version: 66.09
glider: 143
mission: 13
dive: 2105
start: 1 24 112 15 0 2
data:
$ID,143
$MISSION,13
$DIVE,2105
$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,125
$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,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,-260116.3
$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,20
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,66
$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
$GPS1,240112,145205,6100.657,-6034.927,23,1.1,23,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-67.7
$GPS2,240112,145925,6100.624,-6034.904,15,2.0,15,-27.9
$SPEED_LIMITS,0.129,0.217
$TGT_NAME,HEADING
$TGT_LATLONG,6100.624,-6012.622
$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,72.9,20000,-27.5,-7.460
$D_GRID,1612
$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,-0.94,-40.7,0.0,0.0,0,77,0.00,0.00,-57.40,0.000,2,0.000,0.000,108,1702,1333,0,0,0,0,0,0
$GC,83,-1.01,-101.5,3.0,0.0,2,176,7.90,1.20,-76.55,0.000,4,0.245,0.102,1968,998,2666,0,0,0,0,0,0
$GC,317,-1.01,-101.5,37.2,-21.8,9,321,0.00,1.02,0.00,0.000,6,0.000,0.028,1964,1706,2667,0,0,0,0,0,0
$GC,986,-1.01,-101.5,157.9,-17.3,26,989,0.00,1.00,0.00,0.000,4,0.000,0.028,1960,2390,2666,0,0,0,0,0,0
$GC,1243,-1.01,-101.5,193.6,-17.7,29,1250,0.00,1.17,0.00,0.000,6,0.000,0.059,1960,1701,2666,0,0,0,0,0,0
$GC,1858,-1.01,-101.5,311.0,-16.5,40,1862,0.00,1.02,0.00,0.000,4,0.000,0.025,1956,2390,2668,0,0,0,0,0,0
$GC,2098,-1.01,-101.5,341.7,-15.4,43,2101,0.00,1.17,0.00,0.000,6,0.000,0.057,1956,1700,2667,0,0,0,0,0,0
$GC,2733,-1.01,-101.5,447.0,-16.6,54,2736,0.00,1.17,0.00,0.000,4,0.000,0.072,1956,978,2668,0,0,0,0,0,0
$GC,2990,-1.01,-101.5,484.6,-18.4,57,2996,0.00,1.05,0.00,0.000,6,0.000,0.025,1951,1725,2669,0,0,0,0,0,0
$GC,3606,-1.01,-101.5,609.9,-18.8,68,3609,0.00,0.93,0.00,0.000,4,0.000,0.026,1946,2381,2669,0,0,0,0,0,0
$GC,3864,-1.01,-101.5,645.7,-18.0,71,3872,0.00,1.17,0.00,0.000,6,0.000,0.057,1946,1694,2669,0,0,0,0,0,0
$GC,4478,-1.01,-101.5,761.9,-17.0,82,4482,0.00,1.15,0.00,0.000,4,0.000,0.073,1946,989,2670,0,0,0,0,0,0
$GC,4736,-1.01,-101.5,797.8,-17.8,85,4747,0.10,1.00,0.00,0.000,6,0.156,0.026,1971,1702,2670,0,0,0,0,0,0
$GC,5350,-1.01,-101.5,890.5,-12.4,96,5354,0.00,1.20,0.00,0.000,4,0.000,0.071,1971,986,2670,0,0,0,0,0,0
$GC,5551,-1.01,-101.5,918.9,-13.9,99,5555,0.00,1.00,0.00,0.000,6,0.000,0.025,1967,1694,2670,0,0,0,0,0,0
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5744,-0.16,0.0,945.5,-14.0,102,5841,0.85,0.00,91.05,1.452,6,0.122,0.000,2239,1696,2250,0,0,0,0,0,0
$STATE,5846,end apogee,CONTROL_FINISHED_OK
