version: 66.09
glider: 143
mission: 13
dive: 2081
start: 1 20 112 13 0 37
data:
$ID,143
$MISSION,13
$DIVE,2081
$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,350
$T_MISSION,400
$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,150
$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,501.14789
$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,-258643.61
$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,2200
$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,20
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2485
$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,0
$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,48
$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
$GPS1,200112,085037,6119.292,-6031.806,79,1.4,80,-28.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-48.2
$GPS2,200112,085037,6119.292,-6031.806,79,1.4,80,-28.2
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,6119.292,-6009.302
$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,73.2,20000,-27.7,-8.952
$D_GRID,1304
$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,-0.96,-53.5,0.0,0.0,0,74,0.00,0.00,-53.78,0.000,2,0.000,0.000,114,1698,1415,0,0,0,0,0,0
$GC,79,-1.05,-126.2,3.1,-0.8,5,159,7.40,1.23,-66.95,0.000,4,0.249,0.105,1854,995,3002,0,0,0,0,0,0
$GC,279,-1.05,-126.2,43.1,-27.1,20,283,0.00,1.08,0.00,0.000,6,0.000,0.031,1850,1709,3004,0,0,0,0,0,0
$GC,605,-1.05,-126.2,126.9,-26.2,38,609,0.00,1.02,0.00,0.000,4,0.000,0.027,1846,2429,3003,0,0,0,0,0,0
$GC,863,-1.05,-126.2,182.0,-23.2,45,872,0.00,1.25,0.00,0.000,6,0.000,0.064,1845,1708,3001,0,0,0,0,0,0
$GC,1177,-1.05,-126.2,264.1,-24.8,56,1181,0.00,1.20,0.00,0.000,4,0.000,0.078,1845,988,3001,0,0,0,0,0,0
$GC,1366,-1.05,-126.2,310.5,-28.1,61,1370,0.00,1.08,0.00,0.000,6,0.000,0.031,1840,1707,3001,0,0,0,0,0,0
$GC,1687,-1.05,-126.2,394.9,-24.4,72,1690,0.00,1.00,0.00,0.000,4,0.000,0.026,1835,2411,3001,0,0,0,0,0,0
$GC,1944,-1.05,-126.2,446.8,-22.0,79,1952,0.00,1.23,0.00,0.000,6,0.000,0.062,1835,1700,3001,0,0,0,0,0,0
$GC,2288,-1.05,-126.2,536.8,-24.8,89,2291,0.00,1.17,0.00,0.000,4,0.000,0.077,1835,987,3002,0,0,0,0,0,0
$GC,2464,-1.05,-126.2,572.2,-25.6,91,2468,0.10,1.08,0.00,0.000,6,0.191,0.031,1857,1713,3002,0,0,0,0,0,0
$GC,2796,-1.05,-126.2,657.3,-22.1,97,2800,0.00,1.00,0.00,0.000,4,0.000,0.027,1854,2409,3002,0,0,0,0,0,0
$GC,3057,-1.05,-126.2,700.4,-21.6,100,3063,0.00,1.23,0.00,0.000,6,0.000,0.062,1854,1697,3002,0,0,0,0,0,0
$GC,3369,-1.05,-126.2,781.5,-22.1,106,3373,0.00,1.17,0.00,0.000,4,0.000,0.076,1854,982,3003,0,0,0,0,0,0
$GC,3626,-1.05,-126.2,829.8,-23.6,109,3635,0.00,1.08,0.00,0.000,6,0.000,0.031,1850,1702,3003,0,0,0,0,0,0
$GC,3938,-1.05,-126.2,913.9,-22.4,115,3941,0.00,1.02,0.00,0.000,4,0.000,0.027,1845,2415,3003,0,0,0,0,0,0
$STATE,4068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4068,begin apogee
$GC,4079,-0.16,0.0,941.9,-21.6,117,4193,1.00,0.00,108.47,1.449,6,0.167,0.000,2140,1697,2486,0,0,0,0,0,0
