version: 66.09
glider: 143
mission: 13
dive: 176
start: 11 2 111 16 7 57
data:
$ID,143
$MISSION,13
$DIVE,176
$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,-80737.398
$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
$GPS1,021111,160235,6645.833,-5957.472,38,0.9,38,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-73.5
$GPS2,021111,160724,6645.775,-5957.461,18,0.9,18,-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,101.1,140488,-16.9,-9.167
$D_GRID,706
$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,-146.0,0.0,0.0,0,44,0.00,0.00,-26.25,0.000,2,0.000,0.000,118,2522,1616,0,0,0,0,0,0
$GC,47,-0.73,-146.0,3.1,-1.9,4,153,8.80,1.23,-91.90,0.000,4,0.264,0.073,2164,1812,3082,0,0,0,0,0,0
$GC,353,-0.73,-146.0,43.2,-17.0,49,362,0.00,1.20,0.00,0.000,6,0.000,0.057,2161,2504,3084,0,0,0,0,0,0
$GC,694,-0.73,-146.0,96.6,-15.6,100,701,0.00,1.15,0.00,0.000,4,0.000,0.043,2161,1812,3084,0,0,0,0,0,0
$GC,800,-0.73,-146.0,112.3,-14.5,116,807,0.00,1.20,0.00,0.000,6,0.000,0.057,2157,2510,3084,0,0,0,0,0,0
$GC,1136,-0.73,-146.0,159.9,-13.1,167,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2510,3084,0,0,0,0,0,0
$GC,1475,-0.73,-146.0,202.3,-12.5,218,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2510,3084,0,0,0,0,0,0
$GC,1812,-0.73,-146.0,245.3,-12.6,269,1820,0.00,1.15,0.00,0.000,4,0.000,0.044,2156,1813,3084,0,0,0,0,0,0
$GC,1895,-0.73,-146.0,255.7,-12.5,278,1898,0.00,1.20,0.00,0.000,6,0.000,0.057,2152,2514,3084,0,0,0,0,0,0
$GC,2225,-0.73,-146.0,299.3,-13.2,304,2228,0.00,1.15,0.00,0.000,4,0.000,0.043,2152,1814,3084,0,0,0,0,0,0
$GC,2269,-0.73,-146.0,304.5,-13.0,307,2277,0.00,1.23,0.00,0.000,6,0.000,0.055,2147,2520,3084,0,0,0,0,0,0
$GC,2593,-0.73,-146.0,347.7,-13.0,333,2597,0.00,1.15,0.00,0.000,4,0.000,0.043,2147,1816,3083,0,0,0,0,0,0
$GC,2637,-0.73,-146.0,352.7,-12.6,336,2645,0.00,1.20,0.00,0.000,6,0.000,0.055,2142,2509,3083,0,0,0,0,0,0
$GC,2963,-0.73,-146.0,393.7,-12.0,362,2967,0.00,1.12,0.00,0.000,4,0.000,0.041,2142,1818,3083,0,0,0,0,0,0
$GC,3029,-0.73,-146.0,401.7,-11.9,367,3033,0.00,1.17,0.00,0.000,6,0.000,0.056,2138,2508,3083,0,0,0,0,0,0
$GC,3359,-0.73,-146.0,441.1,-11.6,393,3363,0.00,1.12,0.00,0.000,4,0.000,0.069,2132,3217,3083,0,0,0,0,0,0
$GC,3412,-0.73,-146.0,447.4,-11.6,397,3416,0.10,1.10,0.00,0.000,6,0.153,0.034,2163,2500,3083,0,0,0,0,0,0
$GC,3740,-0.73,-146.0,479.7,-9.9,423,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2500,3083,0,0,0,0,0,0
$GC,4077,-0.73,-146.0,513.3,-10.0,444,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2500,3084,0,0,0,0,0,0
$GC,4385,-0.73,-146.0,542.9,-9.6,454,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2500,3084,0,0,0,0,0,0
