version: 66.09
glider: 143
mission: 13
dive: 2094
start: 1 22 112 17 24 5
data:
$ID,143
$MISSION,13
$DIVE,2094
$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,-259561.8
$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,22
$R_STBD_OVSHOOT,48
$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,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
$GPS1,220112,075130,6110.563,-6034.234,46,1.1,46,-28.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-30.0
$GPS2,220112,075130,6110.563,-6034.234,46,1.1,46,-28.1
$SPEED_LIMITS,0.155,0.251
$TGT_NAME,HEADING
$TGT_LATLONG,6110.563,-6011.835
$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,114.4,20000,-16.6,-8.952
$D_GRID,1532
$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,19,-0.71,-146.0,0.0,0.0,0,141,0.00,0.00,-119.12,0.000,2,0.000,0.000,114,1699,2558,0,0,0,0,0,0
$GC,148,-0.71,-146.0,10.7,-13.0,4,170,7.88,1.15,-8.35,0.000,4,0.249,0.057,1957,2442,3084,0,0,0,0,0,0
$GC,294,-0.71,-146.0,45.8,-24.2,8,298,0.00,1.27,0.00,0.000,6,0.000,0.066,1957,1699,3086,0,0,0,0,0,0
$GC,928,-0.71,-146.0,134.9,-13.7,29,931,0.00,1.08,0.00,0.000,4,0.000,0.027,1953,2429,3085,0,0,0,0,0,0
$GC,1185,-0.71,-146.0,169.2,-14.9,36,1192,0.00,1.25,0.00,0.000,6,0.000,0.061,1953,1701,3084,0,0,0,0,0,0
$GC,1806,-0.71,-146.0,267.1,-15.4,57,1809,0.00,1.08,0.00,0.000,4,0.000,0.026,1948,2429,3085,0,0,0,0,0,0
$GC,2013,-0.71,-146.0,297.4,-15.3,63,2016,0.00,1.27,0.00,0.000,6,0.000,0.060,1948,1692,3085,0,0,0,0,0,0
$GC,2655,-0.71,-146.0,391.5,-14.7,84,2659,0.00,1.10,0.00,0.000,4,0.000,0.027,1944,2428,3087,0,0,0,0,0,0
$GC,2913,-0.71,-146.0,427.0,-15.0,91,2918,0.00,1.25,0.00,0.000,6,0.000,0.060,1943,1700,3087,0,0,0,0,0,0
$GC,3563,-0.71,-146.0,529.3,-15.2,110,3567,0.00,1.08,0.00,0.000,4,0.000,0.026,1939,2423,3089,0,0,0,0,0,0
$GC,3823,-0.71,-146.0,558.3,-14.7,113,3830,0.08,1.25,0.00,0.000,6,0.129,0.060,1964,1695,3089,0,0,0,0,0,0
$GC,4438,-0.71,-146.0,642.1,-11.9,124,4442,0.00,1.08,0.00,0.000,4,0.000,0.026,1961,2424,3090,0,0,0,0,0,0
$GC,4695,-0.71,-146.0,668.8,-13.1,127,4702,0.00,1.25,0.00,0.000,6,0.000,0.060,1961,1696,3090,0,0,0,0,0,0
$GC,5311,-0.71,-146.0,757.1,-13.6,138,5314,0.00,1.17,0.00,0.000,4,0.000,0.076,1961,983,3090,0,0,0,0,0,0
$GC,5469,-0.71,-146.0,776.2,-13.9,140,5473,0.00,1.10,0.00,0.000,6,0.000,0.030,1957,1721,3090,0,0,0,0,0,0
$GC,6119,-0.71,-146.0,866.8,-14.2,151,6122,0.00,1.00,0.00,0.000,4,0.000,0.026,1953,2416,3090,0,0,0,0,0,0
