version: 66.09
glider: 143
mission: 13
dive: 2120
start: 1 27 112 12 45 49
data:
$ID,143
$MISSION,13
$DIVE,2120
$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,2
$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,-261222.83
$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,3800
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,24
$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
$GPS1,270112,123753,6048.905,-6033.823,42,0.9,42,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-58.4
$GPS2,270112,124513,6048.750,-6033.801,21,1.0,22,-27.7
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6048.750,-6011.657
$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,162.7,20000,-15.9,-7.460
$D_GRID,1571
$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,-116.8,0.0,0.0,0,172,0.00,0.00,-146.98,0.000,2,0.000,0.000,100,3800,2604,0,0,0,0,0,0
$GC,177,-0.66,-116.8,4.6,-2.1,5,195,8.70,0.22,-2.75,0.000,4,0.253,0.213,2081,3942,2730,0,0,0,0,0,0
$GC,228,-0.66,-116.8,20.0,-11.6,6,231,0.00,0.30,0.00,0.000,6,0.000,0.051,2081,3778,2732,0,0,0,0,0,0
$GC,857,-0.66,-116.8,100.4,-11.5,27,860,0.00,0.25,0.00,0.000,4,0.000,0.057,2081,3913,2732,0,0,0,0,0,0
$GC,909,-0.66,-116.8,100.4,-11.5,27,913,0.00,0.22,0.00,0.000,6,0.000,0.057,2081,3795,2731,0,0,0,0,0,0
$GC,1530,-0.66,-116.8,166.0,-8.6,38,1533,0.00,0.22,0.00,0.000,4,0.000,0.068,2081,3912,2729,0,0,0,0,0,0
$GC,1642,-0.66,-116.8,170.7,-7.7,39,1646,0.00,0.22,0.00,0.000,6,0.000,0.056,2081,3790,2729,0,0,0,0,0,0
$GC,2270,-0.66,-116.8,222.8,-8.4,50,2274,0.00,0.25,0.00,0.000,4,0.000,0.069,2081,3918,2730,0,0,0,0,0,0
$GC,2356,-0.66,-116.8,228.7,-8.5,51,2359,0.00,0.22,0.00,0.000,6,0.000,0.053,2081,3788,2730,0,0,0,0,0,0
$GC,3010,-0.66,-116.8,284.4,-8.0,62,3013,0.00,0.25,0.00,0.000,4,0.000,0.070,2081,3920,2732,0,0,0,0,0,0
$GC,3049,-0.66,-116.8,284.4,-8.0,62,3053,0.00,0.22,0.00,0.000,6,0.000,0.053,2081,3776,2732,0,0,0,0,0,0
$GC,3684,-0.66,-116.8,335.2,-7.8,73,3687,0.00,0.25,0.00,0.000,4,0.000,0.072,2081,3913,2733,0,0,0,0,0,0
$GC,3736,-0.66,-116.8,335.2,-7.8,73,3740,0.00,0.17,0.00,0.000,6,0.000,0.054,2081,3835,2733,0,0,0,0,0,0
$GC,4357,-0.66,-116.8,399.1,-10.4,84,4360,0.00,0.20,0.00,0.000,4,0.000,0.074,2081,3928,2735,0,0,0,0,0,0
$GC,4410,-0.66,-116.8,399.1,-10.4,84,4414,0.00,0.25,0.00,0.000,6,0.000,0.049,2081,3737,2734,0,0,0,0,0,0
$GC,5032,-0.66,-116.8,468.5,-9.9,95,5036,0.00,0.32,0.00,0.000,4,0.000,0.067,2082,3917,2735,0,0,0,0,0,0
$GC,5071,-0.66,-116.8,468.5,-9.9,95,5075,0.00,0.25,0.00,0.000,6,0.000,0.050,2081,3740,2735,0,0,0,0,0,0
$GC,5707,-0.66,-116.8,526.2,-8.0,106,5711,0.00,0.30,0.00,0.000,4,0.000,0.069,2081,3911,2736,0,0,0,0,0,0
$GC,5740,-0.66,-116.8,526.2,-8.0,106,5744,0.00,0.25,0.00,0.000,6,0.000,0.048,2081,3720,2736,0,0,0,0,0,0
