version: 66.09
glider: 143
mission: 13
dive: 2272
start: 2 20 112 18 12 33
data:
$ID,143
$MISSION,13
$DIVE,2272
$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,-264953.47
$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,17
$R_STBD_OVSHOOT,59
$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
$GPS1,200212,180353,5842.962,-5904.984,153,0.8,154,-26.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-54.3
$GPS2,200212,181200,5842.788,-5904.966,25,1.0,25,-26.0
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5832.640,-5857.888
$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,186.0,20000,-15.2,-7.143
$D_GRID,1990
$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,14,begin dive
$GC,18,-0.63,-116.8,0.0,0.0,0,80,0.00,0.00,-59.80,0.000,2,0.000,0.000,95,392,1335,0,0,0,0,0,0
$GC,84,-0.63,-116.8,3.2,0.0,1,164,8.75,1.95,-65.18,0.000,4,0.246,0.044,2082,1674,2728,0,0,0,0,0,0
$GC,281,-0.63,-116.8,19.4,-12.6,4,285,0.00,2.20,0.00,0.000,6,0.000,0.071,2081,403,2729,0,0,0,0,0,0
$GC,904,-0.63,-116.8,94.0,-10.3,15,908,0.00,1.90,0.00,0.000,4,0.000,0.023,2073,1708,2729,0,0,0,0,0,0
$GC,980,-0.63,-116.8,98.7,-10.2,16,984,0.00,2.30,0.00,0.000,6,0.000,0.070,2072,395,2729,0,0,0,0,0,0
$GC,1601,-0.63,-116.8,173.6,-11.7,22,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,395,2728,0,0,0,0,0,0
$GC,2205,-0.63,-116.8,241.4,-11.2,27,2207,0.00,0.17,0.00,0.000,4,0.000,0.099,2072,277,2728,0,0,0,0,0,0
$GC,2327,-0.63,-116.8,253.4,-11.0,28,2329,0.00,0.17,0.00,0.000,6,0.000,0.048,2072,394,2728,0,0,0,0,0,0
$GC,3268,-0.63,-116.8,356.8,-10.8,36,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,394,2731,0,0,0,0,0,0
$GC,4234,-0.63,-116.8,459.7,-10.5,44,4238,0.00,1.90,0.00,0.000,4,0.000,0.024,2063,1716,2733,0,0,0,0,0,0
$GC,4355,-0.63,-116.8,470.7,-10.3,45,4360,0.12,2.30,0.00,0.000,6,0.141,0.067,2092,398,2734,0,0,0,0,0,0
$GC,5297,-0.63,-116.8,557.2,-9.0,53,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,398,2736,0,0,0,0,0,0
$GC,6261,-0.63,-116.8,644.4,-9.3,61,6263,0.00,0.17,0.00,0.000,4,0.000,0.092,2093,276,2736,0,0,0,0,0,0
$GC,6274,-0.63,-116.8,644.4,-9.3,61,6276,0.00,0.20,0.00,0.000,6,0.000,0.045,2093,414,2737,0,0,0,0,0,0
$GC,7200,-0.63,-116.8,729.1,-9.0,69,7203,0.00,1.88,0.00,0.000,4,0.000,0.022,2087,1682,2737,0,0,0,0,0,0
$GC,7244,-0.63,-116.8,729.1,-9.0,69,7248,0.00,2.22,0.00,0.000,6,0.000,0.063,2087,387,2737,0,0,0,0,0,0
$GC,8257,-0.63,-116.8,826.1,-9.0,78,8260,0.00,1.95,0.00,0.000,4,0.000,0.022,2086,1708,2738,0,0,0,0,0,0
$GC,8349,-0.63,-116.8,826.1,-9.0,78,8353,0.00,2.28,0.00,0.000,6,0.000,0.063,2087,388,2738,0,0,0,0,0,0
$STATE,9194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9194,begin apogee
$GC,9205,-0.16,0.0,906.2,-8.5,85,9318,0.45,0.17,107.35,1.418,6,0.080,0.077,2252,1694,2250,0,0,0,0,0,0
$STATE,9319,end apogee,CONTROL_FINISHED_OK
$STATE,9319,begin climb
$GC,9323,0.63,116.8,914.9,0.0,86,9444,0.75,2.33,113.97,1.378,4,0.051,0.060,2526,460,1773,0,0,0,0,0,0
$GC,9519,0.85,290.3,922.2,0.0,87,9694,0.15,2.08,168.98,1.362,6,0.067,0.020,2591,1738,1065,0,0,0,0,0,0
$GC,10635,0.85,290.3,808.5,11.1,97,10639,0.00,2.15,0.00,0.000,4,0.000,0.054,2601,456,1056,0,0,0,0,0,0
