version: 66.09
glider: 143
mission: 13
dive: 2226
start: 2 13 112 19 32 45
data:
$ID,143
$MISSION,13
$DIVE,2226
$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,-264570.16
$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,18
$R_STBD_OVSHOOT,59
$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
$GPS1,130212,141630,5913.989,-5933.367,17,0.9,17,-26.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-54.3
$GPS2,130212,141630,5913.989,-5933.367,17,0.9,17,-26.4
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5903.841,-5926.182
$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,186.4,20000,-15.2,-7.143
$D_GRID,1846
$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,-116.8,0.0,0.0,0,80,0.00,0.00,-59.17,0.000,2,0.000,0.000,105,401,1376,0,0,0,0,0,0
$GC,84,-0.63,-116.8,3.1,0.0,1,154,8.65,1.92,-56.38,0.000,4,0.238,0.040,2080,1674,2728,0,0,0,0,0,0
$GC,250,-0.63,-116.8,19.0,-11.4,4,254,0.00,2.22,0.00,0.000,6,0.000,0.070,2080,401,2729,0,0,0,0,0,0
$GC,902,-0.63,-116.8,95.0,-11.6,15,904,0.00,0.17,0.00,0.000,4,0.000,0.100,2079,286,2729,0,0,0,0,0,0
$GC,1025,-0.63,-116.8,107.7,-11.5,17,1027,0.00,0.15,0.00,0.000,6,0.000,0.053,2079,388,2728,0,0,0,0,0,0
$GC,1726,-0.63,-116.8,186.2,-11.0,23,1730,0.00,1.92,0.00,0.000,4,0.000,0.021,2070,1733,2727,0,0,0,0,0,0
$GC,1846,-0.63,-116.8,197.2,-10.8,24,1850,0.00,2.35,0.00,0.000,6,0.000,0.069,2069,393,2726,0,0,0,0,0,0
$GC,2545,-0.63,-116.8,274.2,-11.0,30,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,393,2726,0,0,0,0,0,0
$GC,3511,-0.63,-116.8,379.3,-10.9,38,3513,0.00,0.17,0.00,0.000,4,0.000,0.097,2070,274,2728,0,0,0,0,0,0
$GC,3539,-0.63,-116.8,379.3,-10.9,38,3541,0.00,0.20,0.00,0.000,6,0.000,0.047,2069,413,2728,0,0,0,0,0,0
$GC,4450,-0.63,-116.8,486.1,-11.6,46,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,412,2729,0,0,0,0,0,0
$GC,5414,-0.63,-116.8,596.9,-11.2,54,5418,0.00,1.88,0.00,0.000,4,0.000,0.024,2060,1729,2731,0,0,0,0,0,0
$GC,5536,-0.63,-116.8,608.6,-11.0,55,5541,0.12,2.35,0.00,0.000,6,0.135,0.066,2092,389,2730,0,0,0,0,0,0
$GC,6476,-0.63,-116.8,696.7,-8.7,63,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,390,2731,0,0,0,0,0,0
$GC,7442,-0.63,-116.8,772.4,-7.8,71,7444,0.00,0.15,0.00,0.000,4,0.000,0.099,2092,281,2732,0,0,0,0,0,0
$GC,7486,-0.63,-116.8,772.4,-7.8,71,7488,0.00,0.17,0.00,0.000,6,0.000,0.047,2092,405,2732,0,0,0,0,0,0
$GC,8502,-0.63,-116.8,853.3,-7.8,80,8504,0.00,0.20,0.00,0.000,4,0.000,0.086,2092,281,2732,0,0,0,0,0,0
$GC,8592,-0.63,-116.8,853.3,-7.8,80,8594,0.00,0.17,0.00,0.000,6,0.000,0.047,2092,407,2731,0,0,0,0,0,0
$STATE,9073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9073,begin apogee
$GC,9085,-0.16,0.0,900.6,-8.2,84,9198,0.45,0.20,106.03,1.414,6,0.081,0.076,2252,1686,2250,0,0,0,0,0,0
$STATE,9199,end apogee,CONTROL_FINISHED_OK
$STATE,9199,begin climb
$GC,9203,0.63,116.8,909.8,0.0,85,9323,0.75,2.25,113.57,1.377,4,0.051,0.029,2518,2937,1772,0,0,0,0,0,0
$GC,9333,0.85,290.3,917.7,0.0,86,9508,0.15,2.28,168.30,1.356,6,0.065,0.042,2591,1699,1066,0,0,0,0,0,0
$GC,10497,0.85,290.3,817.6,9.0,96,10501,0.00,2.03,0.00,0.000,4,0.000,0.056,2601,462,1058,0,0,0,0,0,0
$GC,10621,0.85,290.3,805.5,9.4,97,10625,0.00,1.92,0.00,0.000,6,0.000,0.021,2601,1718,1056,0,0,0,0,0,0