$GC,6381,-0.66,-116.8,578.7,-7.8,117,6385,0.00,0.35,0.00,0.000,4,0.000,0.064,2081,3914,2737,0,0,0,0,0,0
$GC,6415,-0.66,-116.8,578.7,-7.8,117,6418,0.00,0.25,0.00,0.000,6,0.000,0.047,2081,3723,2737,0,0,0,0,0,0
$GC,7055,-0.66,-116.8,629.6,-7.7,128,7059,0.00,0.35,0.00,0.000,4,0.000,0.067,2081,3918,2737,0,0,0,0,0,0
$GC,7094,-0.66,-116.8,629.6,-7.7,128,7098,0.00,0.25,0.00,0.000,6,0.000,0.048,2081,3733,2737,0,0,0,0,0,0
$GC,7729,-0.66,-116.8,680.3,-7.8,139,7733,0.00,0.32,0.00,0.000,4,0.000,0.067,2081,3919,2737,0,0,0,0,0,0
$GC,7802,-0.66,-116.8,685.6,-7.9,140,7805,0.00,0.25,0.00,0.000,6,0.000,0.045,2081,3722,2737,0,0,0,0,0,0
$GC,8469,-0.66,-116.8,741.5,-8.2,151,8473,0.00,0.35,0.00,0.000,4,0.000,0.066,2081,3918,2737,0,0,0,0,0,0
$GC,8502,-0.66,-116.8,741.5,-8.2,151,8506,0.00,0.25,0.00,0.000,6,0.000,0.047,2081,3721,2737,0,0,0,0,0,0
$GC,9144,-0.66,-116.8,803.0,-9.6,162,9148,0.00,0.35,0.00,0.000,4,0.000,0.067,2081,3916,2737,0,0,0,0,0,0
$GC,9212,-0.66,-116.8,809.8,-9.7,163,9215,0.00,0.25,0.00,0.000,6,0.000,0.047,2081,3718,2737,0,0,0,0,0,0
$GC,9886,-0.66,-116.8,878.4,-10.4,174,9890,0.00,0.35,0.00,0.000,4,0.000,0.067,2081,3915,2737,0,0,0,0,0,0
$GC,9939,-0.66,-116.8,878.4,-10.4,174,9943,0.00,0.25,0.00,0.000,6,0.000,0.047,2081,3722,2737,0,0,0,0,0,0
$STATE,10496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10496,begin apogee
$GC,10508,-0.16,0.0,944.3,-10.7,184,10621,0.47,0.00,105.60,1.447,6,0.098,0.000,2247,1701,2250,0,0,0,0,0,0
$STATE,10622,end apogee,CONTROL_FINISHED_OK
$STATE,10622,begin climb
$GC,10625,0.66,116.8,950.8,0.0,185,10749,0.75,2.30,111.93,1.408,4,0.048,0.061,2530,462,1773,0,0,0,0,0,0
$GC,10782,1.06,442.2,966.4,-6.5,188,11104,0.32,2.05,308.88,1.381,6,0.048,0.021,2650,1743,445,0,0,0,0,0,0
$GC,11743,1.06,442.2,856.6,13.2,204,11747,0.00,2.08,0.00,0.000,4,0.000,0.050,2658,460,439,0,0,0,0,0,0
$GC,11864,1.06,442.2,847.5,13.4,205,11871,0.00,1.85,0.00,0.000,6,0.000,0.031,2658,1672,439,0,0,0,0,0,0
$GC,12479,1.06,442.2,753.3,13.8,216,12483,0.00,1.98,0.00,0.000,4,0.000,0.050,2666,443,439,0,0,0,0,0,0
$GC,12512,1.06,442.2,753.3,13.8,216,12516,0.00,1.92,0.00,0.000,6,0.000,0.030,2667,1698,438,0,0,0,0,0,0
$GC,13154,1.06,442.2,655.2,14.9,227,13159,0.00,2.00,0.00,0.000,4,0.000,0.051,2675,458,438,0,0,0,0,0,0
$GC,13405,1.06,442.2,624.7,15.2,230,13409,0.12,1.90,0.00,0.000,6,0.129,0.033,2640,1702,438,0,0,0,0,0,0
$GC,14026,1.06,442.2,538.9,12.6,241,14030,0.00,1.95,0.00,0.000,4,0.000,0.049,2640,2945,438,0,0,0,0,0,0
$GC,14132,1.06,442.2,529.8,12.9,242,14135,0.00,1.95,0.00,0.000,6,0.000,0.037,2647,1689,438,0,0,0,0,0,0
$GC,14766,1.06,442.2,438.2,13.8,253,14769,0.00,2.00,0.00,0.000,4,0.000,0.047,2647,2934,438,0,0,0,0,0,0
$GC,14851,1.06,442.2,428.5,13.9,254,14855,0.00,1.98,0.00,0.000,6,0.000,0.037,2656,1696,438,0,0,0,0,0,0
