version: 66.09
glider: 143
mission: 13
dive: 174
start: 11 2 111 8 58 7
data:
$ID,143
$MISSION,13
$DIVE,174
$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,-80734.867
$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,27
$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
$GPS1,021111,085258,6646.068,-6003.789,38,1.1,41,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-73.7
$GPS2,021111,085736,6646.043,-6003.871,19,0.9,19,-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,115.2,144892,-16.9,-9.167
$D_GRID,638
$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,17,-0.73,-146.0,0.0,0.0,0,45,0.00,0.00,-26.40,0.000,2,0.000,0.000,122,2513,1618,0,0,0,0,0,0
$GC,48,-0.73,-146.0,3.0,-1.5,4,156,8.82,1.10,-91.28,0.000,4,0.269,0.093,2160,3218,3080,0,0,0,0,0,0
$GC,410,-0.73,-146.0,51.6,-14.5,58,417,0.00,1.12,0.00,0.000,6,0.000,0.036,2160,2505,3082,0,0,0,0,0,0
$GC,747,-0.73,-146.0,100.2,-13.8,109,756,0.00,1.17,0.00,0.000,4,0.000,0.065,2155,3207,3082,0,0,0,0,0,0
$GC,849,-0.73,-146.0,114.6,-14.0,124,856,0.00,1.10,0.00,0.000,6,0.000,0.035,2155,2505,3082,0,0,0,0,0,0
$GC,1189,-0.73,-146.0,160.3,-12.3,175,1195,0.00,1.08,0.00,0.000,4,0.000,0.045,2155,1818,3082,0,0,0,0,0,0
$GC,1242,-0.73,-146.0,167.1,-11.5,183,1249,0.00,1.17,0.00,0.000,6,0.000,0.056,2150,2503,3082,0,0,0,0,0,0
$GC,1580,-0.73,-146.0,209.0,-11.8,234,1586,0.00,1.15,0.00,0.000,4,0.000,0.070,2145,3222,3082,0,0,0,0,0,0
$GC,1646,-0.73,-146.0,217.8,-12.8,244,1653,0.00,1.12,0.00,0.000,6,0.000,0.036,2145,2504,3082,0,0,0,0,0,0
$GC,1980,-0.73,-146.0,261.4,-12.6,288,1983,0.00,1.08,0.00,0.000,4,0.000,0.045,2145,1814,3082,0,0,0,0,0,0
$GC,2037,-0.73,-146.0,268.1,-12.6,292,2045,0.00,1.23,0.00,0.000,6,0.000,0.055,2140,2521,3082,0,0,0,0,0,0
$GC,2363,-0.73,-146.0,312.6,-13.9,318,2367,0.00,1.10,0.00,0.000,4,0.000,0.070,2135,3215,3081,0,0,0,0,0,0
$GC,2514,-0.73,-146.0,333.4,-14.1,329,2525,0.12,1.12,0.00,0.000,6,0.175,0.034,2164,2500,3081,0,0,0,0,0,0
$GC,2837,-0.73,-146.0,370.0,-10.5,355,2841,0.00,1.05,0.00,0.000,4,0.000,0.044,2165,1820,3081,0,0,0,0,0,0
$GC,2868,-0.73,-146.0,372.8,-10.5,357,2878,0.00,1.20,0.00,0.000,6,0.000,0.054,2162,2516,3081,0,0,0,0,0,0
$GC,3193,-0.73,-146.0,406.2,-9.8,383,3197,0.00,1.12,0.00,0.000,4,0.000,0.069,2157,3220,3081,0,0,0,0,0,0
$GC,3303,-0.73,-146.0,417.3,-10.5,391,3311,0.00,1.12,0.00,0.000,6,0.000,0.033,2157,2501,3081,0,0,0,0,0,0
$GC,3630,-0.73,-146.0,451.0,-10.2,417,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2501,3081,0,0,0,0,0,0
$GC,3944,-0.73,-146.0,482.7,-9.6,442,3947,0.00,1.17,0.00,0.000,4,0.000,0.064,2152,3211,3082,0,0,0,0,0,0
