$GC,5733,0.73,146.0,544.7,11.8,485,5738,0.00,1.17,0.00,0.000,6,0.000,0.037,2644,2209,1877,0,0,0,0,0,0
$GC,6055,0.73,146.0,500.5,11.7,496,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2210,1877,0,0,0,0,0,0
$GC,6376,0.73,146.0,460.1,12.1,520,6379,0.00,1.20,0.00,0.000,4,0.000,0.053,2644,2911,1876,0,0,0,0,0,0
$GC,6469,0.73,146.0,447.9,13.2,527,6472,0.00,1.15,0.00,0.000,6,0.000,0.036,2648,2201,1876,0,0,0,0,0,0
$GC,6802,0.73,146.0,405.5,12.9,553,6805,0.00,1.08,0.00,0.000,4,0.000,0.050,2654,1498,1876,0,0,0,0,0,0
$GC,6909,0.73,146.0,391.3,12.9,561,6912,0.00,1.15,0.00,0.000,6,0.000,0.046,2654,2203,1876,0,0,0,0,0,0
$GC,7239,0.73,146.0,349.2,12.0,587,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2203,1876,0,0,0,0,0,0
$GC,7554,0.73,146.0,314.8,10.7,612,7558,0.00,1.15,0.00,0.000,4,0.000,0.047,2658,1493,1876,0,0,0,0,0,0
$GC,7705,0.73,146.0,299.8,9.9,623,7715,0.00,1.17,0.00,0.000,6,0.000,0.046,2658,2206,1876,0,0,0,0,0,0
$GC,8031,0.74,155.7,268.9,8.8,649,8045,0.00,1.08,7.03,0.942,4,0.000,0.054,2658,2904,1851,0,0,0,0,0,0
$GC,8170,0.74,155.7,256.1,9.5,659,8179,0.00,1.15,0.00,0.000,6,0.000,0.037,2663,2195,1850,0,0,0,0,0,0
$GC,8504,0.74,155.7,224.2,9.7,705,8511,0.00,1.05,0.00,0.000,4,0.000,0.050,2668,1497,1850,0,0,0,0,0,0
$GC,8764,0.74,155.7,199.6,9.3,744,8771,0.08,1.15,0.00,0.000,6,0.149,0.047,2645,2206,1850,0,0,0,0,0,0
$GC,9102,0.74,155.7,167.6,10.1,795,9111,0.00,1.10,0.00,0.000,4,0.000,0.058,2644,2898,1850,0,0,0,0,0,0
$GC,9362,0.77,183.6,143.7,8.0,834,9395,0.00,1.12,25.62,1.016,6,0.000,0.039,2647,2200,1735,0,0,0,0,0,0
$GC,9725,0.79,194.8,111.1,8.7,889,9747,0.00,1.25,10.43,0.949,4,0.000,0.054,2647,2910,1690,0,0,0,0,0,0
$GC,9779,0.79,194.8,105.7,10.4,897,9786,0.00,1.17,0.00,0.000,6,0.000,0.038,2652,2198,1689,0,0,0,0,0,0
$GC,10118,0.83,228.6,77.3,7.7,948,10153,0.00,1.15,29.80,0.976,4,0.000,0.052,2657,1494,1551,0,0,0,0,0,0
$GC,10378,0.83,235.2,53.0,8.9,987,10389,0.00,1.17,6.43,0.841,6,0.000,0.047,2657,2202,1526,0,0,0,0,0,0
$GC,10719,0.87,265.5,23.8,7.9,1038,10742,0.00,1.20,18.70,0.903,4,0.000,0.057,2657,2910,1402,0,0,0,0,0,0
$GC,10871,0.87,265.5,10.8,9.4,1060,10877,0.00,1.17,0.00,0.000,6,0.000,0.037,2662,2200,1398,0,0,0,0,0,0
$STATE,10968,end climb,SURFACE_DEPTH_REACHED
$STATE,10968,begin surface coast
$FINISH,1.8,1.003129
$STATE,10998,end surface coast,CONTROL_FINISHED_OK
$STATE,10998,begin surface
$SM_CCo,11014,15.65,0.090,0,0,1261,300.00
$SM_GC,4.00,6.95,0.60,15.65,0.049,0.051,0.090,119,2521,1261,-7.07,-0.59,300.00,0,0,0,0,0,0
$RAFOS_CLK,721
$RAFOS,6,1320209349,4.833333,4.819167,81,57,57,0,0,0,773,176,157,0,0,0
$RAFOS,5,1320208872,4.700000,4.686666,98,64,61,0,0,0,873,215,197,0,0,0
$RAFOS,4,1320208384,4.566667,4.551111,99,59,57,0,0,0,683,191,213,0,0,0
$RAFOS,3,1320207908,4.433333,4.418889,65,59,57,0,0,0,747,170,214,0,0,0
$RAFOS,2,1320207433,4.300000,4.286944,107,68,61,0,0,0,589,215,181,0,0,0
$RAFOS,1,1320206948,4.166667,4.152222,91,62,61,0,0,0,486,211,191,0,0,0
$RAFOS,0,1320206482,4.033333,4.022778,91,67,61,0,0,0,543,219,180,0,0,0
$RAFOS_FIX,6644.710938,-6001.639648,021111,040413,6,90,0.57
$IRIDIUM_FIX,6620.33,-5946.19,011111,232309
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.83
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,553.0,82.6
$24V_AH,22.7,21.776
$10V_AH,10.3,17.001
$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,17.300,49.250,345.425,15.650,0.000,0.000,0.000,171.950,5.500,0.000,19.208,2963.261,5719.938,517.433,1939.343,199.255,0.000,1625.449,0.000,1751.353,2520.000,14.476,0.000
$DEVICE_MAMPS,265.455,78.030,1289.790,89.505,0.000,0.000,0.000,250.929,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,785.138,611.008,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,39936,1079
$CAP_FILE_SIZE,114359,0
$CFSIZE,260165632,236134400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.4
$CURRENT,0.115,225.7,1
$GPS,021111,053721,6645.294,-6006.262,35,1.3,35,-33.9