version: 66.09
glider: 143
mission: 13
dive: 2269
start: 2 20 112 7 25 23
data:
$ID,143
$MISSION,13
$DIVE,2269
$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,-264950.97
$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,19
$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
$GPS1,190212,202636,5847.150,-5905.968,19,1.3,20,-26.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.12
$_SM_ANGLEo,2.9
$GPS2,190212,202636,5847.150,-5905.968,19,1.3,20,-26.0
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5837.002,-5858.876
$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,2091
$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,18,-0.63,-116.8,0.0,0.0,0,34,0.00,0.95,-13.07,0.000,3,0.000,0.083,2292,2352,2729,0,0,0,0,0,0
$GC,39,-0.63,-116.8,12.2,0.0,1,45,0.57,1.17,0.00,0.000,4,0.076,0.057,2093,1624,2729,0,0,0,0,0,0
$GC,172,-0.63,-116.8,26.8,-10.0,3,176,0.00,2.10,0.00,0.000,6,0.000,0.070,2093,391,2732,0,0,0,0,0,0
$GC,813,-0.63,-116.8,92.6,-10.1,14,814,0.00,0.17,0.00,0.000,4,0.000,0.102,2093,273,2732,0,0,0,0,0,0
$GC,858,-0.63,-116.8,97.2,-10.1,15,860,0.00,0.17,0.00,0.000,6,0.000,0.046,2093,393,2732,0,0,0,0,0,0
$GC,1508,-0.63,-116.8,166.6,-10.9,21,1512,0.00,1.90,0.00,0.000,4,0.000,0.022,2089,1676,2731,0,0,0,0,0,0
$GC,1570,-0.63,-116.8,166.6,-10.9,21,1574,0.00,2.22,0.00,0.000,6,0.000,0.067,2089,394,2731,0,0,0,0,0,0
$GC,2205,-0.63,-116.8,236.5,-9.8,27,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,394,2731,0,0,0,0,0,0
$GC,2808,-0.63,-116.8,295.6,-9.8,32,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,394,2732,0,0,0,0,0,0
$GC,3773,-0.63,-116.8,391.9,-9.8,40,3777,0.00,1.92,0.00,0.000,4,0.000,0.023,2084,1698,2734,0,0,0,0,0,0
$GC,3897,-0.63,-116.8,402.0,-9.6,41,3901,0.00,2.25,0.00,0.000,6,0.000,0.067,2084,401,2734,0,0,0,0,0,0
$GC,4836,-0.63,-116.8,487.4,-8.9,49,4838,0.00,0.17,0.00,0.000,4,0.000,0.097,2084,281,2737,0,0,0,0,0,0
$GC,4881,-0.63,-116.8,487.4,-8.9,49,4883,0.00,0.17,0.00,0.000,6,0.000,0.048,2084,402,2737,0,0,0,0,0,0
$GC,5896,-0.63,-116.8,582.2,-8.9,58,5898,0.00,0.20,0.00,0.000,4,0.000,0.092,2084,283,2738,0,0,0,0,0,0
$GC,5971,-0.63,-116.8,582.2,-8.9,58,5973,0.00,0.17,0.00,0.000,6,0.000,0.048,2084,405,2738,0,0,0,0,0,0
$GC,6954,-0.63,-116.8,683.4,-9.9,67,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,405,2739,0,0,0,0,0,0
$GC,7920,-0.63,-116.8,775.5,-9.5,75,7922,0.00,0.20,0.00,0.000,4,0.000,0.089,2084,285,2740,0,0,0,0,0,0
$GC,7948,-0.63,-116.8,775.5,-9.5,75,7950,0.00,0.17,0.00,0.000,6,0.000,0.050,2084,408,2740,0,0,0,0,0,0
$GC,8858,-0.63,-116.8,857.2,-8.4,83,8861,0.00,1.88,0.00,0.000,4,0.000,0.022,2080,1664,2740,0,0,0,0,0,0
$GC,8934,-0.63,-116.8,857.2,-8.4,83,8938,0.00,2.20,0.00,0.000,6,0.000,0.064,2080,388,2740,0,0,0,0,0,0
$STATE,9432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9432,begin apogee
$GC,9442,-0.16,0.0,904.8,-8.3,88,9556,0.47,0.20,107.88,1.417,6,0.090,0.078,2244,1685,2250,0,0,0,0,0,0
$STATE,9557,end apogee,CONTROL_FINISHED_OK
$STATE,9557,begin climb
$GC,9562,0.63,116.8,913.2,0.0,89,9682,0.75,2.28,114.18,1.375,4,0.049,0.033,2511,2931,1773,0,0,0,0,0,0
$GC,9803,0.85,290.3,922.4,0.0,91,9978,0.17,2.17,167.30,1.362,6,0.063,0.044,2599,1699,1067,0,0,0,0,0,0
$GC,10992,0.85,290.3,787.8,13.0,101,10996,0.00,2.03,0.00,0.000,4,0.000,0.056,2609,462,1058,0,0,0,0,0,0
