version: 66.09
glider: 143
mission: 13
dive: 2191
start: 2 8 112 10 0 5
data:
$ID,143
$MISSION,13
$DIVE,2191
$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,-263089.88
$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,17
$R_STBD_OVSHOOT,50
$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
$GPS1,080212,095337,5941.792,-6005.772,27,1.8,27,-26.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-63.8
$GPS2,080212,095932,5941.700,-6005.409,22,1.8,23,-26.8
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5931.552,-5958.126
$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,186.8,20000,-15.2,-7.143
$D_GRID,1360
$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,-116.8,0.0,0.0,0,140,0.00,0.00,-120.70,0.000,2,0.000,0.000,112,408,2265,0,0,0,0,0,0
$GC,144,-0.63,-116.8,5.7,0.0,2,169,8.77,1.85,-10.57,0.000,4,0.248,0.042,2080,1676,2728,0,0,0,0,0,0
$GC,294,-0.63,-116.8,31.5,-23.3,4,298,0.00,2.22,0.00,0.000,6,0.000,0.072,2080,390,2731,0,0,0,0,0,0
$GC,961,-0.63,-116.8,132.0,-12.7,13,965,0.00,1.92,0.00,0.000,4,0.000,0.023,2071,1714,2730,0,0,0,0,0,0
$GC,1053,-0.63,-116.8,132.0,-12.7,13,1057,0.00,2.33,0.00,0.000,6,0.000,0.070,2071,395,2730,0,0,0,0,0,0
$GC,1659,-0.63,-116.8,210.8,-10.9,18,1662,0.00,1.90,0.00,0.000,4,0.000,0.022,2062,1709,2729,0,0,0,0,0,0
$GC,1781,-0.63,-116.8,223.4,-11.1,19,1786,0.12,2.33,0.00,0.000,6,0.146,0.070,2092,390,2729,0,0,0,0,0,0
$GC,2481,-0.63,-116.8,302.7,-11.3,25,2483,0.00,0.17,0.00,0.000,4,0.000,0.096,2093,270,2729,0,0,0,0,0,0
$GC,2509,-0.63,-116.8,302.7,-11.3,25,2511,0.00,0.20,0.00,0.000,6,0.000,0.044,2092,406,2728,0,0,0,0,0,0
$GC,3419,-0.63,-116.8,391.7,-9.3,33,3422,0.00,1.88,0.00,0.000,4,0.000,0.020,2087,1707,2731,0,0,0,0,0,0
$GC,3528,-0.63,-116.8,402.3,-9.4,34,3532,0.00,2.25,0.00,0.000,6,0.000,0.063,2086,398,2732,0,0,0,0,0,0
$GC,4482,-0.63,-116.8,496.6,-9.6,42,4484,0.00,0.17,0.00,0.000,4,0.000,0.093,2086,274,2733,0,0,0,0,0,0
$GC,4573,-0.63,-116.8,496.6,-9.6,42,4575,0.00,0.20,0.00,0.000,6,0.000,0.046,2086,415,2733,0,0,0,0,0,0
$GC,5540,-0.63,-116.8,579.0,-7.3,50,5543,0.00,1.88,0.00,0.000,4,0.000,0.021,2081,1692,2735,0,0,0,0,0,0
$GC,5600,-0.63,-116.8,579.0,-7.3,50,5604,0.00,2.22,0.00,0.000,6,0.000,0.063,2081,400,2735,0,0,0,0,0,0
$GC,6600,-0.63,-116.8,656.7,-8.0,59,6602,0.00,0.17,0.00,0.000,4,0.000,0.092,2081,276,2736,0,0,0,0,0,0
$GC,6643,-0.63,-116.8,656.7,-8.0,59,6645,0.00,0.20,0.00,0.000,6,0.000,0.046,2081,417,2736,0,0,0,0,0,0
$GC,7660,-0.63,-116.8,754.0,-9.4,68,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,417,2737,0,0,0,0,0,0
$GC,8622,-0.63,-116.8,836.4,-7.8,76,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,417,2737,0,0,0,0,0,0
$STATE,9586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9586,begin apogee
$GC,9597,-0.16,0.0,907.3,-7.9,84,9710,0.47,0.15,107.03,1.419,6,0.083,0.084,2247,1690,2250,0,0,0,0,0,0
$STATE,9711,end apogee,CONTROL_FINISHED_OK
$STATE,9711,begin climb
$GC,9715,0.63,116.8,916.2,0.0,85,9835,0.75,2.30,113.07,1.382,4,0.050,0.058,2521,460,1773,0,0,0,0,0,0
$GC,9878,0.85,290.3,924.0,0.0,86,10057,0.15,2.03,167.60,1.362,6,0.067,0.019,2589,1713,1066,0,0,0,0,0,0
$GC,11022,0.85,290.3,809.3,12.0,96,11026,0.00,2.10,0.00,0.000,4,0.000,0.053,2598,453,1057,0,0,0,0,0,0
$GC,11145,0.85,290.3,794.7,12.5,97,11149,0.00,1.88,0.00,0.000,6,0.000,0.024,2598,1668,1055,0,0,0,0,0,0
