version: 66.09
glider: 143
mission: 13
dive: 2246
start: 2 17 112 7 50 48
data:
$ID,143
$MISSION,13
$DIVE,2246
$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,-264947.22
$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,17
$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
$GPS1,170212,074430,5857.067,-5913.861,41,0.9,41,-26.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-65.7
$GPS2,170212,075012,5857.123,-5913.617,19,0.8,19,-26.1
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5846.975,-5906.491
$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,186.1,20000,-15.2,-7.143
$D_GRID,2051
$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,17,-0.63,-116.8,0.0,0.0,0,79,0.00,0.00,-59.72,0.000,2,0.000,0.000,109,411,1330,0,0,0,0,0,0
$GC,83,-0.63,-116.8,3.1,0.0,1,166,8.70,0.15,-70.68,0.000,4,0.242,0.280,2091,287,2726,0,0,0,0,0,0
$GC,293,-0.63,-116.8,18.4,-11.1,4,295,0.00,0.15,0.00,0.000,6,0.000,0.054,2091,382,2727,0,0,0,0,0,0
$GC,916,-0.63,-116.8,92.7,-10.9,15,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,382,2728,0,0,0,0,0,0
$GC,1520,-0.63,-116.8,153.1,-10.0,21,1524,0.00,1.92,0.00,0.000,4,0.000,0.021,2083,1688,2727,0,0,0,0,0,0
$GC,1583,-0.63,-116.8,153.1,-10.0,21,1587,0.00,2.22,0.00,0.000,6,0.000,0.064,2083,397,2727,0,0,0,0,0,0
$GC,2217,-0.63,-116.8,218.8,-9.3,27,2220,0.00,1.92,0.00,0.000,4,0.000,0.021,2077,1685,2727,0,0,0,0,0,0
$GC,2277,-0.63,-116.8,218.8,-9.3,27,2281,0.00,2.22,0.00,0.000,6,0.000,0.064,2077,393,2727,0,0,0,0,0,0
$GC,2914,-0.63,-116.8,285.3,-9.5,33,2917,0.00,1.92,0.00,0.000,4,0.000,0.021,2071,1706,2727,0,0,0,0,0,0
$GC,2975,-0.63,-116.8,285.3,-9.5,33,2979,0.00,2.25,0.00,0.000,6,0.000,0.063,2070,397,2727,0,0,0,0,0,0
$GC,3972,-0.63,-116.8,387.4,-9.6,42,3974,0.00,0.17,0.00,0.000,4,0.000,0.095,2071,276,2729,0,0,0,0,0,0
$GC,4066,-0.63,-116.8,387.4,-9.6,42,4068,0.00,0.20,0.00,0.000,6,0.000,0.045,2070,411,2730,0,0,0,0,0,0
$GC,5032,-0.63,-116.8,486.3,-9.2,50,5034,0.00,0.22,0.00,0.000,4,0.000,0.086,2070,278,2731,0,0,0,0,0,0
$GC,5045,-0.63,-116.8,486.3,-9.2,50,5047,0.00,0.20,0.00,0.000,6,0.000,0.047,2070,414,2731,0,0,0,0,0,0
$GC,5971,-0.63,-116.8,572.2,-9.3,58,5973,0.00,0.22,0.00,0.000,4,0.000,0.086,2070,281,2733,0,0,0,0,0,0
$GC,6015,-0.63,-116.8,572.2,-9.3,58,6017,0.00,0.17,0.00,0.000,6,0.000,0.047,2070,401,2733,0,0,0,0,0,0
$GC,7028,-0.63,-116.8,677.8,-10.0,67,7031,0.00,1.88,0.00,0.000,4,0.000,0.021,2067,1663,2733,0,0,0,0,0,0
$GC,7088,-0.63,-116.8,677.8,-10.0,67,7092,0.00,2.17,0.00,0.000,6,0.000,0.063,2067,395,2733,0,0,0,0,0,0
$GC,8087,-0.63,-116.8,782.4,-9.7,76,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,395,2734,0,0,0,0,0,0
$GC,9051,-0.63,-116.8,876.9,-9.9,84,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,395,2734,0,0,0,0,0,0
$STATE,9291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9292,begin apogee
$GC,9302,-0.16,0.0,900.3,-9.8,86,9416,0.50,0.12,106.78,1.416,6,0.085,0.086,2243,1698,2250,0,0,0,0,0,0
$STATE,9417,end apogee,CONTROL_FINISHED_OK
$STATE,9417,begin climb
$GC,9421,0.63,116.8,910.1,0.0,87,9542,0.75,2.33,113.95,1.378,4,0.048,0.060,2522,462,1773,0,0,0,0,0,0
$GC,9599,0.85,290.3,918.3,0.0,88,9775,0.15,2.03,168.80,1.360,6,0.068,0.021,2588,1703,1067,0,0,0,0,0,0
$GC,10732,0.85,290.3,813.6,10.1,98,10735,0.00,2.08,0.00,0.000,4,0.000,0.052,2597,459,1057,0,0,0,0,0,0
$GC,10855,0.85,290.3,801.2,10.2,99,10858,0.00,1.88,0.00,0.000,6,0.000,0.023,2597,1679,1055,0,0,0,0,0,0
