version: 66.09
glider: 143
mission: 13
dive: 2174
start: 2 5 112 7 56 8
data:
$ID,143
$MISSION,13
$DIVE,2174
$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,-262530.25
$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,52
$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
$GPS1,050212,021931,6010.620,-6028.428,181,99.0,181,-27.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-45.5
$GPS2,050212,021931,6010.620,-6028.428,181,99.0,181,-27.1
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6000.472,-6021.039
$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,187.1,20000,-15.2,-7.143
$D_GRID,1525
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.63,-116.8,0.0,0.0,0,140,0.00,0.00,-115.53,0.000,6,0.000,0.000,124,404,2728,0,0,0,0,0,0
$GC,145,-0.63,-116.8,16.3,0.0,2,156,8.73,0.20,0.00,0.000,4,0.245,0.092,2091,279,2729,0,0,0,0,0,0
$GC,279,-0.63,-116.8,45.4,-25.8,4,281,0.00,0.17,0.00,0.000,6,0.000,0.049,2091,394,2732,0,0,0,0,0,0
$GC,964,-0.63,-116.8,115.1,-9.5,15,968,0.00,1.92,0.00,0.000,4,0.000,0.024,2082,1719,2731,0,0,0,0,0,0
$GC,1086,-0.63,-116.8,125.9,-9.8,16,1090,0.00,2.30,0.00,0.000,6,0.000,0.068,2082,395,2731,0,0,0,0,0,0
$GC,1786,-0.63,-116.8,201.5,-10.5,22,1790,0.00,1.92,0.00,0.000,4,0.000,0.022,2075,1692,2731,0,0,0,0,0,0
$GC,1831,-0.63,-116.8,201.5,-10.5,22,1835,0.00,2.25,0.00,0.000,6,0.000,0.067,2074,390,2730,0,0,0,0,0,0
$GC,2482,-0.63,-116.8,264.3,-8.8,28,2486,0.00,1.92,0.00,0.000,4,0.000,0.023,2069,1707,2731,0,0,0,0,0,0
$GC,2574,-0.63,-116.8,264.3,-8.8,28,2578,0.00,2.25,0.00,0.000,6,0.000,0.065,2068,401,2730,0,0,0,0,0,0
$GC,3543,-0.63,-116.8,371.3,-9.9,36,3547,0.00,1.92,0.00,0.000,4,0.000,0.022,2062,1704,2734,0,0,0,0,0,0
$GC,3617,-0.63,-116.8,371.3,-9.9,36,3621,0.12,2.25,0.00,0.000,6,0.125,0.065,2095,401,2734,0,0,0,0,0,0
$GC,4599,-0.63,-116.8,470.4,-9.2,45,4603,0.00,1.92,0.00,0.000,4,0.000,0.022,2089,1708,2736,0,0,0,0,0,0
$GC,4709,-0.63,-116.8,480.4,-9.1,46,4713,0.00,2.25,0.00,0.000,6,0.000,0.064,2090,400,2736,0,0,0,0,0,0
$GC,5662,-0.63,-116.8,569.9,-9.3,54,5664,0.00,0.17,0.00,0.000,4,0.000,0.093,2089,277,2737,0,0,0,0,0,0
$GC,5691,-0.63,-116.8,569.9,-9.3,54,5694,0.00,0.20,0.00,0.000,6,0.000,0.047,2090,415,2737,0,0,0,0,0,0
$GC,6604,-0.63,-116.8,661.8,-9.9,62,6607,0.00,1.88,0.00,0.000,4,0.000,0.023,2088,1702,2737,0,0,0,0,0,0
$GC,6692,-0.63,-116.8,661.8,-9.9,62,6696,0.00,2.25,0.00,0.000,6,0.000,0.063,2088,395,2737,0,0,0,0,0,0
$GC,7660,-0.63,-116.8,760.2,-9.3,70,7662,0.00,0.17,0.00,0.000,4,0.000,0.094,2088,271,2737,0,0,0,0,0,0
$GC,7704,-0.63,-116.8,760.2,-9.3,70,7706,0.00,0.20,0.00,0.000,6,0.000,0.047,2087,411,2737,0,0,0,0,0,0
$GC,8718,-0.63,-116.8,861.5,-9.3,79,8720,0.00,0.22,0.00,0.000,4,0.000,0.085,2088,273,2738,0,0,0,0,0,0
$GC,8809,-0.63,-116.8,861.5,-9.3,79,8811,0.00,0.20,0.00,0.000,6,0.000,0.047,2088,412,2738,0,0,0,0,0,0
$STATE,9170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9170,begin apogee
$GC,9182,-0.16,0.0,903.0,-9.2,82,9295,0.47,0.20,107.38,1.417,6,0.085,0.077,2250,1690,2250,0,0,0,0,0,0
$STATE,9296,end apogee,CONTROL_FINISHED_OK
$STATE,9296,begin climb
$GC,9300,0.63,116.8,912.7,0.0,83,9420,0.75,2.25,113.18,1.381,4,0.052,0.034,2516,2932,1772,0,0,0,0,0,0
$GC,9544,0.85,290.3,922.6,0.0,85,9718,0.15,2.17,165.77,1.366,6,0.067,0.044,2591,1698,1066,0,0,0,0,0,0
$GC,10732,0.85,290.3,789.1,12.7,95,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1698,1055,0,0,0,0,0,0