$GC,6306,-0.71,-146.0,886.6,-14.5,153,6310,0.00,1.23,0.00,0.000,6,0.000,0.060,1953,1703,3090,0,0,0,0,0,0
$STATE,6681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6681,begin apogee
$GC,6690,-0.16,0.0,946.4,-13.2,160,6825,0.57,0.00,128.00,1.445,6,0.106,0.000,2143,1702,2485,0,0,0,0,0,0
$STATE,6826,end apogee,CONTROL_FINISHED_OK
$STATE,6826,begin climb
$GC,6830,0.71,146.0,956.0,0.0,162,6978,0.82,1.23,137.45,1.402,4,0.058,0.034,2428,2379,1888,0,0,0,0,0,0
$GC,7071,1.07,433.3,967.5,-2.9,166,7351,0.28,1.25,270.50,1.382,6,0.036,0.052,2553,1693,718,0,0,0,0,0,0
$GC,7979,1.07,433.3,886.3,10.0,181,7983,0.00,1.12,0.00,0.000,4,0.000,0.037,2552,2386,711,0,0,0,0,0,0
$GC,8052,1.07,433.3,879.3,10.1,182,8056,0.00,1.17,0.00,0.000,6,0.000,0.049,2555,1690,711,0,0,0,0,0,0
$GC,8720,1.07,433.3,813.3,9.4,193,8724,0.00,1.10,0.00,0.000,4,0.000,0.039,2555,2377,710,0,0,0,0,0,0
$GC,8748,1.07,433.3,813.3,9.4,193,8752,0.00,1.15,0.00,0.000,6,0.000,0.049,2555,1692,710,0,0,0,0,0,0
$GC,9395,1.07,433.3,750.3,9.2,204,9399,0.00,1.10,0.00,0.000,4,0.000,0.038,2555,2380,709,0,0,0,0,0,0
$GC,9448,1.07,433.3,750.3,9.2,204,9451,0.00,1.15,0.00,0.000,6,0.000,0.050,2558,1692,709,0,0,0,0,0,0
$GC,10071,1.07,433.3,683.7,10.3,215,10074,0.00,1.10,0.00,0.000,4,0.000,0.039,2558,2379,709,0,0,0,0,0,0
$GC,10143,1.07,433.3,675.8,10.5,216,10146,0.00,1.12,0.00,0.000,6,0.000,0.050,2560,1699,709,0,0,0,0,0,0
$GC,10815,1.07,433.3,598.4,11.8,227,10819,0.00,1.10,0.00,0.000,4,0.000,0.040,2560,2384,709,0,0,0,0,0,0
$GC,10847,1.07,433.3,598.4,11.8,227,10851,0.00,1.15,0.00,0.000,6,0.000,0.050,2562,1693,709,0,0,0,0,0,0
$GC,11488,1.07,433.3,525.5,10.3,238,11492,0.00,1.10,0.00,0.000,4,0.000,0.039,2562,2380,709,0,0,0,0,0,0
$GC,11561,1.07,433.3,518.4,10.3,239,11564,0.00,1.12,0.00,0.000,6,0.000,0.049,2562,1702,709,0,0,0,0,0,0
$GC,12205,1.07,433.3,453.1,10.2,257,12208,0.00,1.10,0.00,0.000,4,0.000,0.039,2562,2388,709,0,0,0,0,0,0
$GC,12274,1.07,433.3,446.2,10.1,259,12278,0.00,1.15,0.00,0.000,6,0.000,0.050,2564,1695,709,0,0,0,0,0,0
$GC,12924,1.07,437.5,382.9,8.8,280,12934,0.00,1.15,3.85,0.705,4,0.000,0.038,2564,2390,701,0,0,0,0,0,0
$GC,12982,1.07,437.5,379.6,9.0,281,12986,0.00,1.15,0.00,0.000,6,0.000,0.049,2567,1701,701,0,0,0,0,0,0
$GC,13602,1.07,437.5,316.4,9.9,302,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,1701,701,0,0,0,0,0,0
$GC,14214,1.07,437.5,254.0,11.0,322,14218,0.00,1.15,0.00,0.000,4,0.000,0.064,2569,986,701,0,0,0,0,0,0
$GC,14340,1.07,437.5,243.1,10.9,325,14345,0.00,1.08,0.00,0.000,6,0.000,0.030,2569,1692,701,0,0,0,0,0,0
