version: 66.09
glider: 143
mission: 13
dive: 2098
start: 1 23 112 12 16 45
data:
$ID,143
$MISSION,13
$DIVE,2098
$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,-259746.8
$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,26
$R_STBD_OVSHOOT,62
$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
$GPS1,230112,120505,6105.763,-6038.122,29,0.8,30,-28.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-51.8
$GPS2,230112,120505,6105.763,-6038.122,181,99.0,181,-28.0
$SPEED_LIMITS,0.155,0.231
$TGT_NAME,HEADING
$TGT_LATLONG,6105.763,-6015.779
$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,117.3,20000,-18.2,-8.952
$D_GRID,1499
$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,-0.74,-121.7,0.0,0.0,0,72,0.00,0.00,-51.58,0.000,2,0.000,0.000,112,1738,1307,0,0,0,0,0,0
$GC,77,-0.74,-121.7,3.5,0.0,2,153,8.32,1.33,-62.70,0.000,4,0.241,0.100,2056,991,2748,0,0,0,0,0,0
$GC,200,-0.74,-121.7,15.4,-9.8,6,203,0.00,1.08,0.00,0.000,6,0.000,0.026,2053,1765,2749,0,0,0,0,0,0
$GC,851,-0.74,-121.7,94.0,-11.0,27,855,0.00,1.33,0.00,0.000,4,0.000,0.078,2053,996,2749,0,0,0,0,0,0
$GC,1109,-0.74,-121.7,113.2,-9.3,31,1116,0.00,1.05,0.00,0.000,6,0.000,0.025,2047,1744,2748,0,0,0,0,0,0
$GC,1724,-0.74,-121.7,182.7,-11.6,42,1728,0.00,1.27,0.00,0.000,4,0.000,0.076,2048,995,2748,0,0,0,0,0,0
$GC,1935,-0.74,-121.7,206.0,-11.7,45,1941,0.00,0.98,0.00,0.000,6,0.000,0.026,2043,1681,2748,0,0,0,0,0,0
$GC,2597,-0.74,-121.7,276.5,-10.2,56,2600,0.00,1.15,0.00,0.000,4,0.000,0.073,2043,1001,2750,0,0,0,0,0,0
$GC,2786,-0.74,-121.7,290.6,-10.3,58,2790,0.00,1.00,0.00,0.000,6,0.000,0.027,2039,1710,2750,0,0,0,0,0,0
$GC,3407,-0.74,-121.7,367.0,-11.5,69,3411,0.00,1.23,0.00,0.000,4,0.000,0.073,2040,987,2752,0,0,0,0,0,0
$GC,3665,-0.74,-121.7,390.1,-11.5,72,3672,0.00,1.00,0.00,0.000,6,0.000,0.027,2035,1687,2752,0,0,0,0,0,0
$GC,4281,-0.74,-121.7,463.2,-10.5,83,4285,0.00,1.00,0.00,0.000,4,0.000,0.026,2031,2378,2753,0,0,0,0,0,0
$GC,4327,-0.74,-121.7,463.2,-10.5,83,4331,0.00,1.15,0.00,0.000,6,0.000,0.057,2031,1702,2753,0,0,0,0,0,0
$GC,4955,-0.74,-121.7,530.4,-9.6,94,4959,0.12,1.02,0.00,0.000,4,0.142,0.025,2062,2388,2754,0,0,0,0,0,0
$GC,5097,-0.74,-121.7,540.5,-8.4,96,5101,0.00,1.17,0.00,0.000,6,0.000,0.056,2062,1698,2754,0,0,0,0,0,0
$GC,5765,-0.74,-121.7,594.1,-8.2,107,5768,0.00,1.02,0.00,0.000,4,0.000,0.027,2060,2379,2755,0,0,0,0,0,0
$GC,5953,-0.74,-121.7,605.6,-8.4,109,5956,0.00,1.15,0.00,0.000,6,0.000,0.057,2059,1703,2755,0,0,0,0,0,0
$GC,6574,-0.74,-121.7,675.0,-11.4,120,6577,0.00,1.02,0.00,0.000,4,0.000,0.028,2057,2382,2755,0,0,0,0,0,0
