version: 66.09
glider: 143
mission: 13
dive: 2190
start: 2 8 112 4 31 38
data:
$ID,143
$MISSION,13
$DIVE,2190
$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,-263088.62
$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,16
$R_STBD_OVSHOOT,73
$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
$GPS1,080212,042035,5944.121,-6009.624,30,1.0,30,-26.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-47.9
$GPS2,080212,042035,5944.121,-6009.624,181,99.0,181,-26.8
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5933.973,-6002.332
$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,186.8,20000,-15.2,-7.143
$D_GRID,1326
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.63,-116.8,0.0,0.0,0,190,0.00,0.00,-166.52,0.000,6,0.000,0.000,113,398,2727,0,0,0,0,0,0
$GC,195,-0.63,-116.8,2.5,0.0,2,208,8.23,1.88,0.00,0.000,4,0.230,0.023,2081,1629,2729,0,0,0,0,0,0
$GC,265,-0.63,-116.8,4.8,-2.4,3,269,0.00,2.15,0.00,0.000,6,0.000,0.068,2081,390,2730,0,0,0,0,0,0
$GC,888,-0.63,-116.8,84.4,-13.4,14,890,0.00,0.17,0.00,0.000,4,0.000,0.099,2080,274,2730,0,0,0,0,0,0
$GC,1012,-0.63,-116.8,97.4,-12.5,16,1014,0.00,0.15,0.00,0.000,6,0.000,0.052,2080,377,2729,0,0,0,0,0,0
$GC,1647,-0.63,-116.8,166.1,-10.4,22,1649,0.00,0.17,0.00,0.000,4,0.000,0.096,2080,272,2728,0,0,0,0,0,0
$GC,1770,-0.63,-116.8,178.1,-10.9,23,1772,0.00,0.20,0.00,0.000,6,0.000,0.046,2079,408,2728,0,0,0,0,0,0
$GC,2469,-0.63,-116.8,262.0,-12.0,29,2473,0.00,1.88,0.00,0.000,4,0.000,0.021,2070,1721,2730,0,0,0,0,0,0
$GC,2593,-0.63,-116.8,275.4,-12.2,30,2597,0.00,2.33,0.00,0.000,6,0.000,0.067,2070,392,2729,0,0,0,0,0,0
$GC,3534,-0.63,-116.8,361.8,-8.6,38,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,392,2732,0,0,0,0,0,0
$GC,4499,-0.63,-116.8,454.6,-9.1,46,4501,0.00,0.17,0.00,0.000,4,0.000,0.097,2070,274,2734,0,0,0,0,0,0
$GC,4621,-0.63,-116.8,464.7,-9.1,47,4623,0.00,0.20,0.00,0.000,6,0.000,0.048,2069,414,2734,0,0,0,0,0,0
$GC,5561,-0.63,-116.8,553.5,-9.6,55,5563,0.00,0.22,0.00,0.000,4,0.000,0.086,2069,279,2736,0,0,0,0,0,0
$GC,5684,-0.63,-116.8,564.5,-9.9,56,5686,0.00,0.17,0.00,0.000,6,0.000,0.050,2068,400,2735,0,0,0,0,0,0
$GC,6626,-0.63,-116.8,652.1,-9.3,64,6629,0.00,1.90,0.00,0.000,4,0.000,0.024,2059,1730,2736,0,0,0,0,0,0
$GC,6746,-0.63,-116.8,661.4,-9.1,65,6750,0.15,2.33,0.00,0.000,6,0.138,0.067,2099,393,2736,0,0,0,0,0,0
$GC,7686,-0.63,-116.8,739.5,-8.4,73,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,392,2737,0,0,0,0,0,0
$GC,8651,-0.63,-116.8,824.9,-8.8,81,8653,0.00,0.17,0.00,0.000,4,0.000,0.093,2099,269,2737,0,0,0,0,0,0
$GC,8664,-0.63,-116.8,824.9,-8.8,81,8666,0.00,0.20,0.00,0.000,6,0.000,0.045,2099,409,2737,0,0,0,0,0,0
$STATE,9588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9588,begin apogee
$GC,9599,-0.16,0.0,906.6,-8.7,89,9712,0.43,0.17,106.70,1.422,6,0.083,0.080,2248,1686,2250,0,0,0,0,0,0
$STATE,9713,end apogee,CONTROL_FINISHED_OK
$STATE,9713,begin climb
$GC,9717,0.63,116.8,916.6,0.0,90,9834,0.75,0.00,113.10,1.384,6,0.057,0.000,2507,1686,1773,0,0,0,0,0,0
$GC,10802,0.92,352.0,949.9,-2.5,99,11029,0.25,2.30,217.75,1.413,4,0.050,0.036,2618,2937,814,0,0,0,0,0,0
