version: 66.09
glider: 143
mission: 13
dive: 2125
start: 1 28 112 11 54 19
data:
$ID,143
$MISSION,13
$DIVE,2125
$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,-261226.58
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,280112,114534,6044.667,-6031.953,41,1.2,45,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-65.6
$GPS2,280112,115343,6044.632,-6031.942,19,0.8,19,-27.7
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6044.632,-6009.845
$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,100.8,20000,-15.9,-7.460
$D_GRID,1606
$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,-116.8,0.0,0.0,0,79,0.00,0.00,-58.05,0.000,2,0.000,0.000,114,3772,1357,0,0,0,0,0,0
$GC,84,-0.66,-116.8,3.0,0.0,2,169,9.18,1.98,-70.12,0.000,4,0.266,0.057,2081,2548,2727,0,0,0,0,0,0
$GC,242,-0.66,-116.8,15.2,-8.2,6,246,0.00,2.03,0.00,0.000,6,0.000,0.045,2077,3807,2729,0,0,0,0,0,0
$GC,880,-0.66,-116.8,75.8,-8.6,27,885,0.00,2.00,0.00,0.000,4,0.000,0.044,2077,2552,2728,0,0,0,0,0,0
$GC,1033,-0.66,-116.8,89.9,-10.2,31,1037,0.00,2.00,0.00,0.000,6,0.000,0.044,2071,3802,2728,0,0,0,0,0,0
$GC,1679,-0.66,-116.8,172.3,-12.8,43,1682,0.00,0.17,0.00,0.000,4,0.000,0.087,2070,3916,2727,0,0,0,0,0,0
$GC,1705,-0.66,-116.8,172.3,-12.8,43,1708,0.00,0.28,0.00,0.000,6,0.000,0.050,2069,3748,2726,0,0,0,0,0,0
$GC,2355,-0.66,-116.8,238.4,-8.0,54,2358,0.00,0.30,0.00,0.000,4,0.000,0.061,2069,3910,2727,0,0,0,0,0,0
$GC,2401,-0.66,-116.8,238.4,-8.0,54,2405,0.00,0.25,0.00,0.000,6,0.000,0.051,2069,3748,2727,0,0,0,0,0,0
$GC,3030,-0.66,-116.8,288.6,-7.7,65,3034,0.00,0.30,0.00,0.000,4,0.000,0.064,2069,3910,2728,0,0,0,0,0,0
$GC,3098,-0.66,-116.8,294.2,-7.9,66,3101,0.00,0.25,0.00,0.000,6,0.000,0.050,2069,3741,2728,0,0,0,0,0,0
$GC,3779,-0.66,-116.8,352.0,-8.7,77,3782,0.00,0.32,0.00,0.000,4,0.000,0.065,2069,3917,2730,0,0,0,0,0,0
$GC,3791,-0.66,-116.8,352.0,-8.7,77,3795,0.00,0.25,0.00,0.000,6,0.000,0.050,2069,3749,2730,0,0,0,0,0,0
$GC,4453,-0.66,-116.8,423.7,-11.4,88,4457,0.00,0.30,0.00,0.000,4,0.000,0.067,2069,3915,2731,0,0,0,0,0,0
$GC,4487,-0.66,-116.8,423.7,-11.4,88,4490,0.00,0.25,0.00,0.000,6,0.000,0.049,2069,3741,2732,0,0,0,0,0,0
$GC,5128,-0.66,-116.8,505.5,-12.3,99,5132,0.00,0.32,0.00,0.000,4,0.000,0.065,2069,3914,2732,0,0,0,0,0,0
$GC,5181,-0.66,-116.8,505.5,-12.3,99,5184,0.00,0.25,0.00,0.000,6,0.000,0.050,2069,3745,2732,0,0,0,0,0,0
$GC,5804,-0.66,-116.8,587.7,-11.8,110,5807,0.00,0.30,0.00,0.000,4,0.000,0.067,2069,3914,2732,0,0,0,0,0,0
$GC,5876,-0.66,-116.8,595.3,-11.5,111,5880,0.00,0.25,0.00,0.000,6,0.000,0.049,2069,3737,2733,0,0,0,0,0,0
$GC,6544,-0.66,-116.8,662.6,-9.4,122,6548,0.00,0.32,0.00,0.000,4,0.000,0.066,2069,3912,2733,0,0,0,0,0,0
