version: 66.09
glider: 143
mission: 13
dive: 2222
start: 2 13 112 1 37 6
data:
$ID,143
$MISSION,13
$DIVE,2222
$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,-264199.44
$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,55
$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
$GPS1,120212,201801,5917.050,-5933.534,181,99.0,181,-26.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-35.0
$GPS2,120212,201801,5917.050,-5933.534,181,99.0,181,-26.4
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5906.902,-5926.338
$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,1832
$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,-116.8,0.0,0.0,0,181,0.00,0.00,-159.70,0.000,6,0.000,0.000,115,403,2725,0,0,0,0,0,0
$GC,186,-0.63,-116.8,2.7,0.0,2,200,7.43,0.17,0.00,0.000,4,0.184,0.074,2088,284,2727,0,0,0,0,0,0
$GC,326,-0.63,-116.8,12.1,0.0,5,328,0.00,0.15,0.00,0.000,6,0.000,0.052,2088,387,2729,0,0,0,0,0,0
$GC,980,-0.63,-116.8,89.8,-9.7,16,983,0.00,1.92,0.00,0.000,4,0.000,0.023,2080,1724,2728,0,0,0,0,0,0
$GC,1102,-0.63,-116.8,100.5,-9.6,18,1106,0.00,2.35,0.00,0.000,6,0.000,0.070,2079,391,2727,0,0,0,0,0,0
$GC,1800,-0.63,-116.8,182.7,-11.6,24,1802,0.00,0.17,0.00,0.000,4,0.000,0.099,2080,274,2728,0,0,0,0,0,0
$GC,1924,-0.63,-116.8,195.4,-11.6,25,1926,0.00,0.20,0.00,0.000,6,0.000,0.047,2079,411,2728,0,0,0,0,0,0
$GC,2622,-0.63,-116.8,277.4,-11.5,31,2626,0.00,1.88,0.00,0.000,4,0.000,0.022,2070,1719,2727,0,0,0,0,0,0
$GC,2745,-0.63,-116.8,289.3,-11.3,32,2749,0.00,2.33,0.00,0.000,6,0.000,0.067,2070,395,2728,0,0,0,0,0,0
$GC,3687,-0.63,-116.8,400.6,-11.9,40,3689,0.00,0.17,0.00,0.000,4,0.000,0.098,2069,277,2730,0,0,0,0,0,0
$GC,3777,-0.63,-116.8,400.6,-11.9,40,3779,0.00,0.20,0.00,0.000,6,0.000,0.047,2069,415,2729,0,0,0,0,0,0
$GC,4744,-0.63,-116.8,520.9,-11.1,48,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,415,2731,0,0,0,0,0,0
$GC,5710,-0.63,-116.8,621.6,-10.3,56,5714,0.00,1.88,0.00,0.000,4,0.000,0.025,2059,1726,2732,0,0,0,0,0,0
$GC,5832,-0.63,-116.8,632.5,-10.3,57,5837,0.15,2.33,0.00,0.000,6,0.130,0.067,2100,400,2732,0,0,0,0,0,0
$GC,6773,-0.63,-116.8,713.1,-8.2,65,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,400,2733,0,0,0,0,0,0
$GC,7737,-0.63,-116.8,791.8,-8.1,73,7739,0.00,0.17,0.00,0.000,4,0.000,0.090,2100,276,2734,0,0,0,0,0,0
$GC,7751,-0.63,-116.8,791.8,-8.1,73,7753,0.00,0.20,0.00,0.000,6,0.000,0.047,2100,415,2734,0,0,0,0,0,0
$GC,8676,-0.63,-116.8,870.2,-8.3,81,8680,0.00,1.88,0.00,0.000,4,0.000,0.021,2094,1682,2734,0,0,0,0,0,0
$GC,8736,-0.63,-116.8,870.2,-8.3,81,8741,0.00,2.22,0.00,0.000,6,0.000,0.063,2094,387,2734,0,0,0,0,0,0
$STATE,9131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9131,begin apogee
$GC,9141,-0.16,0.0,907.5,-8.2,85,9255,0.43,0.20,106.72,1.417,6,0.077,0.076,2250,1690,2250,0,0,0,0,0,0
$STATE,9255,end apogee,CONTROL_FINISHED_OK
$STATE,9255,begin climb
$GC,9260,0.63,116.8,915.9,0.0,86,9381,0.75,2.28,113.88,1.379,4,0.053,0.032,2512,2943,1773,0,0,0,0,0,0
$GC,9453,0.85,290.3,923.2,0.0,87,9629,0.17,2.22,168.12,1.363,6,0.060,0.044,2597,1700,1066,0,0,0,0,0,0
