version: 66.09
glider: 143
mission: 13
dive: 2187
start: 2 7 112 15 46 16
data:
$ID,143
$MISSION,13
$DIVE,2187
$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,-262904.97
$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,21
$R_STBD_OVSHOOT,69
$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
$GPS1,070212,043312,5953.655,-6018.471,15,1.0,16,-26.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.33
$_SM_ANGLEo,2.9
$GPS2,070212,043312,5953.655,-6018.471,15,1.0,16,-26.9
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5943.507,-6011.145
$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,186.9,20000,-15.2,-7.143
$D_GRID,1287
$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,18,-0.63,-116.8,0.0,0.0,0,37,0.00,2.20,-13.40,0.000,6,0.000,0.083,2294,404,2729,0,0,0,0,0,0
$GC,41,-0.63,-116.8,0.0,0.0,0,46,0.55,0.17,0.00,0.000,4,0.070,0.094,2096,283,2730,0,0,0,0,0,0
$GC,95,-0.63,-116.8,15.2,0.0,1,97,0.00,0.15,0.00,0.000,6,0.000,0.053,2095,381,2731,0,0,0,0,0,0
$GC,720,-0.63,-116.8,83.5,-9.6,12,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,381,2731,0,0,0,0,0,0
$GC,1384,-0.63,-116.8,160.5,-12.1,19,1386,0.00,0.17,0.00,0.000,4,0.000,0.100,2095,273,2730,0,0,0,0,0,0
$GC,1428,-0.63,-116.8,160.5,-12.1,19,1430,0.00,0.20,0.00,0.000,6,0.000,0.045,2095,408,2730,0,0,0,0,0,0
$GC,2081,-0.63,-116.8,229.4,-9.4,25,2084,0.00,1.90,0.00,0.000,4,0.000,0.021,2093,1692,2730,0,0,0,0,0,0
$GC,2172,-0.63,-116.8,229.4,-9.4,25,2176,0.00,2.22,0.00,0.000,6,0.000,0.065,2093,398,2730,0,0,0,0,0,0
$GC,2777,-0.63,-116.8,295.8,-9.8,30,2780,0.00,1.92,0.00,0.000,4,0.000,0.022,2087,1704,2730,0,0,0,0,0,0
$GC,2825,-0.63,-116.8,295.8,-9.8,30,2829,0.00,2.25,0.00,0.000,6,0.000,0.065,2087,396,2730,0,0,0,0,0,0
$GC,3836,-0.63,-116.8,420.8,-11.8,39,3840,0.00,1.92,0.00,0.000,4,0.000,0.023,2087,1707,2732,0,0,0,0,0,0
$GC,3945,-0.63,-116.8,431.7,-11.3,40,3949,0.00,2.25,0.00,0.000,6,0.000,0.064,2087,398,2732,0,0,0,0,0,0
$GC,4899,-0.63,-116.8,521.5,-9.2,48,4901,0.00,0.17,0.00,0.000,4,0.000,0.094,2086,276,2734,0,0,0,0,0,0
$GC,4959,-0.63,-116.8,521.5,-9.2,48,4961,0.00,0.20,0.00,0.000,6,0.000,0.047,2087,414,2734,0,0,0,0,0,0
$GC,5957,-0.63,-116.8,629.0,-10.9,57,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,414,2736,0,0,0,0,0,0
$GC,6923,-0.63,-116.8,739.6,-11.4,65,6925,0.00,0.22,0.00,0.000,4,0.000,0.086,2087,277,2736,0,0,0,0,0,0
$GC,7016,-0.63,-116.8,739.6,-11.4,65,7018,0.00,0.20,0.00,0.000,6,0.000,0.047,2086,415,2736,0,0,0,0,0,0
