version: 66.09
glider: 143
mission: 13
dive: 2102
start: 1 24 112 3 28 59
data:
$ID,143
$MISSION,13
$DIVE,2102
$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,420
$T_MISSION,540
$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,-260113.8
$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,33
$R_STBD_OVSHOOT,67
$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
$GPS1,230112,170557,6104.898,-6036.023,181,99.0,181,-28.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-32.6
$GPS2,230112,170557,6104.898,-6036.023,181,99.0,181,-28.0
$SPEED_LIMITS,0.129,0.217
$TGT_NAME,HEADING
$TGT_LATLONG,6104.898,-6013.690
$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,73.0,20000,-15.5,-7.460
$D_GRID,1550
$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,-0.65,-121.7,0.0,0.0,0,140,0.00,0.00,-120.10,0.000,2,0.000,0.000,115,1674,2279,0,0,0,0,0,0
$GC,146,-0.65,-121.7,5.9,-5.6,4,169,8.38,1.08,-10.20,0.000,4,0.241,0.049,2082,2432,2745,0,0,0,0,0,0
$GC,367,-0.65,-121.7,34.4,-9.9,10,376,0.00,1.25,0.00,0.000,6,0.000,0.061,2082,1708,2749,0,0,0,0,0,0
$GC,990,-0.65,-121.7,95.4,-9.5,31,993,0.00,1.20,0.00,0.000,4,0.000,0.076,2082,981,2747,0,0,0,0,0,0
$GC,1248,-0.65,-121.7,113.9,-9.1,35,1255,0.00,1.08,0.00,0.000,6,0.000,0.024,2077,1755,2747,0,0,0,0,0,0
$GC,1862,-0.65,-121.7,180.9,-9.8,46,1866,0.00,0.93,0.00,0.000,4,0.000,0.031,2073,2386,2748,0,0,0,0,0,0
$GC,1881,-0.65,-121.7,180.9,-9.8,46,1885,0.00,1.17,0.00,0.000,6,0.000,0.057,2073,1700,2748,0,0,0,0,0,0
$GC,2536,-0.65,-121.7,238.6,-7.9,57,2540,0.00,1.05,0.00,0.000,4,0.000,0.029,2070,2390,2750,0,0,0,0,0,0
$GC,2718,-0.65,-121.7,248.5,-7.5,59,2721,0.00,1.17,0.00,0.000,6,0.000,0.055,2070,1698,2751,0,0,0,0,0,0
$GC,3348,-0.65,-121.7,302.5,-8.7,70,3352,0.00,1.15,0.00,0.000,4,0.000,0.072,2070,992,2752,0,0,0,0,0,0
$GC,3387,-0.65,-121.7,302.5,-8.7,70,3390,0.00,1.02,0.00,0.000,6,0.000,0.027,2066,1717,2752,0,0,0,0,0,0
$GC,4022,-0.65,-121.7,374.5,-11.3,81,4026,0.00,0.95,0.00,0.000,4,0.000,0.028,2062,2372,2753,0,0,0,0,0,0
$GC,4069,-0.65,-121.7,374.5,-11.3,81,4072,0.00,1.15,0.00,0.000,6,0.000,0.057,2062,1698,2753,0,0,0,0,0,0
$GC,4697,-0.65,-121.7,454.4,-11.7,92,4701,0.00,1.15,0.00,0.000,4,0.000,0.071,2062,991,2753,0,0,0,0,0,0
$GC,4797,-0.65,-121.7,463.0,-12.1,93,4802,0.08,1.00,0.00,0.000,6,0.116,0.026,2085,1709,2753,0,0,0,0,0,0
$GC,5439,-0.65,-121.7,536.5,-10.7,104,5442,0.00,1.20,0.00,0.000,4,0.000,0.067,2086,984,2755,0,0,0,0,0,0
$GC,5511,-0.65,-121.7,543.7,-10.7,105,5515,0.00,1.02,0.00,0.000,6,0.000,0.022,2086,1708,2755,0,0,0,0,0,0
$GC,6179,-0.65,-121.7,613.3,-10.3,116,6183,0.00,1.23,0.00,0.000,4,0.000,0.067,2086,980,2755,0,0,0,0,0,0