$GC,3998,-0.73,-146.0,488.2,-10.0,446,4002,0.00,1.08,0.00,0.000,6,0.000,0.032,2152,2511,3082,0,0,0,0,0,0
$GC,4339,-0.73,-146.0,521.9,-9.6,463,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3082,0,0,0,0,0,0
$GC,4650,-0.73,-146.0,550.9,-9.6,473,4653,0.00,1.15,0.00,0.000,4,0.000,0.064,2147,3209,3083,0,0,0,0,0,0
$GC,4708,-0.73,-146.0,554.5,-9.5,474,4716,0.00,1.10,0.00,0.000,6,0.000,0.031,2148,2499,3083,0,0,0,0,0,0
$GC,5022,-0.73,-146.0,588.3,-10.1,485,5025,0.00,1.05,0.00,0.000,4,0.000,0.044,2147,1815,3083,0,0,0,0,0,0
$GC,5092,-0.73,-146.0,595.0,-10.2,487,5097,0.00,1.20,0.00,0.000,6,0.000,0.054,2143,2516,3083,0,0,0,0,0,0
$GC,5428,-0.73,-146.0,630.0,-10.3,498,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2516,3084,0,0,0,0,0,0
$STATE,5515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5515,begin apogee
$GC,5521,-0.16,0.0,639.5,-10.4,501,5648,0.62,0.00,119.45,1.310,6,0.135,0.000,2345,2186,2485,0,0,0,0,0,0
$STATE,5649,end apogee,CONTROL_FINISHED_OK
$STATE,5649,begin climb
$GC,5651,0.73,146.0,643.9,0.0,505,5789,0.85,1.20,128.62,1.252,4,0.070,0.051,2641,1510,1889,0,0,0,0,0,0
$GC,5887,0.73,146.0,630.1,10.2,512,5892,0.00,1.25,0.00,0.000,6,0.000,0.044,2641,2209,1883,0,0,0,0,0,0
$GC,6209,0.73,146.0,590.1,11.8,523,6213,0.00,1.17,0.00,0.000,4,0.000,0.046,2646,1506,1879,0,0,0,0,0,0
$GC,6293,0.73,146.0,582.2,11.6,525,6298,0.00,1.20,0.00,0.000,6,0.000,0.044,2646,2207,1878,0,0,0,0,0,0
$GC,6614,0.73,146.0,542.0,12.0,536,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2207,1877,0,0,0,0,0,0
$GC,6920,0.73,146.0,507.2,11.3,546,6923,0.00,1.12,0.00,0.000,4,0.000,0.057,2646,2898,1877,0,0,0,0,0,0
$GC,6990,0.73,146.0,499.3,11.6,548,6998,0.00,1.15,0.00,0.000,6,0.000,0.036,2650,2204,1877,0,0,0,0,0,0
$GC,7316,0.73,146.0,462.2,11.2,574,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,1876,0,0,0,0,0,0
$GC,7631,0.73,146.0,426.1,11.7,599,7634,0.00,1.17,0.00,0.000,4,0.000,0.052,2650,2898,1876,0,0,0,0,0,0
$GC,7688,0.73,146.0,419.6,12.0,603,7696,0.00,1.15,0.00,0.000,6,0.000,0.035,2655,2197,1876,0,0,0,0,0,0
$GC,8013,0.73,146.0,382.8,10.4,629,8017,0.00,1.08,0.00,0.000,4,0.000,0.048,2660,1493,1876,0,0,0,0,0,0
$GC,8031,0.73,146.0,381.3,10.4,630,8041,0.00,1.17,0.00,0.000,6,0.000,0.045,2660,2206,1876,0,0,0,0,0,0
$GC,8356,0.73,146.0,344.0,11.8,656,8360,0.00,1.12,0.00,0.000,4,0.000,0.057,2660,2907,1876,0,0,0,0,0,0
$GC,8581,0.73,146.0,317.2,11.7,673,8585,0.10,1.15,0.00,0.000,6,0.159,0.037,2635,2193,1876,0,0,0,0,0,0
$GC,8911,0.73,146.0,282.4,10.1,699,8914,0.00,1.20,0.00,0.000,4,0.000,0.054,2634,2905,1876,0,0,0,0,0,0
$GC,8968,0.73,146.0,276.7,10.5,703,8976,0.00,1.15,0.00,0.000,6,0.000,0.036,2638,2197,1876,0,0,0,0,0,0