$GC,4690,-0.73,-146.0,571.3,-9.3,464,4693,0.00,1.05,0.00,0.000,4,0.000,0.044,2163,1818,3084,0,0,0,0,0,0
$GC,4728,-0.73,-146.0,574.3,-9.1,465,4733,0.00,1.17,0.00,0.000,6,0.000,0.053,2161,2511,3084,0,0,0,0,0,0
$GC,5062,-0.73,-146.0,604.4,-8.8,476,5066,0.00,1.10,0.00,0.000,4,0.000,0.067,2155,3213,3085,0,0,0,0,0,0
$GC,5131,-0.73,-146.0,610.5,-9.0,478,5135,0.00,1.08,0.00,0.000,6,0.000,0.031,2155,2508,3084,0,0,0,0,0,0
$GC,5471,-0.73,-146.0,641.4,-9.0,489,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2508,3085,0,0,0,0,0,0
$GC,5777,-0.73,-146.0,671.8,-10.0,499,5781,0.00,1.17,0.00,0.000,4,0.000,0.064,2151,3219,3085,0,0,0,0,0,0
$GC,5823,-0.73,-146.0,675.4,-10.2,500,5826,0.00,1.08,0.00,0.000,6,0.000,0.032,2151,2515,3085,0,0,0,0,0,0
$STATE,6117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6117,begin apogee
$GC,6124,-0.16,0.0,708.1,-10.7,510,6250,0.60,0.00,120.32,1.350,6,0.133,0.000,2345,2180,2487,0,0,0,0,0,0
$STATE,6251,end apogee,CONTROL_FINISHED_OK
$STATE,6251,begin climb
$GC,6253,0.73,146.0,713.5,0.0,514,6392,0.82,1.42,130.43,1.291,4,0.054,0.051,2641,2908,1889,0,0,0,0,0,0
$GC,6642,0.73,146.0,678.3,12.2,526,6647,0.00,1.20,0.00,0.000,6,0.000,0.034,2645,2211,1881,0,0,0,0,0,0
$GC,6970,0.73,146.0,636.4,12.4,537,6973,0.00,1.23,0.00,0.000,4,0.000,0.050,2645,2917,1878,0,0,0,0,0,0
$GC,7226,0.73,146.0,607.3,12.2,544,7234,0.00,1.20,0.00,0.000,6,0.000,0.034,2650,2194,1878,0,0,0,0,0,0
$GC,7540,0.73,146.0,565.5,12.6,555,7544,0.00,1.23,0.00,0.000,4,0.000,0.051,2650,2913,1878,0,0,0,0,0,0
$GC,7641,0.73,146.0,552.0,13.3,558,7645,0.00,1.15,0.00,0.000,6,0.000,0.035,2655,2201,1877,0,0,0,0,0,0
$GC,7980,0.73,146.0,506.9,13.4,569,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2201,1876,0,0,0,0,0,0
$GC,8294,0.73,146.0,465.7,13.0,591,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2201,1875,0,0,0,0,0,0
$GC,8609,0.73,146.0,426.1,12.2,616,8613,0.00,1.20,0.00,0.000,4,0.000,0.052,2655,2914,1876,0,0,0,0,0,0
$GC,8667,0.73,146.0,419.5,12.5,620,8675,0.00,1.17,0.00,0.000,6,0.000,0.034,2660,2192,1876,0,0,0,0,0,0
$GC,8993,0.73,146.0,380.3,12.0,646,8996,0.00,1.05,0.00,0.000,4,0.000,0.047,2665,1498,1876,0,0,0,0,0,0
$GC,9100,0.73,146.0,367.2,11.9,654,9105,0.10,1.15,0.00,0.000,6,0.153,0.045,2634,2210,1876,0,0,0,0,0,0
$GC,9429,0.73,146.0,332.5,10.6,680,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2210,1875,0,0,0,0,0,0
$GC,9745,0.73,146.0,298.7,10.0,705,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2210,1875,0,0,0,0,0,0
$GC,10061,0.73,146.0,266.9,10.0,730,10065,0.00,1.10,0.00,0.000,4,0.000,0.056,2634,2901,1875,0,0,0,0,0,0
$GC,10199,0.73,146.0,253.0,10.4,740,10206,0.00,1.15,0.00,0.000,6,0.000,0.036,2637,2195,1875,0,0,0,0,0,0