$STATE,4197,end apogee,CONTROL_FINISHED_OK
$STATE,4197,begin climb
$GC,4201,1.05,126.2,948.8,0.0,118,4332,1.17,0.00,118.78,1.406,6,0.074,0.000,2534,1695,1969,0,0,0,0,0,0
$GC,4634,1.21,253.1,979.8,-5.3,126,4760,0.15,1.27,115.47,1.417,4,0.070,0.037,2602,2387,1453,0,0,0,0,0,0
$GC,4968,1.21,254.7,960.1,8.8,131,4972,0.00,1.23,0.00,0.000,6,0.000,0.051,2607,1695,1447,0,0,0,0,0,0
$GC,5333,1.21,254.7,917.3,11.5,137,5337,0.00,1.10,0.00,0.000,4,0.000,0.038,2607,2382,1445,0,0,0,0,0,0
$GC,5529,1.21,254.7,902.9,11.1,139,5536,0.00,1.17,0.00,0.000,6,0.000,0.051,2612,1691,1445,0,0,0,0,0,0
$GC,5840,1.21,254.7,861.9,11.0,145,5844,0.00,1.10,0.00,0.000,4,0.000,0.038,2612,2385,1444,0,0,0,0,0,0
$GC,6092,1.21,254.7,840.5,10.5,148,6095,0.00,1.17,0.00,0.000,6,0.000,0.051,2616,1692,1444,0,0,0,0,0,0
$GC,6411,1.21,254.7,800.9,10.7,154,6415,0.00,1.10,0.00,0.000,4,0.000,0.039,2617,2385,1444,0,0,0,0,0,0
$GC,6642,1.21,254.7,779.5,10.7,157,6646,0.10,1.15,0.00,0.000,6,0.153,0.052,2591,1701,1444,0,0,0,0,0,0
$GC,6980,1.21,254.7,742.7,10.0,163,6983,0.00,1.10,0.00,0.000,4,0.000,0.039,2591,2393,1444,0,0,0,0,0,0
$GC,7231,1.21,254.7,722.4,10.2,166,7234,0.00,1.17,0.00,0.000,6,0.000,0.052,2594,1693,1444,0,0,0,0,0,0
$GC,7548,1.21,254.7,685.4,9.8,172,7552,0.00,1.10,0.00,0.000,4,0.000,0.039,2594,2389,1444,0,0,0,0,0,0
$GC,7807,1.21,254.7,667.0,9.3,175,7814,0.00,1.15,0.00,0.000,6,0.000,0.051,2598,1701,1444,0,0,0,0,0,0
$GC,8118,1.22,260.9,635.6,8.3,181,8129,0.00,1.10,6.72,1.027,4,0.000,0.037,2598,2385,1420,0,0,0,0,0,0
$GC,8384,1.22,265.2,613.1,8.5,185,8394,0.00,1.15,5.10,0.925,6,0.000,0.051,2603,1699,1404,0,0,0,0,0,0
$GC,8754,1.23,270.9,581.8,8.3,191,8765,0.00,1.10,7.20,1.029,4,0.000,0.037,2603,2395,1379,0,0,0,0,0,0
$GC,9012,1.24,281.1,561.6,7.8,195,9028,0.00,1.17,10.40,1.095,6,0.000,0.050,2607,1695,1339,0,0,0,0,0,0
$GC,9381,1.24,285.1,531.1,8.5,201,9392,0.00,1.12,5.35,0.912,4,0.000,0.041,2607,2380,1321,0,0,0,0,0,0
$GC,9572,1.25,289.1,520.0,8.5,203,9582,0.00,1.15,5.10,0.886,6,0.000,0.050,2612,1698,1305,0,0,0,0,0,0
$GC,9921,1.25,289.9,484.7,8.9,212,9924,0.00,1.10,0.00,0.000,4,0.000,0.041,2612,2385,1304,0,0,0,0,0,0
$GC,10133,1.25,289.9,466.4,9.0,218,10137,0.00,1.15,0.00,0.000,6,0.000,0.050,2616,1698,1304,0,0,0,0,0,0
$GC,10461,1.25,289.9,434.7,9.6,229,10465,0.00,1.10,0.00,0.000,4,0.000,0.040,2616,2385,1304,0,0,0,0,0,0
$GC,10672,1.25,289.9,414.1,10.4,235,10676,0.00,1.15,0.00,0.000,6,0.000,0.050,2621,1695,1304,0,0,0,0,0,0
$GC,11001,1.25,289.9,376.7,11.5,246,11005,0.00,1.10,0.00,0.000,4,0.000,0.041,2620,2382,1304,0,0,0,0,0,0
$GC,11190,1.25,289.9,356.4,12.0,251,11193,0.00,1.15,0.00,0.000,6,0.000,0.049,2625,1693,1304,0,0,0,0,0,0
$GC,11512,1.25,289.9,315.3,12.3,262,11515,0.00,1.10,0.00,0.000,4,0.000,0.039,2625,2389,1304,0,0,0,0,0,0
$GC,11703,1.25,289.9,294.2,12.3,267,11710,0.00,1.15,0.00,0.000,6,0.000,0.049,2630,1698,1304,0,0,0,0,0,0
$GC,12019,1.25,289.9,252.4,12.0,278,12023,0.00,1.10,0.00,0.000,4,0.000,0.040,2630,2390,1304,0,0,0,0,0,0
