version: 66.09
glider: 143
mission: 13
dive: 2277
start: 2 21 112 17 18 14
data:
$ID,143
$MISSION,13
$DIVE,2277
$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,-264957.22
$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,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
$GPS1,210212,171000,5838.406,-5905.518,42,0.8,42,-25.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-67.4
$GPS2,210212,171742,5838.315,-5905.515,16,1.2,17,-25.9
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5828.167,-5858.452
$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,1922
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.63,-116.8,0.0,0.0,0,142,0.00,0.00,-119.70,0.000,2,0.000,0.000,106,404,2137,0,0,0,0,0,0
$GC,146,-0.63,-116.8,3.6,0.0,2,177,8.90,0.22,-17.90,0.000,4,0.248,0.233,2087,284,2728,0,0,0,0,0,0
$GC,296,-0.63,-116.8,23.4,-18.2,4,298,0.00,0.15,0.00,0.000,6,0.000,0.052,2087,381,2730,0,0,0,0,0,0
$GC,904,-0.63,-116.8,105.0,-12.1,14,906,0.00,0.17,0.00,0.000,4,0.000,0.098,2087,277,2731,0,0,0,0,0,0
$GC,1027,-0.63,-116.8,117.2,-11.7,15,1029,0.00,0.20,0.00,0.000,6,0.000,0.046,2087,413,2730,0,0,0,0,0,0
$GC,1726,-0.63,-116.8,193.0,-10.5,21,1730,0.00,1.88,0.00,0.000,4,0.000,0.021,2078,1713,2730,0,0,0,0,0,0
$GC,1848,-0.63,-116.8,204.0,-10.3,22,1852,0.00,2.30,0.00,0.000,6,0.000,0.067,2078,397,2730,0,0,0,0,0,0
$GC,2547,-0.63,-116.8,281.9,-11.1,28,2549,0.00,0.17,0.00,0.000,4,0.000,0.097,2078,279,2731,0,0,0,0,0,0
$GC,2671,-0.63,-116.8,293.9,-11.2,29,2673,0.00,0.20,0.00,0.000,6,0.000,0.047,2077,415,2731,0,0,0,0,0,0
$GC,3610,-0.63,-116.8,398.9,-11.1,37,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,415,2733,0,0,0,0,0,0
$GC,4576,-0.63,-116.8,500.6,-10.3,45,4580,0.00,1.88,0.00,0.000,4,0.000,0.024,2068,1718,2735,0,0,0,0,0,0
$GC,4699,-0.63,-116.8,511.8,-10.3,46,4703,0.00,2.30,0.00,0.000,6,0.000,0.065,2068,398,2735,0,0,0,0,0,0
$GC,5640,-0.63,-116.8,615.4,-10.8,54,5642,0.00,0.17,0.00,0.000,4,0.000,0.095,2068,279,2736,0,0,0,0,0,0
$GC,5667,-0.63,-116.8,615.4,-10.8,54,5670,0.00,0.20,0.00,0.000,6,0.000,0.048,2067,417,2736,0,0,0,0,0,0
$GC,6579,-0.63,-116.8,716.2,-10.7,62,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,417,2737,0,0,0,0,0,0
$GC,7543,-0.63,-116.8,818.3,-10.5,70,7546,0.00,1.88,0.00,0.000,4,0.000,0.024,2058,1725,2737,0,0,0,0,0,0
$GC,7664,-0.63,-116.8,829.4,-10.4,71,7669,0.15,2.30,0.00,0.000,6,0.135,0.064,2097,400,2737,0,0,0,0,0,0
$STATE,8481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8481,begin apogee
$GC,8492,-0.16,0.0,906.6,-9.3,78,8606,0.43,0.17,107.57,1.421,6,0.076,0.076,2251,1692,2250,0,0,0,0,0,0
$STATE,8607,end apogee,CONTROL_FINISHED_OK
$STATE,8607,begin climb
$GC,8611,0.63,116.8,916.1,0.0,79,8731,0.75,2.30,113.97,1.382,4,0.054,0.059,2522,468,1772,0,0,0,0,0,0
$GC,8790,0.85,290.3,924.3,0.0,80,8966,0.15,2.08,169.12,1.362,6,0.068,0.018,2588,1742,1066,0,0,0,0,0,0
$GC,9923,0.85,290.3,814.6,11.0,90,9927,0.00,1.83,0.00,0.000,4,0.000,0.034,2588,2903,1057,0,0,0,0,0,0
$GC,10045,0.85,290.3,801.5,11.2,91,10049,0.00,1.98,0.00,0.000,6,0.000,0.038,2597,1694,1057,0,0,0,0,0,0
$GC,10985,0.85,290.3,683.9,12.2,99,10989,0.00,2.00,0.00,0.000,4,0.000,0.054,2606,469,1056,0,0,0,0,0,0