$GC,10535,0.74,158.1,221.9,8.7,789,10551,0.00,1.05,9.55,0.980,4,0.000,0.047,2643,1491,1839,0,0,0,0,0,0
$GC,10704,0.74,158.1,206.5,9.4,814,10711,0.00,1.15,0.00,0.000,6,0.000,0.046,2643,2202,1839,0,0,0,0,0,0
$GC,11042,0.74,160.9,173.7,9.1,865,11052,0.00,1.15,3.72,0.704,4,0.000,0.055,2643,2904,1829,0,0,0,0,0,0
$GC,11305,0.76,172.7,149.2,8.7,904,11321,0.00,1.12,12.05,0.974,6,0.000,0.037,2647,2202,1780,0,0,0,0,0,0
$GC,11652,0.78,192.8,121.2,8.3,956,11675,0.00,1.12,18.62,0.986,4,0.000,0.049,2653,1496,1697,0,0,0,0,0,0
$GC,11776,0.78,192.8,109.9,9.6,974,11782,0.00,1.15,0.00,0.000,6,0.000,0.045,2653,2197,1695,0,0,0,0,0,0
$GC,12113,0.78,192.8,77.4,9.6,1025,12122,0.00,1.12,0.00,0.000,4,0.000,0.058,2653,2897,1694,0,0,0,0,0,0
$GC,12181,0.78,192.8,70.5,9.9,1035,12188,0.00,1.15,0.00,0.000,6,0.000,0.040,2657,2196,1694,0,0,0,0,0,0
$GC,12522,0.82,220.7,39.4,8.0,1086,12550,0.00,1.15,24.02,0.955,4,0.000,0.052,2663,1490,1585,0,0,0,0,0,0
$GC,12790,0.90,287.6,19.6,6.4,1126,12830,0.00,1.17,35.65,0.124,6,0.000,0.049,2663,2199,1311,0,0,0,0,0,0
$STATE,12993,end climb,SURFACE_DEPTH_REACHED
$STATE,12994,begin surface coast
$FINISH,1.9,1.025357
$STATE,13015,end surface coast,CONTROL_FINISHED_OK
$STATE,13015,begin surface
$SM_CCo,13031,4.47,0.090,0,0,1262,300.00
$SM_GC,3.92,6.90,0.52,4.47,0.047,0.060,0.090,123,2511,1262,-7.06,-0.88,300.00,0,0,0,0,0,0
$RAFOS_CLK,853
$RAFOS,6,1320252553,16.833334,16.820278,115,58,57,0,0,0,725,222,162,0,0,0
$RAFOS,5,1320252071,16.700001,16.686388,145,60,57,0,0,0,847,154,217,0,0,0
$RAFOS,4,1320251588,16.566668,16.552221,130,75,60,0,0,0,641,206,197,0,0,0
$RAFOS,3,1320251105,16.433332,16.418056,99,65,61,0,0,0,734,178,213,0,0,0
$RAFOS,2,1320250624,16.299999,16.284445,83,58,53,0,0,0,635,203,221,0,0,0
$RAFOS,1,1320250148,16.166666,16.152222,96,63,59,0,0,0,512,171,212,0,0,0
$RAFOS_FIX,6645.130371,-5952.768066,021111,161617,6,111,2.54
$IRIDIUM_FIX,6620.33,-6025.46,021111,121242
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,650.3,103.2
$24V_AH,22.6,22.240
$10V_AH,10.3,17.325
$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,17.325,49.650,354.375,4.475,0.000,0.000,0.000,177.750,6.250,0.000,19.343,3174.838,7342.883,490.411,2131.677,210.362,0.000,1688.232,0.000,1930.937,2160.000,21.154,0.000
$DEVICE_MAMPS,263.925,72.675,1350.225,90.270,0.000,0.000,0.000,262.164,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.029,649.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150276
$DATA_FILE_SIZE,43293,1160
$CAP_FILE_SIZE,125197,0
$CFSIZE,260165632,235859968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1451.7
$CURRENT,0.131,320.0,1
$GPS,021111,194654,6647.457,-5954.425,37,0.7,37,-33.9