version: 66.09
glider: 143
mission: 13
dive: 2152
start: 2 1 112 8 36 49
data:
$ID,143
$MISSION,13
$DIVE,2152
$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,-261970.84
$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,23
$R_STBD_OVSHOOT,51
$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
$GPS1,310112,080948,6034.963,-6037.646,181,99.0,181,-27.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,22.13
$_SM_ANGLEo,5.3
$GPS2,310112,080948,6034.963,-6037.646,181,99.0,181,-27.5
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6024.815,-6030.165
$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,187.5,20000,-15.2,-7.143
$D_GRID,1454
$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,-116.8,0.0,0.0,0,28,0.00,0.12,-7.35,0.000,6,0.000,0.371,2324,397,2729,0,0,0,0,0,0
$GC,33,-0.63,-116.8,0.0,0.0,0,37,0.62,1.88,0.00,0.000,4,0.071,0.023,2095,1669,2730,0,0,0,0,0,0
$GC,86,-0.63,-116.8,0.0,0.0,0,90,0.00,2.20,0.00,0.000,6,0.000,0.067,2095,398,2731,0,0,0,0,0,0
$GC,695,-0.63,-116.8,91.3,-9.2,10,699,0.00,1.90,0.00,0.000,4,0.000,0.024,2094,1689,2731,0,0,0,0,0,0
$GC,754,-0.63,-116.8,95.7,-9.4,11,758,0.00,2.25,0.00,0.000,6,0.000,0.069,2094,395,2731,0,0,0,0,0,0
$GC,1390,-0.63,-116.8,164.4,-10.8,17,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,395,2728,0,0,0,0,0,0
$GC,1995,-0.63,-116.8,209.4,-7.0,22,1998,0.00,1.92,0.00,0.000,4,0.000,0.024,2090,1703,2728,0,0,0,0,0,0
$GC,2070,-0.63,-116.8,209.4,-7.0,22,2074,0.00,2.28,0.00,0.000,6,0.000,0.067,2090,388,2728,0,0,0,0,0,0
$GC,2690,-0.63,-116.8,266.7,-8.9,28,2694,0.00,1.92,0.00,0.000,4,0.000,0.024,2089,1694,2728,0,0,0,0,0,0
$GC,2736,-0.63,-116.8,266.7,-8.9,28,2740,0.00,2.25,0.00,0.000,6,0.000,0.067,2090,391,2728,0,0,0,0,0,0
$GC,3750,-0.63,-116.8,379.1,-10.6,37,3754,0.00,1.92,0.00,0.000,4,0.000,0.024,2089,1699,2730,0,0,0,0,0,0
$GC,3858,-0.63,-116.8,390.7,-10.6,38,3862,0.00,2.25,0.00,0.000,6,0.000,0.067,2089,397,2730,0,0,0,0,0,0
$GC,4812,-0.63,-116.8,491.7,-10.3,46,4814,0.00,0.17,0.00,0.000,4,0.000,0.094,2090,274,2731,0,0,0,0,0,0
$GC,4858,-0.63,-116.8,491.7,-10.3,46,4860,0.00,0.17,0.00,0.000,6,0.000,0.049,2089,391,2731,0,0,0,0,0,0
$GC,5871,-0.63,-116.8,598.1,-10.3,55,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,391,2732,0,0,0,0,0,0
$GC,6837,-0.63,-116.8,705.3,-11.2,63,6839,0.00,0.17,0.00,0.000,4,0.000,0.094,2089,283,2732,0,0,0,0,0,0
$GC,6866,-0.63,-116.8,705.3,-11.2,63,6868,0.00,0.17,0.00,0.000,6,0.000,0.050,2089,403,2731,0,0,0,0,0,0
$GC,7775,-0.63,-116.8,809.5,-10.8,71,7779,0.00,1.90,0.00,0.000,4,0.000,0.024,2089,1687,2732,0,0,0,0,0,0
$GC,7866,-0.63,-116.8,809.5,-10.8,71,7870,0.00,2.22,0.00,0.000,6,0.000,0.066,2089,392,2732,0,0,0,0,0,0
$STATE,8832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8832,begin apogee
$GC,8843,-0.16,0.0,900.1,-7.6,79,8956,0.43,0.12,104.93,1.415,6,0.079,0.068,2247,1698,2249,0,0,0,0,0,0
$STATE,8957,end apogee,CONTROL_FINISHED_OK
$STATE,8957,begin climb
$GC,8961,0.63,116.8,907.2,0.0,80,9079,0.75,2.25,111.68,1.378,4,0.053,0.034,2510,2938,1773,0,0,0,0,0,0
$GC,9204,0.85,290.3,911.4,0.0,82,9375,0.17,2.20,164.75,1.359,6,0.062,0.047,2593,1693,1066,0,0,0,0,0,0
