version: 66.09
glider: 143
mission: 13
dive: 2247
start: 2 17 112 13 11 49
data:
$ID,143
$MISSION,13
$DIVE,2247
$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,-264948.47
$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,57
$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
$GPS1,170212,130531,5856.312,-5912.507,40,0.9,40,-26.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-69.6
$GPS2,170212,131113,5856.309,-5912.448,15,0.9,15,-26.1
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5846.161,-5905.325
$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,-116.8,0.0,0.0,0,80,0.00,0.00,-60.62,0.000,2,0.000,0.000,126,405,1396,0,0,0,0,0,0
$GC,84,-0.63,-116.8,3.1,0.0,1,157,8.52,0.22,-60.80,0.000,4,0.236,0.234,2092,286,2728,0,0,0,0,0,0
$GC,279,-0.63,-116.8,20.0,-12.9,4,281,0.00,0.15,0.00,0.000,6,0.000,0.054,2092,380,2729,0,0,0,0,0,0
$GC,902,-0.63,-116.8,88.6,-9.9,15,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,380,2729,0,0,0,0,0,0
$GC,1506,-0.63,-116.8,148.0,-9.6,21,1510,0.00,1.95,0.00,0.000,4,0.000,0.022,2085,1710,2728,0,0,0,0,0,0
$GC,1599,-0.63,-116.8,148.0,-9.6,21,1603,0.00,2.28,0.00,0.000,6,0.000,0.065,2085,394,2728,0,0,0,0,0,0
$GC,2203,-0.63,-116.8,212.3,-9.3,26,2207,0.00,1.95,0.00,0.000,4,0.000,0.022,2077,1712,2728,0,0,0,0,0,0
$GC,2279,-0.63,-116.8,212.3,-9.3,26,2283,0.00,2.28,0.00,0.000,6,0.000,0.066,2077,395,2727,0,0,0,0,0,0
$GC,2900,-0.63,-116.8,280.5,-9.8,32,2903,0.00,1.92,0.00,0.000,4,0.000,0.022,2070,1704,2727,0,0,0,0,0,0
$GC,2977,-0.63,-116.8,280.5,-9.8,32,2981,0.00,2.28,0.00,0.000,6,0.000,0.066,2070,393,2727,0,0,0,0,0,0
$GC,3958,-0.63,-116.8,386.3,-9.6,41,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,393,2730,0,0,0,0,0,0
$GC,4923,-0.63,-116.8,477.2,-9.5,49,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,393,2731,0,0,0,0,0,0
$GC,5889,-0.63,-116.8,577.2,-10.6,57,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,393,2732,0,0,0,0,0,0
$GC,6853,-0.63,-116.8,678.2,-10.5,65,6857,0.00,1.95,0.00,0.000,4,0.000,0.023,2065,1685,2733,0,0,0,0,0,0
$GC,6882,-0.63,-116.8,678.2,-10.5,65,6887,0.12,2.22,0.00,0.000,6,0.129,0.065,2098,399,2733,0,0,0,0,0,0
$GC,7794,-0.63,-116.8,767.2,-9.5,73,7796,0.00,0.17,0.00,0.000,4,0.000,0.092,2099,279,2733,0,0,0,0,0,0
$GC,7867,-0.63,-116.8,767.2,-9.5,73,7870,0.00,0.20,0.00,0.000,6,0.000,0.047,2099,412,2733,0,0,0,0,0,0
$GC,8850,-0.63,-116.8,870.0,-9.6,82,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,412,2733,0,0,0,0,0,0
$STATE,9209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9209,begin apogee
$GC,9221,-0.16,0.0,904.5,-9.5,85,9334,0.40,0.20,107.00,1.417,6,0.078,0.075,2250,1685,2250,0,0,0,0,0,0
$STATE,9335,end apogee,CONTROL_FINISHED_OK
$STATE,9335,begin climb
$GC,9339,0.63,116.8,915.0,0.0,86,9460,0.75,2.28,114.38,1.382,4,0.051,0.032,2514,2938,1773,0,0,0,0,0,0
$GC,9468,0.85,290.3,924.0,0.0,87,9646,0.15,2.30,170.23,1.360,6,0.066,0.044,2587,1696,1066,0,0,0,0,0,0
$GC,10647,0.85,290.3,819.0,10.0,97,10650,0.00,2.03,0.00,0.000,4,0.000,0.037,2588,2945,1057,0,0,0,0,0,0
