version: 66.09
glider: 143
mission: 13
dive: 2175
start: 2 5 112 13 8 42
data:
$ID,143
$MISSION,13
$DIVE,2175
$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,-6
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,-262531.59
$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,60
$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
$GPS1,050212,130205,6007.071,-6026.791,41,0.8,41,-27.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-35.9
$GPS2,050212,130807,6006.933,-6026.752,19,1.2,20,-27.1
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5956.785,-6019.377
$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,187.1,20000,-15.2,-7.143
$D_GRID,1615
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.63,-116.8,0.0,0.0,0,187,0.00,0.00,-166.23,0.000,6,0.000,0.000,118,409,2727,0,0,0,0,0,0
$GC,192,-0.63,-116.8,2.5,0.0,2,204,8.98,0.20,0.00,0.000,4,0.252,0.084,2092,279,2728,0,0,0,0,0,0
$GC,324,-0.63,-116.8,25.2,-14.5,4,326,0.00,0.15,0.00,0.000,6,0.000,0.052,2091,378,2729,0,0,0,0,0,0
$GC,947,-0.63,-116.8,118.4,-13.7,14,949,0.00,0.17,0.00,0.000,4,0.000,0.098,2092,274,2728,0,0,0,0,0,0
$GC,1070,-0.63,-116.8,132.3,-13.3,15,1072,0.00,0.20,0.00,0.000,6,0.000,0.050,2091,411,2728,0,0,0,0,0,0
$GC,1769,-0.63,-116.8,198.7,-8.4,21,1771,0.00,0.22,0.00,0.000,4,0.000,0.089,2091,277,2728,0,0,0,0,0,0
$GC,1891,-0.63,-116.8,207.4,-7.9,22,1894,0.00,0.20,0.00,0.000,6,0.000,0.049,2091,417,2728,0,0,0,0,0,0
$GC,2590,-0.63,-116.8,265.1,-8.1,28,2592,0.00,0.22,0.00,0.000,4,0.000,0.089,2091,283,2729,0,0,0,0,0,0
$GC,2700,-0.63,-116.8,275.0,-8.5,29,2702,0.00,0.17,0.00,0.000,6,0.000,0.051,2090,404,2730,0,0,0,0,0,0
$GC,3653,-0.63,-116.8,367.9,-10.2,37,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,404,2731,0,0,0,0,0,0
$GC,4619,-0.63,-116.8,458.5,-9.3,45,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,404,2733,0,0,0,0,0,0
$GC,5585,-0.63,-116.8,560.6,-10.8,53,5587,0.00,0.20,0.00,0.000,4,0.000,0.087,2090,282,2734,0,0,0,0,0,0
$GC,5675,-0.63,-116.8,560.6,-10.8,53,5677,0.00,0.17,0.00,0.000,6,0.000,0.049,2090,405,2734,0,0,0,0,0,0
$GC,6643,-0.63,-116.8,677.3,-11.0,61,6647,0.00,1.88,0.00,0.000,4,0.000,0.023,2083,1676,2734,0,0,0,0,0,0
$GC,6687,-0.63,-116.8,677.3,-11.0,61,6691,0.00,2.20,0.00,0.000,6,0.000,0.063,2082,391,2734,0,0,0,0,0,0
$GC,7702,-0.63,-116.8,786.9,-10.1,70,7703,0.00,0.15,0.00,0.000,4,0.000,0.101,2082,283,2734,0,0,0,0,0,0
$GC,7746,-0.63,-116.8,786.9,-10.1,70,7748,0.00,0.17,0.00,0.000,6,0.000,0.050,2082,405,2734,0,0,0,0,0,0
$GC,8760,-0.63,-116.8,879.1,-8.4,79,8764,0.00,1.88,0.00,0.000,4,0.000,0.023,2075,1675,2734,0,0,0,0,0,0
$GC,8820,-0.63,-116.8,879.1,-8.4,79,8824,0.00,2.20,0.00,0.000,6,0.000,0.063,2076,391,2734,0,0,0,0,0,0
$STATE,9093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9093,begin apogee
$GC,9104,-0.16,0.0,904.9,-7.8,82,9217,0.50,0.17,106.03,1.418,6,0.083,0.081,2250,1686,2250,0,0,0,0,0,0
$STATE,9218,end apogee,CONTROL_FINISHED_OK
$STATE,9218,begin climb
$GC,9223,0.63,116.8,912.1,0.0,83,9342,0.75,2.28,112.78,1.382,4,0.054,0.034,2513,2942,1772,0,0,0,0,0,0
$GC,9465,0.85,290.3,919.7,0.0,85,9636,0.15,2.20,165.38,1.363,6,0.066,0.044,2592,1693,1066,0,0,0,0,0,0
$GC,10641,0.85,290.3,796.6,10.3,95,10645,0.00,2.03,0.00,0.000,4,0.000,0.038,2591,2943,1055,0,0,0,0,0,0
$GC,10764,0.85,290.3,784.5,10.3,96,10768,0.00,2.05,0.00,0.000,6,0.000,0.042,2600,1695,1055,0,0,0,0,0,0
