version: 66.09
glider: 143
mission: 13
dive: 2097
start: 1 23 112 7 30 2
data:
$ID,143
$MISSION,13
$DIVE,2097
$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,125
$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,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,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,-259564.3
$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,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,20
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,55
$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,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
$GPS1,230112,071636,6107.031,-6035.358,37,0.9,37,-28.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-31.8
$GPS2,230112,072931,6106.713,-6035.351,36,1.0,36,-28.0
$SPEED_LIMITS,0.155,0.231
$TGT_NAME,HEADING
$TGT_LATLONG,6106.713,-6012.997
$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,98.0,20000,-18.2,-8.952
$D_GRID,1502
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.74,-121.7,0.0,0.0,0,179,0.00,0.00,-150.77,0.000,2,0.000,0.000,101,1690,2669,0,0,0,0,0,0
$GC,183,-0.74,-121.7,7.5,-5.0,5,200,8.35,1.15,-1.42,0.000,4,0.246,0.055,2052,2451,2749,0,0,0,0,0,0
$GC,288,-0.74,-121.7,35.5,-26.3,8,292,0.00,1.27,0.00,0.000,6,0.000,0.064,2052,1708,2752,0,0,0,0,0,0
$GC,928,-0.74,-121.7,115.4,-12.4,27,932,0.00,1.05,0.00,0.000,4,0.000,0.026,2048,2403,2750,0,0,0,0,0,0
$GC,1094,-0.74,-121.7,131.3,-11.8,29,1098,0.00,1.23,0.00,0.000,6,0.000,0.060,2048,1695,2749,0,0,0,0,0,0
$GC,1736,-0.74,-121.7,211.4,-11.6,40,1740,0.00,1.08,0.00,0.000,4,0.000,0.026,2044,2409,2751,0,0,0,0,0,0
$GC,1894,-0.74,-121.7,228.2,-12.2,42,1898,0.00,1.23,0.00,0.000,6,0.000,0.059,2043,1696,2751,0,0,0,0,0,0
$GC,2542,-0.74,-121.7,308.4,-11.8,53,2546,0.00,1.08,0.00,0.000,4,0.000,0.025,2039,2409,2753,0,0,0,0,0,0
$GC,2723,-0.74,-121.7,325.2,-12.2,55,2727,0.00,1.23,0.00,0.000,6,0.000,0.058,2039,1696,2753,0,0,0,0,0,0
$GC,3353,-0.74,-121.7,408.7,-12.8,66,3356,0.00,1.08,0.00,0.000,4,0.000,0.025,2035,2411,2755,0,0,0,0,0,0
$GC,3564,-0.74,-121.7,435.6,-13.2,69,3568,0.00,1.23,0.00,0.000,6,0.000,0.057,2035,1696,2755,0,0,0,0,0,0
$GC,4232,-0.74,-121.7,525.1,-13.2,80,4236,0.00,1.08,0.00,0.000,4,0.000,0.026,2030,2410,2756,0,0,0,0,0,0
$GC,4457,-0.74,-121.7,549.5,-12.0,83,4461,0.08,1.23,0.00,0.000,6,0.122,0.057,2056,1695,2756,0,0,0,0,0,0
$GC,5107,-0.74,-121.7,616.8,-9.1,94,5111,0.00,1.15,0.00,0.000,4,0.000,0.072,2056,990,2757,0,0,0,0,0,0
$GC,5146,-0.74,-121.7,616.8,-9.1,94,5150,0.00,1.05,0.00,0.000,6,0.000,0.026,2054,1723,2757,0,0,0,0,0,0
