version: 66.09
glider: 143
mission: 13
dive: 2172
start: 2 4 112 20 57 16
data:
$ID,143
$MISSION,13
$DIVE,2172
$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,-262163.09
$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,19
$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
$GPS1,040212,101936,6015.045,-6032.980,16,1.4,17,-27.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.07
$_SM_ANGLEo,-31.9
$GPS2,040212,101936,6015.045,-6032.980,16,1.4,17,-27.2
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6004.897,-6025.575
$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,187.2,20000,-15.2,-7.143
$D_GRID,1580
$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,-116.8,0.0,0.0,0,80,0.00,0.00,-59.12,0.000,2,0.000,0.000,119,392,1622,0,0,0,0,0,0
$GC,84,-0.63,-116.8,4.2,0.0,1,155,7.40,1.95,-58.38,0.000,4,0.187,0.044,2085,1681,2727,0,0,0,0,0,0
$GC,279,-0.63,-116.8,12.2,-7.7,4,283,0.00,2.22,0.00,0.000,6,0.000,0.071,2084,400,2728,0,0,0,0,0,0
$GC,902,-0.63,-116.8,85.9,-12.0,15,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,400,2728,0,0,0,0,0,0
$GC,1506,-0.63,-116.8,164.2,-13.1,21,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,400,2725,0,0,0,0,0,0
$GC,2109,-0.63,-116.8,226.1,-10.0,26,2113,0.00,1.90,0.00,0.000,4,0.000,0.026,2075,1710,2725,0,0,0,0,0,0
$GC,2219,-0.63,-116.8,235.8,-9.6,27,2223,0.00,2.30,0.00,0.000,6,0.000,0.067,2075,393,2725,0,0,0,0,0,0
$GC,2931,-0.63,-116.8,299.0,-8.9,33,2934,0.00,1.90,0.00,0.000,4,0.000,0.023,2068,1683,2725,0,0,0,0,0,0
$GC,2976,-0.63,-116.8,299.0,-8.9,33,2980,0.00,2.22,0.00,0.000,6,0.000,0.065,2067,394,2725,0,0,0,0,0,0
$GC,3991,-0.63,-116.8,406.0,-10.1,42,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,394,2727,0,0,0,0,0,0
$GC,4954,-0.63,-116.8,497.1,-9.5,50,4958,0.00,1.90,0.00,0.000,4,0.000,0.023,2064,1663,2728,0,0,0,0,0,0
$GC,5015,-0.63,-116.8,497.1,-9.5,50,5020,0.12,2.17,0.00,0.000,6,0.128,0.065,2097,400,2728,0,0,0,0,0,0
$GC,6014,-0.63,-116.8,598.9,-10.3,59,6018,0.00,1.90,0.00,0.000,4,0.000,0.024,2090,1673,2729,0,0,0,0,0,0
$GC,6123,-0.63,-116.8,610.4,-10.6,60,6127,0.00,2.20,0.00,0.000,6,0.000,0.065,2091,395,2729,0,0,0,0,0,0
$GC,7079,-0.63,-116.8,708.5,-10.4,68,7081,0.00,0.17,0.00,0.000,4,0.000,0.095,2090,271,2729,0,0,0,0,0,0
$GC,7122,-0.63,-116.8,708.5,-10.4,68,7124,0.00,0.17,0.00,0.000,6,0.000,0.048,2090,388,2729,0,0,0,0,0,0
$GC,8136,-0.63,-116.8,818.4,-10.4,77,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,388,2730,0,0,0,0,0,0
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9099,begin apogee
$GC,9109,-0.16,0.0,905.8,-8.7,85,9223,0.45,0.15,104.95,1.421,6,0.078,0.064,2251,1689,2251,0,0,0,0,0,0
$STATE,9224,end apogee,CONTROL_FINISHED_OK
$STATE,9224,begin climb
$GC,9228,0.63,116.8,914.6,0.0,86,9348,0.73,2.28,112.85,1.383,4,0.047,0.034,2512,2944,1772,0,0,0,0,0,0
$GC,9471,0.85,290.3,923.0,0.0,88,9642,0.15,2.20,165.32,1.366,6,0.067,0.045,2588,1697,1066,0,0,0,0,0,0
$GC,10647,0.85,290.3,803.7,10.8,98,10650,0.00,2.03,0.00,0.000,4,0.000,0.037,2588,2947,1056,0,0,0,0,0,0
$GC,10770,0.85,290.3,790.3,11.1,99,10774,0.00,2.08,0.00,0.000,6,0.000,0.042,2597,1686,1056,0,0,0,0,0,0
