version: 66.09
glider: 143
mission: 13
dive: 2243
start: 2 16 112 18 57 30
data:
$ID,143
$MISSION,13
$DIVE,2243
$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,990
$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,-264944.62
$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,28
$R_STBD_OVSHOOT,66
$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
$GPS1,160212,134231,5859.729,-5919.272,17,1.3,18,-26.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.24
$_SM_ANGLEo,4.4
$GPS2,160212,134231,5859.729,-5919.272,17,1.3,18,-26.2
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5849.581,-5912.137
$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,186.2,20000,-15.2,-7.143
$D_GRID,2000
$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,19,-0.63,-116.8,0.0,0.0,0,35,0.00,2.10,-8.85,0.000,6,0.000,0.077,2303,410,2731,0,0,0,0,0,0
$GC,39,-0.63,-116.8,19.9,0.0,1,42,0.57,0.20,0.00,0.000,4,0.068,0.088,2093,274,2732,0,0,0,0,0,0
$GC,144,-0.63,-116.8,32.3,-10.5,3,146,0.00,0.15,0.00,0.000,6,0.000,0.050,2093,374,2733,0,0,0,0,0,0
$GC,798,-0.63,-116.8,100.1,-10.3,14,802,0.00,1.92,0.00,0.000,4,0.000,0.021,2090,1703,2733,0,0,0,0,0,0
$GC,844,-0.63,-116.8,100.1,-10.3,14,848,0.00,2.28,0.00,0.000,6,0.000,0.065,2090,394,2732,0,0,0,0,0,0
$GC,1494,-0.63,-116.8,173.5,-10.4,20,1496,0.00,0.17,0.00,0.000,4,0.000,0.098,2090,273,2731,0,0,0,0,0,0
$GC,1571,-0.63,-116.8,173.5,-10.4,20,1573,0.00,0.20,0.00,0.000,6,0.000,0.046,2090,407,2731,0,0,0,0,0,0
$GC,2191,-0.63,-116.8,244.5,-10.2,26,2193,0.00,0.20,0.00,0.000,4,0.000,0.090,2091,288,2730,0,0,0,0,0,0
$GC,2205,-0.63,-116.8,244.5,-10.2,26,2207,0.00,0.17,0.00,0.000,6,0.000,0.047,2090,407,2730,0,0,0,0,0,0
$GC,2891,-0.63,-116.8,309.9,-9.2,32,2894,0.00,1.88,0.00,0.000,4,0.000,0.021,2084,1690,2730,0,0,0,0,0,0
$GC,2949,-0.63,-116.8,309.9,-9.2,32,2953,0.00,2.25,0.00,0.000,6,0.000,0.063,2084,390,2730,0,0,0,0,0,0
$GC,3947,-0.63,-116.8,402.7,-8.6,41,3951,0.00,1.92,0.00,0.000,4,0.000,0.022,2078,1680,2732,0,0,0,0,0,0
$GC,4069,-0.63,-116.8,412.2,-8.6,42,4073,0.00,2.22,0.00,0.000,6,0.000,0.064,2078,391,2731,0,0,0,0,0,0
$GC,5013,-0.63,-116.8,506.4,-10.1,50,5015,0.00,0.17,0.00,0.000,4,0.000,0.096,2078,270,2733,0,0,0,0,0,0
$GC,5085,-0.63,-116.8,506.4,-10.1,50,5087,0.00,0.20,0.00,0.000,6,0.000,0.046,2078,405,2732,0,0,0,0,0,0
$GC,6070,-0.63,-116.8,603.3,-8.9,59,6074,0.00,1.88,0.00,0.000,4,0.000,0.021,2072,1664,2734,0,0,0,0,0,0
$GC,6129,-0.63,-116.8,603.3,-8.9,59,6133,0.00,2.17,0.00,0.000,6,0.000,0.063,2073,398,2734,0,0,0,0,0,0
$GC,7126,-0.63,-116.8,691.0,-8.1,68,7128,0.00,0.17,0.00,0.000,4,0.000,0.093,2072,276,2734,0,0,0,0,0,0
$GC,7171,-0.63,-116.8,691.0,-8.1,68,7173,0.00,0.20,0.00,0.000,6,0.000,0.046,2072,412,2734,0,0,0,0,0,0
$GC,8186,-0.63,-116.8,781.8,-8.8,77,8189,0.00,1.88,0.00,0.000,4,0.000,0.022,2067,1662,2735,0,0,0,0,0,0
$GC,8214,-0.63,-116.8,781.8,-8.8,77,8218,0.00,2.17,0.00,0.000,6,0.000,0.063,2067,397,2735,0,0,0,0,0,0
$GC,9123,-0.63,-116.8,875.7,-10.5,85,9126,0.00,1.92,0.00,0.000,4,0.000,0.022,2064,1673,2735,0,0,0,0,0,0
$GC,9169,-0.63,-116.8,875.7,-10.5,85,9173,0.12,2.20,0.00,0.000,6,0.122,0.063,2098,391,2735,0,0,0,0,0,0
$STATE,9455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9455,begin apogee
$GC,9466,-0.16,0.0,910.4,-10.4,88,9579,0.43,0.17,107.12,1.421,6,0.080,0.079,2250,1692,2250,0,0,0,0,0,0
$STATE,9580,end apogee,CONTROL_FINISHED_OK
$STATE,9580,begin climb
$GC,9584,0.63,116.8,921.4,0.0,89,9705,0.75,2.25,114.35,1.385,4,0.049,0.032,2515,2931,1773,0,0,0,0,0,0
