version: 66.09
glider: 143
mission: 13
dive: 2162
start: 2 3 112 2 14 0
data:
$ID,143
$MISSION,13
$DIVE,2162
$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,-261975.94
$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,51
$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
$GPS1,020212,211012,6022.946,-6036.712,19,1.6,20,-27.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-65.0
$GPS2,020212,211012,6022.946,-6036.712,19,1.6,20,-27.3
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6012.798,-6029.277
$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,187.3,20000,-15.2,-7.143
$D_GRID,1344
$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,-116.8,0.0,0.0,0,80,0.00,0.00,-60.03,0.000,2,0.000,0.000,121,404,1444,0,0,0,0,0,0
$GC,84,-0.63,-116.8,3.0,0.0,1,161,8.05,1.92,-63.83,0.000,4,0.226,0.040,2081,1676,2727,0,0,0,0,0,0
$GC,279,-0.63,-116.8,15.2,-10.1,4,283,0.00,2.22,0.00,0.000,6,0.000,0.072,2081,400,2728,0,0,0,0,0,0
$GC,902,-0.63,-116.8,82.6,-10.5,15,906,0.00,1.90,0.00,0.000,4,0.000,0.027,2072,1703,2727,0,0,0,0,0,0
$GC,1025,-0.63,-116.8,94.7,-10.8,17,1029,0.00,2.30,0.00,0.000,6,0.000,0.071,2072,396,2727,0,0,0,0,0,0
$GC,1662,-0.63,-116.8,180.9,-13.6,23,1665,0.00,1.90,0.00,0.000,4,0.000,0.027,2063,1689,2726,0,0,0,0,0,0
$GC,1785,-0.63,-116.8,196.2,-13.9,24,1790,0.12,2.22,0.00,0.000,6,0.144,0.070,2094,394,2726,0,0,0,0,0,0
$GC,2483,-0.63,-116.8,280.7,-11.6,30,2487,0.00,1.90,0.00,0.000,4,0.000,0.024,2088,1667,2726,0,0,0,0,0,0
$GC,2559,-0.63,-116.8,280.7,-11.6,30,2563,0.00,2.17,0.00,0.000,6,0.000,0.066,2088,400,2726,0,0,0,0,0,0
$GC,3544,-0.63,-116.8,376.6,-8.9,39,3546,0.00,0.17,0.00,0.000,4,0.000,0.093,2088,276,2727,0,0,0,0,0,0
$GC,3587,-0.63,-116.8,376.6,-8.9,39,3589,0.00,0.17,0.00,0.000,6,0.000,0.049,2088,394,2727,0,0,0,0,0,0
$GC,4601,-0.63,-116.8,482.4,-10.4,48,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,395,2728,0,0,0,0,0,0
$GC,5566,-0.63,-116.8,575.2,-9.2,56,5568,0.00,0.20,0.00,0.000,4,0.000,0.088,2088,272,2729,0,0,0,0,0,0
$GC,5659,-0.63,-116.8,575.2,-9.2,56,5661,0.00,0.20,0.00,0.000,6,0.000,0.047,2088,409,2729,0,0,0,0,0,0
$GC,6624,-0.63,-116.8,665.4,-8.5,64,6628,0.00,1.88,0.00,0.000,4,0.000,0.024,2088,1684,2730,0,0,0,0,0,0
$GC,6686,-0.63,-116.8,665.4,-8.5,64,6690,0.00,2.20,0.00,0.000,6,0.000,0.063,2087,399,2729,0,0,0,0,0,0
$GC,7683,-0.63,-116.8,768.4,-10.2,73,7685,0.00,0.17,0.00,0.000,4,0.000,0.095,2088,276,2730,0,0,0,0,0,0
$GC,7697,-0.63,-116.8,768.4,-10.2,73,7699,0.00,0.17,0.00,0.000,6,0.000,0.050,2087,397,2730,0,0,0,0,0,0
$GC,8622,-0.63,-116.8,867.6,-10.7,81,8626,0.00,1.90,0.00,0.000,4,0.000,0.024,2085,1677,2730,0,0,0,0,0,0
$GC,8713,-0.63,-116.8,867.6,-10.7,81,8717,0.00,2.20,0.00,0.000,6,0.000,0.064,2085,391,2730,0,0,0,0,0,0
$STATE,8953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8953,begin apogee
$GC,8964,-0.16,0.0,905.3,-11.1,83,9077,0.45,0.20,104.00,1.419,6,0.085,0.078,2245,1690,2249,0,0,0,0,0,0
$STATE,9078,end apogee,CONTROL_FINISHED_OK
$STATE,9078,begin climb
$GC,9083,0.63,116.8,917.7,0.0,84,9201,0.75,2.25,111.78,1.382,4,0.048,0.034,2517,2933,1772,0,0,0,0,0,0
$GC,9277,0.85,290.3,927.9,0.0,85,9450,0.15,2.20,166.02,1.367,6,0.067,0.045,2592,1700,1066,0,0,0,0,0,0