$GC,6218,-0.65,-121.7,613.3,-10.3,116,6222,0.00,1.02,0.00,0.000,6,0.000,0.024,2086,1684,2755,0,0,0,0,0,0
$GC,6852,-0.65,-121.7,686.1,-10.9,127,6856,0.00,1.17,0.00,0.000,4,0.000,0.066,2086,985,2755,0,0,0,0,0,0
$GC,6885,-0.65,-121.7,686.1,-10.9,127,6889,0.00,1.05,0.00,0.000,6,0.000,0.024,2086,1699,2755,0,0,0,0,0,0
$GC,7529,-0.65,-121.7,764.6,-11.9,138,7533,0.00,1.20,0.00,0.000,4,0.000,0.066,2086,991,2755,0,0,0,0,0,0
$GC,7542,-0.65,-121.7,764.6,-11.9,138,7545,0.00,1.05,0.00,0.000,6,0.000,0.022,2086,1707,2755,0,0,0,0,0,0
$GC,8203,-0.65,-121.7,842.4,-11.3,149,8207,0.00,1.23,0.00,0.000,4,0.000,0.067,2086,978,2755,0,0,0,0,0,0
$GC,8216,-0.65,-121.7,842.4,-11.3,149,8219,0.00,1.05,0.00,0.000,6,0.000,0.023,2086,1703,2755,0,0,0,0,0,0
$GC,8876,-0.65,-121.7,912.7,-9.7,160,8880,0.00,1.20,0.00,0.000,4,0.000,0.067,2086,990,2755,0,0,0,0,0,0
$GC,8909,-0.65,-121.7,912.7,-9.7,160,8913,0.00,1.02,0.00,0.000,6,0.000,0.024,2086,1679,2755,0,0,0,0,0,0
$STATE,9182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9183,begin apogee
$GC,9191,-0.16,0.0,942.8,-9.7,165,9306,0.45,0.00,109.45,1.443,6,0.086,0.000,2249,1690,2250,0,0,0,0,0,0
$STATE,9310,end apogee,CONTROL_FINISHED_OK
$STATE,9310,begin climb
$GC,9314,0.65,121.7,948.2,0.0,166,9439,0.73,1.35,115.82,1.405,4,0.045,0.064,2524,989,1753,0,0,0,0,0,0
$GC,9514,0.94,359.9,961.2,-2.4,169,9752,0.20,1.15,226.00,1.379,6,0.041,0.024,2613,1704,781,0,0,0,0,0,0
$GC,10358,0.94,359.9,868.4,12.2,183,10362,0.00,1.05,0.00,0.000,4,0.000,0.040,2614,2380,774,0,0,0,0,0,0
$GC,10385,0.94,359.9,868.4,12.2,183,10389,0.00,1.15,0.00,0.000,6,0.000,0.046,2618,1694,774,0,0,0,0,0,0
$GC,11034,0.94,359.9,787.8,11.8,194,11037,0.00,1.12,0.00,0.000,4,0.000,0.061,2623,987,774,0,0,0,0,0,0
$GC,11291,0.94,359.9,762.3,12.5,197,11298,0.00,1.10,0.00,0.000,6,0.000,0.034,2623,1689,773,0,0,0,0,0,0
$GC,11906,0.94,359.9,674.8,12.9,208,11910,0.00,1.10,0.00,0.000,4,0.000,0.044,2623,2400,773,0,0,0,0,0,0
$GC,12083,0.94,359.9,658.1,12.6,210,12087,0.00,1.15,0.00,0.000,6,0.000,0.044,2628,1693,773,0,0,0,0,0,0
$GC,12717,0.94,359.9,571.1,13.1,221,12721,0.00,1.15,0.00,0.000,4,0.000,0.044,2628,2402,773,0,0,0,0,0,0
$GC,12837,0.94,359.9,562.3,12.9,222,12840,0.00,1.15,0.00,0.000,6,0.000,0.044,2632,1698,773,0,0,0,0,0,0
$GC,13457,0.94,359.9,476.6,12.6,233,13461,0.00,1.12,0.00,0.000,4,0.000,0.043,2632,2393,773,0,0,0,0,0,0
$GC,13610,0.94,359.9,459.8,12.5,235,13614,0.10,1.12,0.00,0.000,6,0.115,0.044,2602,1703,773,0,0,0,0,0,0
$GC,14265,0.94,359.9,381.9,12.0,246,14269,0.00,1.12,0.00,0.000,4,0.000,0.058,2605,987,773,0,0,0,0,0,0
