version: 66.09
glider: 143
mission: 13
dive: 2178
start: 2 6 112 2 4 13
data:
$ID,143
$MISSION,13
$DIVE,2178
$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,-262534.28
$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,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
$GPS1,060212,015835,6003.329,-6024.815,41,0.9,41,-27.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-64.4
$GPS2,060212,020338,6003.224,-6024.799,17,1.4,18,-27.0
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5953.076,-6017.438
$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,187.0,20000,-15.2,-7.143
$D_GRID,1493
$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,-116.8,0.0,0.0,0,140,0.00,0.00,-119.90,0.000,2,0.000,0.000,108,401,2250,0,0,0,0,0,0
$GC,145,-0.63,-116.8,3.9,0.0,2,170,8.65,0.20,-13.55,0.000,4,0.244,0.253,2087,293,2728,0,0,0,0,0,0
$GC,294,-0.63,-116.8,26.6,-20.8,4,296,0.00,0.15,0.00,0.000,6,0.000,0.055,2087,391,2730,0,0,0,0,0,0
$GC,902,-0.63,-116.8,101.6,-11.8,14,904,0.00,0.17,0.00,0.000,4,0.000,0.093,2086,287,2731,0,0,0,0,0,0
$GC,1025,-0.63,-116.8,114.6,-12.0,15,1027,0.00,0.17,0.00,0.000,6,0.000,0.051,2086,405,2731,0,0,0,0,0,0
$GC,1724,-0.63,-116.8,186.1,-9.5,21,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,405,2730,0,0,0,0,0,0
$GC,2327,-0.63,-116.8,244.1,-10.0,26,2330,0.00,1.90,0.00,0.000,4,0.000,0.025,2078,1728,2730,0,0,0,0,0,0
$GC,2419,-0.63,-116.8,244.1,-10.0,26,2423,0.00,2.33,0.00,0.000,6,0.000,0.067,2077,394,2730,0,0,0,0,0,0
$GC,3023,-0.63,-116.8,311.2,-9.5,31,3027,0.00,1.92,0.00,0.000,4,0.000,0.026,2068,1734,2732,0,0,0,0,0,0
$GC,3147,-0.63,-116.8,321.5,-9.4,32,3152,0.00,2.33,0.00,0.000,6,0.000,0.067,2068,400,2732,0,0,0,0,0,0
$GC,4088,-0.63,-116.8,411.8,-9.2,40,4092,0.00,1.92,0.00,0.000,4,0.000,0.027,2060,1717,2733,0,0,0,0,0,0
$GC,4210,-0.63,-116.8,421.2,-9.0,41,4214,0.12,2.28,0.00,0.000,6,0.140,0.067,2090,394,2733,0,0,0,0,0,0
$GC,5150,-0.63,-116.8,498.2,-8.2,49,5152,0.00,0.17,0.00,0.000,4,0.000,0.093,2090,271,2734,0,0,0,0,0,0
$GC,5179,-0.63,-116.8,498.2,-8.2,49,5181,0.00,0.20,0.00,0.000,6,0.000,0.047,2091,410,2734,0,0,0,0,0,0
$GC,6088,-0.63,-116.8,585.8,-9.8,57,6091,0.00,1.88,0.00,0.000,4,0.000,0.023,2084,1677,2734,0,0,0,0,0,0
$GC,6198,-0.63,-116.8,596.3,-9.8,58,6202,0.00,2.20,0.00,0.000,6,0.000,0.064,2084,392,2734,0,0,0,0,0,0
$GC,7151,-0.63,-116.8,690.0,-9.8,66,7153,0.00,0.17,0.00,0.000,4,0.000,0.095,2084,269,2734,0,0,0,0,0,0
$GC,7244,-0.63,-116.8,690.0,-9.8,66,7246,0.00,0.20,0.00,0.000,6,0.000,0.047,2084,407,2734,0,0,0,0,0,0
$GC,8210,-0.63,-116.8,790.5,-9.3,74,8214,0.00,1.88,0.00,0.000,4,0.000,0.022,2080,1679,2734,0,0,0,0,0,0
$GC,8302,-0.63,-116.8,790.5,-9.3,74,8306,0.00,2.20,0.00,0.000,6,0.000,0.063,2080,394,2734,0,0,0,0,0,0
$GC,9268,-0.63,-116.8,899.6,-10.5,82,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,394,2734,0,0,0,0,0,0
$STATE,9387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9388,begin apogee
$GC,9399,-0.16,0.0,913.5,-10.8,83,9512,0.47,0.15,105.88,1.427,6,0.092,0.085,2243,1692,2250,0,0,0,0,0,0
$STATE,9513,end apogee,CONTROL_FINISHED_OK
$STATE,9513,begin climb
$GC,9517,0.63,116.8,926.3,0.0,84,9636,0.75,2.30,112.60,1.390,4,0.049,0.059,2522,462,1773,0,0,0,0,0,0
$GC,9713,0.85,290.3,936.3,0.0,85,9888,0.15,2.00,166.40,1.375,6,0.068,0.021,2587,1710,1065,0,0,0,0,0,0
