version: 66.09
glider: 143
mission: 13
dive: 2220
start: 2 12 112 14 53 54
data:
$ID,143
$MISSION,13
$DIVE,2220
$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,-263832.62
$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,18
$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
$GPS1,120212,144723,5918.709,-5934.001,35,0.9,35,-26.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-69.3
$GPS2,120212,145318,5918.610,-5933.867,18,1.1,18,-26.4
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5908.462,-5926.667
$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,1838
$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,-60.47,0.000,2,0.000,0.000,120,402,1379,0,0,0,0,0,0
$GC,84,-0.63,-116.8,3.2,0.0,1,156,8.85,0.22,-59.53,0.000,4,0.246,0.233,2087,282,2728,0,0,0,0,0,0
$GC,171,-0.63,-116.8,6.4,0.0,2,173,0.00,0.15,0.00,0.000,6,0.000,0.053,2087,381,2729,0,0,0,0,0,0
$GC,777,-0.63,-116.8,79.1,-10.2,12,779,0.00,0.17,0.00,0.000,4,0.000,0.099,2087,276,2730,0,0,0,0,0,0
$GC,791,-0.63,-116.8,79.1,-10.2,12,793,0.00,0.20,0.00,0.000,6,0.000,0.047,2087,411,2730,0,0,0,0,0,0
$GC,1473,-0.63,-116.8,152.2,-10.3,20,1477,0.00,1.90,0.00,0.000,4,0.000,0.024,2079,1723,2729,0,0,0,0,0,0
$GC,1534,-0.63,-116.8,152.2,-10.3,20,1539,0.00,2.33,0.00,0.000,6,0.000,0.070,2078,404,2729,0,0,0,0,0,0
$GC,2170,-0.63,-116.8,225.3,-10.5,26,2172,0.00,0.20,0.00,0.000,4,0.000,0.091,2078,273,2729,0,0,0,0,0,0
$GC,2293,-0.63,-116.8,236.6,-10.5,27,2295,0.00,0.20,0.00,0.000,6,0.000,0.048,2077,408,2729,0,0,0,0,0,0
$GC,2993,-0.63,-116.8,309.3,-10.1,33,2997,0.00,1.90,0.00,0.000,4,0.000,0.024,2068,1728,2729,0,0,0,0,0,0
$GC,3114,-0.63,-116.8,320.0,-9.9,34,3119,0.00,2.35,0.00,0.000,6,0.000,0.068,2068,388,2729,0,0,0,0,0,0
$GC,4057,-0.63,-116.8,413.0,-9.5,42,4059,0.00,0.17,0.00,0.000,4,0.000,0.096,2068,270,2731,0,0,0,0,0,0
$GC,4178,-0.63,-116.8,423.1,-9.4,43,4181,0.00,0.20,0.00,0.000,6,0.000,0.048,2067,408,2732,0,0,0,0,0,0
$GC,5118,-0.63,-116.8,513.2,-9.5,51,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,408,2733,0,0,0,0,0,0
$GC,6084,-0.63,-116.8,611.8,-10.5,59,6088,0.00,1.88,0.00,0.000,4,0.000,0.025,2057,1724,2734,0,0,0,0,0,0
$GC,6206,-0.63,-116.8,623.2,-10.5,60,6211,0.15,2.33,0.00,0.000,6,0.134,0.067,2097,394,2734,0,0,0,0,0,0
$GC,7147,-0.63,-116.8,711.2,-8.9,68,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,395,2735,0,0,0,0,0,0
$GC,8111,-0.63,-116.8,799.7,-9.4,76,8113,0.00,0.17,0.00,0.000,4,0.000,0.094,2097,272,2735,0,0,0,0,0,0
$GC,8140,-0.63,-116.8,799.7,-9.4,76,8142,0.00,0.20,0.00,0.000,6,0.000,0.047,2097,412,2735,0,0,0,0,0,0
$GC,9049,-0.63,-116.8,891.4,-10.0,84,9052,0.00,1.88,0.00,0.000,4,0.000,0.022,2093,1667,2735,0,0,0,0,0,0
$GC,9125,-0.63,-116.8,891.4,-10.0,84,9129,0.00,2.20,0.00,0.000,6,0.000,0.063,2093,388,2735,0,0,0,0,0,0
$STATE,9141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9141,begin apogee
$GC,9153,-0.16,0.0,900.7,-10.0,85,9266,0.43,0.20,107.05,1.413,6,0.076,0.080,2249,1693,2250,0,0,0,0,0,0
$STATE,9267,end apogee,CONTROL_FINISHED_OK
$STATE,9267,begin climb
$GC,9271,0.63,116.8,912.0,0.0,86,9391,0.75,2.25,113.82,1.378,4,0.053,0.031,2512,2934,1773,0,0,0,0,0,0
$GC,9499,0.85,290.3,925.9,0.0,88,9673,0.15,2.20,167.15,1.366,6,0.067,0.044,2587,1692,1066,0,0,0,0,0,0
$GC,10583,0.85,290.3,834.0,9.5,97,10587,0.00,2.03,0.00,0.000,4,0.000,0.057,2597,462,1056,0,0,0,0,0,0
