version: 66.09
glider: 143
mission: 13
dive: 2113
start: 1 26 112 5 28 4
data:
$ID,143
$MISSION,13
$DIVE,2113
$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,-260671.17
$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
$GPS1,260112,051835,6055.230,-6031.452,37,0.9,37,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-66.6
$GPS2,260112,052730,6055.230,-6031.517,21,1.5,21,-27.8
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6055.230,-6009.298
$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,162.8,20000,-15.9,-7.460
$D_GRID,1637
$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,-116.8,0.0,0.0,0,114,0.00,0.00,-93.57,0.000,2,0.000,0.000,120,498,1908,0,0,0,0,0,0
$GC,120,-0.66,-116.8,4.0,-5.0,3,158,8.65,0.38,-24.88,0.000,4,0.249,0.173,2084,290,2728,0,0,0,0,0,0
$GC,184,-0.66,-116.8,15.3,-13.2,5,188,0.00,0.28,0.00,0.000,6,0.000,0.046,2084,483,2730,0,0,0,0,0,0
$GC,824,-0.66,-116.8,95.6,-11.6,26,827,0.00,1.90,0.00,0.000,4,0.000,0.025,2075,1790,2729,0,0,0,0,0,0
$GC,1081,-0.66,-116.8,118.8,-11.7,30,1091,0.00,2.20,0.00,0.000,6,0.000,0.074,2075,494,2729,0,0,0,0,0,0
$GC,1697,-0.66,-116.8,192.8,-11.0,41,1700,0.00,1.88,0.00,0.000,4,0.000,0.027,2066,1809,2729,0,0,0,0,0,0
$GC,1941,-0.66,-116.8,213.7,-10.4,44,1945,0.00,2.25,0.00,0.000,6,0.000,0.071,2066,492,2730,0,0,0,0,0,0
$GC,2571,-0.66,-116.8,289.2,-12.0,55,2575,0.00,1.90,0.00,0.000,4,0.000,0.026,2056,1814,2731,0,0,0,0,0,0
$GC,2828,-0.66,-116.8,312.4,-11.5,58,2838,0.12,2.25,0.00,0.000,6,0.145,0.071,2087,489,2731,0,0,0,0,0,0
$GC,3443,-0.66,-116.8,385.0,-10.3,69,3447,0.00,0.30,0.00,0.000,4,0.000,0.086,2087,282,2733,0,0,0,0,0,0
$GC,3529,-0.66,-116.8,391.9,-10.2,70,3532,0.00,0.32,0.00,0.000,6,0.000,0.043,2087,508,2733,0,0,0,0,0,0
$GC,4183,-0.66,-116.8,456.7,-9.9,81,4187,0.00,0.35,0.00,0.000,4,0.000,0.083,2087,286,2734,0,0,0,0,0,0
$GC,4222,-0.66,-116.8,456.7,-9.9,81,4226,0.00,0.30,0.00,0.000,6,0.000,0.045,2087,499,2733,0,0,0,0,0,0
$GC,4857,-0.66,-116.8,526.9,-10.8,92,4860,0.00,0.32,0.00,0.000,4,0.000,0.084,2087,291,2734,0,0,0,0,0,0
$GC,4909,-0.66,-116.8,526.9,-10.8,92,4913,0.00,0.30,0.00,0.000,6,0.000,0.045,2087,501,2734,0,0,0,0,0,0
$GC,5534,-0.66,-116.8,604.5,-11.6,103,5537,0.00,0.35,0.00,0.000,4,0.000,0.084,2087,276,2734,0,0,0,0,0,0
$GC,5601,-0.66,-116.8,613.0,-11.7,104,5605,0.00,0.32,0.00,0.000,6,0.000,0.044,2087,501,2734,0,0,0,0,0,0
$GC,6277,-0.66,-116.8,690.0,-11.0,115,6281,0.00,0.35,0.00,0.000,4,0.000,0.083,2087,283,2734,0,0,0,0,0,0
$GC,6413,-0.66,-116.8,704.7,-10.8,117,6417,0.00,0.32,0.00,0.000,6,0.000,0.044,2088,509,2735,0,0,0,0,0,0
$GC,7088,-0.66,-116.8,778.6,-11.1,128,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,509,2734,0,0,0,0,0,0
$GC,7694,-0.66,-116.8,845.3,-11.0,138,7697,0.00,1.85,0.00,0.000,4,0.000,0.024,2081,1796,2735,0,0,0,0,0,0
$GC,7787,-0.66,-116.8,852.5,-10.9,139,7791,0.00,2.20,0.00,0.000,6,0.000,0.067,2081,492,2735,0,0,0,0,0,0
$GC,8428,-0.66,-116.8,919.0,-9.5,150,8432,0.00,1.90,0.00,0.000,4,0.000,0.024,2077,1783,2735,0,0,0,0,0,0
$GC,8481,-0.66,-116.8,919.0,-9.5,150,8485,0.00,2.17,0.00,0.000,6,0.000,0.067,2077,492,2735,0,0,0,0,0,0
$STATE,8667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8667,begin apogee
$GC,8678,-0.16,0.0,940.9,-9.1,153,8791,0.47,0.17,104.70,1.445,6,0.083,0.085,2246,1696,2250,0,0,0,0,0,0
$STATE,8792,end apogee,CONTROL_FINISHED_OK
$STATE,8792,begin climb
$GC,8796,0.66,116.8,945.8,0.0,154,8919,0.75,2.25,111.28,1.408,4,0.052,0.037,2514,2938,1773,0,0,0,0,0,0
$GC,8928,1.01,402.0,957.7,-4.8,157,9211,0.30,2.22,269.50,1.378,6,0.050,0.048,2633,1697,611,0,0,0,0,0,0
