version: 66.09
glider: 143
mission: 13
dive: 2182
start: 2 6 112 23 19 32
data:
$ID,143
$MISSION,13
$DIVE,2182
$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,-262903.62
$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
$GPS1,060212,180317,5957.723,-6020.113,181,99.0,181,-26.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-39.0
$GPS2,060212,180317,5957.723,-6020.113,181,99.0,181,-26.9
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5947.575,-6012.771
$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,186.9,20000,-15.2,-7.143
$D_GRID,1338
$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,-116.8,0.0,0.0,0,183,0.00,0.00,-162.50,0.000,6,0.000,0.000,125,403,2727,0,0,0,0,0,0
$GC,187,-0.63,-116.8,2.9,0.0,2,198,7.93,0.20,0.00,0.000,4,0.223,0.087,2088,270,2728,0,0,0,0,0,0
$GC,246,-0.63,-116.8,5.6,-2.9,3,248,0.00,0.20,0.00,0.000,6,0.000,0.045,2089,402,2730,0,0,0,0,0,0
$GC,886,-0.63,-116.8,71.2,-9.5,14,888,0.00,0.20,0.00,0.000,4,0.000,0.093,2088,284,2731,0,0,0,0,0,0
$GC,946,-0.63,-116.8,75.9,-9.5,15,948,0.00,0.20,0.00,0.000,6,0.000,0.044,2088,417,2730,0,0,0,0,0,0
$GC,1583,-0.63,-116.8,131.0,-7.9,23,1585,0.00,0.22,0.00,0.000,4,0.000,0.092,2088,286,2730,0,0,0,0,0,0
$GC,1613,-0.63,-116.8,131.0,-7.9,23,1615,0.00,0.20,0.00,0.000,6,0.000,0.044,2088,418,2730,0,0,0,0,0,0
$GC,2280,-0.63,-116.8,200.1,-10.5,29,2282,0.00,0.22,0.00,0.000,4,0.000,0.093,2088,286,2729,0,0,0,0,0,0
$GC,2293,-0.63,-116.8,200.1,-10.5,29,2295,0.00,0.20,0.00,0.000,6,0.000,0.044,2088,418,2729,0,0,0,0,0,0
$GC,2978,-0.63,-116.8,281.6,-11.7,35,2981,0.00,1.88,0.00,0.000,4,0.000,0.022,2080,1690,2729,0,0,0,0,0,0
$GC,3100,-0.63,-116.8,291.6,-10.9,36,3104,0.00,2.25,0.00,0.000,6,0.000,0.067,2080,390,2729,0,0,0,0,0,0
$GC,4040,-0.63,-116.8,371.7,-8.3,44,4043,0.00,1.95,0.00,0.000,4,0.000,0.022,2072,1716,2732,0,0,0,0,0,0
$GC,4084,-0.63,-116.8,371.7,-8.3,44,4089,0.00,2.28,0.00,0.000,6,0.000,0.066,2072,399,2732,0,0,0,0,0,0
$GC,5099,-0.63,-116.8,473.2,-11.5,53,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,400,2735,0,0,0,0,0,0
$GC,6063,-0.63,-116.8,596.8,-12.9,61,6067,0.00,1.92,0.00,0.000,4,0.000,0.023,2064,1707,2736,0,0,0,0,0,0
$GC,6108,-0.63,-116.8,596.8,-12.9,61,6113,0.12,2.28,0.00,0.000,6,0.121,0.064,2098,390,2736,0,0,0,0,0,0
$GC,7123,-0.63,-116.8,729.9,-12.9,70,7127,0.00,1.95,0.00,0.000,4,0.000,0.023,2092,1703,2737,0,0,0,0,0,0
$GC,7231,-0.63,-116.8,744.1,-13.0,71,7235,0.00,2.25,0.00,0.000,6,0.000,0.063,2092,397,2736,0,0,0,0,0,0
$GC,8187,-0.63,-116.8,850.3,-10.3,79,8189,0.00,0.17,0.00,0.000,4,0.000,0.093,2092,273,2737,0,0,0,0,0,0
$GC,8246,-0.63,-116.8,850.3,-10.3,79,8248,0.00,0.20,0.00,0.000,6,0.000,0.047,2092,412,2738,0,0,0,0,0,0
$STATE,8759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8759,begin apogee
$GC,8769,-0.16,0.0,903.0,-9.1,84,8882,0.45,0.15,105.62,1.418,6,0.079,0.063,2252,1694,2251,0,0,0,0,0,0
$STATE,8883,end apogee,CONTROL_FINISHED_OK
$STATE,8883,begin climb
$GC,8888,0.63,116.8,911.4,0.0,85,9008,0.75,2.25,113.25,1.379,4,0.050,0.034,2517,2930,1772,0,0,0,0,0,0
$GC,9048,0.85,290.3,918.7,0.0,86,9222,0.15,2.25,168.35,1.356,6,0.067,0.044,2591,1694,1066,0,0,0,0,0,0
$GC,10180,0.85,290.3,812.8,10.1,95,10184,0.00,2.03,0.00,0.000,4,0.000,0.057,2601,457,1060,0,0,0,0,0,0
