version: 66.09
glider: 143
mission: 13
dive: 2240
start: 2 16 112 2 57 44
data:
$ID,143
$MISSION,13
$DIVE,2240
$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,-264942.12
$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,24
$R_STBD_OVSHOOT,72
$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
$GPS1,150212,104743,5905.819,-5925.516,181,99.0,181,-26.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,24.56
$_SM_ANGLEo,3.3
$GPS2,150212,104743,5905.819,-5925.516,181,99.0,181,-26.3
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5855.671,-5918.359
$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,186.3,20000,-15.2,-7.143
$D_GRID,1932
$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,-116.8,0.0,0.0,0,32,0.00,2.20,-7.05,0.000,6,0.000,0.076,2312,393,2731,0,0,0,0,0,0
$GC,36,-0.63,-116.8,0.0,0.0,0,39,0.60,0.15,0.00,0.000,4,0.063,0.099,2093,286,2731,0,0,0,0,0,0
$GC,129,-0.63,-116.8,40.6,0.0,2,131,0.00,0.15,0.00,0.000,6,0.000,0.051,2093,391,2732,0,0,0,0,0,0
$GC,783,-0.63,-116.8,104.3,-9.6,13,787,0.00,1.90,0.00,0.000,4,0.000,0.021,2089,1707,2732,0,0,0,0,0,0
$GC,828,-0.63,-116.8,104.3,-9.6,13,833,0.00,2.28,0.00,0.000,6,0.000,0.064,2089,397,2731,0,0,0,0,0,0
$GC,1479,-0.63,-116.8,174.9,-10.1,19,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,397,2730,0,0,0,0,0,0
$GC,2083,-0.63,-116.8,234.7,-9.9,24,2086,0.00,1.90,0.00,0.000,4,0.000,0.021,2083,1705,2729,0,0,0,0,0,0
$GC,2127,-0.63,-116.8,234.7,-9.9,24,2131,0.00,2.25,0.00,0.000,6,0.000,0.063,2083,402,2730,0,0,0,0,0,0
$GC,2780,-0.63,-116.8,308.7,-10.9,30,2783,0.00,1.90,0.00,0.000,4,0.000,0.020,2077,1704,2730,0,0,0,0,0,0
$GC,2808,-0.63,-116.8,308.7,-10.9,30,2812,0.00,2.28,0.00,0.000,6,0.000,0.063,2077,390,2730,0,0,0,0,0,0
$GC,3720,-0.63,-116.8,406.9,-10.3,38,3724,0.00,1.92,0.00,0.000,4,0.000,0.019,2071,1692,2731,0,0,0,0,0,0
$GC,3746,-0.63,-116.8,406.9,-10.3,38,3750,0.00,2.22,0.00,0.000,6,0.000,0.063,2071,401,2730,0,0,0,0,0,0
$GC,4655,-0.63,-116.8,495.8,-9.1,46,4658,0.00,1.90,0.00,0.000,4,0.000,0.021,2067,1685,2732,0,0,0,0,0,0
$GC,4701,-0.63,-116.8,495.8,-9.1,46,4705,0.00,2.22,0.00,0.000,6,0.000,0.061,2068,392,2732,0,0,0,0,0,0
$GC,5713,-0.63,-116.8,591.7,-9.3,55,5715,0.00,0.17,0.00,0.000,4,0.000,0.094,2067,270,2733,0,0,0,0,0,0
$GC,5805,-0.63,-116.8,591.7,-9.3,55,5807,0.00,0.20,0.00,0.000,6,0.000,0.044,2067,408,2733,0,0,0,0,0,0
$GC,6773,-0.63,-116.8,687.5,-9.1,63,6777,0.00,1.88,0.00,0.000,4,0.000,0.021,2062,1677,2734,0,0,0,0,0,0
$GC,6895,-0.63,-116.8,697.7,-9.2,64,6900,0.12,2.20,0.00,0.000,6,0.123,0.061,2095,391,2734,0,0,0,0,0,0
$GC,7835,-0.63,-116.8,784.0,-9.3,72,7837,0.00,0.15,0.00,0.000,4,0.000,0.099,2096,283,2735,0,0,0,0,0,0
$GC,7881,-0.63,-116.8,784.0,-9.3,72,7883,0.00,0.17,0.00,0.000,6,0.000,0.048,2096,405,2735,0,0,0,0,0,0
$GC,8894,-0.63,-116.8,880.0,-8.9,81,8896,0.00,0.20,0.00,0.000,4,0.000,0.086,2096,284,2735,0,0,0,0,0,0
$GC,8954,-0.63,-116.8,880.0,-8.9,81,8957,0.00,0.17,0.00,0.000,6,0.000,0.048,2096,408,2735,0,0,0,0,0,0
$STATE,9228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9228,begin apogee
$GC,9239,-0.16,0.0,908.6,-8.5,84,9353,0.43,0.20,107.18,1.418,6,0.080,0.076,2247,1688,2250,0,0,0,0,0,0
$STATE,9353,end apogee,CONTROL_FINISHED_OK
$STATE,9354,begin climb
$GC,9357,0.63,116.8,918.1,0.0,85,9478,0.75,2.25,114.28,1.382,4,0.046,0.031,2518,2929,1772,0,0,0,0,0,0
