version: 66.09
glider: 143
mission: 13
dive: 2143
start: 1 30 112 21 50 49
data:
$ID,143
$MISSION,13
$DIVE,2143
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,420
$T_MISSION,540
$T_ABORT,720
$T_TURN,120
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,160
$ESCAPE_HEADING,160
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,443.50238
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-261602.5
$T_RSLEEP,30
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2300
$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,35
$C_ROLL_DIVE,400
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2250
$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,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,300112,214500,6036.900,-6036.051,54,0.8,54,-27.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-45.5
$GPS2,300112,215014,6036.858,-6036.050,23,1.1,23,-27.5
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6026.710,-6028.562
$TGT_RADIUS,1852.000
$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,187.5,20000,-15.2,-7.143
$D_GRID,1529
$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,18,-0.63,-116.8,0.0,0.0,0,166,0.00,0.00,-145.75,0.000,6,0.000,0.000,118,394,2727,0,0,0,0,0,0
$GC,171,-0.63,-116.8,2.5,0.0,1,185,8.57,0.17,0.00,0.000,4,0.248,0.097,2090,284,2730,0,0,0,0,0,0
$GC,311,-0.63,-116.8,42.2,-16.5,4,313,0.00,0.17,0.00,0.000,6,0.000,0.053,2090,400,2733,0,0,0,0,0,0
$GC,963,-0.63,-116.8,116.2,-11.2,14,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,400,2730,0,0,0,0,0,0
$GC,1566,-0.63,-116.8,172.5,-9.2,19,1568,0.00,0.20,0.00,0.000,4,0.000,0.094,2090,279,2730,0,0,0,0,0,0
$GC,1595,-0.63,-116.8,172.5,-9.2,19,1597,0.00,0.20,0.00,0.000,6,0.000,0.048,2090,413,2730,0,0,0,0,0,0
$GC,2264,-0.63,-116.8,249.4,-11.7,25,2265,0.00,0.22,0.00,0.000,4,0.000,0.091,2090,278,2733,0,0,0,0,0,0
$GC,2292,-0.63,-116.8,249.4,-11.7,25,2294,0.00,0.20,0.00,0.000,6,0.000,0.048,2090,412,2733,0,0,0,0,0,0
$GC,2961,-0.63,-116.8,332.2,-11.6,31,2963,0.00,0.22,0.00,0.000,4,0.000,0.090,2090,278,2735,0,0,0,0,0,0
$GC,2974,-0.63,-116.8,332.2,-11.6,31,2976,0.00,0.20,0.00,0.000,6,0.000,0.049,2090,412,2735,0,0,0,0,0,0
$GC,3899,-0.63,-116.8,425.6,-9.5,39,3903,0.00,1.88,0.00,0.000,4,0.000,0.024,2082,1680,2737,0,0,0,0,0,0
$GC,4007,-0.63,-116.8,435.5,-9.4,40,4011,0.00,2.22,0.00,0.000,6,0.000,0.069,2082,393,2737,0,0,0,0,0,0
$GC,4963,-0.63,-116.8,527.0,-9.9,48,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,392,2738,0,0,0,0,0,0
$GC,5926,-0.63,-116.8,632.0,-11.2,56,5928,0.00,0.17,0.00,0.000,4,0.000,0.097,2082,272,2739,0,0,0,0,0,0
$GC,6035,-0.63,-116.8,644.4,-11.2,57,6037,0.00,0.20,0.00,0.000,6,0.000,0.048,2081,407,2739,0,0,0,0,0,0
$GC,6991,-0.63,-116.8,755.8,-12.0,65,6994,0.00,1.90,0.00,0.000,4,0.000,0.024,2073,1685,2739,0,0,0,0,0,0
$GC,7065,-0.63,-116.8,755.8,-12.0,65,7069,0.00,2.22,0.00,0.000,6,0.000,0.068,2073,398,2739,0,0,0,0,0,0
$GC,8049,-0.63,-116.8,882.9,-11.5,74,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,398,2740,0,0,0,0,0,0
$STATE,8288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8288,begin apogee
$GC,8299,-0.16,0.0,908.4,-10.9,76,8412,0.50,0.10,105.68,1.424,6,0.083,0.066,2246,1694,2251,0,0,0,0,0,0
$STATE,8413,end apogee,CONTROL_FINISHED_OK
$STATE,8413,begin climb
