version: 66.09
glider: 143
mission: 13
dive: 2096
start: 1 23 112 3 18 16
data:
$ID,143
$MISSION,13
$DIVE,2096
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,940
$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,350
$T_MISSION,400
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,6
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,501.14789
$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,3
$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,-259563.05
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2200
$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,20
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2485
$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,0
$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
$GPS1,220112,221624,6108.395,-6037.524,16,1.4,16,-28.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-42.5
$GPS2,220112,221624,6108.395,-6037.524,16,1.4,16,-28.1
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,6108.395,-6015.150
$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,73.1,20000,-27.7,-8.952
$D_GRID,1444
$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,19,-0.96,-53.5,0.0,0.0,0,79,0.00,0.00,-57.45,0.000,2,0.000,0.000,114,1704,1485,0,0,0,0,0,0
$GC,83,-1.06,-133.4,4.4,0.0,2,149,7.57,1.23,-51.65,0.000,4,0.252,0.097,1855,996,3032,0,0,0,0,0,0
$GC,282,-1.06,-133.4,46.1,-26.6,8,286,0.00,1.10,0.00,0.000,6,0.000,0.031,1852,1722,3034,0,0,0,0,0,0
$GC,924,-1.06,-133.4,205.7,-23.9,29,927,0.00,1.23,0.00,0.000,4,0.000,0.077,1852,1002,3032,0,0,0,0,0,0
$GC,1181,-1.06,-133.4,270.7,-28.2,36,1190,0.00,1.05,0.00,0.000,6,0.000,0.029,1849,1715,3031,0,0,0,0,0,0
$GC,1807,-1.06,-133.4,428.4,-23.7,57,1810,0.00,1.00,0.00,0.000,4,0.000,0.026,1844,2410,3031,0,0,0,0,0,0
$GC,2064,-1.06,-133.4,480.7,-21.7,64,2074,0.00,1.20,0.00,0.000,6,0.000,0.060,1844,1711,3032,0,0,0,0,0,0
$GC,2680,-1.06,-133.4,632.8,-23.5,76,2684,0.00,1.20,0.00,0.000,4,0.000,0.076,1844,983,3033,0,0,0,0,0,0
$GC,2765,-1.06,-133.4,650.1,-23.9,77,2769,0.00,1.05,0.00,0.000,6,0.000,0.029,1840,1696,3033,0,0,0,0,0,0
$GC,3423,-1.06,-133.4,809.1,-23.0,88,3427,0.00,1.20,0.00,0.000,4,0.000,0.074,1840,985,3034,0,0,0,0,0,0
$GC,3681,-1.06,-133.4,860.6,-24.7,91,3688,0.00,1.08,0.00,0.000,6,0.000,0.029,1834,1711,3033,0,0,0,0,0,0
$STATE,3992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3992,begin apogee
$GC,4001,-0.16,0.0,951.3,-24.4,97,4126,1.02,0.00,115.88,1.452,6,0.145,0.000,2143,1713,2485,0,0,0,0,0,0
$STATE,4127,end apogee,CONTROL_FINISHED_OK
$STATE,4127,begin climb
$GC,4131,1.06,133.4,964.4,0.0,99,4267,1.20,1.20,126.10,1.413,4,0.080,0.032,2538,2383,1940,0,0,0,0,0,0
$GC,4327,1.23,273.0,979.7,-6.7,102,4468,0.12,1.27,131.85,1.398,6,0.047,0.051,2605,1692,1372,0,0,0,0,0,0
$GC,5109,1.23,273.0,915.6,10.5,115,5113,0.00,1.10,0.00,0.000,4,0.000,0.037,2605,2379,1365,0,0,0,0,0,0
$GC,5327,1.23,273.0,893.6,11.0,118,5330,0.00,1.15,0.00,0.000,6,0.000,0.049,2610,1694,1365,0,0,0,0,0,0
$GC,5982,1.23,273.0,814.2,12.2,129,5986,0.00,1.12,0.00,0.000,4,0.000,0.063,2615,989,1364,0,0,0,0,0,0
$GC,6201,1.23,273.0,789.6,12.2,132,6204,0.00,1.08,0.00,0.000,6,0.000,0.029,2615,1694,1363,0,0,0,0,0,0
$GC,6855,1.23,273.0,714.9,11.1,143,6858,0.00,1.08,0.00,0.000,4,0.000,0.040,2615,2394,1363,0,0,0,0,0,0
$GC,7020,1.23,273.0,699.8,11.1,145,7024,0.00,1.17,0.00,0.000,6,0.000,0.049,2620,1692,1363,0,0,0,0,0,0
