version: 66.09
glider: 143
mission: 13
dive: 2180
start: 2 6 112 12 47 29
data:
$ID,143
$MISSION,13
$DIVE,2180
$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,-262536.88
$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,19
$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
$GPS1,060212,124100,6000.308,-6022.405,38,0.8,38,-27.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-66.2
$GPS2,060212,124654,6000.122,-6022.359,15,1.2,16,-27.0
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5949.974,-6015.009
$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,187.0,20000,-15.2,-7.143
$D_GRID,1479
$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,-116.8,0.0,0.0,0,140,0.00,0.00,-119.50,0.000,2,0.000,0.000,121,397,2432,0,0,0,0,0,0
$GC,144,-0.63,-116.8,8.1,0.0,2,162,8.80,0.20,-5.68,0.000,4,0.247,0.252,2091,286,2730,0,0,0,0,0,0
$GC,279,-0.63,-116.8,34.4,-23.6,4,281,0.00,0.15,0.00,0.000,6,0.000,0.053,2091,385,2733,0,0,0,0,0,0
$GC,962,-0.63,-116.8,118.5,-12.0,15,964,0.00,0.17,0.00,0.000,4,0.000,0.098,2091,281,2733,0,0,0,0,0,0
$GC,1085,-0.63,-116.8,131.0,-12.1,16,1087,0.00,0.20,0.00,0.000,6,0.000,0.049,2091,415,2732,0,0,0,0,0,0
$GC,1785,-0.63,-116.8,209.0,-11.5,22,1788,0.00,1.88,0.00,0.000,4,0.000,0.023,2083,1687,2731,0,0,0,0,0,0
$GC,1844,-0.63,-116.8,209.0,-11.5,22,1849,0.00,2.22,0.00,0.000,6,0.000,0.067,2083,401,2730,0,0,0,0,0,0
$GC,2481,-0.63,-116.8,287.7,-10.8,28,2484,0.00,1.92,0.00,0.000,4,0.000,0.021,2075,1717,2732,0,0,0,0,0,0
$GC,2573,-0.63,-116.8,287.7,-10.8,28,2577,0.00,2.28,0.00,0.000,6,0.000,0.065,2075,400,2732,0,0,0,0,0,0
$GC,3539,-0.63,-116.8,384.2,-8.7,36,3543,0.00,1.92,0.00,0.000,4,0.000,0.023,2068,1700,2734,0,0,0,0,0,0
$GC,3585,-0.63,-116.8,384.2,-8.7,36,3589,0.00,2.25,0.00,0.000,6,0.000,0.065,2068,397,2734,0,0,0,0,0,0
$GC,4599,-0.63,-116.8,481.6,-9.9,45,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,397,2736,0,0,0,0,0,0
$GC,5563,-0.63,-116.8,590.0,-11.5,53,5567,0.00,1.92,0.00,0.000,4,0.000,0.023,2062,1676,2737,0,0,0,0,0,0
$GC,5639,-0.63,-116.8,590.0,-11.5,53,5644,0.12,2.20,0.00,0.000,6,0.135,0.065,2095,399,2737,0,0,0,0,0,0
$GC,6622,-0.63,-116.8,691.0,-8.9,62,6624,0.00,0.17,0.00,0.000,4,0.000,0.090,2095,276,2738,0,0,0,0,0,0
$GC,6652,-0.63,-116.8,691.0,-8.9,62,6654,0.00,0.20,0.00,0.000,6,0.000,0.047,2095,415,2738,0,0,0,0,0,0
$GC,7561,-0.63,-116.8,769.0,-8.2,70,7565,0.00,1.88,0.00,0.000,4,0.000,0.022,2089,1678,2738,0,0,0,0,0,0
$GC,7636,-0.63,-116.8,769.0,-8.2,70,7640,0.00,2.20,0.00,0.000,6,0.000,0.063,2089,397,2738,0,0,0,0,0,0
$GC,8622,-0.63,-116.8,860.0,-8.6,79,8624,0.00,0.17,0.00,0.000,4,0.000,0.093,2089,274,2738,0,0,0,0,0,0
$GC,8663,-0.63,-116.8,860.0,-8.6,79,8665,0.00,0.20,0.00,0.000,6,0.000,0.048,2089,412,2738,0,0,0,0,0,0
$STATE,9071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9071,begin apogee
$GC,9082,-0.16,0.0,902.1,-9.2,83,9196,0.45,0.17,107.53,1.418,6,0.080,0.080,2249,1693,2250,0,0,0,0,0,0
$STATE,9196,end apogee,CONTROL_FINISHED_OK
$STATE,9197,begin climb
$GC,9201,0.63,116.8,912.6,0.0,84,9321,0.75,2.25,113.62,1.379,4,0.049,0.033,2515,2933,1772,0,0,0,0,0,0
$GC,9330,0.85,290.3,921.5,0.0,85,9505,0.15,2.28,167.73,1.359,6,0.064,0.045,2585,1702,1066,0,0,0,0,0,0
$GC,10494,0.85,290.3,823.9,9.7,95,10497,0.00,2.05,0.00,0.000,4,0.000,0.057,2595,453,1056,0,0,0,0,0,0
$GC,10617,0.85,290.3,811.1,10.1,96,10621,0.00,1.95,0.00,0.000,6,0.000,0.026,2594,1710,1054,0,0,0,0,0,0