$GC,12086,0.85,290.3,684.6,11.1,105,12090,0.00,1.98,0.00,0.000,4,0.000,0.039,2598,2922,1054,0,0,0,0,0,0
$GC,12208,0.85,290.3,672.1,11.1,106,12213,0.12,2.00,0.00,0.000,6,0.140,0.039,2575,1694,1055,0,0,0,0,0,0
$GC,13148,0.85,290.3,582.1,9.2,114,13152,0.00,2.00,0.00,0.000,4,0.000,0.054,2582,463,1054,0,0,0,0,0,0
$GC,13272,0.85,290.3,571.8,9.2,115,13276,0.00,1.90,0.00,0.000,6,0.000,0.024,2582,1704,1054,0,0,0,0,0,0
$GC,14211,0.85,290.3,470.0,10.9,123,14215,0.00,2.05,0.00,0.000,4,0.000,0.052,2590,470,1055,0,0,0,0,0,0
$GC,14334,0.85,290.3,455.9,11.4,124,14338,0.00,1.90,0.00,0.000,6,0.000,0.023,2589,1711,1054,0,0,0,0,0,0
$GC,15275,0.85,290.3,340.3,11.5,132,15279,0.00,1.90,0.00,0.000,4,0.000,0.037,2590,2922,1054,0,0,0,0,0,0
$GC,15397,0.85,290.3,326.6,11.7,133,15401,0.00,2.00,0.00,0.000,6,0.000,0.040,2598,1695,1054,0,0,0,0,0,0
$GC,16338,0.85,290.3,241.9,8.3,141,16342,0.00,1.98,0.00,0.000,4,0.000,0.037,2598,2921,1054,0,0,0,0,0,0
$GC,16460,0.85,290.3,232.0,8.3,142,16465,0.12,2.00,0.00,0.000,6,0.138,0.039,2574,1692,1054,0,0,0,0,0,0
$GC,17160,0.89,325.3,184.1,5.7,148,17195,0.00,2.05,30.38,0.941,4,0.000,0.038,2574,2931,924,0,0,0,0,0,0
$GC,17313,0.92,345.3,175.1,6.3,149,17336,0.00,2.03,18.40,0.915,6,0.000,0.038,2580,1699,842,0,0,0,0,0,0
$GC,17979,0.92,345.3,102.3,11.1,155,17983,0.00,2.00,0.00,0.000,4,0.000,0.053,2589,462,838,0,0,0,0,0,0
$GC,18102,0.92,345.3,91.2,11.4,156,18106,0.00,1.90,0.00,0.000,6,0.000,0.024,2589,1699,838,0,0,0,0,0,0
$GC,18742,0.92,345.3,29.1,9.1,167,18746,0.00,2.05,0.00,0.000,4,0.000,0.055,2595,466,838,0,0,0,0,0,0
$GC,18852,0.92,345.3,19.7,8.7,169,18855,0.00,1.90,0.00,0.000,6,0.000,0.022,2595,1722,837,0,0,0,0,0,0
$FREEZE,5.53,-1.594,-1.809,2,1,0
$FREEZE,2.01,-1.628,-1.807,2,1,0
$FREEZE,1.96,-1.611,-1.805,2,1,0
$STATE,19137,end climb,SURFACE_DEPTH_REACHED
$STATE,19138,begin surface coast
$FREEZE,2.00,-1.613,-1.806,2,1,0
$FINISH,2.0,1.026495
$STATE,19199,end surface coast,CONTROL_FINISHED_OK
$STATE,19199,begin surface
$SM_CCo,19205,46.97,0.074,0,0,442,443.50
$SM_GC,2.46,6.70,2.25,0.00,0.047,0.061,0.000,113,401,436,-6.75,0.62,444.97,0,0,0,0,0,0
$RAFOS_CLK,1223
$RAFOS,6,1328705379,12.833333,12.827500,73,67,61,0,0,0,215,227,197,0,0,0
$RAFOS,5,1328704865,12.700000,12.684722,58,57,57,0,0,0,225,211,167,0,0,0
$RAFOS,4,1328704426,12.566667,12.562778,62,62,60,0,0,0,167,205,192,0,0,0
$RAFOS,2,1328703462,12.300000,12.295000,58,58,57,0,0,0,184,211,118,0,0,0
$RAFOS,0,1328702496,12.033333,12.026667,67,67,58,0,0,0,186,199,120,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5919.67,-6009.49,080212,040412
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,17.00
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,21.7,65.780
$10V_AH,10.0,69.268
$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,17.225,66.200,436.475,46.975,0.000,0.000,0.000,176.925,7.500,0.000,27.399,685.804,17388.770,661.952,713.302,280.840,0.000,1180.389,0.000,535.906,1800.000,25.597,0.000
$DEVICE_MAMPS,247.860,95.625,1419.075,74.205,0.000,0.000,0.000,235.949,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270308
$DATA_FILE_SIZE,6846,175
$CAP_FILE_SIZE,67503,0
$CFSIZE,260165632,206528512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1471.6
$GPS,080212,152406,5940.476,-6004.641,25,0.9,25,-26.7