$GC,5782,-0.74,-121.7,677.2,-8.8,105,5785,0.00,0.98,0.00,0.000,4,0.000,0.028,2050,2392,2757,0,0,0,0,0,0
$GC,5940,-0.74,-121.7,689.0,-8.7,107,5944,0.00,1.17,0.00,0.000,6,0.000,0.056,2050,1701,2757,0,0,0,0,0,0
$GC,6589,-0.74,-121.7,751.2,-9.2,118,6593,0.00,1.17,0.00,0.000,4,0.000,0.073,2050,984,2757,0,0,0,0,0,0
$GC,6708,-0.74,-121.7,758.0,-9.4,119,6712,0.00,1.05,0.00,0.000,6,0.000,0.026,2046,1721,2757,0,0,0,0,0,0
$GC,7329,-0.74,-121.7,826.0,-10.8,130,7333,0.00,0.95,0.00,0.000,4,0.000,0.026,2042,2376,2757,0,0,0,0,0,0
$GC,7588,-0.74,-121.7,847.9,-10.9,133,7596,0.00,1.15,0.00,0.000,6,0.000,0.057,2042,1702,2757,0,0,0,0,0,0
$GC,8203,-0.74,-121.7,927.6,-11.6,144,8207,0.00,1.00,0.00,0.000,4,0.000,0.026,2039,2377,2757,0,0,0,0,0,0
$GC,8249,-0.74,-121.7,927.6,-11.6,144,8253,0.00,1.15,0.00,0.000,6,0.000,0.057,2039,1702,2757,0,0,0,0,0,0
$STATE,8327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8327,begin apogee
$GC,8336,-0.16,0.0,945.0,-12.9,146,8453,0.60,0.00,109.85,1.447,6,0.105,0.000,2241,1701,2250,0,0,0,0,0,0
$STATE,8454,end apogee,CONTROL_FINISHED_OK
$STATE,8454,begin climb
$GC,8458,0.74,121.7,951.3,0.0,147,8584,0.80,1.20,115.57,1.408,4,0.034,0.032,2551,2359,1753,0,0,0,0,0,0
$GC,8592,0.96,303.1,966.0,0.0,149,8772,0.12,1.25,173.15,1.385,6,0.050,0.050,2611,1698,1014,0,0,0,0,0,0
$GC,9440,0.96,303.1,863.0,14.1,163,9443,0.00,1.15,0.00,0.000,4,0.000,0.060,2617,982,1006,0,0,0,0,0,0
$GC,9545,0.96,303.1,853.9,13.9,164,9549,0.00,1.05,0.00,0.000,6,0.000,0.034,2617,1653,1005,0,0,0,0,0,0
$GC,10179,0.96,303.1,752.7,15.2,175,10183,0.00,1.15,0.00,0.000,4,0.000,0.044,2617,2393,1004,0,0,0,0,0,0
$GC,10367,0.96,303.1,732.9,15.2,177,10371,0.00,1.17,0.00,0.000,6,0.000,0.047,2622,1686,1005,0,0,0,0,0,0
$GC,10988,0.96,303.1,638.7,13.2,188,10992,0.00,1.12,0.00,0.000,4,0.000,0.060,2627,978,1004,0,0,0,0,0,0
$GC,11246,0.96,303.1,612.4,13.0,191,11252,0.00,1.12,0.00,0.000,6,0.000,0.035,2627,1697,1004,0,0,0,0,0,0
$GC,11860,0.96,303.1,526.4,12.3,202,11864,0.00,1.17,0.00,0.000,4,0.000,0.057,2632,983,1004,0,0,0,0,0,0
$GC,12073,0.96,303.1,500.4,12.9,205,12076,0.00,1.12,0.00,0.000,6,0.000,0.034,2632,1704,1004,0,0,0,0,0,0
$GC,12733,0.96,303.1,401.3,15.3,216,12737,0.00,1.08,0.00,0.000,4,0.000,0.043,2632,2403,1004,0,0,0,0,0,0
$GC,12887,0.96,303.1,380.3,15.6,218,12891,0.00,1.17,0.00,0.000,6,0.000,0.046,2636,1690,1004,0,0,0,0,0,0
$GC,13542,0.96,303.1,284.6,13.7,229,13546,0.00,1.12,0.00,0.000,4,0.000,0.060,2641,979,1003,0,0,0,0,0,0
$GC,13799,0.96,303.1,257.4,13.6,232,13809,0.10,1.12,0.00,0.000,6,0.131,0.034,2609,1711,1004,0,0,0,0,0,0
$GC,14414,0.96,303.1,181.2,10.6,243,14417,0.00,1.20,0.00,0.000,4,0.000,0.057,2613,982,1003,0,0,0,0,0,0
