version: 66.09
glider: 143
mission: 13
dive: 2195
start: 2 9 112 3 59 48
data:
$ID,143
$MISSION,13
$DIVE,2195
$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,-263273.62
$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,24
$R_STBD_OVSHOOT,60
$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
$GPS1,080212,204159,5938.915,-6000.346,181,99.0,181,-26.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-0.5
$GPS2,080212,204159,5938.915,-6000.346,181,99.0,181,-26.7
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5928.767,-5953.073
$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,186.7,20000,-15.2,-7.143
$D_GRID,1425
$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,-116.8,0.0,0.0,0,140,0.00,0.00,-119.32,0.000,2,0.000,0.000,2235,1698,2538,0,0,0,0,0,0
$GC,144,-0.63,-116.8,5.8,0.0,2,155,0.40,0.12,-6.65,0.000,4,0.087,0.358,2098,1624,2727,0,0,0,0,0,0
$GC,279,-0.63,-116.8,16.4,-9.8,4,283,0.00,2.05,0.00,0.000,6,0.000,0.066,2098,403,2729,0,0,0,0,0,0
$GC,902,-0.63,-116.8,84.3,-9.7,15,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,402,2729,0,0,0,0,0,0
$GC,1568,-0.63,-116.8,152.1,-10.0,22,1570,0.00,0.17,0.00,0.000,4,0.000,0.093,2098,283,2729,0,0,0,0,0,0
$GC,1612,-0.63,-116.8,152.1,-10.0,22,1614,0.00,0.15,0.00,0.000,6,0.000,0.051,2098,393,2729,0,0,0,0,0,0
$GC,2263,-0.63,-116.8,216.5,-9.2,28,2267,0.00,1.88,0.00,0.000,4,0.000,0.021,2095,1682,2728,0,0,0,0,0,0
$GC,2339,-0.63,-116.8,216.5,-9.2,28,2343,0.00,2.22,0.00,0.000,6,0.000,0.064,2095,390,2728,0,0,0,0,0,0
$GC,2963,-0.63,-116.8,278.7,-8.9,34,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,390,2728,0,0,0,0,0,0
$GC,3926,-0.63,-116.8,361.5,-8.8,42,3928,0.00,0.17,0.00,0.000,4,0.000,0.096,2095,269,2730,0,0,0,0,0,0
$GC,3954,-0.63,-116.8,361.5,-8.8,42,3957,0.00,0.17,0.00,0.000,6,0.000,0.047,2095,384,2729,0,0,0,0,0,0
$GC,4863,-0.63,-116.8,448.6,-9.3,50,4867,0.00,1.92,0.00,0.000,4,0.000,0.023,2094,1688,2730,0,0,0,0,0,0
$GC,4956,-0.63,-116.8,448.6,-9.3,50,4960,0.00,2.22,0.00,0.000,6,0.000,0.063,2093,391,2730,0,0,0,0,0,0
$GC,5922,-0.63,-116.8,534.6,-8.6,58,5924,0.00,0.17,0.00,0.000,4,0.000,0.096,2093,269,2731,0,0,0,0,0,0
$GC,5936,-0.63,-116.8,534.6,-8.6,58,5938,0.00,0.20,0.00,0.000,6,0.000,0.047,2093,408,2731,0,0,0,0,0,0
$GC,6861,-0.63,-116.8,627.9,-10.4,66,6865,0.00,1.88,0.00,0.000,4,0.000,0.023,2091,1678,2732,0,0,0,0,0,0
$GC,6905,-0.63,-116.8,627.9,-10.4,66,6909,0.00,2.20,0.00,0.000,6,0.000,0.063,2091,397,2732,0,0,0,0,0,0
$GC,7919,-0.63,-116.8,741.4,-10.3,75,7922,0.00,1.92,0.00,0.000,4,0.000,0.023,2089,1689,2732,0,0,0,0,0,0
$GC,7980,-0.63,-116.8,741.4,-10.3,75,7984,0.00,2.22,0.00,0.000,6,0.000,0.063,2089,391,2732,0,0,0,0,0,0
$GC,8977,-0.63,-116.8,827.1,-7.3,84,8981,0.00,1.92,0.00,0.000,4,0.000,0.023,2088,1677,2732,0,0,0,0,0,0
$GC,9038,-0.63,-116.8,827.1,-7.3,84,9042,0.00,2.20,0.00,0.000,6,0.000,0.064,2088,395,2733,0,0,0,0,0,0
$GC,10037,-0.63,-116.8,892.8,-6.1,93,10041,0.00,1.92,0.00,0.000,4,0.000,0.022,2084,1684,2732,0,0,0,0,0,0
$GC,10128,-0.63,-116.8,892.8,-6.1,93,10132,0.00,2.20,0.00,0.000,6,0.000,0.063,2084,402,2733,0,0,0,0,0,0
$STATE,10248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10248,begin apogee
$GC,10258,-0.16,0.0,907.6,-6.5,94,10372,0.45,0.17,105.35,1.421,6,0.073,0.063,2255,1694,2251,0,0,0,0,0,0
$STATE,10372,end apogee,CONTROL_FINISHED_OK
$STATE,10373,begin climb
$GC,10377,0.63,116.8,914.2,0.0,95,10497,0.75,2.30,113.40,1.380,4,0.058,0.061,2522,467,1773,0,0,0,0,0,0
$GC,10537,0.85,290.3,919.9,0.0,96,10710,0.15,2.10,167.55,1.359,6,0.069,0.020,2586,1746,1066,0,0,0,0,0,0
