version: 66.09
glider: 143
mission: 13
dive: 2127
start: 1 28 112 21 55 57
data:
$ID,143
$MISSION,13
$DIVE,2127
$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,-261229.08
$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,2000
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$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
$GPS1,280112,214753,6043.190,-6030.154,40,0.9,41,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-57.8
$GPS2,280112,215521,6043.259,-6030.202,18,1.5,18,-27.7
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6043.259,-6008.120
$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,132.8,20000,-15.9,-7.460
$D_GRID,1647
$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,-0.66,-116.8,0.0,0.0,0,138,0.00,0.00,-117.50,0.000,2,0.000,0.000,112,3803,2204,0,0,0,0,0,0
$GC,143,-0.66,-116.8,4.0,-2.0,4,178,8.65,1.00,-14.35,0.000,4,0.248,0.073,2082,3227,2730,0,0,0,0,0,0
$GC,317,-0.66,-116.8,31.0,-13.3,9,321,0.00,1.95,0.00,0.000,6,0.000,0.055,2082,2003,2732,0,0,0,0,0,0
$GC,959,-0.66,-116.8,106.7,-10.8,29,963,0.00,2.05,0.00,0.000,4,0.000,0.073,2082,755,2730,0,0,0,0,0,0
$GC,1051,-0.66,-116.8,113.8,-10.6,30,1055,0.00,1.90,0.00,0.000,6,0.000,0.023,2077,2086,2729,0,0,0,0,0,0
$GC,1700,-0.66,-116.8,183.7,-10.5,41,1704,0.00,2.22,0.00,0.000,4,0.000,0.070,2077,761,2729,0,0,0,0,0,0
$GC,1799,-0.66,-116.8,190.6,-10.7,42,1803,0.00,1.88,0.00,0.000,6,0.000,0.024,2071,2066,2729,0,0,0,0,0,0
$GC,2434,-0.66,-116.8,272.3,-12.5,53,2438,0.00,1.77,0.00,0.000,4,0.000,0.039,2063,3243,2730,0,0,0,0,0,0
$GC,2462,-0.66,-116.8,272.3,-12.5,53,2466,0.00,2.03,0.00,0.000,6,0.000,0.052,2063,1999,2730,0,0,0,0,0,0
$GC,3104,-0.66,-116.8,352.1,-11.7,64,3108,0.00,2.03,0.00,0.000,4,0.000,0.070,2063,753,2732,0,0,0,0,0,0
$GC,3223,-0.66,-116.8,359.7,-11.9,65,3230,0.12,1.90,0.00,0.000,6,0.131,0.024,2091,2066,2732,0,0,0,0,0,0
$GC,3839,-0.66,-116.8,432.8,-10.6,76,3843,0.00,1.80,0.00,0.000,4,0.000,0.041,2088,3238,2734,0,0,0,0,0,0
$GC,3958,-0.66,-116.8,440.0,-10.5,77,3961,0.00,2.00,0.00,0.000,6,0.000,0.048,2088,1998,2734,0,0,0,0,0,0
$GC,4581,-0.66,-116.8,509.4,-10.2,88,4585,0.00,2.00,0.00,0.000,4,0.000,0.067,2087,754,2734,0,0,0,0,0,0
$GC,4661,-0.66,-116.8,516.0,-10.3,89,4665,0.00,1.90,0.00,0.000,6,0.000,0.023,2088,2050,2734,0,0,0,0,0,0
$GC,5316,-0.66,-116.8,583.8,-10.0,100,5320,0.00,2.12,0.00,0.000,4,0.000,0.063,2088,757,2735,0,0,0,0,0,0
$GC,5363,-0.66,-116.8,583.8,-10.0,100,5367,0.00,1.83,0.00,0.000,6,0.000,0.024,2087,2004,2735,0,0,0,0,0,0
$GC,5985,-0.66,-116.8,649.1,-9.7,111,5989,0.00,2.05,0.00,0.000,4,0.000,0.063,2087,756,2735,0,0,0,0,0,0