$GC,11115,0.85,290.3,773.2,13.0,102,11120,0.15,1.92,0.00,0.000,6,0.139,0.025,2569,1708,1057,0,0,0,0,0,0
$GC,12056,0.85,290.3,676.2,9.8,110,12059,0.00,2.10,0.00,0.000,4,0.000,0.054,2576,455,1056,0,0,0,0,0,0
$GC,12179,0.85,290.3,665.1,9.8,111,12183,0.00,1.92,0.00,0.000,6,0.000,0.025,2576,1697,1055,0,0,0,0,0,0
$GC,13119,0.85,290.3,570.6,9.8,119,13122,0.00,2.08,0.00,0.000,4,0.000,0.054,2583,460,1055,0,0,0,0,0,0
$GC,13242,0.85,290.3,558.6,10.2,120,13245,0.00,1.92,0.00,0.000,6,0.000,0.026,2583,1703,1055,0,0,0,0,0,0
$GC,14182,0.85,290.3,453.5,11.4,128,14186,0.00,2.08,0.00,0.000,4,0.000,0.052,2592,460,1055,0,0,0,0,0,0
$GC,14305,0.85,290.3,440.0,11.5,129,14308,0.00,1.92,0.00,0.000,6,0.000,0.024,2592,1707,1055,0,0,0,0,0,0
$GC,15246,0.85,290.3,328.3,11.6,137,15249,0.00,1.95,0.00,0.000,4,0.000,0.040,2592,2937,1055,0,0,0,0,0,0
$GC,15368,0.85,290.3,315.6,11.7,138,15372,0.00,2.05,0.00,0.000,6,0.000,0.041,2600,1688,1055,0,0,0,0,0,0
$GC,16308,0.85,290.3,213.2,10.6,146,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1688,1055,0,0,0,0,0,0
$GC,16911,0.85,290.3,146.5,11.0,151,16915,0.00,2.03,0.00,0.000,4,0.000,0.039,2600,2934,1055,0,0,0,0,0,0
$GC,16972,0.85,290.3,146.5,11.0,151,16977,0.12,2.05,0.00,0.000,6,0.140,0.041,2576,1687,1055,0,0,0,0,0,0
$GC,17608,0.85,290.3,88.3,8.0,158,17612,0.00,2.03,0.00,0.000,4,0.000,0.039,2576,2935,1055,0,0,0,0,0,0
$GC,17731,0.85,290.3,79.7,7.5,160,17735,0.00,2.05,0.00,0.000,6,0.000,0.042,2582,1690,1055,0,0,0,0,0,0
$GC,18372,0.85,290.3,21.5,8.6,171,18375,0.00,2.00,0.00,0.000,4,0.000,0.037,2583,2924,1055,0,0,0,0,0,0
$GC,18494,0.85,290.3,11.8,8.6,173,18497,0.00,2.03,0.00,0.000,6,0.000,0.039,2589,1691,1055,0,0,0,0,0,0
$FREEZE,8.00,-1.627,-1.849,2,5,0
$FREEZE,4.15,-1.621,-1.846,2,5,0
$FREEZE,2.70,-1.649,-1.846,2,5,0
$FREEZE,1.73,-1.707,-1.846,2,5,0
$STATE,18706,end climb,SURFACE_DEPTH_REACHED
$STATE,18706,begin surface coast
$FREEZE,1.98,-1.656,-1.796,2,5,0
$FINISH,2.0,1.026356
$STATE,18768,end surface coast,CONTROL_FINISHED_OK
$STATE,18768,begin surface
$SM_CCo,18791,73.88,0.078,0,0,442,443.50
$SM_GC,2.41,6.80,2.15,73.88,0.053,0.060,0.078,124,403,442,-6.75,0.71,443.50,0,0,0,0,0,0
$RAFOS_CLK,1250
$RAFOS,3,1329740726,12.433333,12.423889,67,66,64,0,0,0,145,185,162,0,0,0
$RAFOS,2,1329740267,12.300000,12.296389,67,55,55,0,0,0,172,193,210,0,0,0
$RAFOS,0,1329739268,12.033333,12.018888,66,62,56,0,0,0,209,188,146,0,0,0
$RAFOS,6,1329727771,8.833333,8.825277,67,61,56,0,0,0,208,185,119,0,0,0
$RAFOS,4,1329726832,8.566667,8.564445,62,60,60,0,0,0,188,170,202,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5833.68,-5908.61,170212,181824
$TT8_MAMPS,0.028462,0.028462
$HUMID,57.87
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.5,15.3
$24V_AH,21.6,75.439
$10V_AH,10.0,71.531
$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,9.050,59.050,389.350,73.875,0.000,0.000,0.000,0.000,4.000,0.000,0.000,667.747,17061.445,524.232,502.861,173.992,0.000,829.549,0.000,496.791,2160.000,25.586,0.000
$DEVICE_MAMPS,139.995,101.745,1416.780,78.030,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,124.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191668
$DATA_FILE_SIZE,6880,178
$CAP_FILE_SIZE,59902,0
$CFSIZE,260165632,204668928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.5
$GPS,200212,124105,5844.250,-5905.267,22,1.2,22,-26.0