$GC,11669,0.85,290.3,796.6,11.9,105,11672,0.00,1.85,0.00,0.000,4,0.000,0.040,2586,2908,1056,0,0,0,0,0,0
$GC,11792,0.85,290.3,784.7,11.4,106,11796,0.00,2.00,0.00,0.000,6,0.000,0.041,2595,1693,1056,0,0,0,0,0,0
$GC,12732,0.85,290.3,679.6,11.1,114,12736,0.00,2.00,0.00,0.000,4,0.000,0.056,2605,469,1054,0,0,0,0,0,0
$GC,12856,0.85,290.3,666.2,11.3,115,12860,0.12,1.88,0.00,0.000,6,0.146,0.023,2574,1692,1053,0,0,0,0,0,0
$GC,13795,0.85,290.3,571.8,9.6,123,13799,0.00,1.95,0.00,0.000,4,0.000,0.040,2574,2925,1053,0,0,0,0,0,0
$GC,13918,0.85,290.3,562.2,9.5,124,13922,0.00,2.03,0.00,0.000,6,0.000,0.041,2580,1689,1053,0,0,0,0,0,0
$GC,14859,0.85,290.3,482.8,8.1,132,14860,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1689,1053,0,0,0,0,0,0
$GC,15823,0.85,290.3,407.6,8.5,140,15827,0.00,2.00,0.00,0.000,4,0.000,0.057,2589,468,1053,0,0,0,0,0,0
$GC,15946,0.85,290.3,397.3,9.0,141,15950,0.00,1.90,0.00,0.000,6,0.000,0.024,2589,1705,1052,0,0,0,0,0,0
$GC,16888,0.85,290.3,298.5,11.3,149,16892,0.00,2.08,0.00,0.000,4,0.000,0.052,2598,457,1052,0,0,0,0,0,0
$GC,17008,0.85,290.3,284.5,11.7,150,17012,0.00,1.92,0.00,0.000,6,0.000,0.024,2598,1712,1052,0,0,0,0,0,0
$GC,17949,0.85,290.3,160.4,12.6,158,17953,0.00,2.08,0.00,0.000,4,0.000,0.054,2606,469,1053,0,0,0,0,0,0
$GC,18058,0.85,290.3,148.6,11.9,159,18062,0.12,1.90,0.00,0.000,6,0.138,0.024,2574,1713,1052,0,0,0,0,0,0
$GC,18771,0.93,357.2,107.0,4.4,165,18832,0.00,1.98,57.05,0.908,4,0.000,0.037,2574,2925,792,0,0,0,0,0,0
$GC,18892,0.96,385.4,95.4,6.0,166,18922,0.00,2.08,25.02,0.870,6,0.000,0.043,2579,1689,677,0,0,0,0,0,0
$GC,19529,0.96,385.4,28.8,7.8,176,19530,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1689,673,0,0,0,0,0,0
$FREEZE,5.40,-1.538,-1.825,2,4,0
$FREEZE,1.57,-1.555,-1.818,2,4,0
$STATE,19892,end climb,SURFACE_DEPTH_REACHED
$STATE,19892,begin surface coast
$FREEZE,1.51,-1.723,-1.609,2,4,0
$FINISH,1.5,1.023687
$STATE,19952,end surface coast,FINISH_DEPTH_REACHED
$STATE,19952,begin surface
$SM_CCo,19976,26.95,0.076,0,0,442,443.50
$SM_GC,2.90,6.62,2.15,26.95,0.046,0.065,0.076,123,405,442,-6.75,0.79,443.50,0,0,0,0,0,0
$RAFOS_CLK,1309
$RAFOS,5,1328776870,8.700000,8.686111,69,62,60,0,0,0,193,205,163,0,0,0
$RAFOS,3,1328775916,8.433333,8.421111,60,59,58,0,0,0,212,175,158,0,0,0
$RAFOS,2,1328775445,8.300000,8.290277,62,59,59,0,0,0,205,165,214,0,0,0
$RAFOS,0,1328774480,8.033334,8.022223,67,57,56,0,0,0,188,202,215,0,0,0
$RAFOS,6,1328762944,4.833333,4.817778,63,60,59,0,0,0,219,171,143,0,0,0
$RAFOS,4,1328762006,4.566667,4.557222,72,60,53,0,0,0,212,194,120,0,0,0
$RAFOS,2,1328761068,4.300000,4.296667,60,55,51,0,0,0,164,185,200,0,0,0
$RAFOS,1,1328760583,4.166667,4.161944,61,59,58,0,0,0,204,185,166,0,0,0
$RAFOS,0,1328760065,4.033333,4.018055,69,62,56,0,0,0,191,215,152,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5919.67,-6007.91,080212,151556
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,15.4,13.7
$24V_AH,21.8,66.396
$10V_AH,9.9,69.410
$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,8.625,64.325,468.375,26.950,0.000,0.000,0.000,0.000,4.250,0.000,0.000,686.874,18027.463,665.705,508.814,178.430,0.000,982.439,0.000,502.452,3240.000,25.586,0.000
$DEVICE_MAMPS,146.115,358.020,1420.605,76.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,127.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270364
$DATA_FILE_SIZE,6858,183
$CAP_FILE_SIZE,63617,0
$CFSIZE,260165632,206426112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.4
$GPS,090212,093435,5935.664,-5955.438,30,1.0,30,-26.7