$GC,8417,0.63,116.8,919.1,0.0,77,8535,0.75,2.28,112.15,1.385,4,0.051,0.035,2513,2941,1773,0,0,0,0,0,0
$GC,8578,0.85,290.3,927.4,0.0,78,8750,0.15,2.28,166.20,1.366,6,0.067,0.048,2584,1695,1066,0,0,0,0,0,0
$GC,9709,0.85,290.3,805.3,12.7,87,9713,0.00,2.03,0.00,0.000,4,0.000,0.040,2585,2934,1057,0,0,0,0,0,0
$GC,9833,0.85,290.3,790.3,13.1,88,9837,0.00,2.08,0.00,0.000,6,0.000,0.044,2594,1683,1057,0,0,0,0,0,0
$GC,10772,0.85,290.3,652.3,14.3,96,10776,0.00,2.00,0.00,0.000,4,0.000,0.059,2603,465,1055,0,0,0,0,0,0
$GC,10895,0.85,290.3,637.0,14.1,97,10899,0.00,1.95,0.00,0.000,6,0.000,0.028,2603,1715,1054,0,0,0,0,0,0
$GC,11836,0.85,290.3,520.6,11.6,105,11840,0.00,1.92,0.00,0.000,4,0.000,0.043,2603,2925,1054,0,0,0,0,0,0
$GC,11945,0.85,290.3,507.9,11.5,106,11950,0.15,2.03,0.00,0.000,6,0.136,0.044,2571,1693,1053,0,0,0,0,0,0
$GC,12899,0.85,290.3,426.9,8.2,114,12902,0.00,2.03,0.00,0.000,4,0.000,0.059,2578,459,1054,0,0,0,0,0,0
$GC,13022,0.85,290.3,417.9,8.1,115,13026,0.00,1.95,0.00,0.000,6,0.000,0.028,2578,1717,1053,0,0,0,0,0,0
$GC,13962,0.85,290.3,333.5,9.1,123,13965,0.00,2.10,0.00,0.000,4,0.000,0.057,2587,462,1053,0,0,0,0,0,0
$GC,14085,0.85,290.3,322.7,9.4,124,14088,0.00,1.92,0.00,0.000,6,0.000,0.028,2587,1704,1053,0,0,0,0,0,0
$GC,15025,0.85,290.3,226.7,10.6,132,15029,0.00,1.95,0.00,0.000,4,0.000,0.042,2587,2931,1053,0,0,0,0,0,0
$GC,15148,0.85,290.3,213.4,11.2,133,15151,0.00,2.03,0.00,0.000,6,0.000,0.044,2595,1699,1053,0,0,0,0,0,0
$GC,15846,0.85,290.3,124.8,12.4,139,15850,0.00,2.00,0.00,0.000,4,0.000,0.041,2595,2928,1053,0,0,0,0,0,0
$GC,15970,0.85,290.3,112.0,12.2,140,15974,0.00,2.03,0.00,0.000,6,0.000,0.044,2603,1698,1053,0,0,0,0,0,0
$GC,16611,0.85,290.3,42.1,10.0,150,16615,0.00,2.00,0.00,0.000,4,0.000,0.041,2603,2930,1053,0,0,0,0,0,0
$GC,16734,0.85,290.3,30.4,10.4,152,16739,0.15,2.05,0.00,0.000,6,0.132,0.046,2571,1692,1054,0,0,0,0,0,0
$FREEZE,7.06,-1.680,-1.853,2,1,0
$FREEZE,2.69,-1.686,-1.850,2,1,0
$FREEZE,2.09,-1.694,-1.849,2,1,0
$FREEZE,1.63,-1.707,-1.849,2,1,0
$STATE,17189,end climb,SURFACE_DEPTH_REACHED
$STATE,17189,begin surface coast
$FREEZE,1.66,-1.701,-1.848,2,1,0
$FINISH,1.7,1.027106
$STATE,17250,end surface coast,CONTROL_FINISHED_OK
$STATE,17251,begin surface
$SM_CCo,17273,72.43,0.075,0,0,441,443.50
$SM_GC,2.56,7.38,2.15,72.43,0.097,0.064,0.075,121,406,441,-6.76,0.74,443.50,0,0,0,0,0,0
$RAFOS_CLK,1094
$RAFOS,4,1327969985,0.566667,0.551389,65,64,59,0,0,0,205,194,177,0,0,0
$RAFOS,1,1327968551,0.166667,0.153056,59,55,51,0,0,0,121,197,154,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6015.40,-6035.43,300112,050535
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.70
$XPDR_PINGS,10
$ALTIM_TOP_PING,16.4,14.2
$24V_AH,21.9,59.319
$10V_AH,10.0,67.602
$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,17.650,51.100,384.025,72.425,0.000,0.000,0.000,146.450,6.000,0.000,23.971,640.764,15495.792,636.780,646.279,264.915,0.000,1100.347,0.000,498.792,720.000,25.588,0.000
$DEVICE_MAMPS,247.860,97.155,1423.665,74.970,0.000,0.000,0.000,220.969,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,111.961,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270368
$DATA_FILE_SIZE,6914,161
$CAP_FILE_SIZE,61371,0
$CFSIZE,260165632,207798272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1471.3
$GPS,310112,024129,6036.004,-6036.863,40,1.1,40,-27.5