version: 66.09
glider: 143
mission: 13
dive: 2264
start: 2 19 112 15 8 32
data:
$ID,143
$MISSION,13
$DIVE,2264
$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,-264949.72
$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,28
$R_STBD_OVSHOOT,53
$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
$GPS1,170212,183025,5855.697,-5910.903,19,1.0,19,-26.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.47
$_SM_ANGLEo,-0.5
$GPS2,170212,183025,5855.697,-5910.903,19,1.0,19,-26.1
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5845.549,-5903.781
$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,186.1,20000,-15.2,-7.143
$D_GRID,2070
$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,-116.8,0.0,0.0,0,79,0.00,0.00,-58.83,0.000,2,0.000,0.000,2232,1695,1500,0,0,0,0,0,0
$GC,83,-0.63,-116.8,3.6,0.0,1,146,0.38,2.40,-56.50,0.000,4,0.052,0.080,2079,290,2728,0,0,0,0,0,0
$GC,231,-0.63,-116.8,11.1,-9.2,3,234,0.00,0.15,0.00,0.000,6,0.000,0.051,2078,397,2729,0,0,0,0,0,0
$GC,839,-0.63,-116.8,81.8,-10.4,13,841,0.00,0.17,0.00,0.000,4,0.000,0.096,2079,294,2729,0,0,0,0,0,0
$GC,899,-0.63,-116.8,86.6,-10.4,14,902,0.00,0.17,0.00,0.000,6,0.000,0.047,2078,415,2729,0,0,0,0,0,0
$GC,1536,-0.63,-116.8,153.6,-10.3,21,1538,0.00,0.20,0.00,0.000,4,0.000,0.095,2078,301,2728,0,0,0,0,0,0
$GC,1582,-0.63,-116.8,153.6,-10.3,21,1584,0.00,0.15,0.00,0.000,6,0.000,0.058,2077,414,2728,0,0,0,0,0,0
$GC,2233,-0.63,-116.8,226.1,-10.4,27,2235,0.00,0.20,0.00,0.000,4,0.000,0.095,2077,300,2727,0,0,0,0,0,0
$GC,2294,-0.63,-116.8,226.1,-10.4,27,2296,0.00,0.15,0.00,0.000,6,0.000,0.058,2077,411,2728,0,0,0,0,0,0
$GC,2931,-0.63,-116.8,294.4,-9.7,33,2933,0.00,0.20,0.00,0.000,4,0.000,0.093,2077,296,2728,0,0,0,0,0,0
$GC,2990,-0.63,-116.8,294.4,-9.7,33,2992,0.00,0.15,0.00,0.000,6,0.000,0.053,2076,407,2728,0,0,0,0,0,0
$GC,3989,-0.63,-116.8,399.0,-9.9,42,3992,0.00,1.88,0.00,0.000,4,0.000,0.022,2068,1665,2730,0,0,0,0,0,0
$GC,4049,-0.63,-116.8,399.0,-9.9,42,4053,0.00,2.17,0.00,0.000,6,0.000,0.066,2068,411,2730,0,0,0,0,0,0
$GC,5051,-0.63,-116.8,503.1,-9.8,51,5053,0.00,0.20,0.00,0.000,4,0.000,0.090,2068,276,2732,0,0,0,0,0,0
$GC,5156,-0.63,-116.8,513.6,-9.8,52,5159,0.00,0.17,0.00,0.000,6,0.000,0.047,2068,394,2732,0,0,0,0,0,0
$GC,6112,-0.63,-116.8,609.9,-10.2,60,6114,0.00,0.20,0.00,0.000,4,0.000,0.088,2068,273,2732,0,0,0,0,0,0
$GC,6140,-0.63,-116.8,609.9,-10.2,60,6142,0.00,0.20,0.00,0.000,6,0.000,0.047,2067,408,2733,0,0,0,0,0,0
$GC,7051,-0.63,-116.8,705.4,-10.1,68,7053,0.00,0.22,0.00,0.000,4,0.000,0.086,2067,274,2733,0,0,0,0,0,0
$GC,7124,-0.63,-116.8,705.4,-10.1,68,7127,0.00,0.20,0.00,0.000,6,0.000,0.048,2067,410,2733,0,0,0,0,0,0
$GC,8109,-0.63,-116.8,812.4,-10.0,77,8113,0.00,1.88,0.00,0.000,4,0.000,0.022,2060,1673,2734,0,0,0,0,0,0
$GC,8229,-0.63,-116.8,823.1,-9.9,78,8234,0.12,2.20,0.00,0.000,6,0.127,0.064,2094,397,2734,0,0,0,0,0,0
$STATE,9168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9169,begin apogee
$GC,9180,-0.16,0.0,909.0,-8.8,86,9294,0.45,0.17,106.70,1.422,6,0.079,0.080,2252,1693,2249,0,0,0,0,0,0
$STATE,9294,end apogee,CONTROL_FINISHED_OK
$STATE,9294,begin climb
$GC,9298,0.63,116.8,918.1,0.0,87,9419,0.75,2.28,114.18,1.381,4,0.052,0.032,2513,2941,1773,0,0,0,0,0,0