$GC,10381,0.85,290.3,753.8,13.9,92,10385,0.00,2.03,0.00,0.000,4,0.000,0.058,2602,462,1056,0,0,0,0,0,0
$GC,10503,0.85,290.3,738.4,13.8,93,10507,0.00,1.95,0.00,0.000,6,0.000,0.028,2602,1711,1055,0,0,0,0,0,0
$GC,11443,0.85,290.3,612.6,13.0,101,11447,0.00,1.95,0.00,0.000,4,0.000,0.044,2602,2937,1055,0,0,0,0,0,0
$GC,11519,0.85,290.3,612.6,13.0,101,11524,0.15,2.05,0.00,0.000,6,0.139,0.044,2571,1688,1054,0,0,0,0,0,0
$GC,12502,0.85,290.3,506.6,9.4,110,12506,0.00,2.00,0.00,0.000,4,0.000,0.057,2578,465,1054,0,0,0,0,0,0
$GC,12625,0.85,290.3,496.2,9.3,111,12629,0.00,1.92,0.00,0.000,6,0.000,0.028,2578,1708,1053,0,0,0,0,0,0
$GC,13566,0.85,290.3,396.8,11.2,119,13569,0.00,2.08,0.00,0.000,4,0.000,0.055,2587,463,1053,0,0,0,0,0,0
$GC,13688,0.85,290.3,383.4,11.6,120,13692,0.00,1.92,0.00,0.000,6,0.000,0.028,2587,1708,1053,0,0,0,0,0,0
$GC,14628,0.85,290.3,268.2,11.6,128,14632,0.00,2.08,0.00,0.000,4,0.000,0.056,2595,466,1053,0,0,0,0,0,0
$GC,14642,0.85,290.3,268.2,11.6,128,14646,0.00,1.92,0.00,0.000,6,0.000,0.028,2595,1708,1053,0,0,0,0,0,0
$GC,15566,0.85,290.3,168.7,10.7,136,15570,0.00,1.95,0.00,0.000,4,0.000,0.042,2595,2936,1053,0,0,0,0,0,0
$GC,15689,0.85,290.3,155.1,11.2,137,15693,0.00,2.03,0.00,0.000,6,0.000,0.043,2603,1697,1053,0,0,0,0,0,0
$GC,16329,0.85,290.3,79.5,10.7,144,16333,0.00,2.00,0.00,0.000,4,0.000,0.041,2604,2931,1053,0,0,0,0,0,0
$GC,16405,0.85,290.3,75.3,10.4,145,16410,0.15,2.03,0.00,0.000,6,0.133,0.043,2570,1695,1053,0,0,0,0,0,0
$GC,17028,0.85,290.3,23.7,7.4,156,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1695,1053,0,0,0,0,0,0
$FREEZE,6.04,-1.563,-1.855,2,8,0
$FREEZE,1.80,-1.609,-1.853,2,8,0
$STATE,17329,end climb,SURFACE_DEPTH_REACHED
$STATE,17329,begin surface coast
$FREEZE,1.89,-1.606,-1.852,2,8,0
$FINISH,1.9,1.027160
$STATE,17391,end surface coast,CONTROL_FINISHED_OK
$STATE,17391,begin surface
$SM_CCo,17414,72.32,0.075,0,0,442,443.50
$SM_GC,2.28,6.68,2.15,72.32,0.051,0.063,0.075,110,406,442,-6.77,0.79,443.50,0,0,0,0,0,0
$RAFOS_CLK,1145
$RAFOS,5,1328100064,12.700000,12.684444,62,62,60,0,0,0,171,204,188,0,0,0
$RAFOS,3,1328099110,12.433333,12.419444,65,62,60,0,0,0,194,160,181,0,0,0
$RAFOS,0,1328097666,12.033333,12.018333,64,63,61,0,0,0,189,209,146,0,0,0
$RAFOS,6,1328086146,8.833333,8.818334,61,59,57,0,0,0,210,193,158,0,0,0
$RAFOS,5,1328085674,8.700000,8.687222,65,58,54,0,0,0,164,207,129,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6011.05,-6033.77,310112,080828
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.5,17.2
$24V_AH,21.9,60.449
$10V_AH,10.0,67.866
$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,8.950,62.400,381.350,72.325,0.000,0.000,0.000,0.000,4.000,0.000,0.000,615.296,15813.093,512.871,449.138,160.398,0.000,790.569,0.000,444.521,1800.000,25.593,0.000
$DEVICE_MAMPS,139.230,371.025,1415.250,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,112.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270348
$DATA_FILE_SIZE,6884,162
$CAP_FILE_SIZE,56013,0
$CFSIZE,260165632,207585280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.9
$GPS,010212,133135,6028.728,-6037.502,146,1.0,146,-27.4