$GC,10381,0.85,290.3,836.4,9.8,95,10384,0.00,2.00,0.00,0.000,4,0.000,0.038,2592,2936,1056,0,0,0,0,0,0
$GC,10504,0.85,290.3,823.9,10.1,96,10508,0.00,2.05,0.00,0.000,6,0.000,0.041,2602,1688,1056,0,0,0,0,0,0
$GC,11444,0.85,290.3,706.5,12.2,104,11448,0.00,2.00,0.00,0.000,4,0.000,0.057,2611,463,1055,0,0,0,0,0,0
$GC,11567,0.85,290.3,692.1,12.4,105,11571,0.15,1.95,0.00,0.000,6,0.142,0.027,2572,1722,1054,0,0,0,0,0,0
$GC,12507,0.85,290.3,587.3,11.1,113,12511,0.00,1.90,0.00,0.000,4,0.000,0.042,2572,2921,1054,0,0,0,0,0,0
$GC,12630,0.85,290.3,575.1,11.1,114,12634,0.00,2.00,0.00,0.000,6,0.000,0.042,2579,1698,1053,0,0,0,0,0,0
$GC,13571,0.85,290.3,472.2,10.6,122,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1698,1054,0,0,0,0,0,0
$GC,14536,0.85,290.3,367.3,11.0,130,14539,0.00,2.03,0.00,0.000,4,0.000,0.057,2588,459,1053,0,0,0,0,0,0
$GC,14658,0.85,290.3,355.1,11.0,131,14662,0.00,1.92,0.00,0.000,6,0.000,0.027,2588,1707,1053,0,0,0,0,0,0
$GC,15598,0.85,290.3,251.7,11.1,139,15602,0.00,1.92,0.00,0.000,4,0.000,0.041,2587,2925,1053,0,0,0,0,0,0
$GC,15722,0.85,290.3,239.6,11.1,140,15725,0.00,2.03,0.00,0.000,6,0.000,0.042,2596,1689,1053,0,0,0,0,0,0
$GC,16420,0.85,290.3,154.3,12.4,146,16423,0.00,2.00,0.00,0.000,4,0.000,0.040,2596,2922,1053,0,0,0,0,0,0
$GC,16512,0.85,290.3,154.3,12.4,146,16516,0.12,2.00,0.00,0.000,6,0.133,0.038,2571,1692,1053,0,0,0,0,0,0
$GC,17117,0.85,290.3,88.7,8.8,152,17121,0.00,2.00,0.00,0.000,4,0.000,0.039,2571,2929,1053,0,0,0,0,0,0
$GC,17241,0.85,290.3,79.4,8.3,154,17245,0.00,2.03,0.00,0.000,6,0.000,0.041,2577,1693,1053,0,0,0,0,0,0
$GC,17880,0.85,290.3,22.2,8.7,165,17883,0.00,2.00,0.00,0.000,4,0.000,0.039,2577,2931,1053,0,0,0,0,0,0
$GC,18004,0.85,290.3,13.1,9.0,167,18007,0.00,2.03,0.00,0.000,6,0.000,0.041,2585,1694,1053,0,0,0,0,0,0
$FREEZE,3.65,-1.430,-1.856,2,5,0
$FREEZE,1.70,-1.459,-1.855,2,5,0
$STATE,18154,end climb,SURFACE_DEPTH_REACHED
$STATE,18154,begin surface coast
$FREEZE,1.81,-1.457,-1.852,2,5,0
$FINISH,1.8,1.027160
$STATE,18216,end surface coast,CONTROL_FINISHED_OK
$STATE,18216,begin surface
$SM_CCo,18239,72.95,0.076,0,0,442,443.50
$SM_GC,2.98,6.80,2.15,72.95,0.055,0.062,0.076,115,401,442,-6.77,0.65,443.50,0,0,0,0,0,0
$RAFOS_CLK,1198
$RAFOS,6,1328244543,4.833333,4.817500,64,59,58,0,0,0,203,130,114,0,0,0
$RAFOS,5,1328244072,4.700000,4.686666,56,56,56,0,0,0,153,165,189,0,0,0
$RAFOS,3,1328243134,4.433333,4.426111,65,57,57,0,0,0,195,128,211,0,0,0
$RAFOS,1,1328242196,4.166667,4.165555,54,52,51,0,0,0,177,218,148,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6002.40,-6042.33,020212,050549
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.1,15.9
$24V_AH,21.9,61.714
$10V_AH,10.0,68.195
$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,16.600,66.525,381.800,72.950,0.000,0.000,0.000,0.000,4.000,0.000,0.000,651.802,16406.357,632.021,517.176,170.163,0.000,951.419,0.000,509.628,1440.000,25.591,0.000
$DEVICE_MAMPS,225.675,94.860,1419.075,75.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,118.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270372
$DATA_FILE_SIZE,6898,171
$CAP_FILE_SIZE,60840,0
$CFSIZE,260165632,207314944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.1
$GPS,020212,211012,6022.946,-6036.712,181,99.0,181,-27.3