$STATE,5846,begin climb
$GC,5850,1.01,101.5,949.8,0.0,103,5955,1.08,1.27,95.00,1.414,4,0.047,0.061,2638,987,1837,0,0,0,0,0,0
$GC,5988,1.09,162.4,960.1,0.0,105,6052,0.00,1.12,59.25,1.386,6,0.000,0.025,2638,1677,1587,0,0,0,0,0,0
$GC,6669,1.09,162.4,914.6,9.5,117,6672,0.00,1.08,0.00,0.000,4,0.000,0.037,2638,2385,1579,0,0,0,0,0,0
$GC,6927,1.09,162.4,896.6,9.1,120,6934,0.00,1.17,0.00,0.000,6,0.000,0.049,2642,1689,1577,0,0,0,0,0,0
$GC,7543,1.09,162.4,837.1,8.7,131,7547,0.00,1.10,0.00,0.000,4,0.000,0.036,2642,2385,1576,0,0,0,0,0,0
$GC,7709,1.09,162.4,825.6,8.7,133,7712,0.00,1.15,0.00,0.000,6,0.000,0.049,2647,1696,1577,0,0,0,0,0,0
$GC,8349,1.09,162.4,767.2,8.9,144,8353,0.00,1.08,0.00,0.000,4,0.000,0.037,2646,2377,1576,0,0,0,0,0,0
$GC,8448,1.09,162.4,761.4,8.8,145,8452,0.00,1.12,0.00,0.000,6,0.000,0.049,2651,1701,1576,0,0,0,0,0,0
$GC,9090,1.09,162.4,702.2,9.0,156,9093,0.00,1.08,0.00,0.000,4,0.000,0.037,2651,2382,1576,0,0,0,0,0,0
$GC,9235,1.09,162.4,691.1,8.6,158,9238,0.00,1.15,0.00,0.000,6,0.000,0.049,2656,1694,1576,0,0,0,0,0,0
$GC,9896,1.09,162.4,639.5,7.5,169,9900,0.00,1.10,0.00,0.000,4,0.000,0.037,2656,2389,1576,0,0,0,0,0,0
$GC,10061,1.09,163.4,629.7,7.3,171,10065,0.00,1.15,0.00,0.000,6,0.000,0.049,2660,1698,1576,0,0,0,0,0,0
$GC,10702,1.09,163.4,578.1,7.9,182,10706,0.00,1.08,0.00,0.000,4,0.000,0.036,2660,2381,1575,0,0,0,0,0,0
$GC,10907,1.09,163.4,561.0,8.4,185,10911,0.00,1.15,0.00,0.000,6,0.000,0.049,2664,1692,1575,0,0,0,0,0,0
$GC,11574,1.09,163.4,506.6,7.9,196,11578,0.00,1.10,0.00,0.000,4,0.000,0.037,2664,2389,1576,0,0,0,0,0,0
$GC,11818,1.09,163.4,491.4,7.6,199,11822,0.00,1.15,0.00,0.000,6,0.000,0.049,2669,1696,1576,0,0,0,0,0,0
$GC,12446,1.11,178.9,449.1,5.6,210,12464,0.00,1.05,13.62,1.063,4,0.000,0.033,2669,2385,1519,0,0,0,0,0,0
$GC,12638,1.12,189.5,436.8,6.2,213,12654,0.00,1.15,10.55,1.030,6,0.000,0.048,2673,1696,1477,0,0,0,0,0,0
$GC,13314,1.12,189.5,379.6,9.0,224,13318,0.00,1.12,0.00,0.000,4,0.000,0.062,2679,986,1475,0,0,0,0,0,0
$GC,13479,1.12,189.5,366.6,9.0,226,13483,0.00,1.08,0.00,0.000,6,0.000,0.028,2679,1696,1475,0,0,0,0,0,0
$GC,14121,1.12,189.5,301.2,9.9,237,14125,0.00,1.05,0.00,0.000,4,0.000,0.038,2679,2396,1475,0,0,0,0,0,0
$GC,14378,1.12,189.5,283.1,9.2,240,14385,0.00,1.17,0.00,0.000,6,0.000,0.047,2683,1692,1475,0,0,0,0,0,0
$GC,14995,1.12,189.5,213.4,11.8,251,14998,0.00,1.10,0.00,0.000,4,0.000,0.037,2683,2395,1475,0,0,0,0,0,0
$GC,15067,1.12,189.5,204.7,12.1,252,15070,0.00,1.15,0.00,0.000,6,0.000,0.048,2688,1699,1474,0,0,0,0,0,0
$GC,15736,1.12,189.5,120.2,11.6,263,15739,0.00,1.08,0.00,0.000,4,0.000,0.035,2688,2390,1475,0,0,0,0,0,0
