version: 66.09
glider: 143
mission: 13
dive: 2157
start: 2 2 112 0 30 22
data:
$ID,143
$MISSION,13
$DIVE,2157
$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,-261973.34
$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,14
$R_STBD_OVSHOOT,49
$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
$GPS1,010212,190900,6027.868,-6038.743,17,1.3,18,-27.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,57.18
$_SM_ANGLEo,2.3
$GPS2,010212,190900,6027.868,-6038.743,17,1.3,18,-27.4
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6017.720,-6031.289
$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,187.4,20000,-15.2,-7.143
$D_GRID,1295
$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,-116.8,0.0,0.0,0,27,0.00,2.22,-4.47,0.000,6,0.000,0.082,2322,397,2732,0,0,0,0,0,0
$GC,31,-0.63,-116.8,0.0,0.0,0,35,0.62,0.00,0.00,0.000,6,0.065,0.000,2093,397,2733,0,0,0,0,0,0
$GC,677,-0.63,-116.8,124.5,-9.6,9,678,0.00,0.17,0.00,0.000,4,0.000,0.100,2093,279,2734,0,0,0,0,0,0
$GC,721,-0.63,-116.8,124.5,-9.6,9,723,0.00,0.17,0.00,0.000,6,0.000,0.050,2093,396,2733,0,0,0,0,0,0
$GC,1372,-0.63,-116.8,197.4,-10.9,15,1376,0.00,1.92,0.00,0.000,4,0.000,0.024,2084,1703,2732,0,0,0,0,0,0
$GC,1482,-0.63,-116.8,210.4,-11.3,16,1486,0.00,2.28,0.00,0.000,6,0.000,0.070,2084,389,2732,0,0,0,0,0,0
$GC,2195,-0.63,-116.8,295.6,-11.8,22,2197,0.00,0.17,0.00,0.000,4,0.000,0.096,2083,269,2732,0,0,0,0,0,0
$GC,2270,-0.63,-116.8,295.6,-11.8,22,2272,0.00,0.20,0.00,0.000,6,0.000,0.047,2083,404,2733,0,0,0,0,0,0
$GC,3253,-0.63,-116.8,413.5,-11.2,31,3257,0.00,1.90,0.00,0.000,4,0.000,0.024,2077,1698,2734,0,0,0,0,0,0
$GC,3298,-0.63,-116.8,413.5,-11.2,31,3302,0.00,2.25,0.00,0.000,6,0.000,0.067,2077,394,2734,0,0,0,0,0,0
$GC,4312,-0.63,-116.8,521.9,-9.6,40,4313,0.00,0.17,0.00,0.000,4,0.000,0.099,2077,272,2735,0,0,0,0,0,0
$GC,4372,-0.63,-116.8,521.9,-9.6,40,4374,0.00,0.20,0.00,0.000,6,0.000,0.048,2077,408,2735,0,0,0,0,0,0
$GC,5371,-0.63,-116.8,610.4,-8.1,49,5375,0.00,1.88,0.00,0.000,4,0.000,0.023,2071,1684,2736,0,0,0,0,0,0
$GC,5431,-0.63,-116.8,610.4,-8.1,49,5435,0.00,2.22,0.00,0.000,6,0.000,0.067,2071,391,2736,0,0,0,0,0,0
$GC,6429,-0.63,-116.8,684.6,-6.6,58,6431,0.00,0.17,0.00,0.000,4,0.000,0.096,2071,270,2736,0,0,0,0,0,0
$GC,6505,-0.63,-116.8,684.6,-6.6,58,6507,0.00,0.20,0.00,0.000,6,0.000,0.047,2071,406,2736,0,0,0,0,0,0
$GC,7488,-0.63,-116.8,761.9,-7.7,67,7492,0.00,1.90,0.00,0.000,4,0.000,0.024,2066,1684,2737,0,0,0,0,0,0
$GC,7597,-0.63,-116.8,770.0,-7.7,68,7601,0.00,2.22,0.00,0.000,6,0.000,0.065,2066,388,2737,0,0,0,0,0,0
$GC,8552,-0.63,-116.8,851.7,-8.8,76,8556,0.00,1.92,0.00,0.000,4,0.000,0.024,2060,1684,2737,0,0,0,0,0,0
$GC,8596,-0.63,-116.8,851.7,-8.8,76,8600,0.12,2.22,0.00,0.000,6,0.132,0.066,2092,392,2737,0,0,0,0,0,0
$STATE,9124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9124,begin apogee
$GC,9135,-0.16,0.0,905.3,-9.2,81,9248,0.45,0.17,105.40,1.421,6,0.079,0.067,2251,1690,2250,0,0,0,0,0,0
$STATE,9249,end apogee,CONTROL_FINISHED_OK
$STATE,9249,begin climb
$GC,9253,0.63,116.8,916.2,0.0,82,9372,0.73,2.28,111.90,1.383,4,0.051,0.034,2507,2943,1772,0,0,0,0,0,0
$GC,9496,0.85,290.3,929.6,0.0,84,9668,0.17,2.20,165.23,1.369,6,0.063,0.046,2589,1698,1065,0,0,0,0,0,0
$GC,10672,0.85,290.3,816.9,11.1,94,10676,0.00,2.03,0.00,0.000,4,0.000,0.058,2599,462,1055,0,0,0,0,0,0
