version: 66.09
glider: 143
mission: 13
dive: 175
start: 11 2 111 12 27 38
data:
$ID,143
$MISSION,13
$DIVE,175
$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,-80736.133
$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,38
$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
$GPS1,021111,121958,6645.398,-6000.334,35,1.2,37,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-73.0
$GPS2,021111,122706,6645.351,-6000.217,15,1.2,15,-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,82.9,142605,-16.9,-9.167
$D_GRID,668
$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,15,-0.73,-146.0,0.0,0.0,0,47,0.00,0.00,-29.45,0.000,2,0.000,0.000,120,2516,1657,0,0,0,0,0,0
$GC,50,-0.73,-146.0,3.1,-2.8,4,151,8.68,1.10,-85.22,0.000,4,0.263,0.096,2160,3209,3080,0,0,0,0,0,0
$GC,404,-0.73,-146.0,52.3,-15.2,57,413,0.00,1.10,0.00,0.000,6,0.000,0.036,2160,2508,3082,0,0,0,0,0,0
$GC,743,-0.73,-146.0,103.9,-15.0,108,750,0.00,1.17,0.00,0.000,4,0.000,0.065,2155,3208,3082,0,0,0,0,0,0
$GC,942,-0.73,-146.0,132.1,-13.4,138,949,0.00,1.10,0.00,0.000,6,0.000,0.036,2155,2505,3082,0,0,0,0,0,0
$GC,1280,-0.73,-146.0,177.9,-13.3,189,1290,0.00,1.08,0.00,0.000,4,0.000,0.045,2155,1817,3082,0,0,0,0,0,0
$GC,1345,-0.73,-146.0,186.3,-13.5,198,1352,0.00,1.17,0.00,0.000,6,0.000,0.057,2151,2502,3082,0,0,0,0,0,0
$GC,1682,-0.73,-146.0,233.7,-13.9,249,1691,0.00,1.12,0.00,0.000,4,0.000,0.071,2145,3207,3082,0,0,0,0,0,0
$GC,1771,-0.73,-146.0,246.0,-13.9,262,1778,0.00,1.08,0.00,0.000,6,0.000,0.035,2145,2513,3082,0,0,0,0,0,0
$GC,2100,-0.73,-146.0,289.3,-13.2,290,2103,0.00,1.10,0.00,0.000,4,0.000,0.047,2145,1809,3081,0,0,0,0,0,0
$GC,2170,-0.73,-146.0,298.1,-12.3,295,2178,0.00,1.23,0.00,0.000,6,0.000,0.056,2141,2517,3081,0,0,0,0,0,0
$GC,2495,-0.73,-146.0,338.4,-12.0,321,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2517,3081,0,0,0,0,0,0
$GC,2811,-0.73,-146.0,374.5,-11.0,346,2815,0.00,1.10,0.00,0.000,4,0.000,0.070,2135,3211,3081,0,0,0,0,0,0
$GC,2974,-0.73,-146.0,393.3,-11.5,358,2983,0.12,1.12,0.00,0.000,6,0.172,0.034,2165,2495,3081,0,0,0,0,0,0
$GC,3298,-0.73,-146.0,424.6,-9.3,384,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2495,3081,0,0,0,0,0,0
$GC,3613,-0.73,-146.0,453.4,-9.2,409,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2495,3081,0,0,0,0,0,0
$GC,3931,-0.73,-146.0,482.7,-9.4,434,3934,0.00,1.20,0.00,0.000,4,0.000,0.066,2162,3217,3082,0,0,0,0,0,0
$GC,3961,-0.73,-146.0,485.4,-9.4,436,3969,0.00,1.12,0.00,0.000,6,0.000,0.032,2162,2496,3082,0,0,0,0,0,0
$GC,4294,-0.73,-146.0,518.1,-9.8,454,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2496,3082,0,0,0,0,0,0