$GC,11711,0.85,290.3,675.1,11.6,107,11714,0.00,2.00,0.00,0.000,4,0.000,0.057,2606,463,1055,0,0,0,0,0,0
$GC,11833,0.85,290.3,662.5,11.4,108,11838,0.12,1.95,0.00,0.000,6,0.147,0.027,2575,1725,1053,0,0,0,0,0,0
$GC,12774,0.85,290.3,565.6,10.3,116,12777,0.00,1.90,0.00,0.000,4,0.000,0.041,2575,2923,1053,0,0,0,0,0,0
$GC,12896,0.85,290.3,554.1,10.4,117,12900,0.00,2.03,0.00,0.000,6,0.000,0.042,2582,1690,1053,0,0,0,0,0,0
$GC,13836,0.85,290.3,452.1,10.8,125,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1691,1053,0,0,0,0,0,0
$GC,14802,0.85,290.3,347.5,11.1,133,14806,0.00,2.03,0.00,0.000,4,0.000,0.058,2591,456,1053,0,0,0,0,0,0
$GC,14924,0.85,290.3,334.8,11.3,134,14928,0.00,1.92,0.00,0.000,6,0.000,0.026,2591,1704,1052,0,0,0,0,0,0
$GC,15864,0.85,290.3,230.0,10.6,142,15868,0.00,2.08,0.00,0.000,4,0.000,0.054,2599,459,1052,0,0,0,0,0,0
$GC,15988,0.85,290.3,217.9,10.7,143,15992,0.00,1.92,0.00,0.000,6,0.000,0.026,2599,1709,1052,0,0,0,0,0,0
$GC,16686,0.85,290.3,141.4,10.5,149,16690,0.00,2.10,0.00,0.000,4,0.000,0.056,2608,452,1053,0,0,0,0,0,0
$GC,16809,0.85,290.3,129.7,10.4,150,16813,0.12,1.92,0.00,0.000,6,0.145,0.027,2576,1703,1052,0,0,0,0,0,0
$GC,17450,0.85,290.3,72.5,8.3,158,17453,0.00,1.92,0.00,0.000,4,0.000,0.040,2576,2923,1052,0,0,0,0,0,0
$GC,17541,0.85,290.3,68.5,8.3,159,17545,0.00,2.03,0.00,0.000,6,0.000,0.042,2583,1690,1052,0,0,0,0,0,0
$GC,18150,0.85,290.3,16.1,7.9,169,18154,0.00,2.00,0.00,0.000,4,0.000,0.039,2582,2925,1053,0,0,0,0,0,0
$FREEZE,8.14,-1.537,-1.854,2,6,0
$FREEZE,8.14,-1.537,-1.854,2,6,0
$GC,18274,0.85,290.3,8.1,7.8,171,18277,0.00,2.03,0.00,0.000,6,0.000,0.043,2591,1695,1053,0,0,0,0,0,0
$FREEZE,8.14,-1.537,-1.854,2,6,0
$FREEZE,5.78,-1.533,-1.852,2,6,0
$FREEZE,2.28,-1.554,-1.849,2,6,0
$FREEZE,1.65,-1.550,-1.846,2,6,0
$STATE,18423,end climb,SURFACE_DEPTH_REACHED
$STATE,18424,begin surface coast
$FREEZE,2.38,-1.560,-1.846,2,6,0
$FINISH,2.4,1.027069
$STATE,18487,end surface coast,CONTROL_FINISHED_OK
$STATE,18487,begin surface
$SM_CCo,18492,72.88,0.073,0,0,442,443.50
$SM_GC,2.47,6.70,2.17,0.00,0.047,0.065,0.000,120,404,435,-6.77,0.71,445.22,0,0,0,0,0,0
$RAFOS_CLK,1228
$RAFOS,5,1328402507,0.700000,0.696389,57,56,56,0,0,0,125,207,221,0,0,0
$RAFOS,4,1328401992,0.566667,0.553333,66,61,61,0,0,0,157,196,209,0,0,0
$RAFOS,6,1328388554,20.833334,20.820555,56,55,55,0,0,0,200,191,121,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5949.48,-6033.58,040212,101040
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.73
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,16.1,14.2
$24V_AH,21.9,63.029
$10V_AH,10.0,68.522
$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,15.800,61.775,383.125,72.875,0.000,0.000,0.000,0.000,4.000,0.000,0.000,646.254,16798.803,619.584,508.590,166.095,0.000,930.631,0.000,502.606,720.000,25.586,0.000
$DEVICE_MAMPS,186.660,94.860,1420.605,72.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270340
$DATA_FILE_SIZE,6884,175
$CAP_FILE_SIZE,57747,0
$CFSIZE,260165632,207048704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.8
$GPS,050212,021006,6010.829,-6028.681,41,1.0,41,-27.1