$GC,9296,0.73,146.0,241.7,10.2,735,9303,0.00,1.20,0.00,0.000,4,0.000,0.054,2638,2910,1876,0,0,0,0,0,0
$GC,9356,0.73,146.0,235.2,10.9,744,9362,0.00,1.15,0.00,0.000,6,0.000,0.037,2643,2191,1876,0,0,0,0,0,0
$GC,9694,0.76,174.1,205.0,8.0,795,9722,0.00,1.10,22.90,1.030,4,0.000,0.050,2647,1497,1775,0,0,0,0,0,0
$GC,9756,0.76,175.4,199.5,9.1,804,9763,0.00,1.15,0.00,0.000,6,0.000,0.047,2648,2197,1773,0,0,0,0,0,0
$GC,10095,0.76,175.4,168.5,9.2,855,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2198,1772,0,0,0,0,0,0
$GC,10432,0.76,175.4,135.5,10.1,906,10441,0.00,1.12,0.00,0.000,4,0.000,0.048,2652,1496,1771,0,0,0,0,0,0
$GC,10560,0.76,175.4,122.2,10.1,925,10567,0.00,1.15,0.00,0.000,6,0.000,0.047,2652,2200,1771,0,0,0,0,0,0
$GC,10897,0.78,192.9,91.0,8.4,976,10920,0.00,1.17,16.65,0.972,4,0.000,0.057,2652,2905,1698,0,0,0,0,0,0
$GC,11040,0.78,192.9,77.8,9.9,997,11047,0.00,1.15,0.00,0.000,6,0.000,0.037,2657,2201,1696,0,0,0,0,0,0
$GC,11378,0.82,219.9,48.0,8.0,1048,11406,0.00,1.25,23.83,0.959,4,0.000,0.054,2657,2906,1587,0,0,0,0,0,0
$GC,11534,0.86,256.8,35.7,7.6,1071,11573,0.00,1.17,31.58,0.939,6,0.000,0.037,2662,2193,1438,0,0,0,0,0,0
$GC,11907,0.89,279.0,6.5,8.2,1127,11921,0.00,0.00,10.73,0.094,6,0.000,0.000,2661,2194,1346,0,0,0,0,0,0
$STATE,11960,end climb,SURFACE_DEPTH_REACHED
$STATE,11960,begin surface coast
$FINISH,1.7,1.012869
$STATE,11986,end surface coast,CONTROL_FINISHED_OK
$STATE,11986,begin surface
$SM_CCo,12002,9.25,0.090,0,0,1261,300.00
$SM_GC,4.33,6.90,0.60,9.25,0.044,0.051,0.090,121,2514,1261,-7.07,-0.76,300.00,0,0,0,0,0,0
$RAFOS_CLK,784
$RAFOS,1,1320235744,12.166667,12.151111,67,65,64,0,0,0,524,225,195,0,0,0
$RAFOS,0,1320235264,12.033333,12.017777,107,62,58,0,0,0,651,181,192,0,0,0
$RAFOS,6,1320223743,8.833333,8.817500,67,63,59,0,0,0,804,149,210,0,0,0
$RAFOS_FIX,6644.909668,-5959.680176,021111,080818,5,105,0.00
$IRIDIUM_FIX,6614.97,-6011.26,021111,050504
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.16
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,550.9,138.0
$24V_AH,22.7,22.008
$10V_AH,10.3,17.156
$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,17.425,53.875,353.750,9.250,0.000,0.000,0.000,166.650,5.500,0.000,20.139,3103.379,6428.672,535.390,2033.243,210.706,0.000,1693.078,0.000,1848.082,1080.000,14.626,0.000
$DEVICE_MAMPS,268.515,93.330,1309.680,89.505,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.617,640.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43394,1139
$CAP_FILE_SIZE,122469,0
$CFSIZE,260165632,235995136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1450.9
$CURRENT,0.144,202.0,1
$GPS,021111,121958,6645.398,-6000.334,35,1.2,37,-33.9