$GC,10303,0.85,290.3,800.8,10.3,96,10307,0.00,1.95,0.00,0.000,6,0.000,0.024,2601,1715,1058,0,0,0,0,0,0
$GC,11244,0.85,290.3,696.8,11.5,104,11247,0.00,1.92,0.00,0.000,4,0.000,0.041,2601,2931,1058,0,0,0,0,0,0
$GC,11366,0.85,290.3,686.3,11.0,105,11371,0.15,2.03,0.00,0.000,6,0.138,0.040,2570,1692,1058,0,0,0,0,0,0
$GC,12306,0.85,290.3,592.6,10.2,113,12310,0.00,2.00,0.00,0.000,4,0.000,0.054,2577,463,1058,0,0,0,0,0,0
$GC,12430,0.85,290.3,581.3,10.2,114,12434,0.00,1.92,0.00,0.000,6,0.000,0.024,2577,1714,1057,0,0,0,0,0,0
$GC,13369,0.85,290.3,479.1,10.9,122,13373,0.00,2.08,0.00,0.000,4,0.000,0.051,2585,462,1057,0,0,0,0,0,0
$GC,13492,0.85,290.3,466.4,11.0,123,13496,0.00,1.92,0.00,0.000,6,0.000,0.024,2585,1714,1056,0,0,0,0,0,0
$GC,14433,0.85,290.3,359.5,10.6,131,14437,0.00,2.08,0.00,0.000,4,0.000,0.052,2593,466,1057,0,0,0,0,0,0
$GC,14555,0.85,290.3,350.0,9.8,132,14559,0.00,1.90,0.00,0.000,6,0.000,0.025,2593,1701,1056,0,0,0,0,0,0
$GC,15495,0.85,290.3,248.6,11.2,140,15499,0.00,1.95,0.00,0.000,4,0.000,0.040,2593,2932,1056,0,0,0,0,0,0
$GC,15619,0.85,290.3,235.6,11.4,141,15623,0.00,2.03,0.00,0.000,6,0.000,0.040,2602,1691,1057,0,0,0,0,0,0
$GC,16317,0.85,290.3,160.9,10.0,147,16321,0.00,2.00,0.00,0.000,4,0.000,0.039,2601,2925,1057,0,0,0,0,0,0
$GC,16362,0.85,290.3,160.9,10.0,147,16366,0.15,2.03,0.00,0.000,6,0.135,0.041,2570,1689,1057,0,0,0,0,0,0
$GC,17015,0.85,290.3,102.1,8.5,153,17018,0.00,2.00,0.00,0.000,4,0.000,0.037,2570,2928,1057,0,0,0,0,0,0
$GC,17137,0.85,290.3,91.2,9.0,154,17140,0.00,2.03,0.00,0.000,6,0.000,0.041,2576,1691,1057,0,0,0,0,0,0
$GC,17776,0.85,290.3,34.4,8.1,165,17780,0.00,2.00,0.00,0.000,4,0.000,0.037,2576,2931,1057,0,0,0,0,0,0
$GC,17900,0.85,290.3,25.7,8.0,167,17904,0.00,2.03,0.00,0.000,6,0.000,0.041,2584,1695,1057,0,0,0,0,0,0
$FREEZE,8.39,-1.357,-1.840,0,2,0
$FREEZE,4.06,-1.386,-1.837,0,2,0
$FREEZE,1.45,-1.359,-0.168,0,2,0
$STATE,18234,end climb,SURFACE_DEPTH_REACHED
$STATE,18234,begin surface coast
$FREEZE,1.46,-1.440,-0.959,0,2,0
$FINISH,1.5,1.014144
$STATE,18294,end surface coast,CONTROL_FINISHED_OK
$STATE,18298,begin surface
$SM_CCo,18320,73.00,0.074,0,0,442,443.50
$SM_GC,2.50,6.68,2.15,73.00,0.049,0.063,0.074,125,411,442,-6.75,0.90,443.50,0,0,0,0,0,0
$RAFOS_CLK,1255
$RAFOS,2,1328588222,4.300000,4.283889,66,61,58,0,0,0,208,192,219,0,0,0
$RAFOS,1,1328587781,4.166667,4.161389,60,57,50,0,0,0,149,224,779,0,0,0
$RAFOS,0,1328587261,4.033333,4.016944,60,59,57,0,0,0,176,144,214,0,0,0
$RAFOS,1,1328573360,0.166667,0.155556,58,56,50,0,0,0,218,197,118,0,0,0
$RAFOS,0,1328572862,0.033333,0.017222,62,57,57,0,0,0,199,148,216,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5936.65,-6019.57,060212,171756
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,17.4,15.6
$24V_AH,21.7,64.547
$10V_AH,10.0,68.981
$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,16.375,63.450,387.225,73.000,0.000,0.000,0.000,121.550,4.250,0.000,181.761,681.563,16538.484,667.438,835.391,285.286,0.000,1122.661,0.000,526.301,1800.000,25.592,0.000
$DEVICE_MAMPS,222.615,93.330,1418.310,74.205,0.000,0.000,0.000,241.178,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270384
$DATA_FILE_SIZE,6885,174
$CAP_FILE_SIZE,66289,0
$CFSIZE,260165632,206761984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1468.5
$GPS,070212,042735,5953.732,-6018.448,35,0.9,35,-26.9