$GC,6812,-0.74,-121.7,699.3,-12.0,123,6816,0.00,1.17,0.00,0.000,6,0.000,0.056,2057,1695,2755,0,0,0,0,0,0
$GC,7448,-0.74,-121.7,780.9,-12.2,134,7451,0.00,1.02,0.00,0.000,4,0.000,0.027,2054,2377,2755,0,0,0,0,0,0
$GC,7707,-0.74,-121.7,807.3,-12.9,137,7716,0.00,1.15,0.00,0.000,6,0.000,0.057,2053,1702,2755,0,0,0,0,0,0
$GC,8322,-0.74,-121.7,890.4,-11.9,148,8325,0.00,1.17,0.00,0.000,4,0.000,0.072,2054,982,2755,0,0,0,0,0,0
$GC,8390,-0.74,-121.7,898.6,-11.9,149,8393,0.00,1.02,0.00,0.000,6,0.000,0.025,2050,1723,2755,0,0,0,0,0,0
$STATE,8817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8817,begin apogee
$GC,8826,-0.16,0.0,946.5,-10.8,156,8943,0.57,0.00,109.55,1.446,6,0.101,0.000,2245,1725,2250,0,0,0,0,0,0
$STATE,8944,end apogee,CONTROL_FINISHED_OK
$STATE,8944,begin climb
$GC,8948,0.74,121.7,951.5,0.0,157,9074,0.82,1.42,115.78,1.408,4,0.049,0.063,2550,981,1753,0,0,0,0,0,0
$GC,9134,0.96,303.1,966.3,0.0,159,9314,0.15,1.10,173.00,1.388,6,0.043,0.025,2620,1659,1013,0,0,0,0,0,0
$GC,9931,0.96,303.1,889.6,11.9,173,9934,0.00,1.12,0.00,0.000,4,0.000,0.058,2625,984,1005,0,0,0,0,0,0
$GC,10112,0.96,303.1,871.2,13.1,175,10115,0.00,1.10,0.00,0.000,6,0.000,0.033,2625,1687,1004,0,0,0,0,0,0
$GC,10739,0.96,303.1,772.3,14.7,186,10743,0.00,1.10,0.00,0.000,4,0.000,0.045,2625,2393,1004,0,0,0,0,0,0
$GC,10878,0.96,303.1,753.4,14.5,188,10882,0.00,1.15,0.00,0.000,6,0.000,0.046,2629,1694,1004,0,0,0,0,0,0
$GC,11547,0.96,303.1,657.5,14.3,199,11551,0.00,1.12,0.00,0.000,4,0.000,0.061,2634,985,1003,0,0,0,0,0,0
$GC,11805,0.96,303.1,628.1,14.5,202,11814,0.00,1.12,0.00,0.000,6,0.000,0.035,2635,1703,1003,0,0,0,0,0,0
$GC,12419,0.96,303.1,539.2,13.2,213,12423,0.00,1.17,0.00,0.000,4,0.000,0.056,2640,986,1003,0,0,0,0,0,0
$GC,12676,0.96,303.1,513.2,13.0,216,12684,0.08,1.12,0.00,0.000,6,0.136,0.035,2615,1708,1003,0,0,0,0,0,0
$GC,13292,0.96,303.1,432.0,12.2,227,13296,0.00,1.05,0.00,0.000,4,0.000,0.044,2614,2389,1002,0,0,0,0,0,0
$GC,13352,0.96,303.1,432.0,12.2,227,13358,0.00,1.12,0.00,0.000,6,0.000,0.046,2617,1702,1003,0,0,0,0,0,0
$GC,13969,0.96,303.1,344.0,12.8,238,13972,0.00,1.12,0.00,0.000,4,0.000,0.060,2622,992,1003,0,0,0,0,0,0
$GC,14226,0.96,303.1,317.6,13.1,241,14233,0.00,1.10,0.00,0.000,6,0.000,0.033,2622,1704,1002,0,0,0,0,0,0
$GC,14841,0.96,303.1,224.2,14.3,252,14845,0.00,1.17,0.00,0.000,4,0.000,0.054,2627,984,1003,0,0,0,0,0,0
$GC,15098,0.96,303.1,195.4,14.4,255,15105,0.00,1.10,0.00,0.000,6,0.000,0.033,2627,1700,1003,0,0,0,0,0,0
$GC,15712,0.96,303.1,112.2,11.3,266,15716,0.00,1.17,0.00,0.000,4,0.000,0.057,2631,986,1003,0,0,0,0,0,0