$GC,10795,0.85,290.3,803.3,11.4,95,10799,0.00,1.95,0.00,0.000,6,0.000,0.027,2599,1714,1054,0,0,0,0,0,0
$GC,11736,0.85,290.3,669.1,14.9,103,11740,0.00,1.92,0.00,0.000,4,0.000,0.042,2599,2927,1054,0,0,0,0,0,0
$GC,11858,0.85,290.3,650.7,15.6,104,11863,0.12,2.03,0.00,0.000,6,0.143,0.043,2576,1695,1053,0,0,0,0,0,0
$GC,12798,0.85,290.3,513.7,13.7,112,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1694,1053,0,0,0,0,0,0
$GC,13764,0.85,290.3,423.8,8.0,120,13768,0.00,2.03,0.00,0.000,4,0.000,0.057,2582,458,1053,0,0,0,0,0,0
$GC,13886,0.85,290.3,416.2,7.4,121,13890,0.00,1.92,0.00,0.000,6,0.000,0.028,2582,1702,1052,0,0,0,0,0,0
$GC,14826,0.85,290.3,339.3,9.5,129,14830,0.00,2.08,0.00,0.000,4,0.000,0.056,2590,459,1052,0,0,0,0,0,0
$GC,14950,0.85,290.3,325.3,10.6,130,14954,0.00,1.92,0.00,0.000,6,0.000,0.028,2590,1704,1052,0,0,0,0,0,0
$GC,15889,0.85,290.3,187.3,15.3,138,15893,0.00,1.95,0.00,0.000,4,0.000,0.042,2590,2934,1052,0,0,0,0,0,0
$GC,16013,0.85,290.3,170.8,15.2,139,16017,0.00,2.03,0.00,0.000,6,0.000,0.043,2598,1697,1052,0,0,0,0,0,0
$GC,16651,0.85,290.3,84.0,12.7,145,16655,0.00,2.00,0.00,0.000,4,0.000,0.041,2598,2929,1052,0,0,0,0,0,0
$GC,16774,0.85,290.3,71.3,11.8,147,16779,0.12,2.03,0.00,0.000,6,0.143,0.043,2576,1695,1052,0,0,0,0,0,0
$GC,17416,0.85,291.3,17.7,7.1,158,17419,0.00,2.03,0.00,0.000,4,0.000,0.057,2582,458,1052,0,0,0,0,0,0
$FREEZE,7.29,-1.235,-1.854,2,4,0
$FREEZE,7.29,-1.235,-1.854,2,4,0
$GC,17538,0.85,291.3,7.3,8.2,160,17541,0.00,1.92,0.00,0.000,6,0.000,0.025,2581,1716,1052,0,0,0,0,0,0
$FREEZE,7.29,-1.235,-1.854,2,4,0
$FREEZE,3.08,-1.250,-1.851,2,4,0
$FREEZE,1.73,-0.979,-1.833,2,4,0
$STATE,17628,end climb,SURFACE_DEPTH_REACHED
$STATE,17628,begin surface coast
$FREEZE,1.60,-1.271,-1.195,2,4,0
$FINISH,1.6,1.017642
$STATE,17690,end surface coast,FINISH_DEPTH_REACHED
$STATE,17690,begin surface
$SM_CCo,17713,72.10,0.074,0,0,441,443.50
$SM_GC,2.49,6.62,2.25,72.10,0.046,0.069,0.074,121,412,441,-6.75,0.96,443.50,0,0,0,0,0,0
$RAFOS_CLK,1166
$RAFOS,5,1328157663,4.700000,4.684166,66,65,60,0,0,0,172,228,162,0,0,0
$RAFOS,4,1328157203,4.566667,4.556389,71,59,56,0,0,0,201,176,157,0,0,0
$RAFOS,2,1328156261,4.300000,4.294722,59,55,54,0,0,0,207,131,119,0,0,0
$RAFOS,0,1328155296,4.033333,4.026667,60,58,56,0,0,0,213,225,177,0,0,0
$RAFOS,5,1328143308,0.700000,0.696667,63,56,55,0,0,0,200,130,211,0,0,0
$RAFOS,4,1328142810,0.566667,0.558333,68,59,51,0,0,0,204,187,178,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6006.72,-6038.06,010212,131316
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.82
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.7,15.0
$24V_AH,21.9,60.939
$10V_AH,10.0,68.001
$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,8.975,61.200,382.525,72.100,0.000,0.000,0.000,0.000,4.000,0.000,0.000,642.964,16043.502,511.193,490.546,163.450,0.000,808.395,0.000,485.145,2160.000,25.590,0.000
$DEVICE_MAMPS,143.055,100.215,1420.605,74.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,113.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270364
$DATA_FILE_SIZE,6886,163
$CAP_FILE_SIZE,58842,0
$CFSIZE,260165632,207470592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.0
$GPS,020212,052805,6026.103,-6037.623,23,0.9,23,-27.4