version: 66.09
glider: 143
mission: 13
dive: 2273
start: 2 20 112 23 30 36
data:
$ID,143
$MISSION,13
$DIVE,2273
$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,-264954.72
$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,54
$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
$GPS1,200212,232405,5842.083,-5905.309,39,0.8,39,-25.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-62.3
$GPS2,200212,233000,5841.994,-5905.319,19,0.8,19,-25.9
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5831.846,-5858.244
$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,185.9,20000,-15.2,-7.143
$D_GRID,1972
$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,-116.8,0.0,0.0,0,140,0.00,0.00,-120.53,0.000,2,0.000,0.000,111,405,2469,0,0,0,0,0,0
$GC,144,-0.63,-116.8,8.5,0.0,2,162,9.05,0.22,-4.97,0.000,4,0.252,0.233,2087,286,2730,0,0,0,0,0,0
$GC,279,-0.63,-116.8,36.3,-24.8,4,281,0.00,0.15,0.00,0.000,6,0.000,0.052,2087,384,2733,0,0,0,0,0,0
$GC,962,-0.63,-116.8,116.0,-10.9,15,964,0.00,0.17,0.00,0.000,4,0.000,0.096,2087,282,2732,0,0,0,0,0,0
$GC,1038,-0.63,-116.8,116.0,-10.9,15,1040,0.00,0.20,0.00,0.000,6,0.000,0.047,2087,415,2732,0,0,0,0,0,0
$GC,1660,-0.63,-116.8,193.6,-11.3,21,1663,0.00,1.88,0.00,0.000,4,0.000,0.021,2079,1712,2730,0,0,0,0,0,0
$GC,1782,-0.63,-116.8,205.1,-11.3,22,1786,0.00,2.30,0.00,0.000,6,0.000,0.068,2078,391,2730,0,0,0,0,0,0
$GC,2481,-0.63,-116.8,277.3,-10.0,28,2483,0.00,0.17,0.00,0.000,4,0.000,0.096,2078,273,2732,0,0,0,0,0,0
$GC,2605,-0.63,-116.8,288.6,-10.1,29,2607,0.00,0.20,0.00,0.000,6,0.000,0.045,2077,412,2732,0,0,0,0,0,0
$GC,3544,-0.63,-116.8,391.1,-10.8,37,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,412,2735,0,0,0,0,0,0
$GC,4509,-0.63,-116.8,487.1,-9.8,45,4512,0.00,1.88,0.00,0.000,4,0.000,0.024,2068,1720,2737,0,0,0,0,0,0
$GC,4601,-0.63,-116.8,487.1,-9.8,45,4606,0.00,2.30,0.00,0.000,6,0.000,0.067,2068,401,2737,0,0,0,0,0,0
$GC,5567,-0.63,-116.8,599.0,-10.7,53,5571,0.00,1.92,0.00,0.000,4,0.000,0.025,2059,1729,2738,0,0,0,0,0,0
$GC,5690,-0.63,-116.8,610.5,-10.7,54,5695,0.15,2.33,0.00,0.000,6,0.137,0.067,2097,397,2738,0,0,0,0,0,0
$GC,6634,-0.63,-116.8,701.3,-9.4,62,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,397,2739,0,0,0,0,0,0
$GC,7595,-0.63,-116.8,788.3,-9.0,70,7599,0.00,1.92,0.00,0.000,4,0.000,0.022,2093,1676,2739,0,0,0,0,0,0
$GC,7705,-0.63,-116.8,798.0,-9.0,71,7709,0.00,2.20,0.00,0.000,6,0.000,0.063,2092,398,2739,0,0,0,0,0,0
$GC,8659,-0.63,-116.8,882.1,-8.7,79,8661,0.00,0.17,0.00,0.000,4,0.000,0.093,2092,276,2739,0,0,0,0,0,0
$GC,8688,-0.63,-116.8,882.1,-8.7,79,8690,0.00,0.20,0.00,0.000,6,0.000,0.047,2092,414,2739,0,0,0,0,0,0
$STATE,8870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8870,begin apogee
$GC,8881,-0.16,0.0,900.9,-8.7,81,8994,0.43,0.17,108.12,1.413,6,0.079,0.079,2247,1685,2250,0,0,0,0,0,0
$STATE,8995,end apogee,CONTROL_FINISHED_OK
$STATE,8995,begin climb
$GC,9000,0.63,116.8,910.4,0.0,82,9121,0.75,2.28,114.35,1.376,4,0.057,0.032,2505,2935,1773,0,0,0,0,0,0
$GC,9242,0.85,290.3,920.4,0.0,84,9416,0.17,2.17,167.18,1.362,6,0.061,0.044,2591,1698,1065,0,0,0,0,0,0
$GC,10431,0.85,290.3,803.7,10.6,94,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1698,1056,0,0,0,0,0,0
