version: 66.09
glider: 143
mission: 13
dive: 2241
start: 2 16 112 8 17 43
data:
$ID,143
$MISSION,13
$DIVE,2241
$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,-264943.38
$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,16
$R_STBD_OVSHOOT,66
$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
$GPS1,160212,081123,5900.849,-5920.959,46,0.8,46,-26.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-59.6
$GPS2,160212,081707,5900.748,-5920.762,17,0.8,18,-26.2
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5850.600,-5913.623
$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,186.2,20000,-15.2,-7.143
$D_GRID,2014
$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,-116.8,0.0,0.0,0,181,0.00,0.00,-160.00,0.000,6,0.000,0.000,115,404,2727,0,0,0,0,0,0
$GC,186,-0.63,-116.8,2.9,0.0,2,200,8.30,1.85,0.00,0.000,4,0.224,0.018,2082,1680,2730,0,0,0,0,0,0
$GC,327,-0.63,-116.8,17.4,0.0,5,331,0.00,2.22,0.00,0.000,6,0.000,0.070,2082,400,2730,0,0,0,0,0,0
$GC,982,-0.63,-116.8,92.1,-11.2,16,983,0.00,0.17,0.00,0.000,4,0.000,0.096,2082,284,2730,0,0,0,0,0,0
$GC,1102,-0.63,-116.8,103.7,-10.8,18,1104,0.00,0.15,0.00,0.000,6,0.000,0.052,2081,383,2729,0,0,0,0,0,0
$GC,1801,-0.63,-116.8,185.2,-11.7,24,1805,0.00,1.92,0.00,0.000,4,0.000,0.021,2073,1722,2728,0,0,0,0,0,0
$GC,1923,-0.63,-116.8,197.0,-11.4,25,1928,0.00,2.33,0.00,0.000,6,0.000,0.067,2073,389,2728,0,0,0,0,0,0
$GC,2622,-0.63,-116.8,270.5,-10.2,31,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,389,2728,0,0,0,0,0,0
$GC,3591,-0.63,-116.8,361.2,-9.4,39,3594,0.00,1.92,0.00,0.000,4,0.000,0.023,2065,1717,2731,0,0,0,0,0,0
$GC,3710,-0.63,-116.8,371.7,-9.5,40,3715,0.12,2.30,0.00,0.000,6,0.143,0.067,2095,400,2731,0,0,0,0,0,0
$GC,4651,-0.63,-116.8,449.9,-7.9,48,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,400,2733,0,0,0,0,0,0
$GC,5615,-0.63,-116.8,524.4,-7.7,56,5619,0.00,1.92,0.00,0.000,4,0.000,0.021,2090,1703,2735,0,0,0,0,0,0
$GC,5738,-0.63,-116.8,532.9,-7.7,57,5742,0.00,2.28,0.00,0.000,6,0.000,0.062,2091,386,2735,0,0,0,0,0,0
$GC,6679,-0.63,-116.8,614.0,-8.7,65,6681,0.00,0.15,0.00,0.000,4,0.000,0.100,2090,279,2736,0,0,0,0,0,0
$GC,6707,-0.63,-116.8,614.0,-8.7,65,6709,0.00,0.20,0.00,0.000,6,0.000,0.046,2090,415,2735,0,0,0,0,0,0
$GC,7619,-0.63,-116.8,701.4,-9.4,73,7622,0.00,1.88,0.00,0.000,4,0.000,0.021,2086,1691,2736,0,0,0,0,0,0
$GC,7692,-0.63,-116.8,701.4,-9.4,73,7696,0.00,2.22,0.00,0.000,6,0.000,0.061,2086,394,2736,0,0,0,0,0,0
$GC,8676,-0.63,-116.8,795.5,-8.9,82,8678,0.00,0.17,0.00,0.000,4,0.000,0.093,2086,272,2736,0,0,0,0,0,0
$GC,8689,-0.63,-116.8,795.5,-8.9,82,8691,0.00,0.20,0.00,0.000,6,0.000,0.046,2086,408,2736,0,0,0,0,0,0
$GC,9613,-0.63,-116.8,884.4,-9.5,90,9617,0.00,1.88,0.00,0.000,4,0.000,0.021,2080,1669,2736,0,0,0,0,0,0
$GC,9690,-0.63,-116.8,884.4,-9.5,90,9694,0.00,2.17,0.00,0.000,6,0.000,0.063,2080,402,2736,0,0,0,0,0,0
$STATE,9825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9825,begin apogee
$GC,9835,-0.16,0.0,904.7,-9.5,92,9949,0.47,0.22,107.62,1.416,6,0.082,0.074,2252,1685,2250,0,0,0,0,0,0
$STATE,9950,end apogee,CONTROL_FINISHED_OK
$STATE,9950,begin climb
$GC,9954,0.63,116.8,914.5,0.0,93,10075,0.75,2.25,114.60,1.379,4,0.050,0.030,2517,2932,1773,0,0,0,0,0,0
$GC,10082,0.85,290.3,922.8,0.0,94,10261,0.15,2.28,170.15,1.359,6,0.065,0.043,2589,1700,1066,0,0,0,0,0,0
$GC,11261,0.85,290.3,813.9,10.2,104,11265,0.00,2.05,0.00,0.000,4,0.000,0.056,2600,453,1057,0,0,0,0,0,0
$GC,11383,0.85,290.3,800.7,10.5,105,11387,0.00,1.95,0.00,0.000,6,0.000,0.023,2600,1721,1055,0,0,0,0,0,0
