version: 66.09
glider: 143
mission: 13
dive: 2218
start: 2 12 112 4 12 25
data:
$ID,143
$MISSION,13
$DIVE,2218
$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,-8
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,990
$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,-263830.12
$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,57
$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
$GPS1,120212,040632,5920.638,-5935.365,41,0.9,41,-26.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-66.5
$GPS2,120212,041149,5920.557,-5935.228,17,1.1,18,-26.5
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5910.409,-5928.021
$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,186.5,20000,-15.2,-7.143
$D_GRID,1838
$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,17,-0.63,-116.8,0.0,0.0,0,80,0.00,0.00,-60.70,0.000,2,0.000,0.000,116,405,1348,0,0,0,0,0,0
$GC,84,-0.63,-116.8,3.1,0.0,1,160,8.57,0.00,-64.00,0.000,6,0.241,0.000,2086,405,2727,0,0,0,0,0,0
$GC,749,-0.63,-116.8,76.2,-11.0,12,751,0.00,0.20,0.00,0.000,4,0.000,0.093,2087,277,2729,0,0,0,0,0,0
$GC,870,-0.63,-116.8,88.3,-11.1,14,872,0.00,0.17,0.00,0.000,6,0.000,0.050,2087,394,2729,0,0,0,0,0,0
$GC,1507,-0.63,-116.8,156.7,-10.3,21,1510,0.00,1.92,0.00,0.000,4,0.000,0.023,2079,1723,2728,0,0,0,0,0,0
$GC,1617,-0.63,-116.8,167.8,-10.2,22,1621,0.00,2.33,0.00,0.000,6,0.000,0.070,2078,393,2728,0,0,0,0,0,0
$GC,2328,-0.63,-116.8,245.2,-11.1,28,2330,0.00,0.17,0.00,0.000,4,0.000,0.099,2078,276,2728,0,0,0,0,0,0
$GC,2451,-0.63,-116.8,257.7,-11.3,29,2453,0.00,0.20,0.00,0.000,6,0.000,0.049,2077,411,2728,0,0,0,0,0,0
$GC,3395,-0.63,-116.8,352.9,-9.4,37,3397,0.00,0.22,0.00,0.000,4,0.000,0.087,2077,277,2730,0,0,0,0,0,0
$GC,3514,-0.63,-116.8,362.0,-9.1,38,3517,0.00,0.20,0.00,0.000,6,0.000,0.047,2077,415,2730,0,0,0,0,0,0
$GC,4455,-0.63,-116.8,443.7,-9.0,46,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,416,2732,0,0,0,0,0,0
$GC,5420,-0.63,-116.8,546.2,-11.4,54,5424,0.00,1.88,0.00,0.000,4,0.000,0.025,2067,1729,2734,0,0,0,0,0,0
$GC,5511,-0.63,-116.8,546.2,-11.4,54,5515,0.00,2.35,0.00,0.000,6,0.000,0.068,2067,388,2733,0,0,0,0,0,0
$GC,6478,-0.63,-116.8,666.2,-10.9,62,6482,0.00,1.92,0.00,0.000,4,0.000,0.026,2059,1727,2734,0,0,0,0,0,0
$GC,6602,-0.63,-116.8,677.7,-10.8,63,6607,0.15,2.33,0.00,0.000,6,0.133,0.067,2099,395,2734,0,0,0,0,0,0
$GC,7543,-0.63,-116.8,765.5,-8.9,71,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,395,2735,0,0,0,0,0,0
$GC,8506,-0.63,-116.8,848.8,-8.7,79,8510,0.00,1.92,0.00,0.000,4,0.000,0.022,2094,1680,2736,0,0,0,0,0,0
$GC,8617,-0.63,-116.8,858.2,-8.7,80,8621,0.00,2.20,0.00,0.000,6,0.000,0.064,2093,401,2736,0,0,0,0,0,0
$STATE,9205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9205,begin apogee
$GC,9215,-0.16,0.0,908.8,-8.5,85,9329,0.43,0.20,106.78,1.421,6,0.079,0.079,2248,1686,2250,0,0,0,0,0,0
$STATE,9330,end apogee,CONTROL_FINISHED_OK
$STATE,9330,begin climb
$GC,9334,0.63,116.8,917.8,0.0,86,9455,0.75,2.30,113.60,1.385,4,0.050,0.060,2523,463,1772,0,0,0,0,0,0
$GC,9561,0.85,290.3,928.1,0.0,88,9735,0.15,2.05,166.80,1.367,6,0.069,0.020,2588,1741,1066,0,0,0,0,0,0
$GC,10645,0.85,290.3,833.9,8.9,97,10649,0.00,2.15,0.00,0.000,4,0.000,0.054,2597,459,1056,0,0,0,0,0,0
$GC,10768,0.85,290.3,822.7,9.0,98,10772,0.00,1.90,0.00,0.000,6,0.000,0.024,2597,1687,1055,0,0,0,0,0,0