$GC,10759,0.85,290.3,794.4,11.4,98,10763,0.00,1.90,0.00,0.000,6,0.000,0.024,2601,1683,1054,0,0,0,0,0,0
$GC,11698,0.85,290.3,669.4,12.9,106,11702,0.00,1.98,0.00,0.000,4,0.000,0.039,2600,2930,1054,0,0,0,0,0,0
$GC,11821,0.85,290.3,655.4,12.8,107,11826,0.15,2.03,0.00,0.000,6,0.136,0.041,2569,1693,1054,0,0,0,0,0,0
$GC,12762,0.85,290.3,559.0,9.8,115,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,1694,1053,0,0,0,0,0,0
$GC,13726,0.85,290.3,468.5,9.5,123,13730,0.00,2.03,0.00,0.000,4,0.000,0.056,2576,457,1053,0,0,0,0,0,0
$GC,13849,0.85,290.3,457.7,9.6,124,13853,0.00,1.92,0.00,0.000,6,0.000,0.024,2577,1706,1052,0,0,0,0,0,0
$GC,14790,0.85,290.3,362.2,10.0,132,14794,0.00,2.08,0.00,0.000,4,0.000,0.051,2583,459,1052,0,0,0,0,0,0
$GC,14912,0.85,290.3,350.7,10.1,133,14916,0.00,1.92,0.00,0.000,6,0.000,0.024,2583,1711,1052,0,0,0,0,0,0
$GC,15853,0.85,290.3,255.6,10.1,141,15857,0.00,2.08,0.00,0.000,4,0.000,0.051,2592,465,1052,0,0,0,0,0,0
$GC,15975,0.85,290.3,243.3,10.4,142,15979,0.00,1.92,0.00,0.000,6,0.000,0.024,2592,1713,1052,0,0,0,0,0,0
$GC,16674,0.85,290.3,158.3,12.0,148,16678,0.00,2.08,0.00,0.000,4,0.000,0.052,2600,469,1052,0,0,0,0,0,0
$GC,16798,0.85,290.3,145.4,12.0,149,16802,0.00,1.90,0.00,0.000,6,0.000,0.024,2600,1706,1052,0,0,0,0,0,0
$GC,17436,0.85,290.3,78.8,9.5,156,17438,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1706,1052,0,0,0,0,0,0
$GC,18043,0.85,290.3,32.9,7.8,166,18046,0.00,1.92,0.00,0.000,4,0.000,0.037,2600,2922,1052,0,0,0,0,0,0
$GC,18166,0.85,290.3,23.0,8.3,168,18170,0.12,2.03,0.00,0.000,6,0.135,0.041,2576,1691,1052,0,0,0,0,0,0
$FREEZE,8.34,-1.590,-1.852,2,3,0
$FREEZE,4.51,-1.611,-1.849,2,3,0
$FREEZE,1.59,-1.591,-1.847,2,3,0
$STATE,18439,end climb,SURFACE_DEPTH_REACHED
$STATE,18439,begin surface coast
$FREEZE,1.61,-1.607,-1.842,2,3,0
$FINISH,1.6,1.027025
$STATE,18504,end surface coast,CONTROL_FINISHED_OK
$STATE,18504,begin surface
$SM_CCo,18527,73.35,0.077,0,0,442,443.50
$SM_GC,2.35,6.62,2.15,73.35,0.044,0.063,0.077,116,408,442,-6.77,0.90,443.50,0,0,0,0,0,0
$RAFOS_CLK,1177
$RAFOS,6,1329770942,20.833334,20.817223,60,57,54,0,0,0,190,213,165,0,0,0
$RAFOS,4,1329770020,20.566668,20.561111,59,58,57,0,0,0,209,227,131,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5821.32,-5902.88,200212,181838
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.83
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.50
$XPDR_PINGS,7
$ALTIM_TOP_PING,18.6,16.9
$24V_AH,21.6,75.814
$10V_AH,9.9,71.630
$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,17.125,58.300,390.300,73.350,0.000,0.000,0.000,148.175,5.250,0.000,25.643,654.346,16852.818,628.865,685.361,284.572,0.000,1096.555,0.000,505.532,720.000,25.589,0.000
$DEVICE_MAMPS,246.330,98.685,1417.545,77.265,0.000,0.000,0.000,240.429,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,121.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191636
$DATA_FILE_SIZE,6894,174
$CAP_FILE_SIZE,61274,0
$CFSIZE,260165632,204595200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1469.7
$GPS,200212,232405,5842.083,-5905.309,39,0.8,39,-25.9