$GC,9462,0.85,290.3,925.6,0.0,88,9641,0.15,2.28,169.88,1.363,6,0.066,0.045,2588,1692,1066,0,0,0,0,0,0
$GC,10606,0.85,290.3,814.0,10.6,98,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1692,1057,0,0,0,0,0,0
$GC,11572,0.85,290.3,712.4,10.6,106,11575,0.00,2.03,0.00,0.000,4,0.000,0.059,2598,462,1055,0,0,0,0,0,0
$GC,11694,0.85,290.3,699.3,10.8,107,11698,0.00,1.92,0.00,0.000,6,0.000,0.024,2597,1710,1053,0,0,0,0,0,0
$GC,12634,0.85,290.3,586.8,11.6,115,12637,0.00,1.92,0.00,0.000,4,0.000,0.040,2598,2921,1053,0,0,0,0,0,0
$GC,12758,0.85,290.3,574.3,11.5,116,12762,0.12,2.03,0.00,0.000,6,0.138,0.042,2574,1694,1053,0,0,0,0,0,0
$GC,13697,0.85,290.3,476.8,10.5,124,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1694,1053,0,0,0,0,0,0
$GC,14662,0.85,290.3,375.3,10.4,132,14663,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1694,1053,0,0,0,0,0,0
$GC,15628,0.85,290.3,277.7,10.1,140,15631,0.00,2.03,0.00,0.000,4,0.000,0.057,2581,463,1053,0,0,0,0,0,0
$GC,15750,0.85,290.3,266.3,10.1,141,15753,0.00,1.92,0.00,0.000,6,0.000,0.024,2581,1711,1053,0,0,0,0,0,0
$GC,16690,0.85,290.3,167.9,10.3,149,16694,0.00,2.10,0.00,0.000,4,0.000,0.053,2589,456,1052,0,0,0,0,0,0
$GC,16814,0.85,290.3,156.3,10.3,150,16818,0.00,1.92,0.00,0.000,6,0.000,0.024,2589,1708,1053,0,0,0,0,0,0
$GC,17512,0.85,290.3,89.0,9.3,156,17515,0.00,2.10,0.00,0.000,4,0.000,0.055,2597,461,1053,0,0,0,0,0,0
$GC,17635,0.85,290.3,78.0,9.5,158,17638,0.00,1.92,0.00,0.000,6,0.000,0.024,2597,1710,1053,0,0,0,0,0,0
$GC,18275,0.85,290.3,15.0,8.6,169,18279,0.00,1.92,0.00,0.000,4,0.000,0.038,2597,2922,1053,0,0,0,0,0,0
$FREEZE,6.04,-1.689,-1.840,2,17,0
$FREEZE,6.04,-1.689,-1.840,2,17,0
$GC,18398,0.85,290.3,6.0,8.1,171,18403,0.12,2.05,0.00,0.000,6,0.148,0.044,2575,1691,1053,0,0,0,0,0,0
$FREEZE,6.04,-1.689,-1.840,2,17,0
$FREEZE,2.22,-1.713,-1.837,2,17,0
$FREEZE,2.00,-1.696,-1.836,2,17,0
$STATE,18489,end climb,SURFACE_DEPTH_REACHED
$STATE,18489,begin surface coast
$FREEZE,1.96,-1.708,-1.837,2,17,0
$FINISH,2.0,1.026943
$STATE,18553,end surface coast,CONTROL_FINISHED_OK
$STATE,18553,begin surface
$SM_CCo,18577,72.90,0.076,0,0,441,443.50
$SM_GC,2.79,7.25,2.15,72.90,0.084,0.062,0.076,121,405,441,-6.77,0.74,443.50,0,0,0,0,0,0
$RAFOS_CLK,1228
$RAFOS,1,1329682200,20.166666,20.166666,60,58,57,0,0,0,158,198,170,0,0,0
$RAFOS,0,1329681667,20.033333,20.018612,64,63,58,0,0,0,159,201,188,0,0,0
$RAFOS,4,1329669186,16.566668,16.551666,62,60,58,0,0,0,215,203,133,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5833.68,-5917.90,170212,131331
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.85
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.4
$24V_AH,21.6,74.882
$10V_AH,9.9,71.410
$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,9.350,46.075,390.750,72.900,0.000,0.000,0.000,0.000,3.750,0.000,0.000,641.019,16805.432,604.928,491.204,171.995,0.000,911.477,0.000,485.936,1440.000,25.590,0.000
$DEVICE_MAMPS,147.645,96.390,1422.135,75.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191688
$DATA_FILE_SIZE,6860,174
$CAP_FILE_SIZE,59237,0
$CFSIZE,260165632,204783616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.1
$GPS,190212,202053,5847.238,-5905.938,38,0.8,38,-26.0