version: 66.09
glider: 143
mission: 13
dive: 2208
start: 2 10 112 13 42 6
data:
$ID,143
$MISSION,13
$DIVE,2208
$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,-8
$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,-263460.62
$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,23
$R_STBD_OVSHOOT,67
$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
$GPS1,090212,212749,5933.983,-5949.412,20,0.9,21,-26.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-2.6
$GPS2,090212,212749,5933.983,-5949.412,20,0.9,21,-26.6
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5923.835,-5942.157
$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,186.6,20000,-15.2,-7.143
$D_GRID,1694
$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,19,-0.63,-116.8,0.0,0.0,0,125,0.00,0.00,-103.85,0.000,2,0.000,0.000,2313,1740,2227,0,0,0,0,0,0
$GC,129,-0.63,-116.8,4.4,0.0,2,154,0.60,0.22,-20.10,0.000,4,0.056,0.226,2087,1628,2728,0,0,0,0,0,0
$GC,250,-0.63,-116.8,15.1,-9.9,4,254,0.00,2.10,0.00,0.000,6,0.000,0.071,2088,394,2729,0,0,0,0,0,0
$GC,887,-0.63,-116.8,83.5,-10.7,15,889,0.00,0.17,0.00,0.000,4,0.000,0.101,2088,279,2729,0,0,0,0,0,0
$GC,996,-0.63,-116.8,94.2,-10.0,17,998,0.00,0.15,0.00,0.000,6,0.000,0.054,2087,378,2729,0,0,0,0,0,0
$GC,1707,-0.63,-116.8,162.3,-9.7,24,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,378,2728,0,0,0,0,0,0
$GC,2311,-0.63,-116.8,210.3,-7.7,29,2312,0.00,0.17,0.00,0.000,4,0.000,0.099,2087,274,2728,0,0,0,0,0,0
$GC,2433,-0.63,-116.8,218.9,-7.4,30,2435,0.00,0.20,0.00,0.000,6,0.000,0.049,2086,409,2728,0,0,0,0,0,0
$GC,3131,-0.63,-116.8,280.9,-8.9,36,3135,0.00,1.88,0.00,0.000,4,0.000,0.025,2077,1722,2729,0,0,0,0,0,0
$GC,3255,-0.63,-116.8,291.8,-9.3,37,3259,0.00,2.33,0.00,0.000,6,0.000,0.070,2077,395,2730,0,0,0,0,0,0
$GC,4196,-0.63,-116.8,403.3,-12.5,45,4199,0.00,1.92,0.00,0.000,4,0.000,0.025,2068,1724,2731,0,0,0,0,0,0
$GC,4318,-0.63,-116.8,416.7,-12.9,46,4322,0.00,2.33,0.00,0.000,6,0.000,0.069,2068,392,2731,0,0,0,0,0,0
$GC,5260,-0.63,-116.8,519.7,-10.3,54,5262,0.00,0.17,0.00,0.000,4,0.000,0.098,2067,274,2733,0,0,0,0,0,0
$GC,5271,-0.63,-116.8,519.7,-10.3,54,5273,0.00,0.20,0.00,0.000,6,0.000,0.049,2067,410,2733,0,0,0,0,0,0
$GC,6197,-0.63,-116.8,627.5,-12.2,62,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,410,2734,0,0,0,0,0,0
$GC,7161,-0.63,-116.8,727.7,-9.6,70,7165,0.00,1.88,0.00,0.000,4,0.000,0.025,2059,1725,2735,0,0,0,0,0,0
$GC,7284,-0.63,-116.8,737.0,-9.3,71,7289,0.15,2.33,0.00,0.000,6,0.132,0.067,2099,393,2735,0,0,0,0,0,0
$GC,8227,-0.63,-116.8,800.4,-6.5,79,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,393,2736,0,0,0,0,0,0
$GC,9190,-0.63,-116.8,873.1,-7.9,87,9192,0.00,0.17,0.00,0.000,4,0.000,0.095,2099,271,2735,0,0,0,0,0,0
$GC,9202,-0.63,-116.8,873.1,-7.9,87,9204,0.00,0.20,0.00,0.000,6,0.000,0.047,2099,408,2735,0,0,0,0,0,0
$STATE,9521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9521,begin apogee
$GC,9532,-0.16,0.0,901.8,-8.6,90,9645,0.40,0.20,105.97,1.418,6,0.077,0.077,2250,1685,2250,0,0,0,0,0,0
$STATE,9646,end apogee,CONTROL_FINISHED_OK
$STATE,9646,begin climb
$GC,9650,0.63,116.8,910.5,0.0,91,9770,0.75,2.28,113.40,1.377,4,0.051,0.031,2512,2945,1772,0,0,0,0,0,0