$GC,4598,-0.73,-146.0,547.8,-9.5,464,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2496,3083,0,0,0,0,0,0
$GC,4906,-0.73,-146.0,576.2,-9.2,474,4909,0.00,1.20,0.00,0.000,4,0.000,0.066,2157,3220,3083,0,0,0,0,0,0
$GC,4950,-0.73,-146.0,579.4,-9.2,475,4955,0.00,1.12,0.00,0.000,6,0.000,0.031,2157,2497,3083,0,0,0,0,0,0
$GC,5280,-0.73,-146.0,610.5,-9.1,486,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2497,3083,0,0,0,0,0,0
$GC,5584,-0.73,-146.0,639.0,-9.6,496,5587,0.00,1.17,0.00,0.000,4,0.000,0.065,2152,3210,3084,0,0,0,0,0,0
$GC,5617,-0.73,-146.0,642.4,-9.8,497,5620,0.00,1.08,0.00,0.000,6,0.000,0.031,2152,2501,3084,0,0,0,0,0,0
$STATE,5894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5894,begin apogee
$GC,5900,-0.16,0.0,670.0,-9.7,506,6027,0.57,0.00,119.97,1.326,6,0.131,0.000,2340,2197,2484,0,0,0,0,0,0
$STATE,6028,end apogee,CONTROL_FINISHED_OK
$STATE,6028,begin climb
$GC,6030,0.73,146.0,673.5,0.0,510,6167,0.85,1.23,129.10,1.268,4,0.072,0.048,2633,1506,1889,0,0,0,0,0,0
$GC,6353,0.73,146.0,648.7,11.0,520,6356,0.00,1.23,0.00,0.000,6,0.000,0.044,2633,2210,1882,0,0,0,0,0,0
$GC,6678,0.73,146.0,609.2,11.6,531,6682,0.00,1.15,0.00,0.000,4,0.000,0.054,2633,2904,1879,0,0,0,0,0,0
$GC,6795,0.73,146.0,597.3,11.9,534,6800,0.00,1.17,0.00,0.000,6,0.000,0.034,2637,2204,1878,0,0,0,0,0,0
$GC,7116,0.73,146.0,557.9,11.5,545,7120,0.00,1.10,0.00,0.000,4,0.000,0.048,2643,1497,1877,0,0,0,0,0,0
$GC,7222,0.73,146.0,546.8,11.2,548,7225,0.00,1.17,0.00,0.000,6,0.000,0.045,2643,2209,1877,0,0,0,0,0,0
$GC,7555,0.73,146.0,508.8,11.0,559,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2209,1877,0,0,0,0,0,0
$GC,7873,0.73,146.0,473.1,11.3,580,7877,0.00,1.15,0.00,0.000,4,0.000,0.046,2647,1497,1876,0,0,0,0,0,0
$GC,7912,0.73,146.0,468.8,11.2,583,7916,0.00,1.15,0.00,0.000,6,0.000,0.045,2647,2204,1876,0,0,0,0,0,0
$GC,8243,0.73,146.0,432.1,11.1,609,8244,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2203,1876,0,0,0,0,0,0
$GC,8558,0.73,146.0,398.6,10.2,634,8561,0.00,1.15,0.00,0.000,4,0.000,0.047,2652,1491,1876,0,0,0,0,0,0
$GC,8602,0.73,146.0,394.3,10.3,637,8612,0.00,1.17,0.00,0.000,6,0.000,0.044,2652,2206,1876,0,0,0,0,0,0
$GC,8927,0.73,146.0,360.1,10.5,663,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2206,1876,0,0,0,0,0,0
$GC,9241,0.73,146.0,325.9,11.1,688,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2206,1876,0,0,0,0,0,0
$GC,9557,0.73,146.0,290.7,10.8,713,9560,0.00,1.15,0.00,0.000,4,0.000,0.048,2657,1492,1876,0,0,0,0,0,0
$GC,9720,0.73,146.0,274.0,10.5,725,9730,0.00,1.17,0.00,0.000,6,0.000,0.045,2657,2210,1876,0,0,0,0,0,0
$GC,10050,0.73,146.0,240.2,9.6,758,10056,0.00,1.15,0.00,0.000,4,0.000,0.047,2661,1492,1876,0,0,0,0,0,0
