version: 66.09
glider: 143
mission: 13
dive: 2153
start: 2 1 112 13 37 41
data:
$ID,143
$MISSION,13
$DIVE,2153
$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,-261972.09
$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,49
$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
$GPS1,010212,133135,6028.728,-6037.502,146,1.0,146,-27.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-39.0
$GPS2,010212,133706,6028.595,-6037.397,15,1.6,16,-27.4
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6018.447,-6029.940
$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,187.4,20000,-15.2,-7.143
$D_GRID,1295
$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,18,-0.63,-116.8,0.0,0.0,0,193,0.00,0.00,-171.93,0.000,6,0.000,0.000,109,406,2726,0,0,0,0,0,0
$GC,198,-0.63,-116.8,2.2,0.0,2,208,7.38,0.20,0.00,0.000,4,0.186,0.091,2090,280,2728,0,0,0,0,0,0
$GC,283,-0.63,-116.8,2.1,0.0,3,285,0.00,0.17,0.00,0.000,6,0.000,0.048,2090,405,2729,0,0,0,0,0,0
$GC,890,-0.63,-116.8,69.2,-10.1,13,892,0.00,0.20,0.00,0.000,4,0.000,0.096,2090,290,2729,0,0,0,0,0,0
$GC,1013,-0.63,-116.8,80.9,-10.2,15,1015,0.00,0.15,0.00,0.000,6,0.000,0.054,2090,390,2728,0,0,0,0,0,0
$GC,1711,-0.63,-116.8,160.2,-11.5,23,1713,0.00,0.17,0.00,0.000,4,0.000,0.096,2090,287,2727,0,0,0,0,0,0
$GC,1834,-0.63,-116.8,173.4,-11.7,24,1835,0.00,0.17,0.00,0.000,6,0.000,0.052,2090,405,2727,0,0,0,0,0,0
$GC,2532,-0.63,-116.8,250.0,-10.1,30,2534,0.00,0.20,0.00,0.000,4,0.000,0.090,2090,284,2728,0,0,0,0,0,0
$GC,2546,-0.63,-116.8,250.0,-10.1,30,2548,0.00,0.17,0.00,0.000,6,0.000,0.050,2090,405,2728,0,0,0,0,0,0
$GC,3471,-0.63,-116.8,327.6,-7.9,38,3475,0.00,1.88,0.00,0.000,4,0.000,0.023,2082,1681,2729,0,0,0,0,0,0
$GC,3580,-0.63,-116.8,335.5,-7.7,39,3584,0.00,2.22,0.00,0.000,6,0.000,0.067,2082,388,2729,0,0,0,0,0,0
$GC,4535,-0.63,-116.8,405.0,-7.5,47,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,388,2731,0,0,0,0,0,0
$GC,5499,-0.63,-116.8,492.9,-9.4,55,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,388,2733,0,0,0,0,0,0
$GC,6463,-0.63,-116.8,576.4,-8.3,63,6465,0.00,0.15,0.00,0.000,4,0.000,0.102,2082,282,2733,0,0,0,0,0,0
$GC,6573,-0.63,-116.8,584.8,-8.2,64,6575,0.00,0.17,0.00,0.000,6,0.000,0.050,2081,402,2733,0,0,0,0,0,0
$GC,7527,-0.63,-116.8,659.8,-7.7,72,7531,0.00,1.90,0.00,0.000,4,0.000,0.024,2074,1683,2733,0,0,0,0,0,0
$GC,7636,-0.63,-116.8,668.0,-7.6,73,7640,0.00,2.22,0.00,0.000,6,0.000,0.066,2074,388,2733,0,0,0,0,0,0
$GC,8590,-0.63,-116.8,746.4,-8.5,81,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,388,2734,0,0,0,0,0,0
$GC,9555,-0.63,-116.8,842.4,-10.3,89,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,388,2734,0,0,0,0,0,0
$STATE,10155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10155,begin apogee
$GC,10166,-0.16,0.0,902.4,-9.9,94,10279,0.47,0.15,105.38,1.421,6,0.083,0.067,2246,1690,2249,0,0,0,0,0,0
$STATE,10280,end apogee,CONTROL_FINISHED_OK
$STATE,10280,begin climb
$GC,10284,0.63,116.8,912.4,0.0,95,10403,0.75,2.25,111.95,1.385,4,0.054,0.034,2507,2930,1773,0,0,0,0,0,0
$GC,10524,0.85,290.3,923.9,0.0,97,10695,0.17,2.17,165.00,1.368,6,0.063,0.047,2591,1699,1066,0,0,0,0,0,0