$GC,11698,0.85,290.3,681.9,10.5,103,11702,0.00,2.03,0.00,0.000,4,0.000,0.056,2601,456,1054,0,0,0,0,0,0
$GC,11820,0.85,290.3,670.0,10.4,104,11824,0.00,1.95,0.00,0.000,6,0.000,0.026,2601,1717,1053,0,0,0,0,0,0
$GC,12760,0.85,290.3,570.4,10.3,112,12764,0.00,1.92,0.00,0.000,4,0.000,0.041,2601,2934,1053,0,0,0,0,0,0
$GC,12822,0.85,290.3,570.4,10.3,112,12827,0.15,2.03,0.00,0.000,6,0.138,0.041,2569,1693,1053,0,0,0,0,0,0
$GC,13819,0.85,290.3,466.7,10.0,121,13823,0.00,2.00,0.00,0.000,4,0.000,0.056,2576,468,1053,0,0,0,0,0,0
$GC,13942,0.85,290.3,454.6,10.3,122,13946,0.00,1.90,0.00,0.000,6,0.000,0.026,2576,1703,1052,0,0,0,0,0,0
$GC,14883,0.85,290.3,347.1,11.3,130,14887,0.00,2.08,0.00,0.000,4,0.000,0.054,2583,457,1052,0,0,0,0,0,0
$GC,15005,0.85,290.3,333.8,11.5,131,15009,0.00,1.92,0.00,0.000,6,0.000,0.026,2584,1707,1052,0,0,0,0,0,0
$GC,15945,0.85,290.3,223.1,11.6,139,15949,0.00,2.08,0.00,0.000,4,0.000,0.054,2592,462,1052,0,0,0,0,0,0
$GC,15991,0.85,290.3,223.1,11.6,139,15995,0.00,1.92,0.00,0.000,6,0.000,0.026,2592,1710,1052,0,0,0,0,0,0
$GC,16643,0.85,290.3,151.2,9.9,145,16647,0.00,2.08,0.00,0.000,4,0.000,0.054,2601,466,1052,0,0,0,0,0,0
$GC,16765,0.85,290.3,139.1,10.0,146,16769,0.00,1.92,0.00,0.000,6,0.000,0.026,2601,1714,1052,0,0,0,0,0,0
$GC,17406,0.85,290.3,61.2,12.0,154,17410,0.00,2.08,0.00,0.000,4,0.000,0.054,2610,466,1052,0,0,0,0,0,0
$GC,17528,0.85,290.3,48.2,11.6,156,17533,0.15,1.90,0.00,0.000,6,0.133,0.025,2569,1709,1052,0,0,0,0,0,0
$FREEZE,7.89,-0.955,-1.855,0,2,0
$FREEZE,2.17,-0.990,-1.850,0,2,0
$FREEZE,1.58,-0.998,-1.849,0,2,0
$STATE,18108,end climb,SURFACE_DEPTH_REACHED
$STATE,18108,begin surface coast
$FREEZE,1.71,-1.007,-1.848,0,2,0
$FINISH,1.7,1.027090
$STATE,18166,end surface coast,CONTROL_FINISHED_OK
$STATE,18166,begin surface
$SM_CCo,18189,72.22,0.074,0,0,442,443.50
$SM_GC,2.46,6.72,2.20,72.22,0.054,0.061,0.074,121,411,442,-6.76,0.99,443.50,0,0,0,0,0,0
$RAFOS_CLK,1230
$RAFOS,6,1328446186,12.833333,12.829445,56,55,55,0,0,0,92,149,170,0,0,0
$RAFOS,4,1328445221,12.566667,12.561389,72,56,54,0,0,0,209,200,122,0,0,0
$RAFOS,3,1328444724,12.433333,12.423333,63,62,57,0,0,0,145,121,221,0,0,0
$RAFOS,1,1328443786,12.166667,12.162778,60,59,55,0,0,0,197,217,153,0,0,0
$RAFOS,6,1328431743,8.833333,8.817500,63,62,58,0,0,0,211,171,182,0,0,0
$RAFOS,4,1328430805,8.566667,8.556945,59,58,54,0,0,0,141,200,166,0,0,0
$RAFOS,2,1328429867,8.300000,8.296389,59,59,56,0,0,0,166,212,197,0,0,0
$RAFOS,1,1328429346,8.166667,8.151667,60,58,56,0,0,0,135,194,166,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5945.20,-6024.42,050212,020222
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.55
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,18.3,15.9
$24V_AH,21.8,63.333
$10V_AH,10.0,68.627
$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,17.250,63.225,386.325,72.225,0.000,0.000,0.000,121.750,4.500,0.000,181.954,667.053,16488.502,625.416,807.472,286.397,0.000,1065.426,0.000,500.216,2880.000,25.597,0.000
$DEVICE_MAMPS,244.800,94.095,1416.780,74.205,0.000,0.000,0.000,208.222,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,116.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270420
$DATA_FILE_SIZE,6882,167
$CAP_FILE_SIZE,63909,0
$CFSIZE,260165632,206987264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1472.0
$GPS,050212,130205,6007.071,-6026.791,41,0.8,41,-27.1