version: 66.09
glider: 143
mission: 13
dive: 2230
start: 2 14 112 11 35 23
data:
$ID,143
$MISSION,13
$DIVE,2230
$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,-264572.66
$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,27
$R_STBD_OVSHOOT,54
$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
$GPS1,140212,061007,5911.435,-5930.880,29,1.6,29,-26.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.57
$_SM_ANGLEo,1.2
$GPS2,140212,061007,5911.435,-5930.880,29,1.6,29,-26.3
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5901.287,-5923.705
$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,186.3,20000,-15.2,-7.143
$D_GRID,1939
$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,19,-0.63,-116.8,0.0,0.0,0,32,0.00,2.12,-8.35,0.000,6,0.000,0.080,2306,409,2730,0,0,0,0,0,0
$GC,36,-0.63,-116.8,0.0,0.0,0,40,0.60,0.20,0.00,0.000,4,0.063,0.090,2087,276,2731,0,0,0,0,0,0
$GC,96,-0.63,-116.8,26.9,0.0,1,98,0.00,0.17,0.00,0.000,6,0.000,0.047,2087,395,2732,0,0,0,0,0,0
$GC,720,-0.63,-116.8,94.1,-10.1,12,722,0.00,0.20,0.00,0.000,4,0.000,0.091,2087,276,2731,0,0,0,0,0,0
$GC,766,-0.63,-116.8,98.5,-9.8,13,768,0.00,0.20,0.00,0.000,6,0.000,0.045,2086,414,2731,0,0,0,0,0,0
$GC,1416,-0.63,-116.8,157.3,-9.0,19,1420,0.00,1.88,0.00,0.000,4,0.000,0.021,2086,1704,2730,0,0,0,0,0,0
$GC,1509,-0.63,-116.8,157.3,-9.0,19,1513,0.00,2.25,0.00,0.000,6,0.000,0.063,2086,398,2729,0,0,0,0,0,0
$GC,2113,-0.63,-116.8,225.6,-10.1,24,2117,0.00,1.92,0.00,0.000,4,0.000,0.021,2079,1712,2729,0,0,0,0,0,0
$GC,2174,-0.63,-116.8,225.6,-10.1,24,2178,0.00,2.28,0.00,0.000,6,0.000,0.064,2079,394,2729,0,0,0,0,0,0
$GC,2810,-0.63,-116.8,294.9,-9.9,30,2814,0.00,1.92,0.00,0.000,4,0.000,0.021,2073,1717,2729,0,0,0,0,0,0
$GC,2887,-0.63,-116.8,294.9,-9.9,30,2891,0.00,2.30,0.00,0.000,6,0.000,0.064,2073,387,2729,0,0,0,0,0,0
$GC,3869,-0.63,-116.8,394.8,-9.4,39,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,387,2730,0,0,0,0,0,0
$GC,4834,-0.63,-116.8,493.6,-10.3,47,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,386,2732,0,0,0,0,0,0
$GC,5800,-0.63,-116.8,586.9,-9.4,55,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,387,2733,0,0,0,0,0,0
$GC,6764,-0.63,-116.8,675.6,-9.0,63,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,387,2733,0,0,0,0,0,0
$GC,7730,-0.63,-116.8,764.9,-9.3,71,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,387,2733,0,0,0,0,0,0
$GC,8697,-0.63,-116.8,854.7,-9.4,79,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,387,2733,0,0,0,0,0,0
$STATE,9173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9173,begin apogee
$GC,9184,-0.16,0.0,901.8,-9.8,83,9297,0.50,0.17,106.53,1.415,6,0.080,0.080,2249,1690,2249,0,0,0,0,0,0
$STATE,9298,end apogee,CONTROL_FINISHED_OK
$STATE,9298,begin climb
$GC,9302,0.63,116.8,911.6,0.0,84,9422,0.75,2.25,113.47,1.379,4,0.049,0.032,2513,2929,1773,0,0,0,0,0,0
$GC,9432,0.85,290.3,920.3,0.0,85,9611,0.15,2.28,169.75,1.358,6,0.064,0.044,2587,1698,1066,0,0,0,0,0,0
$GC,10610,0.85,290.3,806.7,10.9,95,10614,0.00,2.00,0.00,0.000,4,0.000,0.037,2588,2932,1056,0,0,0,0,0,0
$GC,10670,0.85,290.3,806.7,10.9,95,10674,0.00,2.05,0.00,0.000,6,0.000,0.041,2597,1685,1056,0,0,0,0,0,0