$GC,10706,0.85,290.3,821.7,9.9,98,10709,0.00,1.92,0.00,0.000,6,0.000,0.023,2597,1713,1054,0,0,0,0,0,0
$GC,11646,0.85,290.3,710.3,12.0,106,11649,0.00,1.92,0.00,0.000,4,0.000,0.041,2597,2928,1054,0,0,0,0,0,0
$GC,11769,0.85,290.3,697.3,12.0,107,11774,0.12,2.03,0.00,0.000,6,0.143,0.041,2573,1692,1054,0,0,0,0,0,0
$GC,12709,0.85,290.3,597.5,10.3,115,12713,0.00,2.00,0.00,0.000,4,0.000,0.056,2580,469,1054,0,0,0,0,0,0
$GC,12832,0.85,290.3,585.8,10.4,116,12835,0.00,1.90,0.00,0.000,6,0.000,0.024,2581,1707,1053,0,0,0,0,0,0
$GC,13772,0.85,290.3,487.1,10.5,124,13776,0.00,2.08,0.00,0.000,4,0.000,0.054,2589,462,1053,0,0,0,0,0,0
$GC,13895,0.85,290.3,475.0,10.6,125,13899,0.00,1.92,0.00,0.000,6,0.000,0.026,2589,1709,1053,0,0,0,0,0,0
$GC,14835,0.85,290.3,371.5,10.4,133,14839,0.00,1.92,0.00,0.000,4,0.000,0.041,2589,2925,1053,0,0,0,0,0,0
$GC,14959,0.85,290.3,360.0,10.3,134,14963,0.00,2.03,0.00,0.000,6,0.000,0.041,2597,1691,1053,0,0,0,0,0,0
$GC,15898,0.85,290.3,253.9,11.5,142,15902,0.00,2.00,0.00,0.000,4,0.000,0.055,2607,466,1053,0,0,0,0,0,0
$GC,16021,0.85,290.3,240.6,11.6,143,16026,0.12,1.90,0.00,0.000,6,0.143,0.024,2575,1707,1053,0,0,0,0,0,0
$GC,16721,0.85,290.3,172.7,9.3,149,16724,0.00,2.08,0.00,0.000,4,0.000,0.052,2582,459,1053,0,0,0,0,0,0
$GC,16843,0.85,290.3,162.6,9.1,150,16846,0.00,1.90,0.00,0.000,6,0.000,0.024,2582,1701,1053,0,0,0,0,0,0
$GC,17542,0.85,290.3,95.1,9.7,156,17545,0.00,1.92,0.00,0.000,4,0.000,0.037,2582,2924,1053,0,0,0,0,0,0
$GC,17589,0.85,290.3,90.7,9.7,157,17593,0.00,2.03,0.00,0.000,6,0.000,0.042,2590,1690,1054,0,0,0,0,0,0
$GC,18242,0.85,290.3,29.3,9.3,168,18245,0.00,2.00,0.00,0.000,4,0.000,0.038,2590,2927,1053,0,0,0,0,0,0
$GC,18333,0.85,290.3,24.8,9.4,169,18337,0.00,2.03,0.00,0.000,6,0.000,0.043,2598,1698,1053,0,0,0,0,0,0
$FREEZE,6.89,-1.185,-1.830,2,1,0
$FREEZE,4.83,-1.197,-1.828,2,1,0
$FREEZE,2.32,-1.223,-1.826,2,1,0
$FREEZE,1.90,-1.230,-1.823,2,1,0
$STATE,18696,end climb,SURFACE_DEPTH_REACHED
$STATE,18696,begin surface coast
$FREEZE,2.36,-1.235,-1.825,2,1,0
$FINISH,2.4,1.026756
$STATE,18758,end surface coast,CONTROL_FINISHED_OK
$STATE,18762,begin surface
$SM_CCo,18766,73.40,0.075,0,0,442,443.50
$SM_GC,2.37,8.18,2.17,0.00,0.132,0.062,0.000,127,401,433,-6.75,0.62,445.71,0,0,0,0,0,0
$RAFOS_CLK,1206
$RAFOS,4,1329064392,16.566668,16.553333,61,60,57,0,0,0,206,218,188,0,0,0
$RAFOS,2,1329063428,16.299999,16.285555,64,63,59,0,0,0,214,154,227,0,0,0
$RAFOS,0,1329062485,16.033333,16.023611,70,55,54,0,0,0,206,218,1453,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5858.64,-5931.85,120212,090929
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.32
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,16.7,14.9
$24V_AH,21.7,69.505
$10V_AH,10.2,70.095
$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,18.750,63.125,388.025,73.400,0.000,0.000,0.000,176.450,7.500,0.000,23.439,701.101,17036.336,631.211,720.818,295.849,0.000,1152.022,0.000,548.502,1440.000,25.588,0.000
$DEVICE_MAMPS,245.565,232.560,1412.955,74.970,0.000,0.000,0.000,231.455,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,122.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191616
$DATA_FILE_SIZE,6912,176
$CAP_FILE_SIZE,68986,0
$CFSIZE,260165632,205840384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.3
$GPS,120212,201206,5917.246,-5933.407,25,0.9,25,-26.4