version: 66.09
glider: 143
mission: 13
dive: 2232
start: 2 14 112 21 59 36
data:
$ID,143
$MISSION,13
$DIVE,2232
$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,-264573.91
$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,30
$R_STBD_OVSHOOT,63
$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
$GPS1,140212,165542,5909.770,-5928.693,18,0.8,19,-26.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.12
$_SM_ANGLEo,-1.0
$GPS2,140212,165542,5909.770,-5928.693,18,0.8,19,-26.3
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,5859.622,-5921.523
$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,1922
$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,14,begin dive
$GC,19,-0.63,-116.8,0.0,0.0,0,34,0.00,0.08,-8.82,0.000,6,0.000,0.504,2301,414,2728,0,0,0,0,0,0
$GC,39,-0.63,-116.8,19.8,0.0,1,41,0.57,0.00,0.00,0.000,6,0.062,0.000,2088,414,2728,0,0,0,0,0,0
$GC,641,-0.63,-116.8,80.5,-9.5,11,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,414,2729,0,0,0,0,0,0
$GC,1247,-0.63,-116.8,140.6,-9.9,18,1250,0.00,1.85,0.00,0.000,4,0.000,0.020,2087,1693,2728,0,0,0,0,0,0
$GC,1275,-0.63,-116.8,140.6,-9.9,18,1279,0.00,2.25,0.00,0.000,6,0.000,0.064,2088,391,2727,0,0,0,0,0,0
$GC,1943,-0.63,-116.8,206.7,-9.5,24,1944,0.00,0.17,0.00,0.000,4,0.000,0.096,2087,270,2726,0,0,0,0,0,0
$GC,2053,-0.63,-116.8,217.1,-9.5,25,2055,0.00,0.17,0.00,0.000,6,0.000,0.044,2087,391,2726,0,0,0,0,0,0
$GC,2764,-0.63,-116.8,284.5,-9.4,31,2768,0.00,1.90,0.00,0.000,4,0.000,0.021,2081,1713,2725,0,0,0,0,0,0
$GC,2840,-0.63,-116.8,284.5,-9.4,31,2845,0.00,2.30,0.00,0.000,6,0.000,0.064,2081,388,2725,0,0,0,0,0,0
$GC,3823,-0.63,-116.8,389.8,-10.1,40,3825,0.00,0.15,0.00,0.000,4,0.000,0.100,2081,280,2726,0,0,0,0,0,0
$GC,3916,-0.63,-116.8,389.8,-10.1,40,3918,0.00,0.17,0.00,0.000,6,0.000,0.047,2081,402,2726,0,0,0,0,0,0
$GC,4882,-0.63,-116.8,492.8,-9.3,48,4885,0.00,1.88,0.00,0.000,4,0.000,0.020,2074,1691,2728,0,0,0,0,0,0
$GC,4992,-0.63,-116.8,502.1,-9.0,49,4996,0.00,2.25,0.00,0.000,6,0.000,0.062,2075,388,2728,0,0,0,0,0,0
$GC,5946,-0.63,-116.8,583.3,-8.5,57,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,388,2728,0,0,0,0,0,0
$GC,6910,-0.63,-116.8,668.6,-8.9,65,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,389,2729,0,0,0,0,0,0
$GC,7875,-0.63,-116.8,762.3,-10.1,73,7879,0.00,1.92,0.00,0.000,4,0.000,0.020,2068,1681,2730,0,0,0,0,0,0
$GC,7905,-0.63,-116.8,762.3,-10.1,73,7909,0.00,2.20,0.00,0.000,6,0.000,0.062,2068,401,2730,0,0,0,0,0,0
$GC,8815,-0.63,-116.8,855.4,-10.0,81,8819,0.00,1.90,0.00,0.000,4,0.000,0.021,2062,1676,2730,0,0,0,0,0,0
$GC,8922,-0.63,-116.8,866.8,-10.2,82,8927,0.12,2.20,0.00,0.000,6,0.128,0.063,2096,394,2730,0,0,0,0,0,0
$STATE,9269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9270,begin apogee
$GC,9281,-0.16,0.0,902.4,-10.2,85,9394,0.43,0.17,105.70,1.414,6,0.076,0.061,2249,1692,2249,0,0,0,0,0,0
$STATE,9395,end apogee,CONTROL_FINISHED_OK
$STATE,9395,begin climb
$GC,9399,0.63,116.8,913.6,0.0,86,9519,0.75,2.30,113.93,1.382,4,0.048,0.057,2527,462,1772,0,0,0,0,0,0
$GC,9607,0.85,290.3,923.0,0.0,87,9781,0.15,2.05,168.32,1.367,6,0.068,0.018,2595,1742,1066,0,0,0,0,0,0
$GC,10699,0.85,290.3,828.8,10.2,97,10702,0.00,1.83,0.00,0.000,4,0.000,0.034,2595,2903,1057,0,0,0,0,0,0