$GC,15506,1.06,442.2,331.5,14.9,265,15510,0.00,2.00,0.00,0.000,4,0.000,0.049,2656,2938,438,0,0,0,0,0,0
$GC,15525,1.06,442.2,331.5,14.9,265,15529,0.00,1.92,0.00,0.000,6,0.000,0.037,2664,1696,438,0,0,0,0,0,0
$GC,16181,1.06,442.2,227.3,14.9,276,16185,0.00,1.95,0.00,0.000,4,0.000,0.054,2673,476,438,0,0,0,0,0,0
$GC,16267,1.06,442.2,216.6,15.0,277,16271,0.12,1.88,0.00,0.000,6,0.125,0.032,2638,1713,438,0,0,0,0,0,0
$GC,16922,1.06,442.2,129.8,12.9,288,16926,0.00,2.00,0.00,0.000,4,0.000,0.051,2645,472,438,0,0,0,0,0,0
$GC,17153,1.06,442.2,102.6,13.3,291,17157,0.00,1.88,0.00,0.000,6,0.000,0.031,2645,1698,439,0,0,0,0,0,0
$GC,17803,1.06,442.2,19.8,10.3,312,17807,0.00,2.00,0.00,0.000,4,0.000,0.057,2649,476,439,0,0,0,0,0,0
$GC,17839,1.06,442.2,16.4,9.9,313,17843,0.00,1.85,0.00,0.000,6,0.000,0.029,2649,1711,439,0,0,0,0,0,0
$FREEZE,5.85,NaN,-0.004,2,1,0
$FREEZE,2.40,-1.535,-1.850,2,1,0
$FREEZE,1.70,NaN,-0.001,2,1,0
$STATE,17991,end climb,SURFACE_DEPTH_REACHED
$STATE,17991,begin surface coast
$FREEZE,1.66,-1.503,-1.768,2,1,0
$FINISH,1.7,1.025967
$STATE,18025,end surface coast,CONTROL_FINISHED_OK
$STATE,18025,begin surface
$SM_CCo,18109,0.00,0.000,0,0,439,444.24
$SM_GC,2.46,6.88,3.30,0.00,0.051,0.036,0.000,105,3790,439,-6.77,-1.10,444.24,0,0,0,0,0,0
$RAFOS_CLK,1120
$RAFOS,6,1327682990,16.833334,16.830555,60,58,58,0,0,0,181,141,213,0,0,0
$RAFOS,5,1327682464,16.700001,16.684444,63,61,58,0,0,0,191,121,215,0,0,0
$RAFOS,4,1327682007,16.566668,16.557501,59,57,56,0,0,0,141,209,153,0,0,0
$RAFOS,3,1327681507,16.433332,16.418612,67,58,56,0,0,0,118,210,188,0,0,0
$RAFOS,2,1327681074,16.299999,16.298334,75,64,59,0,0,0,159,193,213,0,0,0
$RAFOS,1,1327680581,16.166666,16.161388,60,58,58,0,0,0,191,130,212,0,0,0
$RAFOS,0,1327680084,16.033333,16.023333,59,56,53,0,0,0,210,193,157,0,0,0
$RAFOS,6,1327668541,12.833333,12.816944,63,57,56,0,0,0,206,226,147,0,0,0
$RAFOS,4,1327667587,12.566667,12.551945,66,60,58,0,0,0,192,213,143,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6028.48,-6032.28,270112,070736
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.84
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,17.60
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.1,56.319
$10V_AH,9.9,66.698
$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,17.375,53.975,526.400,0.000,0.000,0.000,0.000,221.950,8.000,0.000,23.269,1158.350,15099.820,573.338,1311.093,415.167,0.000,1516.129,0.000,1103.699,2880.000,28.598,0.000
$DEVICE_MAMPS,253.215,212.670,1446.615,0.000,0.000,0.000,0.000,246.435,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,203.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270328
$DATA_FILE_SIZE,13535,319
$CAP_FILE_SIZE,98472,0
$CFSIZE,260165632,208510976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.383, 18.8,1
$GPS,270112,174906,6047.120,-6033.413,37,1.1,37,-27.7