$GC,11701,0.85,290.3,817.7,9.7,107,11705,0.00,2.05,0.00,0.000,4,0.000,0.059,2601,452,1056,0,0,0,0,0,0
$GC,11824,0.85,290.3,805.2,10.1,108,11828,0.00,1.95,0.00,0.000,6,0.000,0.028,2601,1705,1054,0,0,0,0,0,0
$GC,12765,0.85,290.3,690.0,12.1,116,12769,0.00,1.95,0.00,0.000,4,0.000,0.043,2601,2932,1054,0,0,0,0,0,0
$GC,12873,0.85,290.3,677.5,12.0,117,12878,0.15,2.03,0.00,0.000,6,0.138,0.042,2570,1693,1054,0,0,0,0,0,0
$GC,13827,0.85,290.3,583.9,9.8,125,13831,0.00,2.03,0.00,0.000,4,0.000,0.058,2577,456,1054,0,0,0,0,0,0
$GC,13951,0.85,290.3,572.4,10.0,126,13955,0.00,1.95,0.00,0.000,6,0.000,0.028,2577,1715,1052,0,0,0,0,0,0
$GC,14890,0.85,290.3,465.0,11.2,134,14894,0.00,2.10,0.00,0.000,4,0.000,0.056,2585,458,1052,0,0,0,0,0,0
$GC,15013,0.85,290.3,452.6,11.3,135,15017,0.00,1.92,0.00,0.000,6,0.000,0.028,2585,1700,1052,0,0,0,0,0,0
$GC,15954,0.85,290.3,340.9,12.1,143,15958,0.00,1.95,0.00,0.000,4,0.000,0.042,2585,2930,1052,0,0,0,0,0,0
$GC,16076,0.85,290.3,327.5,12.2,144,16080,0.00,2.03,0.00,0.000,6,0.000,0.044,2593,1695,1052,0,0,0,0,0,0
$GC,17016,0.85,290.3,204.6,13.1,152,17020,0.00,2.03,0.00,0.000,4,0.000,0.058,2603,460,1052,0,0,0,0,0,0
$GC,17140,0.85,290.3,190.8,12.7,153,17144,0.00,1.92,0.00,0.000,6,0.000,0.027,2603,1707,1052,0,0,0,0,0,0
$GC,17838,0.85,290.3,112.9,10.7,159,17842,0.00,2.08,0.00,0.000,4,0.000,0.056,2612,466,1052,0,0,0,0,0,0
$GC,17852,0.85,290.3,112.9,10.7,159,17856,0.15,1.92,0.00,0.000,6,0.140,0.027,2572,1716,1052,0,0,0,0,0,0
$GC,18478,0.88,319.8,66.9,5.9,168,18508,0.00,1.95,25.02,0.871,4,0.000,0.044,2572,2915,945,0,0,0,0,0,0
$GC,18630,0.95,369.9,61.4,5.1,170,18679,0.00,2.03,43.65,0.876,6,0.000,0.044,2578,1696,740,0,0,0,0,0,0
$FREEZE,4.73,-1.413,-1.853,2,1,0
$GC,19304,0.95,369.9,4.7,8.3,182,19309,0.00,2.00,0.00,0.000,4,0.000,0.042,2578,2920,734,0,0,0,0,0,0
$FREEZE,4.73,-1.413,-1.853,2,1,0
$FREEZE,4.73,-1.413,-1.853,2,1,0
$FREEZE,1.88,-1.430,-1.850,2,1,0
$STATE,19359,end climb,SURFACE_DEPTH_REACHED
$STATE,19359,begin surface coast
$FREEZE,1.88,-1.430,-1.850,2,1,0
$FINISH,1.9,1.027120
$STATE,19373,end surface coast,CONTROL_FINISHED_OK
$STATE,19373,begin surface
$SM_CCo,19397,34.65,0.075,0,0,441,443.50
$SM_GC,2.19,6.68,4.22,34.65,0.047,0.058,0.075,121,411,441,-6.77,0.93,443.50,0,0,0,0,0,0
$RAFOS_CLK,1226
$RAFOS,4,1328113996,16.566668,16.554445,63,59,54,0,0,0,136,193,175,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6011.05,-6033.77,310112,080828
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,17.5,16.5
$24V_AH,21.9,60.616
$10V_AH,9.9,67.917
$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,15.750,54.725,451.000,34.650,0.000,0.000,0.000,165.400,7.250,0.000,20.198,691.300,17412.607,684.451,715.229,279.873,0.000,1201.311,0.000,556.549,360.000,25.598,0.000
$DEVICE_MAMPS,185.895,101.745,1420.605,74.970,0.000,0.000,0.000,234.451,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,127.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270284
$DATA_FILE_SIZE,10192,183
$CAP_FILE_SIZE,65764,0
$CFSIZE,260165632,207540224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1470.7
$GPS,010212,190305,6027.996,-6038.712,37,0.9,37,-27.4