version: 66.09
glider: 143
mission: 13
dive: 2108
start: 1 25 112 6 33 48
data:
$ID,143
$MISSION,13
$DIVE,2108
$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,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,-260483.72
$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,24
$R_STBD_OVSHOOT,60
$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,645
$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
$GPS1,240112,200336,6100.336,-6031.237,181,99.0,181,-27.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,-52.7
$GPS2,240112,200336,6100.336,-6031.237,181,99.0,181,-27.9
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6100.336,-6008.958
$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,105.3,20000,-15.9,-7.460
$D_GRID,1658
$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,-0.66,-116.8,0.0,0.0,0,51,0.00,0.00,-29.58,0.000,2,0.000,0.000,114,1700,1037,0,0,0,0,0,0
$GC,55,-0.66,-116.8,3.5,0.0,1,158,8.23,1.25,-88.90,0.000,4,0.239,0.094,2085,978,2727,0,0,0,0,0,0
$GC,227,-0.66,-116.8,11.9,-7.9,6,231,0.00,1.08,0.00,0.000,6,0.000,0.021,2083,1750,2729,0,0,0,0,0,0
$GC,855,-0.66,-116.8,83.6,-11.6,27,858,0.00,0.88,0.00,0.000,4,0.000,0.034,2080,2347,2728,0,0,0,0,0,0
$GC,901,-0.66,-116.8,87.7,-11.7,28,905,0.00,1.10,0.00,0.000,6,0.000,0.054,2080,1702,2728,0,0,0,0,0,0
$GC,1560,-0.66,-116.8,148.0,-7.7,41,1564,0.00,1.00,0.00,0.000,4,0.000,0.032,2078,2352,2726,0,0,0,0,0,0
$GC,1679,-0.66,-116.8,153.2,-7.6,42,1682,0.00,1.12,0.00,0.000,6,0.000,0.054,2078,1694,2727,0,0,0,0,0,0
$GC,2301,-0.66,-116.8,210.6,-8.9,53,2304,0.00,1.00,0.00,0.000,4,0.000,0.031,2077,2347,2726,0,0,0,0,0,0
$GC,2439,-0.66,-116.8,223.4,-9.3,55,2443,0.00,1.10,0.00,0.000,6,0.000,0.054,2077,1698,2726,0,0,0,0,0,0
$GC,3107,-0.66,-116.8,290.4,-10.2,66,3111,0.00,1.00,0.00,0.000,4,0.000,0.033,2075,2350,2727,0,0,0,0,0,0
$GC,3192,-0.66,-116.8,297.3,-10.1,67,3196,0.00,1.10,0.00,0.000,6,0.000,0.054,2075,1700,2727,0,0,0,0,0,0
$GC,3848,-0.66,-116.8,366.4,-10.7,78,3851,0.00,1.00,0.00,0.000,4,0.000,0.032,2073,2352,2728,0,0,0,0,0,0
$GC,3987,-0.66,-116.8,381.5,-10.9,80,3991,0.00,1.10,0.00,0.000,6,0.000,0.054,2073,1701,2728,0,0,0,0,0,0
$GC,4655,-0.66,-116.8,456.1,-11.0,91,4659,0.00,0.98,0.00,0.000,4,0.000,0.031,2071,2345,2728,0,0,0,0,0,0
$GC,4755,-0.66,-116.8,463.8,-11.1,92,4759,0.00,1.10,0.00,0.000,6,0.000,0.053,2071,1696,2728,0,0,0,0,0,0
$GC,5395,-0.66,-116.8,537.4,-10.9,103,5399,0.00,1.00,0.00,0.000,4,0.000,0.031,2070,2352,2729,0,0,0,0,0,0
$GC,5521,-0.66,-116.8,545.0,-11.0,104,5528,0.00,1.10,0.00,0.000,6,0.000,0.053,2070,1700,2729,0,0,0,0,0,0
$GC,6136,-0.66,-116.8,619.6,-11.2,115,6140,0.00,0.98,0.00,0.000,4,0.000,0.031,2069,2340,2729,0,0,0,0,0,0