$GC,11560,0.85,290.3,696.8,11.6,105,11564,0.00,1.90,0.00,0.000,4,0.000,0.037,2601,2926,1056,0,0,0,0,0,0
$GC,11636,0.85,290.3,696.8,11.6,105,11641,0.15,2.03,0.00,0.000,6,0.136,0.040,2569,1689,1056,0,0,0,0,0,0
$GC,12619,0.85,290.3,586.1,10.5,114,12623,0.00,2.00,0.00,0.000,4,0.000,0.055,2576,463,1056,0,0,0,0,0,0
$GC,12742,0.85,290.3,573.9,10.7,115,12745,0.00,1.90,0.00,0.000,6,0.000,0.023,2576,1705,1055,0,0,0,0,0,0
$GC,13682,0.85,290.3,477.3,9.7,123,13686,0.00,2.08,0.00,0.000,4,0.000,0.051,2583,457,1055,0,0,0,0,0,0
$GC,13805,0.85,290.3,466.5,9.6,124,13808,0.00,1.90,0.00,0.000,6,0.000,0.022,2583,1701,1054,0,0,0,0,0,0
$GC,14745,0.85,290.3,375.1,9.6,132,14749,0.00,2.08,0.00,0.000,4,0.000,0.052,2592,456,1054,0,0,0,0,0,0
$GC,14868,0.85,290.3,363.7,9.9,133,14871,0.00,1.92,0.00,0.000,6,0.000,0.022,2592,1714,1054,0,0,0,0,0,0
$GC,15809,0.85,290.3,259.8,11.3,141,15812,0.00,1.90,0.00,0.000,4,0.000,0.037,2592,2920,1054,0,0,0,0,0,0
$GC,15931,0.85,290.3,247.4,11.4,142,15935,0.00,2.00,0.00,0.000,6,0.000,0.039,2600,1694,1054,0,0,0,0,0,0
$GC,16632,0.85,290.3,164.3,11.7,148,16633,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1694,1054,0,0,0,0,0,0
$GC,17233,0.85,290.3,104.5,9.8,153,17236,0.00,1.98,0.00,0.000,4,0.000,0.036,2600,2920,1054,0,0,0,0,0,0
$GC,17342,0.85,290.3,93.9,9.5,154,17347,0.12,2.00,0.00,0.000,6,0.140,0.041,2576,1698,1054,0,0,0,0,0,0
$GC,17997,0.85,290.3,41.2,8.1,165,18001,0.00,1.98,0.00,0.000,4,0.000,0.035,2576,2922,1054,0,0,0,0,0,0
$GC,18072,0.85,290.3,37.5,8.3,166,18076,0.00,2.03,0.00,0.000,6,0.000,0.041,2583,1693,1054,0,0,0,0,0,0
$FREEZE,6.32,-1.185,-1.831,2,2,0
$FREEZE,1.65,-1.251,-1.826,2,2,0
$STATE,18512,end climb,SURFACE_DEPTH_REACHED
$STATE,18512,begin surface coast
$FREEZE,1.40,-1.322,-0.864,2,2,0
$FINISH,1.4,1.012729
$STATE,18577,end surface coast,FINISH_DEPTH_REACHED
$STATE,18577,begin surface
$SM_CCo,18601,73.00,0.076,0,0,442,443.50
$SM_GC,2.33,6.80,2.17,73.00,0.058,0.063,0.076,127,395,442,-6.75,0.48,443.50,0,0,0,0,0,0
$RAFOS_CLK,1228
$RAFOS,4,1329179587,0.566667,0.551944,59,54,53,0,0,0,158,172,211,0,0,0
$RAFOS,3,1329179132,0.433333,0.425556,67,56,55,0,0,0,215,133,204,0,0,0
$RAFOS,2,1329178673,0.300000,0.298056,55,52,52,0,0,0,215,203,165,0,0,0
$RAFOS,0,1329177708,0.033333,0.030000,60,59,55,0,0,0,157,212,193,0,0,0
$RAFOS,2,1329164227,20.299999,20.285278,58,58,57,0,0,0,145,211,176,0,0,0
$RAFOS,0,1329163285,20.033333,20.023611,64,61,58,0,0,0,135,205,181,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5854.46,-5936.12,130212,060642
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.36
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,15.7,14.1
$24V_AH,21.7,70.420
$10V_AH,10.0,70.340
$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,17.200,54.550,387.900,73.000,0.000,0.000,0.000,0.000,4.500,0.000,0.000,646.610,16803.225,616.661,506.970,166.212,0.000,927.125,0.000,500.339,2520.000,25.584,0.000
$DEVICE_MAMPS,237.915,100.215,1413.720,75.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191692
$DATA_FILE_SIZE,6876,175
$CAP_FILE_SIZE,58979,0
$CFSIZE,260165632,205684736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.1
$GPS,140212,004529,5912.009,-5931.402,35,1.0,35,-26.4