$GC,10830,0.85,290.3,850.9,8.9,95,10834,0.00,2.10,0.00,0.000,4,0.000,0.057,2596,459,1056,0,0,0,0,0,0
$GC,10952,0.85,290.3,840.1,9.1,96,10956,0.00,1.88,0.00,0.000,6,0.000,0.025,2596,1672,1054,0,0,0,0,0,0
$GC,11892,0.85,290.3,738.4,11.1,104,11896,0.00,1.98,0.00,0.000,4,0.000,0.040,2596,2922,1054,0,0,0,0,0,0
$GC,12016,0.85,290.3,725.3,11.5,105,12021,0.12,2.00,0.00,0.000,6,0.141,0.040,2572,1695,1054,0,0,0,0,0,0
$GC,12955,0.85,290.3,623.1,10.7,113,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1695,1054,0,0,0,0,0,0
$GC,13920,0.85,290.3,518.7,10.7,121,13924,0.00,2.00,0.00,0.000,4,0.000,0.057,2579,470,1054,0,0,0,0,0,0
$GC,14043,0.85,290.3,507.6,10.5,122,14047,0.00,1.90,0.00,0.000,6,0.000,0.024,2579,1707,1053,0,0,0,0,0,0
$GC,14983,0.85,290.3,415.9,9.6,130,14987,0.00,2.08,0.00,0.000,4,0.000,0.054,2588,459,1053,0,0,0,0,0,0
$GC,15106,0.85,290.3,403.8,10.0,131,15110,0.00,1.92,0.00,0.000,6,0.000,0.026,2588,1709,1053,0,0,0,0,0,0
$GC,16047,0.85,290.3,292.4,12.2,139,16051,0.00,1.92,0.00,0.000,4,0.000,0.041,2587,2924,1053,0,0,0,0,0,0
$GC,16169,0.85,290.3,277.9,12.4,140,16173,0.00,2.00,0.00,0.000,6,0.000,0.041,2596,1699,1053,0,0,0,0,0,0
$GC,17109,0.85,290.3,175.1,10.7,148,17113,0.00,2.03,0.00,0.000,4,0.000,0.055,2605,457,1053,0,0,0,0,0,0
$GC,17233,0.85,290.3,159.3,11.9,149,17238,0.12,1.92,0.00,0.000,6,0.140,0.025,2573,1714,1052,0,0,0,0,0,0
$GC,17871,0.85,290.3,81.3,12.0,155,17875,0.00,2.08,0.00,0.000,4,0.000,0.054,2579,469,1053,0,0,0,0,0,0
$GC,17994,0.85,290.3,70.0,11.4,157,17998,0.00,1.90,0.00,0.000,6,0.000,0.024,2580,1714,1052,0,0,0,0,0,0
$GC,18635,0.85,290.3,21.1,7.5,168,18638,0.00,1.90,0.00,0.000,4,0.000,0.039,2579,2917,1053,0,0,0,0,0,0
$GC,18757,0.85,290.3,12.4,7.4,170,18760,0.00,2.00,0.00,0.000,6,0.000,0.042,2588,1698,1053,0,0,0,0,0,0
$FREEZE,8.01,-0.151,-1.863,0,1,0
$FREEZE,3.50,-0.078,-1.859,0,1,0
$FREEZE,1.50,-0.124,-0.981,0,1,0
$STATE,18908,end climb,SURFACE_DEPTH_REACHED
$STATE,18908,begin surface coast
$FREEZE,1.40,-0.149,-0.970,0,1,0
$FINISH,1.4,1.014327
$STATE,18972,end surface coast,CONTROL_FINISHED_OK
$STATE,18972,begin surface
$SM_CCo,18996,72.82,0.076,0,0,441,443.50
$SM_GC,2.26,7.00,2.15,72.82,0.070,0.062,0.076,110,405,441,-6.76,0.82,443.50,0,0,0,0,0,0
$RAFOS_CLK,1187
$RAFOS,6,1328503755,4.833333,4.820833,60,59,57,0,0,0,192,148,207,0,0,0
$RAFOS,5,1328503271,4.700000,4.686389,65,61,60,0,0,0,153,208,217,0,0,0
$RAFOS,0,1328500879,4.033333,4.021945,63,57,55,0,0,0,213,166,181,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5945.20,-6026.55,050212,181828
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.04
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,17.10
$XPDR_PINGS,10
$ALTIM_TOP_PING,17.9,16.3
$24V_AH,21.8,63.927
$10V_AH,10.0,68.786
$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,17.400,62.500,384.875,72.825,0.000,0.000,0.000,135.400,6.000,0.000,19.143,699.004,17084.404,639.101,684.784,288.032,0.000,1122.107,0.000,555.448,1080.000,25.597,0.000
$DEVICE_MAMPS,244.035,253.215,1427.490,75.735,0.000,0.000,0.000,225.463,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,120.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270312
$DATA_FILE_SIZE,6855,174
$CAP_FILE_SIZE,67256,0
$CFSIZE,260165632,206880768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1472.4
$GPS,060212,072336,6001.765,-6022.245,40,0.8,40,-27.0