$GC,11109,0.85,290.3,669.6,12.4,100,11114,0.12,1.88,0.00,0.000,6,0.143,0.023,2575,1689,1055,0,0,0,0,0,0
$GC,12049,0.85,290.3,567.4,10.5,108,12052,0.00,2.05,0.00,0.000,4,0.000,0.052,2581,459,1055,0,0,0,0,0,0
$GC,12174,0.85,290.3,555.2,10.6,109,12178,0.00,1.92,0.00,0.000,6,0.000,0.024,2581,1707,1054,0,0,0,0,0,0
$GC,13112,0.85,290.3,455.1,10.2,117,13116,0.00,2.08,0.00,0.000,4,0.000,0.051,2589,460,1054,0,0,0,0,0,0
$GC,13235,0.85,290.3,443.5,10.3,118,13238,0.00,1.92,0.00,0.000,6,0.000,0.024,2590,1710,1054,0,0,0,0,0,0
$GC,14175,0.85,290.3,344.4,10.5,126,14179,0.00,1.92,0.00,0.000,4,0.000,0.040,2590,2924,1053,0,0,0,0,0,0
$GC,14298,0.85,290.3,332.7,10.5,127,14301,0.00,2.00,0.00,0.000,6,0.000,0.039,2598,1699,1054,0,0,0,0,0,0
$GC,15238,0.85,290.3,226.5,11.5,135,15241,0.00,2.00,0.00,0.000,4,0.000,0.054,2607,470,1054,0,0,0,0,0,0
$GC,15362,0.85,290.3,213.0,11.8,136,15366,0.12,1.90,0.00,0.000,6,0.142,0.024,2576,1711,1054,0,0,0,0,0,0
$GC,16060,0.85,290.3,140.7,10.1,142,16063,0.00,1.92,0.00,0.000,4,0.000,0.039,2575,2927,1053,0,0,0,0,0,0
$GC,16120,0.85,290.3,140.7,10.1,142,16124,0.00,2.03,0.00,0.000,6,0.000,0.039,2582,1689,1054,0,0,0,0,0,0
$GC,16759,0.85,290.3,68.5,10.4,150,16762,0.00,2.00,0.00,0.000,4,0.000,0.036,2582,2931,1054,0,0,0,0,0,0
$GC,16849,0.85,290.3,64.1,10.1,151,16853,0.00,2.03,0.00,0.000,6,0.000,0.040,2590,1694,1054,0,0,0,0,0,0
$FREEZE,8.04,-1.575,-1.853,2,1,0
$GC,17460,0.85,290.3,8.0,8.3,161,17464,0.00,2.00,0.00,0.000,4,0.000,0.037,2590,2925,1054,0,0,0,0,0,0
$FREEZE,8.04,-1.575,-1.853,2,1,0
$FREEZE,8.04,-1.575,-1.853,2,1,0
$FREEZE,3.94,-1.605,-1.850,2,1,0
$FREEZE,3.94,-1.605,-1.850,2,1,0
$FREEZE,3.94,-1.605,-1.850,2,1,0
$FREEZE,3.94,-1.605,-1.850,2,1,0
$FREEZE,1.67,-1.614,-1.848,2,1,0
$STATE,17564,end climb,SURFACE_DEPTH_REACHED
$STATE,17564,begin surface coast
$FREEZE,1.67,-1.614,-1.848,2,1,0
$FINISH,1.7,1.027104
$STATE,17582,end surface coast,CONTROL_FINISHED_OK
$STATE,17582,begin surface
$SM_CCo,17607,72.97,0.075,0,0,442,443.50
$SM_GC,2.42,6.75,4.20,72.97,0.050,0.050,0.075,119,404,442,-6.76,0.74,443.50,0,0,0,0,0,0
$RAFOS_CLK,1107
$RAFOS,5,1329856863,20.700001,20.684166,65,65,56,0,0,0,200,224,142,0,0,0
$RAFOS,2,1329855434,20.299999,20.287222,65,58,56,0,0,0,205,224,180,0,0,0
$RAFOS,0,1329854492,20.033333,20.025555,63,63,63,0,0,0,160,194,235,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5817.21,-5905.01,210212,040408
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.80
$XPDR_PINGS,15
$ALTIM_TOP_PING,18.5,17.2
$24V_AH,21.6,76.572
$10V_AH,10.0,71.826
$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,17.375,58.250,390.675,72.975,0.000,0.000,0.000,225.575,7.250,0.000,17.628,657.064,15828.707,640.671,746.426,288.583,0.000,1197.453,0.000,533.696,1080.000,25.598,0.000
$DEVICE_MAMPS,247.860,232.560,1421.370,74.970,0.000,0.000,0.000,223.216,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,113.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191692
$DATA_FILE_SIZE,6834,163
$CAP_FILE_SIZE,64440,0
$CFSIZE,260165632,204464128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.9
$GPS,210212,221429,5837.691,-5905.687,39,0.9,40,-25.9