$GC,12323,0.85,290.3,680.7,12.5,113,12327,0.00,1.90,0.00,0.000,4,0.000,0.038,2600,2924,1055,0,0,0,0,0,0
$GC,12447,0.85,290.3,665.9,12.9,114,12452,0.12,2.03,0.00,0.000,6,0.140,0.039,2576,1685,1055,0,0,0,0,0,0
$GC,13386,0.85,290.3,554.0,11.4,122,13390,0.00,2.00,0.00,0.000,4,0.000,0.054,2583,460,1054,0,0,0,0,0,0
$GC,13509,0.85,290.3,541.8,11.3,123,13513,0.00,1.90,0.00,0.000,6,0.000,0.023,2583,1700,1053,0,0,0,0,0,0
$GC,14450,0.85,290.3,439.1,10.8,131,14454,0.00,2.05,0.00,0.000,4,0.000,0.052,2591,466,1054,0,0,0,0,0,0
$GC,14572,0.85,290.3,427.0,10.8,132,14576,0.00,1.90,0.00,0.000,6,0.000,0.024,2591,1702,1054,0,0,0,0,0,0
$GC,15512,0.85,290.3,318.8,11.4,140,15516,0.00,2.08,0.00,0.000,4,0.000,0.051,2599,453,1053,0,0,0,0,0,0
$GC,15574,0.85,290.3,318.8,11.4,140,15578,0.00,1.92,0.00,0.000,6,0.000,0.024,2599,1709,1053,0,0,0,0,0,0
$GC,16571,0.85,290.3,204.0,10.2,149,16575,0.00,1.92,0.00,0.000,4,0.000,0.038,2600,2930,1053,0,0,0,0,0,0
$GC,16616,0.85,290.3,204.0,10.2,149,16621,0.12,2.03,0.00,0.000,6,0.140,0.041,2575,1692,1053,0,0,0,0,0,0
$GC,17269,0.85,290.3,136.0,9.6,155,17273,0.00,2.00,0.00,0.000,4,0.000,0.038,2575,2929,1053,0,0,0,0,0,0
$GC,17360,0.85,290.3,136.0,9.6,155,17364,0.00,2.03,0.00,0.000,6,0.000,0.041,2581,1692,1054,0,0,0,0,0,0
$GC,17966,0.85,290.3,68.7,8.9,162,17970,0.00,2.00,0.00,0.000,4,0.000,0.037,2581,2934,1053,0,0,0,0,0,0
$GC,18090,0.85,290.3,59.5,8.6,164,18094,0.00,2.03,0.00,0.000,6,0.000,0.040,2589,1694,1053,0,0,0,0,0,0
$GC,18728,0.85,290.3,11.7,7.2,175,18732,0.00,1.98,0.00,0.000,4,0.000,0.034,2590,2925,1053,0,0,0,0,0,0
$FREEZE,8.06,-1.650,-1.834,2,1,0
$FREEZE,8.06,-1.650,-1.834,2,1,0
$FREEZE,8.06,-1.650,-1.834,2,1,0
$FREEZE,8.06,-1.650,-1.834,2,1,0
$FREEZE,3.32,-1.676,-1.830,2,1,0
$FREEZE,3.32,-1.676,-1.830,2,1,0
$GC,18852,0.85,290.3,3.3,7.4,177,18856,0.00,2.03,0.00,0.000,6,0.000,0.041,2598,1692,1053,0,0,0,0,0,0
$FREEZE,3.32,-1.676,-1.830,2,1,0
$FREEZE,1.95,-1.677,-1.829,2,1,0
$STATE,18882,end climb,SURFACE_DEPTH_REACHED
$STATE,18882,begin surface coast
$FREEZE,2.02,-1.675,-1.826,2,1,0
$FINISH,2.0,1.026789
$STATE,18944,end surface coast,CONTROL_FINISHED_OK
$STATE,18944,begin surface
$SM_CCo,18967,73.05,0.075,0,0,442,443.50
$SM_GC,2.75,6.95,2.12,73.05,0.061,0.057,0.075,121,405,442,-6.75,0.79,443.50,0,0,0,0,0,0
$RAFOS_CLK,1201
$RAFOS,5,1329396107,12.700000,12.696389,63,58,56,0,0,0,227,166,203,0,0,0
$RAFOS,0,1329393676,12.033333,12.021111,60,59,59,0,0,0,215,206,133,0,0,0
$RAFOS,6,1329382152,8.833333,8.820000,63,60,59,0,0,0,205,221,178,0,0,0
$RAFOS,4,1329381238,8.566667,8.566112,64,63,61,0,0,0,206,190,131,0,0,0
$RAFOS,3,1329380753,8.433333,8.431389,60,60,55,0,0,0,143,200,182,0,0,0
$RAFOS,0,1329379272,8.033334,8.020000,59,55,54,0,0,0,226,201,137,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5841.97,-5922.29,150212,101051
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.93
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,15.7,13.5
$24V_AH,21.6,72.257
$10V_AH,10.0,70.831
$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,17.000,70.625,392.375,73.050,0.000,0.000,0.000,164.000,7.250,0.000,22.787,715.738,17016.900,691.377,686.448,292.940,0.000,1186.849,0.000,529.954,1800.000,25.587,0.000
$DEVICE_MAMPS,224.145,100.215,1416.015,74.970,0.000,0.000,0.000,238.196,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,124.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6858,179
$CAP_FILE_SIZE,68164,0
$CFSIZE,260165632,205312000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.1
$GPS,160212,133635,5859.719,-5919.316,36,0.8,36,-26.2