$GC,15848,1.12,189.5,113.2,11.2,264,15853,0.10,1.15,0.00,0.000,6,0.154,0.047,2662,1695,1475,0,0,0,0,0,0
$GC,16485,1.13,194.7,61.5,6.8,283,16496,0.00,1.12,5.88,0.734,4,0.000,0.035,2662,2397,1455,0,0,0,0,0,0
$GC,16753,1.14,204.9,44.5,6.2,291,16769,0.00,1.15,10.48,0.820,6,0.000,0.048,2665,1701,1413,0,0,0,0,0,0
$FREEZE,7.63,-1.114,-1.850,2,1,0
$FREEZE,6.07,NaN,-0.005,2,1,0
$FREEZE,4.88,-1.138,-1.846,2,1,0
$FREEZE,3.16,NaN,-0.002,2,1,0
$FREEZE,3.16,NaN,-0.002,2,1,0
$FREEZE,3.16,NaN,-0.002,2,1,0
$GC,17398,1.16,225.4,3.2,4.9,312,17413,0.00,1.17,9.70,0.075,4,0.000,0.061,2670,986,1330,0,0,0,0,0,0
$FREEZE,3.16,NaN,-0.002,2,1,0
$FREEZE,1.67,-0.918,-1.143,2,1,0
$STATE,17427,end climb,SURFACE_DEPTH_REACHED
$STATE,17427,begin surface coast
$FREEZE,1.67,-0.918,-1.143,2,1,0
$FREEZE,1.67,-0.918,-1.143,2,1,0
$FREEZE,1.67,-0.918,-1.143,2,1,0
$FREEZE,1.67,-0.918,-1.143,2,1,0
$FREEZE,1.69,NaN,-0.001,2,1,0
$FINISH,1.7,NaN
$STATE,17458,end surface coast,CONTROL_FINISHED_OK
$STATE,17458,begin surface
$SM_CCo,17480,101.35,0.076,0,0,442,443.50
$SM_GC,2.60,6.85,1.10,101.35,0.045,0.022,0.076,116,1727,442,-6.76,-1.50,443.50,0,0,0,0,0,0
$RAFOS_CLK,1084
$RAFOS,6,1327423746,16.833334,16.818333,62,56,51,0,0,0,219,191,207,0,0,0
$RAFOS,4,1327422783,16.566668,16.550833,58,56,52,0,0,0,214,119,138,0,0,0
$RAFOS,3,1327422306,16.433332,16.418333,65,61,53,0,0,0,204,144,167,0,0,0
$RAFOS,2,1327421822,16.299999,16.283890,59,57,57,0,0,0,162,212,221,0,0,0
$RAFOS,1,1327421374,16.166666,16.159445,60,55,53,0,0,0,212,158,178,0,0,0
$RAFOS,0,1327420864,16.033333,16.017778,66,62,61,0,0,0,215,134,205,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6041.65,-6031.28,240112,080839
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.00
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,17.10
$XPDR_PINGS,20
$ALTIM_TOP_PING,18.9,17.1
$24V_AH,22.1,54.031
$10V_AH,9.9,65.787
$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,16.875,48.975,295.525,101.350,0.000,0.000,0.000,209.275,8.500,0.000,17.263,1205.252,14243.611,500.429,1648.887,449.288,0.000,1513.669,0.000,1434.214,2160.000,25.583,0.000
$DEVICE_MAMPS,244.800,101.745,1451.970,75.735,0.000,0.000,0.000,235.949,420.000,0.000,26.960,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,193.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270368
$DATA_FILE_SIZE,13474,314
$CAP_FILE_SIZE,104140,0
$CFSIZE,260165632,207433728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1465.0
$CURRENT,0.239, 78.8,1
$GPS,240112,195436,6100.503,-6031.309,38,0.8,38,-27.9