$GC,11796,0.85,290.3,691.5,11.4,107,11799,0.00,1.98,0.00,0.000,4,0.000,0.040,2597,2928,1055,0,0,0,0,0,0
$GC,11918,0.85,290.3,678.5,11.4,108,11922,0.12,2.03,0.00,0.000,6,0.139,0.041,2573,1691,1055,0,0,0,0,0,0
$GC,12858,0.85,290.3,579.9,10.3,116,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1691,1054,0,0,0,0,0,0
$GC,13824,0.85,290.3,480.8,10.4,124,13827,0.00,2.00,0.00,0.000,4,0.000,0.055,2580,467,1054,0,0,0,0,0,0
$GC,13946,0.85,290.3,468.9,10.5,125,13949,0.00,1.90,0.00,0.000,6,0.000,0.024,2580,1704,1054,0,0,0,0,0,0
$GC,14886,0.85,290.3,372.7,9.7,133,14890,0.00,2.08,0.00,0.000,4,0.000,0.051,2588,455,1054,0,0,0,0,0,0
$GC,15010,0.85,290.3,361.1,9.9,134,15013,0.00,1.92,0.00,0.000,6,0.000,0.023,2588,1708,1053,0,0,0,0,0,0
$GC,15949,0.85,290.3,260.7,10.8,142,15953,0.00,2.08,0.00,0.000,4,0.000,0.053,2596,465,1054,0,0,0,0,0,0
$GC,16072,0.85,290.3,248.5,10.8,143,16076,0.00,1.90,0.00,0.000,6,0.000,0.025,2597,1698,1053,0,0,0,0,0,0
$GC,16771,0.85,290.3,172.0,10.7,149,16775,0.00,2.05,0.00,0.000,4,0.000,0.053,2605,468,1053,0,0,0,0,0,0
$GC,16894,0.85,290.3,159.7,10.8,150,16898,0.12,1.90,0.00,0.000,6,0.140,0.024,2573,1708,1054,0,0,0,0,0,0
$GC,17592,0.85,290.3,87.8,10.4,156,17596,0.00,1.92,0.00,0.000,4,0.000,0.040,2573,2922,1053,0,0,0,0,0,0
$GC,17703,0.85,290.3,76.4,10.5,158,17706,0.00,2.03,0.00,0.000,6,0.000,0.042,2579,1692,1054,0,0,0,0,0,0
$GC,18356,0.85,290.3,21.0,7.5,169,18360,0.00,2.00,0.00,0.000,4,0.000,0.037,2579,2931,1054,0,0,0,0,0,0
$GC,18479,0.85,293.4,14.4,7.0,171,18483,0.00,2.05,0.00,0.000,6,0.000,0.044,2587,1692,1054,0,0,0,0,0,0
$FREEZE,6.19,-1.578,-1.831,2,1,0
$FREEZE,1.85,-1.516,-1.823,2,1,0
$STATE,18630,end climb,SURFACE_DEPTH_REACHED
$STATE,18630,begin surface coast
$FREEZE,1.66,-1.624,-1.830,2,1,0
$FINISH,1.7,1.026842
$STATE,18691,end surface coast,CONTROL_FINISHED_OK
$STATE,18691,begin surface
$SM_CCo,18714,72.65,0.075,0,0,442,443.50
$SM_GC,2.63,6.72,2.15,72.65,0.050,0.062,0.075,126,406,442,-6.75,0.79,443.50,0,0,0,0,0,0
$RAFOS_CLK,1186
$RAFOS,6,1329482975,12.833333,12.826389,64,59,52,0,0,0,215,193,152,0,0,0
$RAFOS,5,1329482516,12.700000,12.698889,63,57,55,0,0,0,203,163,213,0,0,0
$RAFOS,4,1329481986,12.566667,12.551666,67,58,53,0,0,0,206,219,194,0,0,0
$RAFOS,2,1329481024,12.300000,12.284445,65,63,62,0,0,0,166,208,217,0,0,0
$RAFOS,0,1329480070,12.033333,12.019444,60,58,57,0,0,0,201,213,132,0,0,0
$RAFOS,3,1329467140,8.433333,8.427778,72,68,63,0,0,0,199,144,172,0,0,0
$RAFOS,2,1329466626,8.300000,8.285000,67,58,58,0,0,0,216,194,143,0,0,0
$RAFOS,0,1329465718,8.033334,8.032778,67,52,51,0,0,0,209,219,179,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5833.68,-5859.32,170212,000012
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.70
$XPDR_PINGS,13
$ALTIM_TOP_PING,17.5,14.7
$24V_AH,21.6,73.015
$10V_AH,10.0,71.029
$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,17.075,58.450,389.525,72.650,0.000,0.000,0.000,166.775,6.750,0.000,19.703,691.988,16872.721,634.585,666.177,287.650,0.000,1124.036,0.000,506.751,2880.000,25.590,0.000
$DEVICE_MAMPS,241.740,279.990,1416.015,74.970,0.000,0.000,0.000,224.714,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191652
$DATA_FILE_SIZE,6877,175
$CAP_FILE_SIZE,65386,0
$CFSIZE,260165632,205185024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.4
$GPS,170212,130531,5856.312,-5912.507,40,0.9,40,-26.1