$GC,9780,0.85,290.3,918.1,0.0,92,9958,0.17,2.30,168.38,1.356,6,0.060,0.044,2596,1698,1065,0,0,0,0,0,0
$GC,10957,0.85,290.3,794.7,11.7,102,10961,0.00,2.03,0.00,0.000,4,0.000,0.039,2596,2943,1056,0,0,0,0,0,0
$GC,11002,0.85,290.3,794.7,11.7,102,11007,0.12,2.05,0.00,0.000,6,0.136,0.041,2573,1693,1056,0,0,0,0,0,0
$GC,12017,0.85,290.3,681.9,10.8,111,12020,0.00,2.00,0.00,0.000,4,0.000,0.056,2581,468,1054,0,0,0,0,0,0
$GC,12139,0.85,290.3,670.0,11.0,112,12143,0.00,1.92,0.00,0.000,6,0.000,0.024,2580,1719,1053,0,0,0,0,0,0
$GC,13079,0.85,290.3,566.4,11.2,120,13082,0.00,1.90,0.00,0.000,4,0.000,0.039,2580,2924,1053,0,0,0,0,0,0
$GC,13203,0.85,290.3,553.4,11.4,121,13206,0.00,2.00,0.00,0.000,6,0.000,0.041,2589,1699,1053,0,0,0,0,0,0
$GC,14142,0.85,290.3,448.6,10.9,129,14146,0.00,2.00,0.00,0.000,4,0.000,0.054,2598,469,1053,0,0,0,0,0,0
$GC,14265,0.85,290.3,434.5,11.4,130,14269,0.00,1.90,0.00,0.000,6,0.000,0.024,2598,1706,1052,0,0,0,0,0,0
$GC,15206,0.85,290.3,319.0,12.0,138,15210,0.00,2.08,0.00,0.000,4,0.000,0.052,2607,458,1052,0,0,0,0,0,0
$GC,15314,0.85,290.3,305.3,11.8,139,15319,0.12,1.92,0.00,0.000,6,0.144,0.024,2576,1713,1053,0,0,0,0,0,0
$GC,16269,0.85,290.3,212.0,8.6,147,16273,0.00,2.08,0.00,0.000,4,0.000,0.054,2582,466,1052,0,0,0,0,0,0
$GC,16391,0.85,290.3,202.9,8.3,148,16395,0.00,1.90,0.00,0.000,6,0.000,0.024,2582,1703,1053,0,0,0,0,0,0
$GC,17090,0.85,290.3,140.0,9.5,154,17094,0.00,2.08,0.00,0.000,4,0.000,0.054,2590,457,1053,0,0,0,0,0,0
$GC,17213,0.85,290.3,126.7,10.4,155,17217,0.00,1.92,0.00,0.000,6,0.000,0.025,2590,1711,1052,0,0,0,0,0,0
$GC,17854,0.85,290.3,52.9,10.3,164,17858,0.00,1.92,0.00,0.000,4,0.000,0.039,2590,2931,1053,0,0,0,0,0,0
$GC,17976,0.85,290.3,43.4,9.3,166,17980,0.00,2.03,0.00,0.000,6,0.000,0.043,2599,1698,1053,0,0,0,0,0,0
$FREEZE,6.24,-1.555,-1.833,2,12,0
$FREEZE,1.69,-1.707,-1.830,2,12,0
$STATE,18492,end climb,SURFACE_DEPTH_REACHED
$STATE,18492,begin surface coast
$FREEZE,1.70,-1.671,-1.823,2,12,0
$FINISH,1.7,1.026747
$STATE,18554,end surface coast,CONTROL_FINISHED_OK
$STATE,18558,begin surface
$SM_CCo,18580,72.78,0.077,0,0,441,443.50
$SM_GC,2.59,6.82,2.15,72.78,0.054,0.063,0.077,123,412,441,-6.76,0.96,443.50,0,0,0,0,0,0
$RAFOS_CLK,1234
$RAFOS,3,1328891102,16.433332,16.417223,67,61,61,0,0,0,204,195,214,0,0,0
$RAFOS,0,1328889667,16.033333,16.018612,60,59,59,0,0,0,204,181,229,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5911.23,-5949.50,090212,212104
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,17.2
$24V_AH,21.7,67.849
$10V_AH,10.0,69.698
$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,9.150,57.075,387.750,72.775,0.000,0.000,0.000,0.000,4.250,0.000,0.000,652.739,16736.361,620.712,538.291,170.333,0.000,947.370,0.000,532.296,720.000,25.591,0.000
$DEVICE_MAMPS,143.820,225.675,1417.545,77.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,122.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191788
$DATA_FILE_SIZE,6908,176
$CAP_FILE_SIZE,59987,0
$CFSIZE,260165632,206139392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.8
$GPS,100212,185429,5928.833,-5942.814,36,0.8,36,-26.6