$GC,15970,0.96,303.1,84.0,12.2,271,15975,0.00,1.10,0.00,0.000,6,0.000,0.033,2632,1700,1003,0,0,0,0,0,0
$FREEZE,6.14,NaN,-0.005,2,1,0
$GC,16590,0.96,303.1,6.1,11.6,292,16593,0.00,1.17,0.00,0.000,4,0.000,0.057,2636,986,1003,0,0,0,0,0,0
$FREEZE,6.14,NaN,-0.005,2,1,0
$FREEZE,6.14,NaN,-0.005,2,1,0
$FREEZE,6.14,NaN,-0.005,2,1,0
$FREEZE,4.05,-1.148,-1.839,2,1,0
$FREEZE,4.05,-1.148,-1.839,2,1,0
$FREEZE,4.05,-1.148,-1.839,2,1,0
$FREEZE,4.05,-1.148,-1.839,2,1,0
$FREEZE,4.05,-1.148,-1.839,2,1,0
$FREEZE,1.56,NaN,-0.001,2,1,0
$STATE,16656,end climb,SURFACE_DEPTH_REACHED
$STATE,16656,begin surface coast
$FREEZE,1.56,NaN,-0.001,2,1,0
$FINISH,1.6,NaN
$STATE,16660,end surface coast,CONTROL_FINISHED_OK
$STATE,16660,begin surface
$SM_CCo,16682,65.25,0.073,0,0,441,443.50
$SM_GC,2.31,6.68,1.12,65.25,0.041,0.033,0.073,121,1697,441,-6.75,-1.39,443.50,0,0,0,0,0,0
$RAFOS_CLK,1070
$RAFOS,5,1327336866,16.700001,16.684999,72,59,59,0,0,0,147,198,216,0,0,0
$RAFOS,4,1327336411,16.566668,16.558611,67,65,55,0,0,0,179,204,146,0,0,0
$RAFOS,3,1327335902,16.433332,16.417223,65,58,55,0,0,0,206,178,221,0,0,0
$RAFOS,2,1327335479,16.299999,16.299723,72,62,59,0,0,0,216,158,197,0,0,0
$RAFOS,1,1327334967,16.166666,16.157499,65,59,53,0,0,0,216,204,170,0,0,0
$RAFOS,0,1327334482,16.033333,16.022778,65,60,58,0,0,0,222,162,196,0,0,0
$RAFOS,6,1327322944,12.833333,12.817778,66,64,54,0,0,0,190,208,164,0,0,0
$RAFOS,5,1327322482,12.700000,12.689445,59,59,58,0,0,0,201,221,146,0,0,0
$RAFOS,4,1327321986,12.566667,12.551666,57,56,56,0,0,0,163,172,198,0,0,0
$RAFOS,3,1327321510,12.433333,12.419444,59,58,55,0,0,0,184,155,171,0,0,0
$RAFOS,2,1327321033,12.300000,12.286944,57,56,55,0,0,0,197,184,214,0,0,0
$RAFOS,0,1327320067,12.033333,12.018611,67,58,57,0,0,0,196,187,217,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6041.65,-6036.84,230112,070747
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.09
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.50
$XPDR_PINGS,18
$ALTIM_TOP_PING,16.9,15.2
$24V_AH,22.0,53.141
$10V_AH,9.8,65.439
$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,16.750,47.300,398.325,65.250,0.000,0.000,0.000,263.850,8.000,0.000,181.869,1125.035,13623.044,526.297,1763.951,389.200,0.000,1559.292,0.000,1333.690,4320.000,25.600,0.000
$DEVICE_MAMPS,240.975,100.215,1445.850,72.675,0.000,0.000,0.000,235.949,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270340
$DATA_FILE_SIZE,10139,294
$CAP_FILE_SIZE,99589,0
$CFSIZE,260165632,207732736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.185, 85.6,1
$GPS,230112,165730,6105.030,-6036.247,41,0.9,41,-28.0