version: 66.09
glider: 143
mission: 13
dive: 2112
start: 1 25 112 23 54 57
data:
$ID,143
$MISSION,13
$DIVE,2112
$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,120
$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,-260669.92
$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,35
$C_ROLL_DIVE,500
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,50
$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,645
$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
$GPS1,250112,173538,6057.421,-6031.994,181,99.0,181,-27.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-35.4
$GPS2,250112,235424,6056.381,-6029.866,43,1.0,43,-27.9
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6056.381,-6007.633
$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,117.7,20000,-15.9,-7.460
$D_GRID,1658
$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,18,-0.66,-116.8,0.0,0.0,0,178,0.00,0.00,-153.23,0.000,2,0.000,0.000,111,492,2455,0,0,0,0,0,0
$GC,183,-0.66,-116.8,3.5,-1.2,5,203,8.40,1.95,-6.12,0.000,4,0.247,0.047,2073,1750,2730,0,0,0,0,0,0
$GC,349,-0.66,-116.8,37.0,-13.5,10,353,0.00,2.15,0.00,0.000,6,0.000,0.077,2073,492,2732,0,0,0,0,0,0
$GC,986,-0.66,-116.8,116.0,-11.1,29,990,0.00,1.88,0.00,0.000,4,0.000,0.027,2065,1769,2731,0,0,0,0,0,0
$GC,1237,-0.66,-116.8,136.0,-10.0,32,1241,0.00,2.22,0.00,0.000,6,0.000,0.076,2065,488,2731,0,0,0,0,0,0
$GC,1856,-0.66,-116.8,196.8,-9.3,42,1860,0.00,1.88,0.00,0.000,4,0.000,0.027,2056,1773,2731,0,0,0,0,0,0
$GC,2116,-0.66,-116.8,217.0,-9.8,45,2125,0.12,2.22,0.00,0.000,6,0.151,0.074,2086,495,2733,0,0,0,0,0,0
$GC,2732,-0.66,-116.8,282.8,-9.7,56,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,495,2735,0,0,0,0,0,0
$GC,3336,-0.66,-116.8,341.8,-9.9,66,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,495,2736,0,0,0,0,0,0
$GC,3943,-0.66,-116.8,398.6,-9.0,76,3947,0.00,1.88,0.00,0.000,4,0.000,0.024,2079,1771,2737,0,0,0,0,0,0
$GC,3962,-0.66,-116.8,398.6,-9.0,76,3966,0.00,2.15,0.00,0.000,6,0.000,0.068,2080,493,2737,0,0,0,0,0,0
$GC,4612,-0.66,-116.8,459.0,-9.4,87,4616,0.00,1.85,0.00,0.000,4,0.000,0.024,2073,1770,2738,0,0,0,0,0,0
$GC,4712,-0.66,-116.8,465.8,-9.5,88,4716,0.00,2.12,0.00,0.000,6,0.000,0.068,2073,495,2738,0,0,0,0,0,0
$GC,5347,-0.66,-116.8,527.9,-9.2,99,5351,0.00,1.85,0.00,0.000,4,0.000,0.023,2066,1780,2739,0,0,0,0,0,0
$GC,5459,-0.66,-116.8,534.3,-9.2,100,5463,0.00,2.17,0.00,0.000,6,0.000,0.067,2066,488,2738,0,0,0,0,0,0
$GC,6081,-0.66,-116.8,594.1,-8.8,111,6085,0.00,1.88,0.00,0.000,4,0.000,0.024,2060,1786,2739,0,0,0,0,0,0
$GC,6249,-0.66,-116.8,605.5,-8.5,113,6253,0.00,2.17,0.00,0.000,6,0.000,0.067,2060,495,2739,0,0,0,0,0,0
$GC,6884,-0.66,-116.8,661.0,-8.5,124,6887,0.00,1.88,0.00,0.000,4,0.000,0.024,2053,1803,2739,0,0,0,0,0,0
$GC,7078,-0.66,-116.8,671.8,-8.2,126,7086,0.12,2.20,0.00,0.000,6,0.138,0.067,2086,499,2740,0,0,0,0,0,0