$GC,10755,0.85,290.3,807.7,10.1,98,10759,0.00,2.08,0.00,0.000,6,0.000,0.041,2597,1683,1057,0,0,0,0,0,0
$GC,11709,0.85,290.3,693.0,12.1,106,11713,0.00,2.00,0.00,0.000,4,0.000,0.055,2606,459,1056,0,0,0,0,0,0
$GC,11832,0.85,290.3,679.3,12.1,107,11836,0.12,1.95,0.00,0.000,6,0.145,0.024,2575,1726,1054,0,0,0,0,0,0
$GC,12772,0.85,290.3,581.0,10.0,115,12776,0.00,1.90,0.00,0.000,4,0.000,0.041,2575,2924,1054,0,0,0,0,0,0
$GC,12895,0.85,290.3,569.9,10.0,116,12898,0.00,2.03,0.00,0.000,6,0.000,0.040,2581,1689,1055,0,0,0,0,0,0
$GC,13835,0.85,290.3,472.6,10.1,124,13836,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1689,1054,0,0,0,0,0,0
$GC,14801,0.85,290.3,372.1,10.4,132,14804,0.00,2.00,0.00,0.000,4,0.000,0.056,2590,466,1054,0,0,0,0,0,0
$GC,14923,0.85,290.3,359.7,10.6,133,14926,0.00,1.90,0.00,0.000,6,0.000,0.024,2589,1700,1053,0,0,0,0,0,0
$GC,15863,0.85,290.3,256.3,10.9,141,15867,0.00,2.08,0.00,0.000,4,0.000,0.054,2599,456,1053,0,0,0,0,0,0
$GC,15987,0.85,290.3,243.0,11.1,142,15990,0.00,1.92,0.00,0.000,6,0.000,0.024,2599,1706,1053,0,0,0,0,0,0
$GC,16684,0.85,290.3,156.7,12.1,148,16688,0.00,2.08,0.00,0.000,4,0.000,0.052,2608,461,1053,0,0,0,0,0,0
$GC,16807,0.85,290.3,143.5,12.0,149,16812,0.12,1.92,0.00,0.000,6,0.142,0.024,2575,1716,1053,0,0,0,0,0,0
$GC,17448,0.85,290.3,83.0,8.7,156,17449,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1716,1053,0,0,0,0,0,0
$GC,18053,0.85,290.3,32.2,8.3,166,18057,0.00,1.92,0.00,0.000,4,0.000,0.039,2575,2930,1054,0,0,0,0,0,0
$GC,18176,0.85,290.3,22.6,8.6,168,18180,0.00,2.05,0.00,0.000,6,0.000,0.043,2581,1687,1053,0,0,0,0,0,0
$FREEZE,6.19,-1.668,-1.828,2,1,0
$FREEZE,2.50,-1.678,-1.824,2,1,0
$FREEZE,1.70,-1.682,-1.812,2,1,0
$STATE,18510,end climb,SURFACE_DEPTH_REACHED
$STATE,18510,begin surface coast
$FREEZE,1.64,-1.736,-1.814,2,1,0
$FINISH,1.6,1.026626
$STATE,18572,end surface coast,FINISH_DEPTH_REACHED
$STATE,18576,begin surface
$SM_CCo,18598,72.95,0.076,0,0,442,443.50
$SM_GC,2.51,6.72,2.15,72.95,0.052,0.061,0.076,126,400,442,-6.75,0.62,443.50,0,0,0,0,0,0
$RAFOS_CLK,1180
$RAFOS,1,1329494965,16.166666,16.156944,69,61,61,0,0,0,185,166,202,0,0,0
$RAFOS,0,1329494468,16.033333,16.018888,62,60,57,0,0,0,189,141,216,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5833.68,-5917.90,170212,070717
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.77
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.80
$XPDR_PINGS,16
$ALTIM_TOP_PING,18.9,17.0
$24V_AH,21.6,73.169
$10V_AH,10.0,71.075
$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,16.925,54.350,391.600,72.950,0.000,0.000,0.000,162.900,7.500,0.000,20.381,656.169,16849.932,625.055,621.167,278.163,0.000,1091.830,0.000,472.646,720.000,25.598,0.000
$DEVICE_MAMPS,235.620,234.090,1416.780,75.735,0.000,0.000,0.000,232.953,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6881,175
$CAP_FILE_SIZE,60029,0
$CFSIZE,260165632,205160448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.7
$GPS,170212,182436,5855.697,-5911.044,41,0.8,42,-26.1