$GC,6563,-0.66,-116.8,662.6,-9.4,122,6567,0.00,0.25,0.00,0.000,6,0.000,0.050,2069,3748,2733,0,0,0,0,0,0
$GC,7217,-0.66,-116.8,715.8,-7.6,133,7221,0.00,0.30,0.00,0.000,4,0.000,0.069,2069,3915,2733,0,0,0,0,0,0
$GC,7257,-0.66,-116.8,715.8,-7.6,133,7261,0.00,0.25,0.00,0.000,6,0.000,0.048,2069,3730,2733,0,0,0,0,0,0
$GC,7893,-0.66,-116.8,766.8,-7.6,144,7896,0.00,0.32,0.00,0.000,4,0.000,0.067,2069,3911,2734,0,0,0,0,0,0
$GC,7932,-0.66,-116.8,766.8,-7.6,144,7935,0.00,0.25,0.00,0.000,6,0.000,0.048,2069,3728,2734,0,0,0,0,0,0
$GC,8566,-0.66,-116.8,819.6,-8.1,155,8570,0.00,0.32,0.00,0.000,4,0.000,0.067,2069,3907,2734,0,0,0,0,0,0
$GC,8634,-0.66,-116.8,825.0,-8.2,156,8638,0.00,0.25,0.00,0.000,6,0.000,0.049,2069,3718,2733,0,0,0,0,0,0
$GC,9308,-0.66,-116.8,881.7,-8.7,167,9309,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3718,2734,0,0,0,0,0,0
$GC,9915,-0.66,-116.8,935.2,-8.9,177,9919,0.00,0.35,0.00,0.000,4,0.000,0.066,2069,3909,2734,0,0,0,0,0,0
$STATE,9979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9979,begin apogee
$GC,9991,-0.16,0.0,941.3,-9.0,178,10104,0.52,0.00,105.32,1.439,6,0.103,0.000,2248,1693,2250,0,0,0,0,0,0
$STATE,10105,end apogee,CONTROL_FINISHED_OK
$STATE,10105,begin climb
$GC,10109,0.66,116.8,946.5,0.0,179,10232,0.75,2.20,112.20,1.404,4,0.048,0.034,2522,2942,1772,0,0,0,0,0,0
$GC,10240,1.00,395.5,958.9,-4.5,182,10517,0.28,2.22,264.40,1.375,6,0.050,0.047,2633,1698,637,0,0,0,0,0,0
$GC,11159,1.00,395.5,844.3,13.5,197,11160,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1698,630,0,0,0,0,0,0
$GC,11764,1.00,395.5,765.0,13.2,207,11768,0.00,1.95,0.00,0.000,4,0.000,0.056,2643,456,629,0,0,0,0,0,0
$GC,12022,1.00,395.5,737.8,13.5,210,12029,0.00,1.92,0.00,0.000,6,0.000,0.030,2642,1721,629,0,0,0,0,0,0
$GC,12637,1.00,395.5,650.2,12.9,221,12641,0.00,1.88,0.00,0.000,4,0.000,0.045,2643,2938,628,0,0,0,0,0,0
$GC,12776,1.00,395.5,631.8,13.2,223,12780,0.00,1.98,0.00,0.000,6,0.000,0.039,2651,1682,628,0,0,0,0,0,0
$GC,13444,1.00,395.5,541.3,13.5,234,13447,0.00,1.98,0.00,0.000,4,0.000,0.046,2651,2930,628,0,0,0,0,0,0
$GC,13603,1.00,395.5,522.2,13.9,236,13608,0.15,1.95,0.00,0.000,6,0.127,0.039,2617,1688,628,0,0,0,0,0,0
$GC,14243,1.00,395.5,443.7,11.7,247,14247,0.00,1.95,0.00,0.000,4,0.000,0.054,2625,470,628,0,0,0,0,0,0
$GC,14362,1.00,395.5,435.7,11.7,248,14366,0.00,1.88,0.00,0.000,6,0.000,0.031,2625,1713,628,0,0,0,0,0,0
$GC,14984,1.00,395.5,357.8,11.5,259,14987,0.00,2.00,0.00,0.000,4,0.000,0.052,2633,459,628,0,0,0,0,0,0
$GC,15155,1.00,395.5,342.1,11.5,261,15159,0.00,1.92,0.00,0.000,6,0.000,0.031,2633,1704,628,0,0,0,0,0,0
$GC,15792,1.00,395.5,266.6,11.2,272,15796,0.00,1.98,0.00,0.000,4,0.000,0.053,2642,470,628,0,0,0,0,0,0