$GC,6297,-0.66,-116.8,635.3,-11.4,117,6300,0.00,1.08,0.00,0.000,6,0.000,0.053,2069,1703,2729,0,0,0,0,0,0
$GC,6946,-0.66,-116.8,716.2,-12.0,128,6950,0.00,1.15,0.00,0.000,4,0.000,0.066,2069,989,2729,0,0,0,0,0,0
$GC,7097,-0.66,-116.8,732.8,-12.1,130,7101,0.00,1.00,0.00,0.000,6,0.000,0.021,2069,1700,2729,0,0,0,0,0,0
$GC,7757,-0.66,-116.8,808.9,-11.1,141,7760,0.00,0.95,0.00,0.000,4,0.000,0.033,2065,2354,2729,0,0,0,0,0,0
$GC,7895,-0.66,-116.8,823.5,-10.7,143,7899,0.00,1.10,0.00,0.000,6,0.000,0.052,2065,1701,2729,0,0,0,0,0,0
$GC,8569,-0.66,-116.8,888.3,-9.0,154,8573,0.00,1.00,0.00,0.000,4,0.000,0.031,2063,2357,2729,0,0,0,0,0,0
$GC,8694,-0.66,-116.8,894.9,-9.0,155,8704,0.00,1.12,0.00,0.000,6,0.000,0.052,2063,1692,2729,0,0,0,0,0,0
$STATE,9183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9183,begin apogee
$GC,9192,-0.16,0.0,942.0,-8.5,164,9299,0.52,0.00,102.65,1.444,6,0.087,0.000,2249,1692,2250,0,0,0,0,0,0
$STATE,9303,end apogee,CONTROL_FINISHED_OK
$STATE,9303,begin climb
$GC,9307,0.66,116.8,946.4,0.0,165,9429,0.73,1.20,111.00,1.404,4,0.051,0.033,2513,2352,1772,0,0,0,0,0,0
$GC,9681,0.91,323.3,959.0,-1.4,171,9879,0.17,1.15,191.93,1.394,6,0.041,0.049,2602,1694,930,0,0,0,0,0,0
$GC,10497,0.91,323.3,877.3,10.8,185,10501,0.00,1.05,0.00,0.000,4,0.000,0.037,2602,2351,922,0,0,0,0,0,0
$GC,10643,0.91,323.3,863.7,10.3,187,10647,0.00,1.10,0.00,0.000,6,0.000,0.047,2607,1692,921,0,0,0,0,0,0
$GC,11304,0.91,323.3,801.6,8.9,198,11308,0.00,1.05,0.00,0.000,4,0.000,0.037,2607,2355,921,0,0,0,0,0,0
$GC,11450,0.91,323.3,790.8,8.5,200,11453,0.00,1.10,0.00,0.000,6,0.000,0.046,2612,1691,920,0,0,0,0,0,0
$GC,12112,0.91,323.3,732.6,8.2,211,12115,0.00,1.02,0.00,0.000,4,0.000,0.037,2611,2343,920,0,0,0,0,0,0
$GC,12308,0.91,323.3,721.2,8.1,213,12315,0.00,1.08,0.00,0.000,6,0.000,0.046,2616,1692,920,0,0,0,0,0,0
$GC,12923,0.91,323.3,656.3,9.9,224,12927,0.00,1.12,0.00,0.000,4,0.000,0.060,2621,982,919,0,0,0,0,0,0
$GC,13180,0.91,323.3,632.0,11.7,227,13187,0.00,1.02,0.00,0.000,6,0.000,0.033,2621,1651,918,0,0,0,0,0,0
$GC,13794,0.91,323.3,545.8,12.9,238,13798,0.00,1.15,0.00,0.000,4,0.000,0.042,2621,2396,918,0,0,0,0,0,0
$GC,13822,0.91,323.3,545.8,12.9,238,13826,0.10,1.15,0.00,0.000,6,0.125,0.044,2592,1694,918,0,0,0,0,0,0
$GC,14470,0.91,323.3,460.4,12.8,249,14473,0.00,1.12,0.00,0.000,4,0.000,0.041,2592,2395,918,0,0,0,0,0,0
$GC,14635,0.91,323.3,442.8,13.0,251,14639,0.00,1.15,0.00,0.000,6,0.000,0.044,2595,1690,918,0,0,0,0,0,0
$GC,15276,0.91,323.3,357.9,12.6,262,15280,0.00,1.12,0.00,0.000,4,0.000,0.041,2595,2393,918,0,0,0,0,0,0
$GC,15401,0.91,323.3,349.1,12.8,263,15408,0.00,1.12,0.00,0.000,6,0.000,0.044,2599,1702,918,0,0,0,0,0,0