$GC,14959,1.07,437.5,180.7,9.6,346,14963,0.00,1.15,0.00,0.000,4,0.000,0.060,2568,993,701,0,0,0,0,0,0
$GC,15079,1.07,437.5,171.2,9.6,349,15082,0.00,1.08,0.00,0.000,6,0.000,0.029,2568,1702,701,0,0,0,0,0,0
$GC,15704,1.07,437.5,106.7,10.2,370,15708,0.00,1.17,0.00,0.000,4,0.000,0.061,2568,989,701,0,0,0,0,0,0
$GC,15823,1.07,437.5,96.8,9.9,373,15827,0.00,1.08,0.00,0.000,6,0.000,0.028,2568,1702,701,0,0,0,0,0,0
$GC,16449,1.11,466.5,45.1,7.8,394,16483,0.00,1.25,26.52,0.850,4,0.000,0.060,2568,978,582,0,0,0,0,0,0
$GC,16564,1.12,475.0,36.3,8.6,397,16576,0.00,1.10,8.30,0.770,6,0.000,0.028,2568,1700,548,0,0,0,0,0,0
$FREEZE,5.73,-1.501,-1.834,2,13,0
$FREEZE,2.41,NaN,-0.002,2,13,0
$FREEZE,1.54,-1.627,-1.739,2,13,0
$STATE,16946,end climb,SURFACE_DEPTH_REACHED
$STATE,16946,begin surface coast
$FREEZE,1.44,NaN,-0.001,2,13,0
$FINISH,1.4,NaN
$STATE,16972,end surface coast,CONTROL_FINISHED_OK
$STATE,16972,begin surface
$SM_CCo,16992,12.25,0.074,0,0,441,501.15
$SM_GC,1.99,6.50,0.00,12.25,0.039,0.000,0.074,120,1713,441,-6.43,0.37,501.15,0,0,0,0,0,0
$RAFOS_CLK,1096
$RAFOS,6,1327265343,20.833334,20.817499,65,64,53,0,0,0,132,209,185,0,0,0
$RAFOS,5,1327264876,20.700001,20.687778,60,56,56,0,0,0,227,175,162,0,0,0
$RAFOS,4,1327264408,20.566668,20.557777,65,53,52,0,0,0,197,150,206,0,0,0
$RAFOS,3,1327263902,20.433332,20.417223,63,60,59,0,0,0,216,135,189,0,0,0
$RAFOS,2,1327263427,20.299999,20.285278,59,59,58,0,0,0,209,219,142,0,0,0
$RAFOS,1,1327262989,20.166666,20.163610,72,55,52,0,0,0,196,229,164,0,0,0
$RAFOS,0,1327262464,20.033333,20.017778,69,59,58,0,0,0,221,209,121,0,0,0
$RAFOS,6,1327250960,16.833334,16.822222,60,54,51,0,0,0,196,213,140,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6050.49,-6040.24,220112,070716
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.78
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.4,16.3
$24V_AH,22.1,52.425
$10V_AH,9.9,65.169
$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,16.125,48.175,574.625,12.250,0.000,0.000,0.000,0.000,4.000,0.000,0.000,1247.745,13614.076,600.795,1362.935,247.810,0.000,1395.474,0.000,1330.097,2520.000,25.604,0.000
$DEVICE_MAMPS,248.625,75.735,1445.085,74.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270516
$DATA_FILE_SIZE,16767,410
$CAP_FILE_SIZE,94618,0
$CFSIZE,260165632,207908864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.037,269.2,1
$GPS,220112,220905,6108.506,-6037.410,40,1.1,40,-28.1