$GC,6063,-0.66,-116.8,655.2,-9.8,112,6067,0.00,1.83,0.00,0.000,6,0.000,0.022,2087,2010,2736,0,0,0,0,0,0
$GC,6719,-0.66,-116.8,726.3,-10.9,123,6723,0.00,2.05,0.00,0.000,4,0.000,0.063,2087,762,2736,0,0,0,0,0,0
$GC,6765,-0.66,-116.8,726.3,-10.9,123,6769,0.00,1.83,0.00,0.000,6,0.000,0.022,2083,2015,2736,0,0,0,0,0,0
$GC,7386,-0.66,-116.8,798.0,-10.5,134,7390,0.00,2.08,0.00,0.000,4,0.000,0.063,2083,752,2736,0,0,0,0,0,0
$GC,7472,-0.66,-116.8,804.3,-10.4,135,7476,0.00,1.83,0.00,0.000,6,0.000,0.024,2083,2001,2736,0,0,0,0,0,0
$GC,8119,-0.66,-116.8,866.5,-8.5,146,8123,0.00,2.05,0.00,0.000,4,0.000,0.063,2083,752,2736,0,0,0,0,0,0
$GC,8166,-0.66,-116.8,866.5,-8.5,146,8169,0.00,1.83,0.00,0.000,6,0.000,0.023,2079,2003,2736,0,0,0,0,0,0
$GC,8787,-0.66,-116.8,919.1,-7.5,157,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2004,2736,0,0,0,0,0,0
$STATE,9086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9086,begin apogee
$GC,9095,-0.16,0.0,941.6,-7.4,162,9205,0.47,0.00,105.68,1.441,6,0.092,0.000,2244,1692,2250,0,0,0,0,0,0
$STATE,9209,end apogee,CONTROL_FINISHED_OK
$STATE,9209,begin climb
$GC,9213,0.66,116.8,945.3,0.0,163,9336,0.75,2.17,111.90,1.401,4,0.048,0.034,2518,2893,1772,0,0,0,0,0,0
$GC,9435,0.90,318.9,954.3,-1.2,167,9634,0.20,2.10,190.60,1.379,6,0.059,0.048,2607,1690,948,0,0,0,0,0,0
$GC,10256,0.90,318.9,857.6,12.5,181,10259,0.00,1.98,0.00,0.000,4,0.000,0.060,2617,456,940,0,0,0,0,0,0
$GC,10513,0.90,318.9,828.1,14.2,184,10520,0.00,1.85,0.00,0.000,6,0.000,0.028,2616,1685,938,0,0,0,0,0,0
$GC,11129,0.90,318.9,735.3,13.0,195,11133,0.00,1.98,0.00,0.000,4,0.000,0.057,2625,462,938,0,0,0,0,0,0
$GC,11387,0.90,318.9,709.4,12.8,198,11397,0.12,1.88,0.00,0.000,6,0.147,0.030,2594,1701,937,0,0,0,0,0,0
$GC,12001,0.90,318.9,639.0,9.7,209,12005,0.00,1.90,0.00,0.000,4,0.000,0.044,2593,2936,938,0,0,0,0,0,0
$GC,12048,0.90,318.9,639.0,9.7,209,12051,0.00,1.98,0.00,0.000,6,0.000,0.044,2600,1695,938,0,0,0,0,0,0
$GC,12675,0.90,318.9,570.0,10.2,220,12679,0.00,1.95,0.00,0.000,4,0.000,0.043,2600,2935,938,0,0,0,0,0,0
$GC,12754,0.90,318.9,563.1,10.1,221,12758,0.00,2.00,0.00,0.000,6,0.000,0.044,2608,1688,938,0,0,0,0,0,0
$GC,13415,0.90,318.9,488.0,11.4,232,13419,0.00,1.95,0.00,0.000,4,0.000,0.043,2609,2925,937,0,0,0,0,0,0
$GC,13454,0.90,318.9,488.0,11.4,232,13458,0.00,1.95,0.00,0.000,6,0.000,0.044,2617,1695,937,0,0,0,0,0,0
$GC,14090,0.90,318.9,407.8,11.7,243,14091,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,1695,937,0,0,0,0,0,0
$GC,14695,0.90,318.9,336.2,12.2,253,14699,0.00,1.95,0.00,0.000,4,0.000,0.043,2617,2932,938,0,0,0,0,0,0
$GC,14721,0.90,318.9,336.2,12.2,253,14726,0.05,2.00,0.00,0.000,6,0.106,0.044,2594,1699,938,0,0,0,0,0,0