$GC,16016,0.91,323.3,263.9,12.9,274,16020,0.00,1.12,0.00,0.000,4,0.000,0.041,2599,2400,918,0,0,0,0,0,0
$GC,16168,0.91,323.3,246.3,13.1,276,16172,0.00,1.15,0.00,0.000,6,0.000,0.045,2603,1697,918,0,0,0,0,0,0
$GC,16823,0.91,323.3,168.9,10.7,287,16827,0.00,1.12,0.00,0.000,4,0.000,0.041,2604,2396,918,0,0,0,0,0,0
$GC,17012,0.91,323.3,154.3,10.8,289,17016,0.00,1.12,0.00,0.000,6,0.000,0.044,2608,1702,918,0,0,0,0,0,0
$GC,17633,0.91,323.3,84.9,11.1,302,17637,0.00,1.12,0.00,0.000,4,0.000,0.041,2608,2402,918,0,0,0,0,0,0
$GC,17726,0.91,323.3,77.6,11.0,304,17732,0.00,1.15,0.00,0.000,6,0.000,0.044,2613,1698,918,0,0,0,0,0,0
$FREEZE,8.50,-1.024,-1.852,2,3,0
$GC,18350,0.91,323.3,8.5,9.0,325,18354,0.00,1.12,0.00,0.000,4,0.000,0.040,2613,2398,918,0,0,0,0,0,0
$FREEZE,8.50,-1.024,-1.852,2,3,0
$FREEZE,8.50,-1.024,-1.852,2,3,0
$FREEZE,8.50,-1.024,-1.852,2,3,0
$FREEZE,4.80,NaN,-0.004,2,3,0
$FREEZE,4.80,NaN,-0.004,2,3,0
$FREEZE,4.80,NaN,-0.004,2,3,0
$FREEZE,4.80,NaN,-0.004,2,3,0
$FREEZE,4.80,NaN,-0.004,2,3,0
$FREEZE,1.86,-1.230,-1.847,2,3,0
$STATE,18420,end climb,SURFACE_DEPTH_REACHED
$STATE,18421,begin surface coast
$FREEZE,1.86,-1.230,-1.847,2,3,0
$FINISH,1.9,1.027073
$STATE,18427,end surface coast,CONTROL_FINISHED_OK
$STATE,18427,begin surface
$SM_CCo,18448,56.08,0.073,0,0,442,443.50
$SM_GC,2.22,6.72,1.17,56.08,0.048,0.049,0.073,118,1702,442,-6.75,0.93,443.50,0,0,0,0,0,0
$RAFOS_CLK,1193
$RAFOS,6,1327481363,8.833333,8.823055,67,60,57,0,0,0,213,147,172,0,0,0
$RAFOS,5,1327480918,8.700000,8.699445,58,57,56,0,0,0,185,199,141,0,0,0
$RAFOS,4,1327480430,8.566667,8.563889,59,54,53,0,0,0,196,134,162,0,0,0
$RAFOS,3,1327479926,8.433333,8.423889,61,57,56,0,0,0,218,184,156,0,0,0
$RAFOS,2,1327479427,8.300000,8.285277,66,63,54,0,0,0,187,203,145,0,0,0
$RAFOS,1,1327478995,8.166667,8.165277,61,59,54,0,0,0,184,207,170,0,0,0
$RAFOS,0,1327478498,8.033334,8.027223,60,51,51,0,0,0,198,152,164,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6037.25,-6043.37,240112,191945
$TT8_MAMPS,0.026215,0.026215
$HUMID,54.64
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.2
$24V_AH,22.1,54.467
$10V_AH,9.9,65.979
$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,16.475,52.100,405.575,56.075,0.000,0.000,0.000,0.000,4.000,0.000,0.000,1201.857,15219.029,519.597,1367.510,263.150,0.000,1303.273,0.000,1336.578,2520.000,25.587,0.000
$DEVICE_MAMPS,238.680,94.095,1443.555,73.440,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270404
$DATA_FILE_SIZE,16854,327
$CAP_FILE_SIZE,97612,0
$CFSIZE,260165632,207286272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.329, 82.1,1
$GPS,250112,114335,6058.413,-6031.428,29,1.1,29,-27.9