$GC,7982,-0.63,-116.8,852.2,-10.8,73,7986,0.00,1.88,0.00,0.000,4,0.000,0.022,2086,1687,2736,0,0,0,0,0,0
$GC,8026,-0.63,-116.8,852.2,-10.8,73,8030,0.00,2.22,0.00,0.000,6,0.000,0.063,2086,391,2736,0,0,0,0,0,0
$STATE,8554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8555,begin apogee
$GC,8566,-0.16,0.0,907.5,-9.4,78,8679,0.45,0.15,105.62,1.421,6,0.080,0.067,2247,1699,2250,0,0,0,0,0,0
$STATE,8680,end apogee,CONTROL_FINISHED_OK
$STATE,8680,begin climb
$GC,8684,0.63,116.8,916.7,0.0,79,8803,0.75,2.33,112.78,1.380,4,0.054,0.060,2519,458,1772,0,0,0,0,0,0
$GC,8830,0.85,290.3,923.8,0.0,80,9008,0.17,2.12,169.43,1.357,6,0.061,0.020,2590,1735,1065,0,0,0,0,0,0
$GC,9991,0.85,290.3,809.3,10.5,90,9995,0.00,1.88,0.00,0.000,4,0.000,0.038,2591,2918,1057,0,0,0,0,0,0
$GC,10115,0.85,290.3,795.7,10.8,91,10119,0.00,2.03,0.00,0.000,6,0.000,0.042,2599,1690,1058,0,0,0,0,0,0
$GC,11055,0.85,290.3,670.7,13.1,99,11058,0.00,2.00,0.00,0.000,4,0.000,0.055,2609,465,1056,0,0,0,0,0,0
$GC,11177,0.85,290.3,656.8,12.9,100,11182,0.12,1.90,0.00,0.000,6,0.146,0.024,2578,1697,1054,0,0,0,0,0,0
$GC,12118,0.85,290.3,559.7,9.6,108,12122,0.00,1.95,0.00,0.000,4,0.000,0.041,2578,2928,1055,0,0,0,0,0,0
$GC,12241,0.85,290.3,549.7,9.3,109,12244,0.00,2.03,0.00,0.000,6,0.000,0.041,2584,1693,1055,0,0,0,0,0,0
$GC,13182,0.85,290.3,460.3,9.7,117,13185,0.00,2.00,0.00,0.000,4,0.000,0.056,2593,466,1055,0,0,0,0,0,0
$GC,13304,0.85,290.3,447.3,10.1,118,13307,0.00,1.90,0.00,0.000,6,0.000,0.024,2593,1701,1054,0,0,0,0,0,0
$GC,14244,0.85,290.3,348.7,10.9,126,14248,0.00,2.08,0.00,0.000,4,0.000,0.054,2602,454,1054,0,0,0,0,0,0
$GC,14289,0.85,290.3,348.7,10.9,126,14293,0.00,1.92,0.00,0.000,6,0.000,0.026,2602,1701,1054,0,0,0,0,0,0
$GC,15304,0.85,290.3,233.3,10.5,135,15305,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1702,1054,0,0,0,0,0,0
$GC,15906,0.85,290.3,176.4,9.2,140,15909,0.00,1.95,0.00,0.000,4,0.000,0.040,2602,2933,1054,0,0,0,0,0,0
$GC,16015,0.85,290.3,167.0,8.8,141,16020,0.15,2.03,0.00,0.000,6,0.139,0.042,2570,1697,1054,0,0,0,0,0,0
$GC,16728,0.85,290.3,114.8,7.4,147,16732,0.00,2.03,0.00,0.000,4,0.000,0.060,2578,469,1054,0,0,0,0,0,0
$GC,16851,0.85,290.9,106.8,7.1,148,16854,0.00,1.90,0.00,0.000,6,0.000,0.023,2578,1717,1054,0,0,0,0,0,0
$GC,17492,0.85,290.9,54.1,8.8,158,17496,0.00,1.88,0.00,0.000,4,0.000,0.035,2578,2917,1054,0,0,0,0,0,0
$GC,17616,0.85,290.9,44.7,8.8,160,17620,0.00,2.00,0.00,0.000,6,0.000,0.042,2586,1701,1054,0,0,0,0,0,0
$FREEZE,6.76,-1.302,-1.818,2,5,0
$FREEZE,3.14,-1.327,-1.815,2,5,0