$GC,11705,0.85,290.3,681.9,10.5,104,11709,0.00,2.00,0.00,0.000,4,0.000,0.057,2610,469,1055,0,0,0,0,0,0
$GC,11827,0.85,290.3,669.8,10.5,105,11832,0.15,1.92,0.00,0.000,6,0.144,0.025,2571,1718,1053,0,0,0,0,0,0
$GC,12772,0.85,290.3,579.6,9.7,113,12779,0.00,1.92,0.00,0.000,4,0.000,0.041,2571,2935,1053,0,0,0,0,0,0
$GC,12905,0.85,290.3,567.2,9.8,114,12909,0.00,2.03,0.00,0.000,6,0.000,0.041,2577,1696,1053,0,0,0,0,0,0
$GC,13845,0.85,290.3,463.6,11.0,122,13847,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,1696,1053,0,0,0,0,0,0
$GC,14810,0.85,290.3,355.6,11.2,130,14814,0.00,2.03,0.00,0.000,4,0.000,0.057,2586,456,1053,0,0,0,0,0,0
$GC,14934,0.85,290.3,342.5,11.4,131,14938,0.00,1.92,0.00,0.000,6,0.000,0.026,2586,1707,1052,0,0,0,0,0,0
$GC,15873,0.85,290.3,231.7,11.5,139,15877,0.00,1.92,0.00,0.000,4,0.000,0.041,2586,2925,1052,0,0,0,0,0,0
$GC,15996,0.85,290.3,218.9,11.6,140,16000,0.00,2.03,0.00,0.000,6,0.000,0.041,2595,1689,1052,0,0,0,0,0,0
$GC,16696,0.85,290.3,154.2,8.4,146,16700,0.00,2.00,0.00,0.000,4,0.000,0.039,2595,2925,1052,0,0,0,0,0,0
$GC,16818,0.85,290.3,146.8,7.7,147,16822,0.00,2.03,0.00,0.000,6,0.000,0.041,2603,1689,1052,0,0,0,0,0,0
$GC,17457,0.85,290.3,84.0,10.8,153,17461,0.00,2.00,0.00,0.000,4,0.000,0.040,2603,2923,1052,0,0,0,0,0,0
$GC,17581,0.85,290.3,74.6,10.2,155,17585,0.15,2.03,0.00,0.000,6,0.132,0.041,2570,1689,1052,0,0,0,0,0,0
$GC,18219,0.85,290.3,22.3,7.4,166,18223,0.00,2.03,0.00,0.000,4,0.000,0.060,2578,462,1053,0,0,0,0,0,0
$GC,18330,0.87,308.0,13.6,6.4,168,18342,0.00,1.92,7.75,0.103,6,0.000,0.024,2577,1715,994,0,0,0,0,0,0
$FREEZE,8.98,-1.653,-1.859,0,1,0
$FREEZE,2.75,-1.658,-1.854,0,1,0
$FREEZE,1.79,-1.668,-1.854,0,1,0
$STATE,18493,end climb,SURFACE_DEPTH_REACHED
$STATE,18493,begin surface coast
$FREEZE,1.84,-1.673,-1.854,0,1,0
$FINISH,1.8,1.027185
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18578,65.57,0.076,0,0,441,443.50
$SM_GC,2.77,6.60,2.22,65.57,0.044,0.063,0.076,125,410,441,-6.75,0.93,443.50,0,0,0,0,0,0
$RAFOS_CLK,1170
$RAFOS,5,1328460100,16.700001,16.694445,62,59,56,0,0,0,216,159,207,0,0,0
$RAFOS,4,1328459603,16.566668,16.556389,64,61,58,0,0,0,216,154,198,0,0,0
$RAFOS,3,1328459115,16.433332,16.420834,58,58,56,0,0,0,204,221,126,0,0,0
$RAFOS,2,1328458661,16.299999,16.294722,67,61,53,0,0,0,220,178,148,0,0,0
$RAFOS,1,1328458146,16.166666,16.151667,66,65,59,0,0,0,218,176,197,0,0,0
$RAFOS,0,1328457718,16.033333,16.032778,65,59,59,0,0,0,214,199,183,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5945.20,-6024.42,050212,020222
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.56
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.50
$XPDR_PINGS,12
$ALTIM_TOP_PING,18.7,16.1
$24V_AH,21.9,63.484
$10V_AH,10.1,68.678
$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,17.275,51.150,391.925,65.575,0.000,0.000,0.000,186.675,6.500,0.000,20.931,681.595,16685.451,655.912,717.673,281.927,0.000,1180.816,0.000,534.494,2160.000,25.595,0.000
$DEVICE_MAMPS,251.685,100.980,1418.310,75.735,0.000,0.000,0.000,234.451,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,119.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270264
$DATA_FILE_SIZE,6887,172
$CAP_FILE_SIZE,65465,0
$CFSIZE,260165632,206958592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1470.9
$GPS,050212,182135,6005.361,-6024.779,74,0.9,74,-27.0