$GC,11558,0.85,290.3,689.4,13.5,104,11561,0.00,2.08,0.00,0.000,4,0.000,0.054,2603,462,1054,0,0,0,0,0,0
$GC,11680,0.85,290.3,674.3,13.8,105,11684,0.00,1.92,0.00,0.000,6,0.000,0.028,2603,1700,1054,0,0,0,0,0,0
$GC,12621,0.85,290.3,546.3,12.9,113,12625,0.00,1.95,0.00,0.000,4,0.000,0.041,2603,2931,1054,0,0,0,0,0,0
$GC,12697,0.85,290.3,546.3,12.9,113,12702,0.15,2.03,0.00,0.000,6,0.138,0.041,2572,1692,1054,0,0,0,0,0,0
$GC,13681,0.85,290.3,451.3,7.9,122,13685,0.00,2.00,0.00,0.000,4,0.000,0.056,2579,466,1053,0,0,0,0,0,0
$GC,13801,0.85,290.3,442.2,7.9,123,13805,0.00,1.92,0.00,0.000,6,0.000,0.026,2579,1713,1053,0,0,0,0,0,0
$GC,14742,0.85,290.3,362.8,8.6,131,14746,0.00,2.08,0.00,0.000,4,0.000,0.053,2587,465,1053,0,0,0,0,0,0
$GC,14864,0.85,290.3,351.0,9.2,132,14868,0.00,1.92,0.00,0.000,6,0.000,0.026,2587,1713,1053,0,0,0,0,0,0
$GC,15805,0.85,290.3,240.0,12.3,140,15809,0.00,2.08,0.00,0.000,4,0.000,0.053,2595,463,1054,0,0,0,0,0,0
$GC,15849,0.85,290.3,240.0,12.3,140,15853,0.00,1.92,0.00,0.000,6,0.000,0.025,2595,1712,1053,0,0,0,0,0,0
$GC,16501,0.85,290.3,150.3,12.8,146,16505,0.00,2.08,0.00,0.000,4,0.000,0.053,2604,463,1053,0,0,0,0,0,0
$GC,16625,0.85,290.3,137.8,12.2,147,16629,0.12,1.90,0.00,0.000,6,0.142,0.025,2572,1706,1053,0,0,0,0,0,0
$GC,17263,0.85,290.3,78.3,8.6,154,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1707,1053,0,0,0,0,0,0
$GC,17870,0.85,295.6,36.3,6.9,164,17881,0.00,2.10,4.25,0.647,4,0.000,0.055,2579,467,1044,0,0,0,0,0,0
$GC,18008,0.85,295.6,25.4,7.9,166,18012,0.00,1.90,0.00,0.000,6,0.000,0.024,2579,1708,1043,0,0,0,0,0,0
$FREEZE,7.83,-1.533,-1.857,0,1,0
$FREEZE,2.58,-1.484,-1.853,0,1,0
$FREEZE,1.43,-2.137,-0.937,0,1,0
$STATE,18341,end climb,SURFACE_DEPTH_REACHED
$STATE,18341,begin surface coast
$FREEZE,1.39,-1.737,-0.950,0,1,0
$FINISH,1.4,1.013996
$STATE,18403,end surface coast,CONTROL_FINISHED_OK
$STATE,18403,begin surface
$SM_CCo,18425,71.32,0.074,0,0,441,443.50
$SM_GC,2.40,6.62,2.22,71.32,0.046,0.063,0.074,119,409,441,-6.75,0.85,443.50,0,0,0,0,0,0
$RAFOS_CLK,1165
$RAFOS,6,1328546945,16.833334,16.818056,65,61,60,0,0,0,139,156,180,0,0,0
$RAFOS,4,1328546003,16.566668,16.556389,62,62,59,0,0,0,165,225,148,0,0,0
$RAFOS,2,1328545080,16.299999,16.299999,56,56,56,0,0,0,131,142,167,0,0,0
$RAFOS,1,1328544583,16.166666,16.161945,63,60,58,0,0,0,166,215,201,0,0,0
$RAFOS,0,1328544064,16.033333,16.017778,72,56,54,0,0,0,220,124,178,0,0,0
$RAFOS,6,1328532555,12.833333,12.820833,59,54,51,0,0,0,181,215,172,0,0,0
$RAFOS,4,1328531592,12.566667,12.553333,69,57,54,0,0,0,200,220,142,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5936.65,-6027.05,060212,070722
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.28
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,16.60
$XPDR_PINGS,17
$ALTIM_TOP_PING,15.6,14.5
$24V_AH,21.8,64.234
$10V_AH,10.1,68.883
$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,17.175,62.950,393.125,71.325,0.000,0.000,0.000,182.550,7.750,0.000,20.191,682.859,16597.631,638.173,669.714,280.466,0.000,1140.153,0.000,496.838,2160.000,25.589,0.000
$DEVICE_MAMPS,247.095,252.450,1417.545,74.205,0.000,0.000,0.000,239.694,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,120.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270380
$DATA_FILE_SIZE,6879,173
$CAP_FILE_SIZE,65634,0
$CFSIZE,260165632,206819328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1469.6
$GPS,060212,175707,5957.854,-6020.082,24,1.8,24,-26.9