$FREEZE,2.23,-1.358,-1.814,2,5,0
$FREEZE,2.23,-1.358,-1.814,2,5,0
$FREEZE,2.23,-1.358,-1.814,2,5,0
$GC,18259,0.90,331.0,2.2,5.5,171,18283,0.00,2.08,19.33,0.077,4,0.000,0.063,2595,472,899,0,0,0,0,0,0
$FREEZE,2.25,-1.387,-1.815,2,5,0
$FREEZE,2.25,-1.387,-1.815,2,5,0
$FREEZE,2.25,-1.387,-1.815,2,5,0
$FREEZE,2.25,-1.387,-1.815,2,5,0
$FREEZE,2.26,-1.369,-1.813,2,5,0
$FREEZE,2.26,-1.369,-1.813,2,5,0
$FREEZE,2.26,-1.369,-1.813,2,5,0
$FREEZE,2.26,-1.369,-1.813,2,5,0
$FREEZE,2.35,-1.373,-1.813,2,5,0
$FREEZE,2.35,-1.373,-1.813,2,5,0
$FREEZE,2.35,-1.373,-1.813,2,5,0
$FREEZE,2.35,-1.373,-1.813,2,5,0
$GC,18413,1.06,461.4,2.3,1.8,173,18472,0.12,1.88,53.85,0.078,6,0.080,0.021,2661,1737,442,0,0,0,0,0,0
$FREEZE,2.33,-1.381,-1.812,2,5,0
$FREEZE,1.98,-1.358,-1.812,2,5,0
$STATE,18593,end climb,SURFACE_DEPTH_REACHED
$STATE,18593,begin surface coast
$FREEZE,1.66,-1.443,-1.814,2,5,0
$FINISH,1.7,1.026621
$STATE,18650,end surface coast,NO_VERTICAL_VELOCITY
$STATE,18650,begin surface
$SM_CCo,18733,0.00,0.000,0,0,430,446.45
$SM_GC,2.50,7.22,2.22,0.00,0.067,0.057,0.000,124,411,430,-6.75,0.99,446.45,0,0,0,0,0,0
$RAFOS_CLK,1239
$RAFOS,6,1328647766,20.833334,20.823889,58,57,57,0,0,0,201,146,226,0,0,0
$RAFOS,5,1328647281,20.700001,20.689167,60,59,58,0,0,0,166,219,184,0,0,0
$RAFOS,4,1328646821,20.566668,20.561388,65,57,57,0,0,0,209,194,138,0,0,0
$RAFOS,3,1328646314,20.433332,20.420555,63,63,57,0,0,0,200,211,223,0,0,0
$RAFOS,0,1328644875,20.033333,20.020834,64,61,55,0,0,0,210,165,186,0,0,0
$RAFOS,4,1328632395,16.566668,16.554167,64,59,58,0,0,0,205,175,150,0,0,0
$RAFOS,1,1328630970,16.166666,16.158333,72,62,57,0,0,0,191,156,131,0,0,0
$RAFOS,0,1328630473,16.033333,16.020277,70,56,54,0,0,0,222,199,179,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5936.65,-6019.57,060212,171756
$TT8_MAMPS,0.026215,0.026215
$HUMID,59.88
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.1,16.8
$24V_AH,21.8,65.108
$10V_AH,9.9,69.104
$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,9.550,64.550,461.000,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,687.981,16887.881,521.688,513.712,183.666,0.000,840.182,0.000,507.425,2880.000,25.590,0.000
$DEVICE_MAMPS,146.115,100.215,1421.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,123.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270320
$DATA_FILE_SIZE,6859,177
$CAP_FILE_SIZE,63479,0
$CFSIZE,260165632,206647296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.6
$GPS,070212,210000,5947.048,-6011.456,40,0.9,40,-26.8