$GC,11148,1.04,446.6,924.0,3.3,101,11241,0.00,2.17,87.38,1.353,6,0.000,0.039,2627,1691,442,0,0,0,0,0,0
$GC,12219,1.04,446.6,814.9,10.6,110,12223,0.00,2.00,0.00,0.000,4,0.000,0.055,2635,462,434,0,0,0,0,0,0
$GC,12263,1.04,446.6,814.9,10.6,110,12267,0.00,1.95,0.00,0.000,6,0.000,0.024,2635,1727,434,0,0,0,0,0,0
$GC,13278,1.04,446.6,695.8,11.3,119,13281,0.00,1.88,0.00,0.000,4,0.000,0.039,2635,2922,434,0,0,0,0,0,0
$GC,13337,1.04,446.6,695.8,11.3,119,13341,0.00,2.03,0.00,0.000,6,0.000,0.041,2642,1685,434,0,0,0,0,0,0
$GC,14336,1.04,446.6,573.5,11.4,128,14339,0.00,2.00,0.00,0.000,4,0.000,0.057,2650,453,433,0,0,0,0,0,0
$GC,14459,1.04,446.6,560.3,11.5,129,14462,0.00,1.92,0.00,0.000,6,0.000,0.028,2650,1688,434,0,0,0,0,0,0
$GC,15399,1.04,446.6,438.2,12.1,137,15401,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1688,433,0,0,0,0,0,0
$GC,16364,1.04,446.6,315.5,13.9,145,16367,0.00,1.98,0.00,0.000,4,0.000,0.045,2651,2925,433,0,0,0,0,0,0
$GC,16473,1.04,446.6,299.2,14.4,146,16477,0.00,2.00,0.00,0.000,6,0.000,0.034,2659,1683,434,0,0,0,0,0,0
$GC,17428,1.04,446.6,176.9,12.2,154,17431,0.00,1.95,0.00,0.000,4,0.000,0.051,2667,473,434,0,0,0,0,0,0
$GC,17519,1.04,446.6,176.9,12.2,154,17523,0.12,1.92,0.00,0.000,6,0.122,0.028,2631,1707,434,0,0,0,0,0,0
$GC,18124,1.04,446.6,105.0,9.4,159,18127,0.00,2.05,0.00,0.000,4,0.000,0.054,2637,470,434,0,0,0,0,0,0
$GC,18202,1.04,446.6,105.0,9.4,159,18206,0.00,1.92,0.00,0.000,6,0.000,0.026,2637,1715,434,0,0,0,0,0,0
$GC,18823,1.04,446.6,27.8,8.7,170,18827,0.00,1.90,0.00,0.000,4,0.000,0.036,2637,2934,434,0,0,0,0,0,0
$GC,18870,1.04,446.6,23.4,8.4,171,18874,0.00,2.03,0.00,0.000,6,0.000,0.041,2645,1698,434,0,0,0,0,0,0
$FREEZE,5.92,-1.679,-1.794,2,3,0
$FREEZE,1.54,-1.635,-1.774,2,3,0
$STATE,19096,end climb,SURFACE_DEPTH_REACHED
$STATE,19096,begin surface coast
$FREEZE,1.49,-1.671,-0.768,2,3,0
$FINISH,1.5,1.011270
$STATE,19158,end surface coast,FINISH_DEPTH_REACHED
$STATE,19158,begin surface
$SM_CCo,19242,0.00,0.000,0,0,434,445.46
$SM_GC,2.32,6.90,2.15,0.00,0.052,0.064,0.000,112,409,434,-6.77,0.90,445.46,0,0,0,0,0,0
$RAFOS_CLK,1252
$RAFOS,4,1328689985,8.566667,8.551389,65,58,58,0,0,0,214,203,194,0,0,0
$RAFOS,5,1328676079,4.700000,4.688611,65,58,55,0,0,0,192,115,209,0,0,0
$RAFOS,4,1328675592,4.566667,4.553333,59,55,53,0,0,0,174,207,123,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5919.67,-6009.49,080212,040412
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.60
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.60
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.0,17.5
$24V_AH,21.8,65.615
$10V_AH,10.0,69.218
$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,16.825,50.600,524.925,0.000,0.000,0.000,0.000,186.025,6.250,0.000,181.766,668.251,17378.242,706.361,875.201,262.283,0.000,1228.896,0.000,515.171,1080.000,25.600,0.000
$DEVICE_MAMPS,229.500,98.685,1422.135,0.000,0.000,0.000,0.000,204.491,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,122.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270292
$DATA_FILE_SIZE,6926,176
$CAP_FILE_SIZE,63823,0
$CFSIZE,260165632,206557184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.5
$GPS,080212,095337,5941.792,-6005.772,27,1.8,27,-26.8