$GC,11709,0.85,290.3,722.6,10.3,106,11713,0.00,1.98,0.00,0.000,4,0.000,0.041,2597,2933,1054,0,0,0,0,0,0
$GC,11831,0.85,290.3,710.8,10.4,107,11836,0.12,2.03,0.00,0.000,6,0.140,0.040,2573,1693,1055,0,0,0,0,0,0
$GC,12771,0.85,290.3,619.5,9.8,115,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1693,1054,0,0,0,0,0,0
$GC,13740,0.85,290.3,517.7,10.9,123,13744,0.00,2.00,0.00,0.000,4,0.000,0.056,2581,470,1053,0,0,0,0,0,0
$GC,13860,0.85,290.3,505.1,11.2,124,13863,0.00,1.90,0.00,0.000,6,0.000,0.022,2581,1713,1053,0,0,0,0,0,0
$GC,14800,0.85,290.3,398.8,11.1,132,14804,0.00,2.08,0.00,0.000,4,0.000,0.052,2589,465,1053,0,0,0,0,0,0
$GC,14924,0.85,290.3,385.8,11.3,133,14927,0.00,1.90,0.00,0.000,6,0.000,0.024,2589,1705,1053,0,0,0,0,0,0
$GC,15863,0.85,290.3,278.4,11.1,141,15867,0.00,1.92,0.00,0.000,4,0.000,0.038,2589,2926,1052,0,0,0,0,0,0
$GC,15986,0.85,290.3,266.4,11.2,142,15990,0.00,2.03,0.00,0.000,6,0.000,0.041,2597,1689,1053,0,0,0,0,0,0
$GC,16927,0.85,290.3,164.8,10.8,150,16931,0.00,2.00,0.00,0.000,4,0.000,0.056,2607,469,1053,0,0,0,0,0,0
$GC,17049,0.85,290.3,152.8,11.0,151,17053,0.12,1.90,0.00,0.000,6,0.142,0.023,2575,1716,1053,0,0,0,0,0,0
$GC,17688,0.85,290.3,92.3,9.0,157,17691,0.00,1.90,0.00,0.000,4,0.000,0.037,2575,2926,1053,0,0,0,0,0,0
$GC,17749,0.85,290.3,88.0,8.9,158,17753,0.00,2.03,0.00,0.000,6,0.000,0.041,2581,1692,1053,0,0,0,0,0,0
$GC,18388,0.85,290.3,35.3,7.6,169,18391,0.00,2.03,0.00,0.000,4,0.000,0.059,2590,464,1053,0,0,0,0,0,0
$GC,18511,0.85,290.3,26.4,7.8,171,18514,0.00,1.90,0.00,0.000,6,0.000,0.021,2590,1717,1053,0,0,0,0,0,0
$FREEZE,8.70,-1.385,-1.828,2,1,0
$FREEZE,3.85,-1.405,-1.823,2,1,0
$FREEZE,2.23,-1.452,-1.821,2,1,0
$FREEZE,1.70,-1.455,-1.821,2,1,0
$STATE,18905,end climb,SURFACE_DEPTH_REACHED
$STATE,18905,begin surface coast
$FREEZE,1.69,-1.511,-1.818,2,1,0
$FINISH,1.7,1.026671
$STATE,18970,end surface coast,CONTROL_FINISHED_OK
$STATE,18971,begin surface
$SM_CCo,18993,72.78,0.077,0,0,442,443.50
$SM_GC,2.55,6.78,2.22,72.78,0.053,0.061,0.077,119,410,442,-6.76,0.93,443.50,0,0,0,0,0,0
$RAFOS_CLK,1205
$RAFOS,0,1329033678,8.033334,8.021667,61,60,59,0,0,0,205,219,187,0,0,0
$RAFOS,5,1329021666,4.700000,4.685000,59,59,51,0,0,0,208,219,147,0,0,0
$RAFOS,4,1329021207,4.566667,4.557500,60,56,55,0,0,0,209,221,162,0,0,0
$RAFOS,3,1329020703,4.433333,4.417500,70,61,60,0,0,0,199,211,124,0,0,0
$RAFOS,2,1329020263,4.300000,4.295278,72,58,54,0,0,0,213,201,160,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5902.83,-5935.49,110212,151521
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.04
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.60
$XPDR_PINGS,10
$ALTIM_TOP_PING,17.8,15.3
$24V_AH,21.7,69.199
$10V_AH,10.0,69.996
$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,17.075,58.450,387.175,72.775,0.000,0.000,0.000,144.500,6.000,0.000,18.748,702.304,17106.367,628.809,687.256,282.489,0.000,1110.572,0.000,549.197,1800.000,25.594,0.000
$DEVICE_MAMPS,240.975,98.685,1421.370,77.265,0.000,0.000,0.000,223.216,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,124.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191660
$DATA_FILE_SIZE,6894,179
$CAP_FILE_SIZE,64905,0
$CFSIZE,260165632,205901824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1469.8
$GPS,120212,093135,5919.304,-5934.010,29,1.0,29,-26.4