$GC,9503,0.85,290.3,925.7,0.0,86,9681,0.15,2.25,169.88,1.361,6,0.067,0.042,2591,1696,1066,0,0,0,0,0,0
$GC,10664,0.85,290.3,813.4,10.6,96,10668,0.00,2.00,0.00,0.000,4,0.000,0.035,2591,2938,1057,0,0,0,0,0,0
$GC,10788,0.85,290.3,800.9,10.7,97,10792,0.00,2.05,0.00,0.000,6,0.000,0.038,2600,1686,1057,0,0,0,0,0,0
$GC,11727,0.85,290.3,687.2,11.7,105,11731,0.00,2.00,0.00,0.000,4,0.000,0.053,2610,456,1056,0,0,0,0,0,0
$GC,11850,0.85,290.3,673.3,11.8,106,11855,0.15,1.92,0.00,0.000,6,0.139,0.023,2571,1717,1055,0,0,0,0,0,0
$GC,12791,0.85,290.3,576.3,10.1,114,12795,0.00,1.90,0.00,0.000,4,0.000,0.036,2570,2924,1054,0,0,0,0,0,0
$GC,12914,0.85,290.3,564.9,10.1,115,12917,0.00,2.00,0.00,0.000,6,0.000,0.038,2576,1700,1055,0,0,0,0,0,0
$GC,13854,0.85,290.3,464.0,10.8,123,13855,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1699,1055,0,0,0,0,0,0
$GC,14819,0.85,290.3,361.4,10.5,131,14823,0.00,2.03,0.00,0.000,4,0.000,0.054,2585,462,1055,0,0,0,0,0,0
$GC,14942,0.85,290.3,349.6,10.5,132,14945,0.00,1.90,0.00,0.000,6,0.000,0.024,2585,1703,1053,0,0,0,0,0,0
$GC,15882,0.85,290.3,251.5,10.3,140,15886,0.00,2.08,0.00,0.000,4,0.000,0.050,2593,455,1054,0,0,0,0,0,0
$GC,16005,0.85,290.3,237.9,10.8,141,16009,0.00,1.90,0.00,0.000,6,0.000,0.022,2593,1701,1054,0,0,0,0,0,0
$GC,16703,0.85,290.3,157.7,11.0,147,16707,0.00,2.05,0.00,0.000,4,0.000,0.050,2602,465,1053,0,0,0,0,0,0
$GC,16826,0.85,290.3,144.9,11.0,148,16830,0.00,1.90,0.00,0.000,6,0.000,0.022,2602,1711,1054,0,0,0,0,0,0
$GC,17467,0.85,290.3,80.1,9.3,155,17468,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1711,1054,0,0,0,0,0,0
$GC,18072,0.85,290.3,26.3,8.6,165,18076,0.00,2.10,0.00,0.000,4,0.000,0.054,2610,457,1054,0,0,0,0,0,0
$GC,18195,0.85,290.3,16.0,9.0,167,18200,0.15,1.90,0.00,0.000,6,0.132,0.022,2569,1707,1054,0,0,0,0,0,0
$FREEZE,7.65,-1.649,-1.830,2,6,0
$FREEZE,3.13,-1.650,-1.827,2,6,0
$FREEZE,2.02,-1.667,-1.826,2,6,0
$FREEZE,1.98,-1.660,-1.826,2,6,0
$STATE,18468,end climb,SURFACE_DEPTH_REACHED
$STATE,18468,begin surface coast
$FREEZE,2.05,-1.654,-1.825,2,6,0
$FINISH,2.0,1.026780
$STATE,18534,end surface coast,CONTROL_FINISHED_OK
$STATE,18534,begin surface
$SM_CCo,18538,73.72,0.075,0,0,442,443.50
$SM_GC,2.62,6.82,2.25,0.00,0.057,0.065,0.000,116,405,434,-6.76,0.71,445.22,0,0,0,0,0,0
$RAFOS_CLK,1234
$RAFOS,4,1329366788,4.566667,4.552222,66,61,56,0,0,0,213,226,185,0,0,0
$RAFOS,0,1329364871,4.033333,4.019722,61,58,57,0,0,0,147,215,193,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5841.97,-5922.29,150212,101051
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.32
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,16.0,13.6
$24V_AH,21.6,72.103
$10V_AH,10.0,70.782
$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,9.175,65.075,391.325,73.725,0.000,0.000,0.000,0.000,3.750,0.000,0.000,662.611,16915.484,528.750,501.248,177.188,0.000,835.957,0.000,495.922,1080.000,25.588,0.000
$DEVICE_MAMPS,139.230,98.685,1417.545,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,120.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191656
$DATA_FILE_SIZE,6872,173
$CAP_FILE_SIZE,61165,0
$CFSIZE,260165632,205348864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.6
$GPS,160212,081123,5900.849,-5920.959,46,0.8,46,-26.2