version: 66.09
glider: 143
mission: 13
dive: 2219
start: 2 12 112 9 38 8
data:
$ID,143
$MISSION,13
$DIVE,2219
$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,-263831.38
$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,18
$R_STBD_OVSHOOT,63
$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
$GPS1,120212,093135,5919.304,-5934.010,29,1.0,29,-26.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-66.2
$GPS2,120212,093736,5919.288,-5934.013,18,0.8,19,-26.4
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5909.140,-5926.810
$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,186.4,20000,-15.2,-7.143
$D_GRID,1867
$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,-116.8,0.0,0.0,0,80,0.00,0.00,-60.55,0.000,2,0.000,0.000,118,409,1396,0,0,0,0,0,0
$GC,84,-0.63,-116.8,3.1,0.0,1,155,8.75,1.92,-57.00,0.000,4,0.243,0.038,2080,1679,2729,0,0,0,0,0,0
$GC,264,-0.63,-116.8,19.9,-12.0,4,268,0.00,2.25,0.00,0.000,6,0.000,0.073,2079,401,2729,0,0,0,0,0,0
$GC,902,-0.63,-116.8,94.7,-11.2,15,904,0.00,0.17,0.00,0.000,4,0.000,0.100,2079,284,2729,0,0,0,0,0,0
$GC,1025,-0.63,-116.8,107.4,-11.4,17,1027,0.00,0.15,0.00,0.000,6,0.000,0.053,2078,385,2729,0,0,0,0,0,0
$GC,1725,-0.63,-116.8,189.2,-11.3,23,1729,0.00,1.92,0.00,0.000,4,0.000,0.023,2069,1725,2729,0,0,0,0,0,0
$GC,1847,-0.63,-116.8,201.2,-11.2,24,1851,0.00,2.35,0.00,0.000,6,0.000,0.068,2069,387,2728,0,0,0,0,0,0
$GC,2546,-0.63,-116.8,280.2,-11.1,30,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,387,2729,0,0,0,0,0,0
$GC,3512,-0.63,-116.8,381.9,-10.1,38,3514,0.00,0.15,0.00,0.000,4,0.000,0.103,2068,283,2730,0,0,0,0,0,0
$GC,3556,-0.63,-116.8,381.9,-10.1,38,3558,0.00,0.17,0.00,0.000,6,0.000,0.050,2068,402,2730,0,0,0,0,0,0
$GC,4570,-0.63,-116.8,486.4,-10.0,47,4572,0.00,0.20,0.00,0.000,4,0.000,0.090,2069,283,2732,0,0,0,0,0,0
$GC,4693,-0.63,-116.8,498.2,-10.3,48,4696,0.00,0.17,0.00,0.000,6,0.000,0.050,2068,407,2732,0,0,0,0,0,0
$GC,5634,-0.63,-116.8,605.1,-11.3,56,5637,0.00,1.88,0.00,0.000,4,0.000,0.024,2059,1729,2734,0,0,0,0,0,0
$GC,5693,-0.63,-116.8,605.1,-11.3,56,5698,0.15,2.33,0.00,0.000,6,0.132,0.066,2099,396,2734,0,0,0,0,0,0
$GC,6694,-0.63,-116.8,716.5,-10.7,65,6696,0.00,0.17,0.00,0.000,4,0.000,0.091,2099,273,2734,0,0,0,0,0,0
$GC,6720,-0.63,-116.8,716.5,-10.7,65,6723,0.00,0.20,0.00,0.000,6,0.000,0.047,2100,412,2734,0,0,0,0,0,0
$GC,7632,-0.63,-116.8,807.3,-9.5,73,7635,0.00,1.88,0.00,0.000,4,0.000,0.022,2094,1670,2734,0,0,0,0,0,0
$GC,7691,-0.63,-116.8,807.3,-9.5,73,7695,0.00,2.20,0.00,0.000,6,0.000,0.063,2094,390,2734,0,0,0,0,0,0
$STATE,8687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8687,begin apogee
$GC,8698,-0.16,0.0,905.8,-9.4,82,8811,0.43,0.17,106.80,1.418,6,0.080,0.081,2247,1695,2250,0,0,0,0,0,0
$STATE,8812,end apogee,CONTROL_FINISHED_OK
$STATE,8812,begin climb
$GC,8817,0.63,116.8,915.8,0.0,83,8937,0.75,2.25,113.68,1.382,4,0.048,0.032,2515,2936,1773,0,0,0,0,0,0
$GC,8945,0.85,290.3,924.3,0.0,84,9121,0.15,2.30,168.85,1.360,6,0.064,0.044,2587,1695,1066,0,0,0,0,0,0
$GC,10110,0.85,290.3,821.4,9.8,94,10113,0.00,2.05,0.00,0.000,4,0.000,0.058,2597,450,1057,0,0,0,0,0,0