$GC,14671,0.96,303.1,162.8,9.4,246,14678,0.00,1.10,0.00,0.000,6,0.000,0.034,2612,1698,1003,0,0,0,0,0,0
$GC,15287,0.96,303.1,100.0,10.3,257,15291,0.00,1.17,0.00,0.000,4,0.000,0.057,2617,982,1004,0,0,0,0,0,0
$GC,15544,0.96,303.1,75.5,10.7,264,15553,0.00,1.12,0.00,0.000,6,0.000,0.031,2617,1710,1004,0,0,0,0,0,0
$GC,16170,0.99,326.3,13.8,7.8,285,16186,0.00,1.20,11.12,0.099,4,0.000,0.058,2622,994,919,0,0,0,0,0,0
$FREEZE,7.49,-1.319,-1.840,2,3,0
$FREEZE,7.49,-1.319,-1.840,2,3,0
$FREEZE,7.49,-1.319,-1.840,2,3,0
$FREEZE,7.49,-1.319,-1.840,2,3,0
$FREEZE,7.49,-1.319,-1.840,2,3,0
$FREEZE,4.69,NaN,-0.004,2,3,0
$FREEZE,4.69,NaN,-0.004,2,3,0
$FREEZE,4.69,NaN,-0.004,2,3,0
$FREEZE,4.69,NaN,-0.004,2,3,0
$FREEZE,4.69,NaN,-0.004,2,3,0
$FREEZE,3.21,-1.356,-1.836,2,3,0
$FREEZE,3.21,-1.356,-1.836,2,3,0
$FREEZE,3.21,-1.356,-1.836,2,3,0
$FREEZE,3.21,-1.356,-1.836,2,3,0
$FREEZE,3.21,-1.356,-1.836,2,3,0
$FREEZE,1.86,NaN,-0.001,2,3,0
$STATE,16331,end climb,SURFACE_DEPTH_REACHED
$STATE,16331,begin surface coast
$FREEZE,1.86,NaN,-0.001,2,3,0
$FINISH,1.9,NaN
$STATE,16343,end surface coast,CONTROL_FINISHED_OK
$STATE,16343,begin surface
$SM_CCo,16364,54.72,0.073,0,0,442,443.50
$SM_GC,2.20,6.88,1.10,54.72,0.057,0.027,0.073,118,1718,442,-6.75,-1.39,443.50,0,0,0,0,0,0
$RAFOS_CLK,1013
$RAFOS,6,1327308599,8.833333,8.833055,56,56,55,0,0,0,152,178,204,0,0,0
$RAFOS,5,1327308064,8.700000,8.684444,60,56,55,0,0,0,193,175,202,0,0,0
$RAFOS,4,1327307599,8.566667,8.555278,64,60,57,0,0,0,202,148,220,0,0,0
$RAFOS,3,1327307149,8.433333,8.430278,60,58,56,0,0,0,197,211,180,0,0,0
$RAFOS,2,1327306664,8.300000,8.295555,63,61,59,0,0,0,170,184,213,0,0,0
$RAFOS,1,1327306158,8.166667,8.155000,63,61,58,0,0,0,212,185,222,0,0,0
$RAFOS,0,1327305668,8.033334,8.018888,61,58,58,0,0,0,205,167,132,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6041.65,-6032.96,230112,070738
$TT8_MAMPS,0.028462,0.028462
$HUMID,55.00
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.20
$XPDR_PINGS,28
$ALTIM_TOP_PING,18.1,16.2
$24V_AH,22.1,52.982
$10V_AH,9.9,65.365
$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,16.925,47.650,409.700,54.725,0.000,0.000,0.000,377.350,10.500,0.000,37.923,1133.237,13349.791,546.863,1724.576,448.955,0.000,1694.335,0.000,1319.845,2880.000,25.597,0.000
$DEVICE_MAMPS,246.330,72.675,1446.615,73.440,0.000,0.000,0.000,244.937,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270356
$DATA_FILE_SIZE,10156,290
$CAP_FILE_SIZE,100514,0
$CFSIZE,260165632,207773696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.029, 95.9,1
$GPS,230112,120505,6105.763,-6038.122,29,0.8,30,-28.0