$GC,14524,0.94,359.9,356.6,12.5,249,14532,0.00,1.12,0.00,0.000,6,0.000,0.035,2606,1710,772,0,0,0,0,0,0
$GC,15138,0.94,359.9,270.3,12.6,260,15141,0.00,1.08,0.00,0.000,4,0.000,0.045,2606,2404,772,0,0,0,0,0,0
$GC,15396,0.94,359.9,246.1,12.1,263,15403,0.00,1.15,0.00,0.000,6,0.000,0.044,2610,1698,773,0,0,0,0,0,0
$GC,16012,0.94,359.9,164.3,12.6,274,16015,0.00,1.10,0.00,0.000,4,0.000,0.059,2615,996,772,0,0,0,0,0,0
$GC,16270,0.94,359.9,139.8,12.2,277,16279,0.00,1.10,0.00,0.000,6,0.000,0.034,2615,1703,772,0,0,0,0,0,0
$GC,16887,0.94,359.9,61.7,12.0,293,16891,0.00,1.08,0.00,0.000,4,0.000,0.043,2615,2399,773,0,0,0,0,0,0
$GC,17046,0.94,359.9,45.1,12.3,297,17051,0.00,1.15,0.00,0.000,6,0.000,0.044,2619,1693,773,0,0,0,0,0,0
$FREEZE,5.27,-1.125,-1.846,2,4,0
$FREEZE,1.98,NaN,-0.001,2,4,0
$STATE,17417,end climb,SURFACE_DEPTH_REACHED
$STATE,17417,begin surface coast
$FREEZE,1.62,-1.255,-0.902,2,4,0
$FINISH,1.6,1.013299
$STATE,17452,end surface coast,FINISH_DEPTH_REACHED
$STATE,17452,begin surface
$SM_CCo,17472,39.17,0.073,0,0,442,443.50
$SM_GC,2.29,6.60,0.00,39.17,0.037,0.000,0.073,115,1693,442,-6.75,-0.20,443.50,0,0,0,0,0,0
$RAFOS_CLK,1171
$RAFOS,1,1327392561,8.166667,8.155833,61,61,55,0,0,0,196,216,206,0,0,0
$RAFOS,0,1327392074,8.033334,8.020555,63,58,56,0,0,0,196,212,172,0,0,0
$RAFOS,6,1327380546,4.833333,4.818333,64,61,59,0,0,0,201,162,174,0,0,0
$RAFOS,5,1327380068,4.700000,4.685555,58,58,57,0,0,0,141,178,201,0,0,0
$RAFOS,4,1327379635,4.566667,4.565278,64,64,61,0,0,0,185,204,161,0,0,0
$RAFOS,3,1327379103,4.433333,4.417500,61,60,60,0,0,0,210,159,116,0,0,0
$RAFOS,2,1327378656,4.300000,4.293334,73,62,55,0,0,0,204,219,185,0,0,0
$RAFOS,1,1327378150,4.166667,4.152778,66,62,59,0,0,0,173,190,134,0,0,0
$RAFOS,0,1327377665,4.033333,4.018055,70,59,55,0,0,0,201,212,123,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6041.65,-6032.96,230112,171733
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.84
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,17.50
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.3,17.9
$24V_AH,22.0,53.663
$10V_AH,9.9,65.635
$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,16.525,51.425,451.275,39.175,0.000,0.000,0.000,242.175,8.000,0.000,181.877,1156.242,14507.467,557.640,1665.527,412.209,0.000,1541.309,0.000,1223.161,3600.000,25.603,0.000
$DEVICE_MAMPS,240.975,76.500,1442.790,73.440,0.000,0.000,0.000,240.429,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270324
$DATA_FILE_SIZE,13550,311
$CAP_FILE_SIZE,98643,0
$CFSIZE,260165632,207532032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.347,106.0,1
$GPS,240112,082229,6101.647,-6032.967,43,1.4,43,-28.0