$GC,10233,0.85,290.3,809.1,10.0,95,10237,0.00,1.95,0.00,0.000,6,0.000,0.024,2597,1714,1055,0,0,0,0,0,0
$GC,11173,0.85,290.3,700.4,11.6,103,11176,0.00,1.92,0.00,0.000,4,0.000,0.039,2597,2932,1055,0,0,0,0,0,0
$GC,11296,0.85,290.3,687.3,11.6,104,11301,0.12,2.03,0.00,0.000,6,0.142,0.040,2574,1693,1055,0,0,0,0,0,0
$GC,12236,0.85,290.3,586.1,10.9,112,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,1693,1054,0,0,0,0,0,0
$GC,13201,0.85,290.3,485.0,10.0,120,13204,0.00,2.00,0.00,0.000,4,0.000,0.056,2580,468,1054,0,0,0,0,0,0
$GC,13324,0.85,290.3,474.4,9.8,121,13328,0.00,1.90,0.00,0.000,6,0.000,0.024,2580,1706,1053,0,0,0,0,0,0
$GC,14264,0.85,290.3,391.0,8.4,129,14268,0.00,2.08,0.00,0.000,4,0.000,0.052,2589,459,1053,0,0,0,0,0,0
$GC,14387,0.85,290.3,380.9,8.6,130,14390,0.00,1.90,0.00,0.000,6,0.000,0.024,2588,1701,1053,0,0,0,0,0,0
$GC,15328,0.85,290.3,278.3,11.7,138,15331,0.00,1.92,0.00,0.000,4,0.000,0.040,2589,2920,1053,0,0,0,0,0,0
$GC,15450,0.85,290.3,264.5,12.0,139,15454,0.00,2.00,0.00,0.000,6,0.000,0.041,2597,1698,1053,0,0,0,0,0,0
$GC,16391,0.85,290.3,147.5,11.7,147,16395,0.00,2.03,0.00,0.000,4,0.000,0.057,2606,461,1053,0,0,0,0,0,0
$GC,16513,0.85,290.3,135.2,11.5,148,16518,0.12,1.90,0.00,0.000,6,0.143,0.024,2574,1708,1053,0,0,0,0,0,0
$GC,17153,0.85,292.0,84.3,7.1,155,17156,0.00,2.08,0.00,0.000,4,0.000,0.056,2581,466,1053,0,0,0,0,0,0
$GC,17276,0.85,292.0,75.9,7.2,157,17280,0.00,1.90,0.00,0.000,6,0.000,0.022,2581,1713,1053,0,0,0,0,0,0
$GC,17915,0.85,292.0,26.4,7.3,168,17918,0.00,1.88,0.00,0.000,4,0.000,0.036,2581,2918,1053,0,0,0,0,0,0
$GC,17944,0.85,292.0,26.4,7.3,168,17948,0.00,2.03,0.00,0.000,6,0.000,0.043,2589,1690,1053,0,0,0,0,0,0
$FREEZE,6.22,-1.367,-1.821,2,1,0
$FREEZE,2.87,-1.367,-1.818,2,1,0
$FREEZE,1.67,-1.404,-1.782,2,1,0
$STATE,18307,end climb,SURFACE_DEPTH_REACHED
$STATE,18307,begin surface coast
$FREEZE,1.70,-1.471,-1.763,2,1,0
$FINISH,1.7,1.025889
$STATE,18369,end surface coast,CONTROL_FINISHED_OK
$STATE,18369,begin surface
$SM_CCo,18392,73.28,0.078,0,0,441,443.50
$SM_GC,2.63,6.80,2.15,73.28,0.054,0.062,0.078,120,403,441,-6.77,0.71,443.50,0,0,0,0,0,0
$RAFOS_CLK,1170
$RAFOS,6,1329050996,12.833333,12.832222,59,55,50,0,0,0,171,187,222,0,0,0
$RAFOS,1,1329048550,12.166667,12.152778,65,59,58,0,0,0,211,195,168,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5854.46,-5939.76,120212,040418
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.03
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.60
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.0,17.1
$24V_AH,21.7,69.352
$10V_AH,10.0,70.045
$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,17.275,58.600,389.325,73.275,0.000,0.000,0.000,180.850,7.000,0.000,20.438,675.799,16578.254,623.471,685.360,276.839,0.000,1127.069,0.000,513.410,720.000,25.596,0.000
$DEVICE_MAMPS,242.505,103.275,1417.545,78.030,0.000,0.000,0.000,237.447,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191732
$DATA_FILE_SIZE,6870,175
$CAP_FILE_SIZE,63864,0
$CFSIZE,260165632,205873152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1469.3
$GPS,120212,144723,5918.709,-5934.001,35,0.9,35,-26.4