$GC,16050,1.00,395.5,241.1,12.3,275,16057,0.00,1.88,0.00,0.000,6,0.000,0.031,2642,1710,628,0,0,0,0,0,0
$GC,16665,1.00,395.5,148.8,14.2,286,16670,0.00,1.90,0.00,0.000,4,0.000,0.047,2642,2939,628,0,0,0,0,0,0
$GC,16877,1.00,395.5,119.8,14.4,289,16880,0.00,1.95,0.00,0.000,6,0.000,0.039,2651,1694,628,0,0,0,0,0,0
$GC,17511,1.00,395.5,31.6,12.5,307,17515,0.00,1.95,0.00,0.000,4,0.000,0.044,2651,2931,629,0,0,0,0,0,0
$GC,17661,1.00,395.5,14.7,12.7,311,17665,0.15,1.92,0.00,0.000,6,0.129,0.039,2616,1702,630,0,0,0,0,0,0
$FREEZE,8.12,-1.610,-1.855,2,1,0
$FREEZE,5.01,NaN,-0.004,2,1,0
$FREEZE,1.92,-1.635,-1.850,2,1,0
$STATE,17764,end climb,SURFACE_DEPTH_REACHED
$STATE,17764,begin surface coast
$FREEZE,1.65,NaN,-0.001,2,1,0
$FINISH,1.6,NaN
$STATE,17797,end surface coast,CONTROL_FINISHED_OK
$STATE,17797,begin surface
$SM_CCo,17821,22.65,0.074,0,0,441,443.50
$SM_GC,2.52,6.80,3.38,22.65,0.053,0.038,0.074,111,3783,441,-6.76,-1.30,443.50,0,0,0,0,0,0
$RAFOS_CLK,1109
$RAFOS,5,1327768891,16.700001,16.691944,62,61,59,0,0,0,201,211,155,0,0,0
$RAFOS,4,1327768388,16.566668,16.552221,57,56,54,0,0,0,200,162,129,0,0,0
$RAFOS,3,1327767956,16.433332,16.432222,62,61,58,0,0,0,148,178,211,0,0,0
$RAFOS,2,1327767444,16.299999,16.290001,59,59,57,0,0,0,195,219,131,0,0,0
$RAFOS,1,1327766959,16.166666,16.155277,74,61,60,0,0,0,224,208,162,0,0,0
$RAFOS,0,1327766517,16.033333,16.032499,78,62,56,0,0,0,206,191,220,0,0,0
$RAFOS,6,1327754942,12.833333,12.817223,55,54,53,0,0,0,191,166,212,0,0,0
$RAFOS,5,1327754502,12.700000,12.695000,79,58,53,0,0,0,217,148,183,0,0,0
$RAFOS,4,1327754007,12.566667,12.557500,59,57,55,0,0,0,211,147,179,0,0,0
$RAFOS,3,1327753522,12.433333,12.422778,61,59,58,0,0,0,119,157,205,0,0,0
$RAFOS,2,1327753030,12.300000,12.286111,67,56,55,0,0,0,213,194,181,0,0,0
$RAFOS,1,1327752542,12.166667,12.150556,64,63,59,0,0,0,191,203,117,0,0,0
$RAFOS,0,1327752071,12.033333,12.019722,70,60,56,0,0,0,206,187,137,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6024.11,-6036.62,280112,020219
$TT8_MAMPS,0.028462,0.028462
$HUMID,54.68
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,17.50
$XPDR_PINGS,21
$ALTIM_TOP_PING,18.7,16.7
$24V_AH,22.0,57.154
$10V_AH,9.9,66.984
$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,17.825,56.850,481.925,22.650,0.000,0.000,0.000,279.575,8.750,0.000,19.982,1157.466,14800.455,549.671,1393.215,447.628,0.000,1547.249,0.000,1159.214,5040.000,29.228,0.000
$DEVICE_MAMPS,266.220,87.210,1438.965,74.205,0.000,0.000,0.000,238.945,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270392
$DATA_FILE_SIZE,13552,316
$CAP_FILE_SIZE,98225,0
$CFSIZE,260165632,208281600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.040,310.7,1
$GPS,280112,165306,6043.954,-6033.145,27,0.8,27,-27.7