$GC,12236,1.25,289.9,227.8,12.4,284,12241,0.10,1.15,0.00,0.000,6,0.148,0.050,2603,1697,1304,0,0,0,0,0,0
$GC,12557,1.25,289.9,187.5,11.9,295,12561,0.00,1.10,0.00,0.000,4,0.000,0.039,2603,2390,1304,0,0,0,0,0,0
$GC,12794,1.25,289.9,159.4,12.1,302,12798,0.00,1.15,0.00,0.000,6,0.000,0.048,2607,1699,1304,0,0,0,0,0,0
$GC,13130,1.25,289.9,123.5,9.5,313,13133,0.00,1.08,0.00,0.000,4,0.000,0.037,2606,2383,1304,0,0,0,0,0,0
$GC,13387,1.25,289.9,101.3,9.5,320,13394,0.00,1.15,0.00,0.000,6,0.000,0.048,2611,1695,1304,0,0,0,0,0,0
$GC,13713,1.27,305.9,72.1,7.2,341,13733,0.00,1.15,15.75,0.852,4,0.000,0.038,2611,2392,1236,0,0,0,0,0,0
$GC,13987,1.30,330.5,53.9,6.2,361,14014,0.00,1.17,21.73,0.860,6,0.000,0.049,2615,1690,1137,0,0,0,0,0,0
$GC,14327,1.30,330.5,26.8,8.9,383,14331,0.00,1.12,0.00,0.000,4,0.000,0.063,2621,987,1136,0,0,0,0,0,0
$GC,14435,1.30,331.1,17.2,8.9,391,14439,0.00,1.10,0.00,0.000,6,0.000,0.030,2621,1706,1135,0,0,0,0,0,0
$FREEZE,8.80,-1.498,-1.835,2,15,0
$FREEZE,7.37,-1.495,-1.835,2,15,0
$FREEZE,5.99,-1.561,-1.833,2,15,0
$FREEZE,4.74,-1.595,-1.832,2,15,0
$FREEZE,3.50,-1.623,-1.831,2,15,0
$FREEZE,2.18,-1.631,-1.830,2,15,0
$FREEZE,1.59,-1.483,-1.820,2,15,0
$STATE,14619,end climb,SURFACE_DEPTH_REACHED
$STATE,14619,begin surface coast
$FREEZE,1.82,-1.479,-1.556,2,15,0
$FINISH,1.8,1.022918
$STATE,14640,end surface coast,FINISH_DEPTH_REACHED
$STATE,14640,begin surface
$SM_CCo,14661,78.95,0.075,0,0,441,501.15
$SM_GC,2.33,6.68,0.00,78.95,0.042,0.000,0.075,121,1717,441,-6.44,0.48,501.15,0,0,0,0,0,0
$RAFOS_CLK,949
$RAFOS,6,1327078141,16.833334,16.816944,65,58,55,0,0,0,162,209,141,0,0,0
$RAFOS,5,1327077664,16.700001,16.684444,65,61,59,0,0,0,206,215,180,0,0,0
$RAFOS,4,1327077182,16.566668,16.550556,62,60,58,0,0,0,199,165,183,0,0,0
$RAFOS,3,1327076715,16.433332,16.420834,60,58,57,0,0,0,196,126,213,0,0,0
$RAFOS,2,1327076237,16.299999,16.288055,60,59,57,0,0,0,217,140,121,0,0,0
$RAFOS,1,1327075760,16.166666,16.155556,59,58,55,0,0,0,208,170,194,0,0,0
$RAFOS,0,1327075280,16.033333,16.022223,64,63,63,0,0,0,181,156,215,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6054.92,-6029.75,200112,080838
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.17
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,17.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.5,17.8
$24V_AH,22.2,49.845
$10V_AH,9.8,64.445
$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,16.700,58.975,420.075,78.950,0.000,0.000,0.000,0.000,5.750,0.000,0.000,1496.404,10587.159,585.460,1820.263,321.412,0.000,1561.013,0.000,1777.402,2520.000,25.595,0.000
$DEVICE_MAMPS,248.625,104.805,1448.910,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.529,142.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,5.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270456
$DATA_FILE_SIZE,16790,404
$CAP_FILE_SIZE,119214,0
$CFSIZE,260165632,208535552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.8
$CURRENT,0.223,129.8,1
$GPS,200112,170752,6117.321,-6029.977,25,1.3,41,-28.2