$GC,11668,0.85,290.3,673.1,12.6,104,11672,0.00,2.03,0.00,0.000,4,0.000,0.040,2597,2933,1055,0,0,0,0,0,0
$GC,11791,0.85,290.3,659.2,12.5,105,11796,0.12,2.03,0.00,0.000,6,0.136,0.041,2572,1693,1055,0,0,0,0,0,0
$GC,12732,0.85,290.3,561.7,10.1,113,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1693,1055,0,0,0,0,0,0
$GC,13697,0.85,290.3,466.2,9.9,121,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1693,1055,0,0,0,0,0,0
$GC,14661,0.85,290.3,365.1,10.6,129,14665,0.00,2.00,0.00,0.000,4,0.000,0.054,2579,468,1054,0,0,0,0,0,0
$GC,14785,0.85,290.3,352.1,10.8,130,14789,0.00,1.92,0.00,0.000,6,0.000,0.023,2579,1724,1054,0,0,0,0,0,0
$GC,15724,0.85,290.3,246.8,10.7,138,15728,0.00,2.10,0.00,0.000,4,0.000,0.052,2587,462,1054,0,0,0,0,0,0
$GC,15847,0.85,290.3,235.4,10.5,139,15851,0.00,1.90,0.00,0.000,6,0.000,0.024,2587,1699,1053,0,0,0,0,0,0
$GC,16547,0.85,290.3,167.5,9.3,145,16551,0.00,2.05,0.00,0.000,4,0.000,0.053,2596,469,1053,0,0,0,0,0,0
$GC,16669,0.85,290.3,156.5,9.4,146,16673,0.00,1.90,0.00,0.000,6,0.000,0.024,2595,1707,1054,0,0,0,0,0,0
$GC,17308,0.85,290.3,91.0,9.9,152,17312,0.00,1.92,0.00,0.000,4,0.000,0.039,2596,2925,1054,0,0,0,0,0,0
$GC,17355,0.85,290.3,86.9,9.6,153,17360,0.12,2.03,0.00,0.000,6,0.139,0.041,2571,1692,1054,0,0,0,0,0,0
$GC,18008,0.87,307.4,44.6,6.4,164,18025,0.00,0.00,14.73,0.855,6,0.000,0.000,2571,1692,996,0,0,0,0,0,0
$FREEZE,5.99,-1.499,-1.828,2,3,0
$FREEZE,2.35,-1.498,-1.825,2,3,0
$GC,18616,0.87,308.8,2.3,7.1,174,18620,0.00,2.00,0.00,0.000,4,0.000,0.037,2571,2931,994,0,0,0,0,0,0
$FREEZE,2.35,-1.498,-1.825,2,3,0
$FREEZE,2.35,-1.498,-1.825,2,3,0
$FREEZE,1.48,-1.565,-1.827,2,3,0
$STATE,18658,end climb,SURFACE_DEPTH_REACHED
$STATE,18658,begin surface coast
$FREEZE,1.48,-1.565,-1.827,2,3,0
$FINISH,1.5,1.026802
$STATE,18672,end surface coast,CONTROL_FINISHED_OK
$STATE,18673,begin surface
$SM_CCo,18697,65.60,0.075,0,0,441,443.50
$SM_GC,2.15,6.75,4.20,65.60,0.054,0.050,0.075,124,409,441,-6.75,0.90,443.50,0,0,0,0,0,0
$RAFOS_CLK,1233
$RAFOS,4,1329237206,16.566668,16.557222,56,56,55,0,0,0,192,216,205,0,0,0
$RAFOS,3,1329236704,16.433332,16.417778,58,54,54,0,0,0,173,189,219,0,0,0
$RAFOS,0,1329235262,16.033333,16.017221,72,59,55,0,0,0,146,168,183,0,0,0
$RAFOS,5,1329223311,12.700000,12.697500,58,57,56,0,0,0,178,121,219,0,0,0
$RAFOS,3,1329222344,12.433333,12.428889,64,63,55,0,0,0,218,188,201,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5850.29,-5933.13,140212,000016
$TT8_MAMPS,0.027713,0.027713
$HUMID,58.19
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.4,16.8
$24V_AH,21.7,70.883
$10V_AH,10.0,70.472
$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,9.000,52.325,404.475,65.600,0.000,0.000,0.000,0.000,4.250,0.000,0.000,629.671,17098.818,518.579,424.117,156.753,0.000,785.880,0.000,421.094,2160.000,25.592,0.000
$DEVICE_MAMPS,139.230,91.035,1415.250,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,122.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191740
$DATA_FILE_SIZE,6883,175
$CAP_FILE_SIZE,53519,0
$CFSIZE,260165632,205590528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.1
$GPS,140212,164936,5909.847,-5928.824,35,0.9,35,-26.3