$GC,7661,1.23,273.0,626.0,10.4,156,7665,0.00,1.12,0.00,0.000,4,0.000,0.063,2625,989,1363,0,0,0,0,0,0
$GC,7893,1.23,273.0,604.7,10.6,159,7898,0.08,1.08,0.00,0.000,6,0.157,0.030,2602,1704,1362,0,0,0,0,0,0
$GC,8534,1.23,273.0,542.7,9.0,170,8537,0.00,1.05,0.00,0.000,4,0.000,0.039,2602,2390,1362,0,0,0,0,0,0
$GC,8792,1.23,273.0,524.6,9.0,173,8798,0.00,1.15,0.00,0.000,6,0.000,0.048,2605,1697,1362,0,0,0,0,0,0
$GC,9408,1.23,273.0,459.6,9.9,190,9412,0.00,1.10,0.00,0.000,4,0.000,0.038,2605,2386,1362,0,0,0,0,0,0
$GC,9428,1.23,273.0,459.6,9.9,190,9432,0.00,1.15,0.00,0.000,6,0.000,0.049,2610,1693,1362,0,0,0,0,0,0
$GC,10055,1.23,273.0,388.4,11.8,211,10059,0.00,1.12,0.00,0.000,4,0.000,0.062,2615,989,1362,0,0,0,0,0,0
$GC,10314,1.23,273.0,360.0,12.2,218,10320,0.00,1.08,0.00,0.000,6,0.000,0.028,2615,1697,1362,0,0,0,0,0,0
$GC,10934,1.23,273.0,285.1,10.8,239,10938,0.00,1.17,0.00,0.000,4,0.000,0.058,2620,988,1362,0,0,0,0,0,0
$GC,10953,1.23,273.0,285.1,10.8,239,10957,0.00,1.08,0.00,0.000,6,0.000,0.029,2620,1699,1362,0,0,0,0,0,0
$GC,11580,1.24,277.6,228.7,8.4,260,11590,0.00,1.10,3.85,0.661,4,0.000,0.038,2620,2396,1352,0,0,0,0,0,0
$GC,11837,1.24,279.3,208.3,8.8,267,11842,0.00,1.17,0.00,0.000,6,0.000,0.047,2624,1690,1352,0,0,0,0,0,0
$GC,12456,1.24,279.3,138.5,13.2,288,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1691,1352,0,0,0,0,0,0
$GC,13069,1.25,285.9,71.6,8.2,308,13080,0.00,0.00,9.00,0.793,6,0.000,0.000,2624,1691,1319,0,0,0,0,0,0
$GC,13682,1.29,321.5,37.0,5.0,328,13719,0.00,1.15,31.65,0.857,4,0.000,0.038,2624,2389,1174,0,0,0,0,0,0
$GC,13767,1.31,341.8,32.3,6.7,330,13789,0.00,1.17,17.60,0.826,6,0.000,0.048,2629,1695,1090,0,0,0,0,0,0
$FREEZE,8.59,NaN,-0.006,2,2,0
$FREEZE,6.79,-1.421,-1.836,2,2,0
$FREEZE,4.46,NaN,-0.003,2,2,0
$FREEZE,1.80,-1.465,-1.832,2,2,0
$STATE,14087,end climb,SURFACE_DEPTH_REACHED
$STATE,14087,begin surface coast
$FREEZE,1.67,NaN,-0.001,2,2,0
$FINISH,1.7,NaN
$STATE,14115,end surface coast,CONTROL_FINISHED_OK
$STATE,14115,begin surface
$SM_CCo,14135,73.93,0.075,0,0,442,501.15
$SM_GC,2.27,6.88,0.00,73.93,0.053,0.000,0.075,111,1695,442,-6.44,-0.14,501.15,0,0,0,0,0,0
$RAFOS_CLK,923
$RAFOS,6,1327294188,4.833333,4.830000,69,62,58,0,0,0,202,215,180,0,0,0
$RAFOS,5,1327293680,4.700000,4.688889,61,57,57,0,0,0,211,191,222,0,0,0
$RAFOS,4,1327293181,4.566667,4.550278,68,67,64,0,0,0,185,212,163,0,0,0
$RAFOS,3,1327292701,4.433333,4.416945,60,60,57,0,0,0,208,217,190,0,0,0
$RAFOS,2,1327292222,4.300000,4.283889,61,61,60,0,0,0,131,185,199,0,0,0
$RAFOS,1,1327291748,4.166667,4.152222,59,57,50,0,0,0,137,204,173,0,0,0
$RAFOS,0,1327291311,4.033333,4.030833,62,59,52,0,0,0,172,214,185,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6050.49,-6040.24,220112,070716
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.92
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,17.3,14.9
$24V_AH,22.0,52.822
$10V_AH,9.9,65.284
$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,16.875,36.200,435.925,73.925,0.000,0.000,0.000,0.000,4.500,0.000,0.000,1046.511,11250.707,550.602,1220.723,210.776,0.000,1241.489,0.000,1188.072,2520.000,27.363,0.000
$DEVICE_MAMPS,251.685,97.155,1451.970,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,156.768,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270484
$DATA_FILE_SIZE,13481,342
$CAP_FILE_SIZE,82122,0
$CFSIZE,260165632,207835136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.222,111.0,1
$GPS,230112,071636,6107.031,-6035.358,37,0.9,37,-28.0