$GC,7694,-0.66,-116.8,722.2,-7.5,137,7697,0.00,1.85,0.00,0.000,4,0.000,0.023,2079,1781,2740,0,0,0,0,0,0
$GC,7779,-0.66,-116.8,727.3,-7.5,138,7783,0.00,2.15,0.00,0.000,6,0.000,0.067,2079,498,2740,0,0,0,0,0,0
$GC,8433,-0.66,-116.8,778.5,-7.8,149,8437,0.00,1.85,0.00,0.000,4,0.000,0.023,2073,1778,2740,0,0,0,0,0,0
$GC,8493,-0.66,-116.8,778.5,-7.8,149,8500,0.00,2.15,0.00,0.000,6,0.000,0.067,2073,499,2740,0,0,0,0,0,0
$GC,9108,-0.66,-116.8,829.2,-7.8,160,9111,0.00,1.85,0.00,0.000,4,0.000,0.023,2067,1776,2740,0,0,0,0,0,0
$GC,9220,-0.66,-116.8,834.1,-7.6,161,9224,0.00,2.15,0.00,0.000,6,0.000,0.067,2067,499,2740,0,0,0,0,0,0
$GC,9841,-0.66,-116.8,880.2,-6.6,172,9845,0.00,1.85,0.00,0.000,4,0.000,0.023,2062,1788,2740,0,0,0,0,0,0
$GC,9975,-0.66,-116.8,888.8,-6.5,174,9979,0.00,2.17,0.00,0.000,6,0.000,0.067,2063,492,2740,0,0,0,0,0,0
$GC,10644,-0.66,-116.8,935.8,-7.6,185,10647,0.00,1.85,0.00,0.000,4,0.000,0.024,2057,1773,2740,0,0,0,0,0,0
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10708,begin apogee
$GC,10717,-0.16,0.0,941.2,-7.7,186,10832,0.52,0.00,105.80,1.450,6,0.091,0.000,2242,1692,2250,0,0,0,0,0,0
$STATE,10833,end apogee,CONTROL_FINISHED_OK
$STATE,10833,begin climb
$GC,10837,0.66,116.8,945.5,0.0,187,10960,0.75,2.22,111.35,1.405,4,0.044,0.037,2522,2921,1772,0,0,0,0,0,0
$GC,11211,0.92,333.4,959.3,-1.8,193,11420,0.20,2.08,201.70,1.397,6,0.061,0.049,2613,1696,889,0,0,0,0,0,0
$GC,12081,0.92,333.4,868.4,11.5,208,12085,0.00,1.98,0.00,0.000,4,0.000,0.042,2614,2925,881,0,0,0,0,0,0
$GC,12240,0.92,333.4,851.6,12.0,210,12245,0.00,2.00,0.00,0.000,6,0.000,0.043,2622,1686,881,0,0,0,0,0,0
$GC,12889,0.92,333.4,764.5,12.4,221,12893,0.00,1.98,0.00,0.000,4,0.000,0.045,2622,2931,880,0,0,0,0,0,0
$GC,12909,0.92,333.4,764.5,12.4,221,12913,0.12,2.00,0.00,0.000,6,0.145,0.043,2598,1686,880,0,0,0,0,0,0
$GC,13563,0.92,333.4,690.3,10.7,232,13567,0.00,2.00,0.00,0.000,4,0.000,0.046,2598,2942,879,0,0,0,0,0,0
$GC,13689,0.92,333.4,682.4,11.0,233,13696,0.00,2.00,0.00,0.000,6,0.000,0.044,2605,1695,879,0,0,0,0,0,0
$GC,14304,0.92,333.4,602.3,11.9,244,14308,0.00,1.95,0.00,0.000,4,0.000,0.045,2605,2926,879,0,0,0,0,0,0
$GC,14423,0.92,333.4,593.6,12.1,245,14426,0.00,1.98,0.00,0.000,6,0.000,0.044,2614,1695,879,0,0,0,0,0,0
$GC,15043,0.92,333.4,511.0,12.2,256,15047,0.00,1.98,0.00,0.000,4,0.000,0.046,2614,2913,878,0,0,0,0,0,0
$GC,15117,0.92,333.4,502.6,12.3,257,15121,0.00,1.95,0.00,0.000,6,0.000,0.043,2622,1695,879,0,0,0,0,0,0
$GC,15790,0.92,333.4,418.6,12.7,268,15794,0.00,1.98,0.00,0.000,4,0.000,0.045,2622,2930,879,0,0,0,0,0,0
$GC,15804,0.92,333.4,418.6,12.7,268,15808,0.12,1.98,0.00,0.000,6,0.145,0.043,2597,1696,879,0,0,0,0,0,0
$GC,16462,0.92,333.4,341.5,11.6,279,16466,0.00,1.95,0.00,0.000,4,0.000,0.045,2597,2928,879,0,0,0,0,0,0
$GC,16574,0.92,333.4,332.7,11.8,280,16579,0.00,2.00,0.00,0.000,6,0.000,0.042,2604,1693,879,0,0,0,0,0,0
