version: 66.09
glider: 143
mission: 13
dive: 2196
start: 2 9 112 9 43 4
data:
$ID,143
$MISSION,13
$DIVE,2196
$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,-263274.88
$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,18
$R_STBD_OVSHOOT,62
$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
$GPS1,090212,093435,5935.664,-5955.438,30,1.0,30,-26.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-41.0
$GPS2,090212,094232,5935.753,-5955.271,137,1.1,137,-26.7
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5925.605,-5948.009
$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,186.7,20000,-15.2,-7.143
$D_GRID,250
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.63,-116.8,0.0,0.0,0,142,0.00,0.00,-119.55,0.000,2,0.000,0.000,121,404,2245,0,0,0,0,0,0
$GC,146,-0.63,-116.8,6.1,0.0,2,170,8.38,1.85,-10.48,0.000,4,0.242,0.044,2079,1629,2726,0,0,0,0,0,0
$GC,296,-0.63,-116.8,29.6,-21.4,4,300,0.00,2.12,0.00,0.000,6,0.000,0.073,2079,402,2729,0,0,0,0,0,0
$GC,903,-0.63,-116.8,114.9,-9.9,13,907,0.00,1.88,0.00,0.000,4,0.000,0.025,2070,1687,2729,0,0,0,0,0,0
$GC,1026,-0.63,-116.8,123.8,-8.7,14,1030,0.00,2.28,0.00,0.000,6,0.000,0.070,2070,392,2729,0,0,0,0,0,0
$GC,1726,-0.63,-116.8,206.1,-12.3,20,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,392,2729,0,0,0,0,0,0
$STATE,2083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2083,begin apogee
$GC,2093,-0.16,0.0,250.0,-12.1,23,2195,0.52,0.20,96.50,1.047,6,0.091,0.081,2244,1683,2251,0,0,0,0,0,0
$STATE,2196,end apogee,CONTROL_FINISHED_OK
$STATE,2196,begin climb
$GC,2201,0.63,116.8,250.0,0.0,23,2308,0.73,2.15,100.75,1.001,4,0.050,0.032,2514,2917,1773,0,0,0,0,0,0
$GC,2330,0.85,290.3,250.0,0.0,23,2489,0.15,2.20,152.12,0.970,6,0.065,0.047,2590,1693,1066,0,0,0,0,0,0
$GC,3494,0.85,290.3,163.9,9.8,33,3498,0.00,1.98,0.00,0.000,4,0.000,0.037,2590,2915,1059,0,0,0,0,0,0
$GC,3617,0.85,290.3,153.2,9.6,34,3621,0.00,2.03,0.00,0.000,6,0.000,0.042,2599,1688,1058,0,0,0,0,0,0
$GC,4256,0.85,290.3,80.9,10.1,41,4260,0.00,1.98,0.00,0.000,4,0.000,0.038,2599,2912,1058,0,0,0,0,0,0
$GC,4380,0.85,290.3,71.4,8.6,43,4385,0.12,2.00,0.00,0.000,6,0.138,0.042,2575,1696,1058,0,0,0,0,0,0
$GC,5020,0.85,290.3,14.8,8.5,54,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1696,1059,0,0,0,0,0,0
$FREEZE,6.61,-1.577,-1.827,2,1,0
$FREEZE,2.31,-1.579,-1.823,2,1,0
$FREEZE,1.52,-1.639,-1.817,2,1,0
$STATE,5259,end climb,SURFACE_DEPTH_REACHED
$STATE,5259,begin surface coast
$FREEZE,1.47,-1.678,-1.801,2,1,0
$FINISH,1.5,1.026432
$STATE,5320,end surface coast,CONTROL_FINISHED_OK
$STATE,5321,begin surface
$SM_CCo,5344,73.00,0.077,0,0,442,443.50
$SM_GC,2.85,6.72,2.15,73.00,0.054,0.063,0.077,120,407,442,-6.77,0.82,443.50,0,0,0,0,0,0
$RAFOS_CLK,328
$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,57.67
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.70
$XPDR_PINGS,17
$ALTIM_TOP_PING,14.8,14.1
$24V_AH,22.3,66.496
$10V_AH,10.0,69.443
$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,16.625,24.800,349.375,73.000,0.000,0.000,0.000,177.050,4.500,0.000,137.908,297.339,4390.913,552.435,473.092,192.686,0.000,885.937,0.000,204.870,0.000,2.616,0.000
$DEVICE_MAMPS,241.740,81.090,1047.285,77.265,0.000,0.000,0.000,235.200,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,41.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270336
$DATA_FILE_SIZE,221,59
$CAP_FILE_SIZE,30114,0
$CFSIZE,260165632,206434304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1456.6
$GPS,090212,094232,5935.753,-5955.271,181,99.0,181,-26.7