$GC,10820,0.85,290.3,816.6,10.4,98,10824,0.12,1.98,0.00,0.000,6,0.138,0.038,2571,1695,1056,0,0,0,0,0,0
$GC,11760,0.85,290.3,715.0,11.0,106,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,1695,1056,0,0,0,0,0,0
$GC,12726,0.85,290.3,607.9,11.1,114,12729,0.00,2.00,0.00,0.000,4,0.000,0.054,2578,471,1055,0,0,0,0,0,0
$GC,12848,0.85,290.3,595.9,11.0,115,12852,0.00,1.85,0.00,0.000,6,0.000,0.022,2578,1682,1054,0,0,0,0,0,0
$GC,13788,0.85,290.3,498.7,10.1,123,13792,0.00,2.03,0.00,0.000,4,0.000,0.050,2586,463,1054,0,0,0,0,0,0
$GC,13912,0.85,290.3,486.5,10.3,124,13915,0.00,1.90,0.00,0.000,6,0.000,0.023,2586,1704,1053,0,0,0,0,0,0
$GC,14851,0.85,290.3,376.8,11.5,132,14855,0.00,2.05,0.00,0.000,4,0.000,0.050,2594,469,1053,0,0,0,0,0,0
$GC,14974,0.85,290.3,363.5,11.7,133,14978,0.00,1.90,0.00,0.000,6,0.000,0.023,2595,1711,1054,0,0,0,0,0,0
$GC,15915,0.85,290.3,254.3,11.1,141,15919,0.00,2.08,0.00,0.000,4,0.000,0.050,2603,459,1053,0,0,0,0,0,0
$GC,16037,0.85,290.3,242.0,11.0,142,16041,0.00,1.90,0.00,0.000,6,0.000,0.023,2603,1704,1054,0,0,0,0,0,0
$GC,16736,0.85,290.3,167.0,10.5,148,16740,0.00,2.05,0.00,0.000,4,0.000,0.050,2611,469,1053,0,0,0,0,0,0
$GC,16860,0.85,290.3,154.2,10.8,149,16864,0.15,1.90,0.00,0.000,6,0.140,0.022,2571,1717,1053,0,0,0,0,0,0
$GC,17498,0.85,290.3,93.5,9.1,155,17499,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,1717,1053,0,0,0,0,0,0
$GC,18104,0.85,290.3,46.0,7.2,165,18108,0.00,1.88,0.00,0.000,4,0.000,0.034,2571,2915,1053,0,0,0,0,0,0
$GC,18214,0.86,300.3,38.8,6.7,167,18227,0.00,2.00,8.35,0.802,6,0.000,0.041,2577,1699,1025,0,0,0,0,0,0
$FREEZE,8.42,-1.549,-1.831,2,2,0
$FREEZE,3.66,-1.568,-1.827,2,2,0
$FREEZE,2.35,-1.554,-1.826,2,2,0
$FREEZE,2.62,-1.574,-1.827,2,2,0
$FREEZE,2.22,-1.586,-1.827,2,2,0
$FREEZE,2.22,-1.586,-1.827,2,2,0
$FREEZE,2.22,-1.586,-1.827,2,2,0
$FREEZE,2.22,-1.586,-1.827,2,2,0
$FREEZE,1.63,-1.609,-1.827,2,2,0
$GC,18870,1.01,420.0,2.2,2.2,178,18928,0.15,0.00,54.97,0.074,2,0.068,0.000,2655,1698,562,0,0,0,0,0,0
$STATE,18929,end climb,SURFACE_DEPTH_REACHED
$STATE,18930,begin surface coast
$FREEZE,1.62,-1.690,-1.827,2,2,0
$FREEZE,1.57,-1.601,-1.819,2,2,0
$FINISH,1.6,1.026686
$STATE,19045,end surface coast,NO_VERTICAL_VELOCITY
$STATE,19046,begin surface
$SM_CCo,19069,13.07,0.077,0,0,441,443.50
$SM_GC,2.42,6.97,2.17,13.07,0.053,0.063,0.077,123,408,441,-6.75,0.85,443.50,0,0,0,0,0,0
$RAFOS_CLK,1258
$RAFOS,6,1329266986,0.833333,0.829444,57,53,52,0,0,0,210,168,131,0,0,0
$RAFOS,5,1329266470,0.700000,0.686111,67,65,60,0,0,0,217,196,153,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5850.29,-5927.38,140212,060640
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.79
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,17.9,15.9
$24V_AH,21.7,71.188
$10V_AH,9.9,70.552
$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,9.425,57.450,451.275,13.075,0.000,0.000,0.000,0.000,3.750,0.000,0.000,663.763,17273.834,527.042,510.645,171.996,0.000,832.380,0.000,505.544,720.000,25.590,0.000
$DEVICE_MAMPS,139.995,504.135,1414.485,77.265,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,125.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,6872,181
$CAP_FILE_SIZE,59304,0
$CFSIZE,260165632,205533184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.6
$GPS,150212,031905,5907.667,-5926.471,33,0.8,33,-26.3