$GC,17206,0.92,333.4,247.2,12.5,291,17209,0.00,1.98,0.00,0.000,4,0.000,0.044,2604,2929,879,0,0,0,0,0,0
$GC,17341,0.92,333.4,229.8,12.5,293,17345,0.00,1.98,0.00,0.000,6,0.000,0.041,2613,1692,879,0,0,0,0,0,0
$GC,18009,0.92,333.4,143.6,13.1,304,18012,0.00,1.98,0.00,0.000,4,0.000,0.044,2612,2930,879,0,0,0,0,0,0
$GC,18081,0.92,333.4,134.4,13.2,305,18085,0.00,1.98,0.00,0.000,6,0.000,0.041,2621,1692,879,0,0,0,0,0,0
$GC,18723,0.92,333.4,48.6,12.0,321,18727,0.00,1.95,0.00,0.000,4,0.000,0.043,2621,2932,879,0,0,0,0,0,0
$GC,18829,0.92,333.4,35.9,12.4,324,18833,0.12,1.98,0.00,0.000,6,0.146,0.042,2597,1696,879,0,0,0,0,0,0
$FREEZE,8.30,NaN,-0.006,2,3,0
$FREEZE,5.17,-1.631,-1.850,2,3,0
$FREEZE,2.62,NaN,-0.002,2,3,0
$FREEZE,1.61,-1.232,-1.827,2,3,0
$STATE,19223,end climb,SURFACE_DEPTH_REACHED
$STATE,19223,begin surface coast
$FREEZE,1.51,NaN,-0.001,2,3,0
$FINISH,1.5,NaN
$STATE,19251,end surface coast,CONTROL_FINISHED_OK
$STATE,19251,begin surface
$SM_CCo,19273,51.65,0.075,0,0,442,443.50
$SM_GC,2.52,6.60,2.00,51.65,0.043,0.066,0.075,121,500,442,-6.76,0.62,443.50,0,0,0,0,0,0
$RAFOS_CLK,1199
$RAFOS,6,1327553398,4.833333,4.832778,61,60,59,0,0,0,210,139,152,0,0,0
$RAFOS,5,1327552895,4.700000,4.693056,67,52,51,0,0,0,202,168,224,0,0,0
$RAFOS,4,1327552410,4.566667,4.558333,56,55,54,0,0,0,221,199,174,0,0,0
$RAFOS,3,1327551908,4.433333,4.418889,64,64,57,0,0,0,204,215,173,0,0,0
$RAFOS,2,1327551477,4.300000,4.299167,60,53,51,0,0,0,210,224,184,0,0,0
$RAFOS,1,1327550992,4.166667,4.164444,64,62,60,0,0,0,137,215,193,0,0,0
$RAFOS,0,1327550494,4.033333,4.026111,59,58,56,0,0,0,211,191,133,0,0,0
$RAFOS,6,1327538968,0.833333,0.824444,58,57,55,0,0,0,229,121,188,0,0,0
$RAFOS,5,1327538484,0.700000,0.690000,61,60,56,0,0,0,145,184,226,0,0,0
$RAFOS,4,1327537999,0.566667,0.555278,64,63,60,0,0,0,192,167,204,0,0,0
$RAFOS,3,1327537544,0.433333,0.428889,67,65,64,0,0,0,212,198,171,0,0,0
$RAFOS,2,1327537059,0.300000,0.294167,75,63,57,0,0,0,165,182,119,0,0,0
$RAFOS,1,1327536553,0.166667,0.153611,59,55,54,0,0,0,139,159,185,0,0,0
$RAFOS,0,1327536063,0.033333,0.017500,68,64,60,0,0,0,184,161,226,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6032.86,-6035.64,250112,171707
$TT8_MAMPS,0.028462,0.028462
$HUMID,53.34
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.0,17.3
$24V_AH,22.1,55.093
$10V_AH,9.9,66.208
$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,17.100,96.325,418.850,51.650,0.000,0.000,0.000,125.425,5.000,0.000,44.496,1272.116,16100.205,564.169,1499.371,476.861,0.000,1470.536,0.000,1305.326,5040.000,25.601,0.000
$DEVICE_MAMPS,247.095,87.975,1449.675,74.970,0.000,0.000,0.000,240.429,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270332
$DATA_FILE_SIZE,16831,338
$CAP_FILE_SIZE,105545,0
$CFSIZE,260165632,207110144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.296, 11.2,1
$GPS,260112,051835,6055.230,-6031.452,37,0.9,37,-27.8