$GC,9847,1.01,402.0,846.6,13.0,172,9850,0.00,2.00,0.00,0.000,4,0.000,0.047,2633,2934,604,0,0,0,0,0,0
$GC,9919,1.01,402.0,838.3,13.0,173,9923,0.00,1.98,0.00,0.000,6,0.000,0.040,2642,1692,604,0,0,0,0,0,0
$GC,10579,1.01,402.0,752.4,12.5,184,10583,0.00,1.95,0.00,0.000,4,0.000,0.057,2652,468,603,0,0,0,0,0,0
$GC,10839,1.01,402.0,725.1,13.1,187,10848,0.00,1.92,0.00,0.000,6,0.000,0.034,2652,1713,603,0,0,0,0,0,0
$GC,11453,1.01,402.0,636.1,13.4,198,11457,0.00,1.92,0.00,0.000,4,0.000,0.049,2652,2938,603,0,0,0,0,0,0
$GC,11567,1.01,402.0,626.7,13.6,199,11572,0.15,1.95,0.00,0.000,6,0.129,0.041,2618,1696,603,0,0,0,0,0,0
$GC,12189,1.01,402.0,553.4,11.1,210,12190,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1696,603,0,0,0,0,0,0
$GC,12795,1.01,402.0,481.3,11.8,220,12799,0.00,1.95,0.00,0.000,4,0.000,0.058,2625,469,603,0,0,0,0,0,0
$GC,12849,1.01,402.0,481.3,11.8,220,12852,0.00,1.88,0.00,0.000,6,0.000,0.031,2625,1708,603,0,0,0,0,0,0
$GC,13470,1.01,402.0,402.5,11.2,231,13473,0.00,2.00,0.00,0.000,4,0.000,0.054,2634,473,603,0,0,0,0,0,0
$GC,13575,1.01,402.0,394.8,11.2,232,13579,0.00,1.90,0.00,0.000,6,0.000,0.033,2634,1695,603,0,0,0,0,0,0
$GC,14210,1.01,402.0,318.8,10.8,243,14214,0.00,2.00,0.00,0.000,4,0.000,0.054,2642,475,603,0,0,0,0,0,0
$GC,14441,1.01,402.0,296.7,10.9,246,14445,0.00,1.88,0.00,0.000,6,0.000,0.032,2642,1711,603,0,0,0,0,0,0
$GC,15083,1.01,402.0,205.7,14.3,257,15087,0.00,2.03,0.00,0.000,4,0.000,0.053,2651,460,603,0,0,0,0,0,0
$GC,15340,1.01,402.0,177.5,14.1,260,15347,0.00,1.90,0.00,0.000,6,0.000,0.031,2651,1701,603,0,0,0,0,0,0
$GC,15955,1.01,402.0,86.1,14.5,272,15959,0.00,2.00,0.00,0.000,4,0.000,0.054,2658,465,603,0,0,0,0,0,0
$GC,16212,1.01,402.0,51.8,14.7,279,16218,0.12,1.90,0.00,0.000,6,0.127,0.031,2624,1714,603,0,0,0,0,0,0
$FREEZE,8.75,NaN,-0.007,2,1,0
$FREEZE,5.46,-1.543,-1.851,2,1,0
$FREEZE,2.77,NaN,-0.002,2,1,0
$FREEZE,1.82,-1.503,-1.845,2,1,0
$STATE,16677,end climb,SURFACE_DEPTH_REACHED
$STATE,16677,begin surface coast
$FREEZE,1.56,NaN,-0.001,2,1,0
$FINISH,1.6,NaN
$STATE,16706,end surface coast,CONTROL_FINISHED_OK
$STATE,16706,begin surface
$SM_CCo,16729,19.75,0.076,0,0,442,443.50
$SM_GC,2.36,6.78,2.05,19.75,0.050,0.066,0.076,127,514,442,-6.75,1.07,443.50,0,0,0,0,0,0
$RAFOS_CLK,1035
$RAFOS,6,1327567747,8.833333,8.818611,61,58,57,0,0,0,205,196,217,0,0,0
$RAFOS,5,1327567262,8.700000,8.683888,58,57,54,0,0,0,219,154,123,0,0,0
$RAFOS,4,1327566830,8.566667,8.563889,59,58,57,0,0,0,178,197,208,0,0,0
$RAFOS,3,1327566306,8.433333,8.418333,62,60,59,0,0,0,206,162,175,0,0,0
$RAFOS,2,1327565829,8.300000,8.285833,61,60,58,0,0,0,211,191,177,0,0,0
$RAFOS,1,1327565344,8.166667,8.151111,67,64,58,0,0,0,206,216,186,0,0,0
$RAFOS,0,1327564865,8.033334,8.018056,62,59,54,0,0,0,221,212,178,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6032.86,-6035.64,250112,171707
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.48
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,17.30
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.4,17.6
$24V_AH,22.1,55.285
$10V_AH,9.9,66.279
$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,17.350,64.150,485.475,19.750,0.000,0.000,0.000,282.450,8.750,0.000,22.493,1098.781,13761.774,550.054,1443.441,438.849,0.000,1543.730,0.000,1169.392,2520.000,25.600,0.000
$DEVICE_MAMPS,249.390,172.890,1445.085,75.735,0.000,0.000,0.000,253.925,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13525,296
$CAP_FILE_SIZE,94273,0
$CFSIZE,260165632,207073280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.239, 27.3,1
$GPS,260112,100837,6054.098,-6030.006,29,1.2,29,-27.8