$GC,10135,0.73,146.0,231.7,9.4,771,10142,0.00,1.15,0.00,0.000,6,0.000,0.045,2661,2209,1876,0,0,0,0,0,0
$GC,10475,0.75,167.4,202.2,8.3,822,10503,0.00,1.17,17.35,1.014,4,0.000,0.047,2666,1491,1801,0,0,0,0,0,0
$GC,10754,0.75,167.4,174.8,9.5,864,10760,0.00,1.15,0.00,0.000,6,0.000,0.046,2666,2201,1800,0,0,0,0,0,0
$GC,11090,0.76,175.7,143.3,8.8,915,11104,0.00,1.17,8.07,0.926,4,0.000,0.049,2670,1494,1768,0,0,0,0,0,0
$GC,11310,0.76,175.7,122.3,9.7,948,11316,0.00,1.15,0.00,0.000,6,0.000,0.047,2670,2200,1767,0,0,0,0,0,0
$GC,11647,0.76,175.7,90.7,9.2,999,11654,0.00,1.12,0.00,0.000,4,0.000,0.057,2670,2907,1767,0,0,0,0,0,0
$GC,11748,0.76,175.7,81.2,9.4,1014,11756,0.08,1.15,0.00,0.000,6,0.158,0.037,2652,2197,1767,0,0,0,0,0,0
$GC,12088,0.81,211.6,54.1,7.7,1065,12124,0.00,1.12,31.48,0.971,4,0.000,0.051,2656,1497,1621,0,0,0,0,0,0
$GC,12356,0.86,259.0,34.2,7.2,1105,12404,0.00,1.15,40.35,0.940,6,0.000,0.047,2656,2195,1428,0,0,0,0,0,0
$GC,12739,0.91,294.4,3.1,7.7,1162,12753,0.12,0.00,11.40,0.086,2,0.093,0.000,2703,2195,1327,0,0,0,0,0,0
$STATE,12754,end climb,SURFACE_DEPTH_REACHED
$STATE,12754,begin surface coast
$FINISH,1.8,1.012037
$STATE,12773,end surface coast,CONTROL_FINISHED_OK
$STATE,12773,begin surface
$SM_CCo,12790,7.03,0.090,0,0,1261,300.00
$SM_GC,4.10,7.05,0.55,7.03,0.045,0.058,0.090,118,2520,1261,-7.08,-0.62,300.00,0,0,0,0,0,0
$RAFOS_CLK,839
$RAFOS,6,1320238143,12.833333,12.817500,139,62,61,0,0,0,796,185,127,0,0,0
$RAFOS,5,1320237665,12.700000,12.684722,89,59,58,0,0,0,886,187,177,0,0,0
$RAFOS,4,1320237181,12.566667,12.550278,91,59,56,0,0,0,684,218,177,0,0,0
$RAFOS,2,1320236225,12.300000,12.284722,115,69,64,0,0,0,606,146,193,0,0,0
$RAFOS_FIX,6643.808105,-5954.880371,021111,121230,5,108,24.19
$IRIDIUM_FIX,6614.97,-5937.58,021111,121245
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.04
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.30
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,550.7,168.3
$24V_AH,22.6,22.127
$10V_AH,10.1,17.243
$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,17.475,46.875,357.725,7.025,0.000,0.000,0.000,257.475,6.750,0.000,16.193,3166.843,7205.521,513.208,2156.475,204.185,0.000,1766.465,0.000,1882.092,1080.000,14.704,0.000
$DEVICE_MAMPS,263.160,95.625,1325.745,89.505,0.000,0.000,0.000,251.678,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,848.782,648.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,43424,1167
$CAP_FILE_SIZE,122261,0
$CFSIZE,260165632,235929600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.7
$CURRENT,0.100,232.0,1
$GPS,021111,160235,6645.833,-5957.472,38,0.9,38,-33.9