$GC,9827,0.85,290.3,936.8,0.0,91,10001,0.15,2.17,167.90,1.375,6,0.067,0.044,2593,1697,1066,0,0,0,0,0,0
$GC,11016,0.85,290.3,823.3,11.8,101,11019,0.00,2.03,0.00,0.000,4,0.000,0.039,2594,2939,1057,0,0,0,0,0,0
$GC,11076,0.85,290.3,823.3,11.8,101,11080,0.00,2.05,0.00,0.000,6,0.000,0.040,2602,1690,1057,0,0,0,0,0,0
$GC,12074,0.85,290.3,683.1,13.3,110,12078,0.00,2.00,0.00,0.000,4,0.000,0.056,2612,468,1056,0,0,0,0,0,0
$GC,12120,0.85,290.3,683.1,13.3,110,12125,0.15,1.92,0.00,0.000,6,0.140,0.024,2573,1717,1055,0,0,0,0,0,0
$GC,13133,0.85,290.3,560.5,11.4,119,13137,0.00,1.92,0.00,0.000,4,0.000,0.040,2573,2930,1055,0,0,0,0,0,0
$GC,13256,0.85,290.3,547.9,11.5,120,13260,0.00,2.03,0.00,0.000,6,0.000,0.041,2579,1698,1055,0,0,0,0,0,0
$GC,14197,0.85,290.3,440.5,11.2,128,14201,0.00,2.03,0.00,0.000,4,0.000,0.056,2588,462,1055,0,0,0,0,0,0
$GC,14319,0.85,290.3,427.9,11.2,129,14323,0.00,1.92,0.00,0.000,6,0.000,0.025,2588,1708,1054,0,0,0,0,0,0
$GC,15259,0.85,290.3,325.6,10.4,137,15263,0.00,2.08,0.00,0.000,4,0.000,0.054,2596,466,1054,0,0,0,0,0,0
$GC,15383,0.85,290.3,313.9,10.4,138,15387,0.00,1.92,0.00,0.000,6,0.000,0.025,2596,1711,1054,0,0,0,0,0,0
$GC,16322,0.85,290.3,202.7,11.9,146,16326,0.00,1.92,0.00,0.000,4,0.000,0.040,2596,2927,1054,0,0,0,0,0,0
$GC,16445,0.85,290.3,189.4,12.1,147,16450,0.12,2.03,0.00,0.000,6,0.139,0.041,2572,1692,1054,0,0,0,0,0,0
$GC,17145,0.85,290.3,124.2,8.7,153,17149,0.00,2.00,0.00,0.000,4,0.000,0.038,2572,2926,1054,0,0,0,0,0,0
$GC,17267,0.85,290.3,115.0,8.4,154,17271,0.00,2.03,0.00,0.000,6,0.000,0.041,2578,1692,1054,0,0,0,0,0,0
$GC,17908,0.85,290.3,56.1,9.5,163,17911,0.00,2.00,0.00,0.000,4,0.000,0.037,2578,2930,1054,0,0,0,0,0,0
$GC,18018,0.85,290.3,45.5,9.5,165,18022,0.00,2.03,0.00,0.000,6,0.000,0.042,2586,1699,1054,0,0,0,0,0,0
$FREEZE,5.55,-1.622,-1.836,2,2,0
$FREEZE,3.18,-1.655,-1.836,2,2,0
$FREEZE,2.35,-1.660,-1.834,2,2,0
$FREEZE,2.13,-1.647,-1.833,2,2,0
$FREEZE,2.13,-1.647,-1.833,2,2,0
$FREEZE,2.13,-1.647,-1.833,2,2,0
$FREEZE,2.13,-1.647,-1.833,2,2,0
$GC,18675,0.97,385.9,2.1,3.2,176,18729,0.00,2.08,45.53,0.074,4,0.000,0.063,2587,465,674,0,0,0,0,0,0
$FREEZE,1.91,-1.673,-1.834,2,2,0
$STATE,18741,end climb,SURFACE_DEPTH_REACHED
$STATE,18742,begin surface coast
$FREEZE,1.91,-1.673,-1.834,2,2,0
$FREEZE,1.91,-1.673,-1.834,2,2,0
$FREEZE,1.76,-1.709,-0.116,2,2,0
$FINISH,1.8,1.001396
$STATE,18795,end surface coast,FINISH_DEPTH_REACHED
$STATE,18795,begin surface
$SM_CCo,18816,26.70,0.077,0,0,442,443.50
$SM_GC,2.87,6.68,0.10,26.70,0.045,0.125,0.077,122,411,442,-6.75,0.90,443.50,0,0,0,0,0,0
$RAFOS_CLK,1243
$RAFOS,0,1329436892,0.033333,0.025556,66,66,61,0,0,0,127,196,213,0,0,0
$RAFOS,0,1329422472,20.033333,20.020000,67,63,61,0,0,0,207,192,122,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5837.82,-5922.96,160212,080811
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.04
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_TOP_PING,15.3,13.2
$24V_AH,21.7,72.563
$10V_AH,10.0,70.911
$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,8.975,69.375,434.900,26.700,0.000,0.000,0.000,0.000,4.000,0.000,0.000,672.511,16982.771,527.279,531.511,193.432,0.000,853.724,0.000,524.091,1080.000,25.587,0.000
$DEVICE_MAMPS,139.995,125.460,1421.370,77.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,123.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191660
$DATA_FILE_SIZE,6923,178
$CAP_FILE_SIZE,64590,0
$CFSIZE,260165632,205258752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.2
$GPS,170212,001305,5857.990,-5917.039,39,0.9,39,-26.2