$GC,11396,0.85,290.3,710.8,9.3,102,11400,0.00,2.05,0.00,0.000,4,0.000,0.057,2601,453,1054,0,0,0,0,0,0
$GC,11520,0.85,290.3,698.5,9.7,103,11524,0.00,1.95,0.00,0.000,6,0.000,0.024,2601,1714,1053,0,0,0,0,0,0
$GC,12459,0.85,290.3,591.2,11.2,111,12463,0.00,1.92,0.00,0.000,4,0.000,0.040,2601,2927,1053,0,0,0,0,0,0
$GC,12582,0.85,290.3,578.6,11.4,112,12587,0.15,2.03,0.00,0.000,6,0.138,0.041,2570,1693,1053,0,0,0,0,0,0
$GC,13523,0.85,290.3,487.1,9.7,120,13527,0.00,2.03,0.00,0.000,4,0.000,0.055,2576,456,1053,0,0,0,0,0,0
$GC,13645,0.85,290.3,475.5,10.0,121,13649,0.00,1.92,0.00,0.000,6,0.000,0.024,2576,1707,1052,0,0,0,0,0,0
$GC,14586,0.85,290.3,375.7,10.4,129,14590,0.00,2.08,0.00,0.000,4,0.000,0.052,2583,463,1052,0,0,0,0,0,0
$GC,14708,0.85,290.3,364.2,10.3,130,14712,0.00,1.92,0.00,0.000,6,0.000,0.024,2583,1712,1052,0,0,0,0,0,0
$GC,15648,0.85,290.3,260.8,11.0,138,15652,0.00,2.08,0.00,0.000,4,0.000,0.051,2592,465,1052,0,0,0,0,0,0
$GC,15771,0.85,290.3,247.8,11.2,139,15775,0.00,1.90,0.00,0.000,6,0.000,0.024,2592,1700,1052,0,0,0,0,0,0
$GC,16471,0.85,290.3,167.5,11.1,145,16472,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1700,1052,0,0,0,0,0,0
$GC,17073,0.85,290.3,107.3,9.9,150,17077,0.00,1.95,0.00,0.000,4,0.000,0.039,2592,2930,1052,0,0,0,0,0,0
$GC,17182,0.85,290.3,96.9,9.6,151,17186,0.00,2.03,0.00,0.000,6,0.000,0.041,2600,1696,1052,0,0,0,0,0,0
$GC,17836,0.85,290.3,35.0,9.5,162,17838,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1696,1052,0,0,0,0,0,0
$FREEZE,7.88,-1.456,-1.853,2,1,0
$FREEZE,2.78,-1.471,-1.849,2,1,0
$FREEZE,1.67,-1.538,-1.811,2,1,0
$STATE,18257,end climb,SURFACE_DEPTH_REACHED
$STATE,18257,begin surface coast
$FREEZE,1.69,-1.547,-0.842,2,1,0
$FINISH,1.7,1.012391
$STATE,18319,end surface coast,FINISH_DEPTH_REACHED
$STATE,18319,begin surface
$SM_CCo,18342,72.95,0.076,0,0,441,443.50
$SM_GC,2.52,6.75,2.17,72.95,0.048,0.063,0.076,125,399,441,-6.75,0.59,443.50,0,0,0,0,0,0
$RAFOS_CLK,1165
$RAFOS,3,1329798346,4.433333,4.429444,73,59,58,0,0,0,211,201,118,0,0,0
$RAFOS,2,1329797829,4.300000,4.285833,63,60,60,0,0,0,212,201,165,0,0,0
$RAFOS,0,1329796861,4.033333,4.016944,62,60,59,0,0,0,171,225,209,0,0,0
$RAFOS,5,1329784900,0.700000,0.694444,64,57,57,0,0,0,147,161,172,0,0,0
$RAFOS,3,1329783935,0.433333,0.426389,67,62,59,0,0,0,212,195,159,0,0,0
$RAFOS,1,1329782992,0.166667,0.164444,58,58,56,0,0,0,116,158,228,0,0,0
$RAFOS,0,1329782462,0.033333,0.017222,58,56,54,0,0,0,191,137,173,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5821.32,-5902.88,200212,181824
$TT8_MAMPS,0.029211,0.029211
$HUMID,57.12
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.60
$XPDR_PINGS,14
$ALTIM_TOP_PING,14.0,12.2
$24V_AH,21.6,75.967
$10V_AH,10.0,71.678
$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,17.450,50.875,389.650,72.950,0.000,0.000,0.000,169.800,7.000,0.000,24.425,679.124,16527.416,622.653,674.800,283.910,0.000,1113.363,0.000,512.644,2880.000,25.585,0.000
$DEVICE_MAMPS,251.685,233.325,1412.955,75.735,0.000,0.000,0.000,233.702,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,118.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6879,170
$CAP_FILE_SIZE,62650,0
$CFSIZE,260165632,204562432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.5
$GPS,210212,043906,5840.824,-5904.926,38,0.9,38,-25.9