$GC,15369,0.90,318.9,265.8,10.5,264,15373,0.00,1.95,0.00,0.000,4,0.000,0.042,2594,2939,938,0,0,0,0,0,0
$GC,15455,0.90,318.9,258.2,10.6,265,15459,0.00,1.98,0.00,0.000,6,0.000,0.043,2601,1691,938,0,0,0,0,0,0
$GC,16109,0.90,318.9,180.7,12.1,276,16113,0.00,1.95,0.00,0.000,4,0.000,0.041,2601,2933,938,0,0,0,0,0,0
$GC,16177,0.90,318.9,172.1,12.2,277,16181,0.00,1.95,0.00,0.000,6,0.000,0.043,2609,1696,938,0,0,0,0,0,0
$GC,16820,0.90,318.9,91.1,12.9,288,16824,0.00,1.98,0.00,0.000,4,0.000,0.042,2610,2924,938,0,0,0,0,0,0
$GC,16925,0.90,318.9,77.4,13.3,291,16929,0.00,1.95,0.00,0.000,6,0.000,0.044,2618,1695,938,0,0,0,0,0,0
$FREEZE,8.30,-1.623,-1.855,2,1,0
$FREEZE,5.53,NaN,-0.004,2,1,0
$GC,17565,0.90,318.9,5.5,9.9,312,17569,0.00,1.98,0.00,0.000,4,0.000,0.040,2618,2927,939,0,0,0,0,0,0
$FREEZE,5.53,NaN,-0.004,2,1,0
$FREEZE,5.53,NaN,-0.004,2,1,0
$FREEZE,5.53,NaN,-0.004,2,1,0
$FREEZE,1.98,-1.642,-1.850,2,1,0
$STATE,17597,end climb,SURFACE_DEPTH_REACHED
$STATE,17597,begin surface coast
$FREEZE,1.98,-1.642,-1.850,2,1,0
$FINISH,2.0,1.027132
$STATE,17602,end surface coast,CONTROL_FINISHED_OK
$STATE,17603,begin surface
$SM_CCo,17625,58.55,0.073,0,0,442,443.50
$SM_GC,2.75,6.53,1.55,58.55,0.032,0.046,0.073,121,2000,442,-6.75,0.88,443.50,0,0,0,0,0,0
$RAFOS_CLK,1101
$RAFOS,6,1327798143,0.833333,0.817500,61,60,59,0,0,0,217,144,205,0,0,0
$RAFOS,5,1327797706,0.700000,0.696111,64,60,55,0,0,0,226,168,209,0,0,0
$RAFOS,4,1327797183,0.566667,0.550833,62,59,52,0,0,0,222,202,140,0,0,0
$RAFOS,3,1327796722,0.433333,0.422778,65,60,55,0,0,0,142,196,168,0,0,0
$RAFOS,2,1327796237,0.300000,0.288056,61,59,59,0,0,0,130,148,217,0,0,0
$RAFOS,1,1327795751,0.166667,0.153056,63,59,59,0,0,0,181,127,198,0,0,0
$RAFOS,0,1327795266,0.033333,0.018333,65,57,54,0,0,0,208,177,120,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6019.75,-6028.95,280112,161639
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.60
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,17.20
$XPDR_PINGS,18
$ALTIM_TOP_PING,17.5,14.7
$24V_AH,22.0,57.523
$10V_AH,9.9,67.116
$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,16.900,89.350,408.175,58.550,0.000,0.000,0.000,234.825,8.000,0.000,19.485,1164.168,14726.954,541.167,1318.135,394.633,0.000,1454.443,0.000,1091.548,2520.000,25.600,0.000
$DEVICE_MAMPS,247.860,73.440,1441.260,73.440,0.000,0.000,0.000,241.941,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,198.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270244
$DATA_FILE_SIZE,13485,313
$CAP_FILE_SIZE,95420,0
$CFSIZE,260165632,208187392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.326,144.8,1
$GPS,290112,025205,6042.914,-6032.184,30,0.9,31,-27.6