$GC,10573,0.85,290.3,803.4,12.4,97,10577,0.00,2.03,0.00,0.000,4,0.000,0.038,2597,2944,1057,0,0,0,0,0,0
$GC,10693,0.85,290.3,789.8,12.5,98,10698,0.12,2.05,0.00,0.000,6,0.138,0.040,2573,1694,1056,0,0,0,0,0,0
$GC,11634,0.85,290.3,685.9,10.8,106,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,1694,1055,0,0,0,0,0,0
$GC,12598,0.85,290.3,578.7,11.3,114,12602,0.00,2.03,0.00,0.000,4,0.000,0.056,2581,456,1054,0,0,0,0,0,0
$GC,12721,0.85,290.3,565.5,11.4,115,12725,0.00,1.95,0.00,0.000,6,0.000,0.024,2581,1724,1053,0,0,0,0,0,0
$GC,13661,0.85,290.3,450.7,12.0,123,13665,0.00,2.10,0.00,0.000,4,0.000,0.052,2589,461,1053,0,0,0,0,0,0
$GC,13784,0.85,290.3,436.2,12.3,124,13788,0.00,1.92,0.00,0.000,6,0.000,0.024,2589,1713,1053,0,0,0,0,0,0
$GC,14724,0.85,290.3,320.4,11.7,132,14728,0.00,2.08,0.00,0.000,4,0.000,0.052,2598,465,1052,0,0,0,0,0,0
$GC,14848,0.85,290.3,307.0,11.7,133,14852,0.00,1.90,0.00,0.000,6,0.000,0.024,2598,1702,1053,0,0,0,0,0,0
$GC,15787,0.85,290.3,196.6,11.0,141,15791,0.00,1.92,0.00,0.000,4,0.000,0.037,2598,2927,1053,0,0,0,0,0,0
$GC,15910,0.85,290.3,184.7,10.9,142,15915,0.12,2.03,0.00,0.000,6,0.142,0.041,2574,1692,1053,0,0,0,0,0,0
$GC,16610,0.85,290.3,124.9,8.2,148,16614,0.00,2.00,0.00,0.000,4,0.000,0.037,2574,2931,1053,0,0,0,0,0,0
$GC,16732,0.85,290.3,113.8,8.7,149,16736,0.00,2.03,0.00,0.000,6,0.000,0.041,2580,1695,1053,0,0,0,0,0,0
$GC,17373,0.88,314.6,57.4,6.1,158,17399,0.00,2.00,21.00,0.874,4,0.000,0.035,2580,2925,967,0,0,0,0,0,0
$GC,17527,0.91,341.9,49.4,6.0,160,17557,0.00,2.03,25.23,0.884,6,0.000,0.041,2588,1701,855,0,0,0,0,0,0
$FREEZE,4.47,-0.825,-1.837,2,2,0
$FREEZE,2.17,-0.899,-1.834,2,2,0
$FREEZE,1.59,-1.036,-1.839,2,2,0
$STATE,18101,end climb,SURFACE_DEPTH_REACHED
$STATE,18101,begin surface coast
$FREEZE,1.61,-0.957,-1.826,2,2,0
$FINISH,1.6,1.026765
$STATE,18165,end surface coast,CONTROL_FINISHED_OK
$STATE,18165,begin surface
$SM_CCo,18189,48.50,0.076,0,0,442,443.50
$SM_GC,2.51,6.55,2.12,48.50,0.035,0.055,0.076,118,410,442,-6.76,0.90,443.50,0,0,0,0,0,0
$RAFOS_CLK,1235
$RAFOS,4,1329107593,4.566667,4.553611,60,57,55,0,0,0,218,146,197,0,0,0
$RAFOS,2,1329106626,4.300000,4.285000,60,55,52,0,0,0,221,197,149,0,0,0
$RAFOS,1,1329106171,4.166667,4.158611,57,55,54,0,0,0,199,172,210,0,0,0
$RAFOS,0,1329105697,4.033333,4.026945,55,54,54,0,0,0,153,167,202,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5854.46,-5934.63,120212,202057
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.66
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,17.0,14.8
$24V_AH,21.7,69.822
$10V_AH,9.9,70.193
$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,15.725,55.150,434.950,48.500,0.000,0.000,0.000,121.675,4.500,0.000,181.794,660.516,16393.760,674.598,849.062,280.440,0.000,1136.146,0.000,536.112,1440.000,25.596,0.000
$DEVICE_MAMPS,184.365,98.685,1416.780,75.735,0.000,0.000,0.000,241.927,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,118.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191684
$DATA_FILE_SIZE,6837,171
$CAP_FILE_SIZE,62843,0
$CFSIZE,260165632,205783040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1469.6
$GPS,120212,201801,5917.050,-5933.534,181,99.0,181,-26.4