version: 66.09
glider: 143
mission: 13
dive: 2124
start: 1 28 112 7 49 45
data:
$ID,143
$MISSION,13
$DIVE,2124
$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,-261225.33
$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,3800
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,41
$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
$GPS1,280112,022731,6045.812,-6033.902,19,1.4,20,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.40
$_SM_ANGLEo,0.5
$GPS2,280112,022731,6045.812,-6033.902,19,1.4,20,-27.7
$SPEED_LIMITS,0.129,0.214
$TGT_NAME,HEADING
$TGT_LATLONG,6045.812,-6011.791
$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,72.7,20000,-27.5,-7.460
$D_GRID,1564
$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,-40.7,0.0,0.0,0,26,0.00,1.40,-3.10,0.000,6,0.000,0.073,2300,3788,2419,0,0,0,0,0,0
$GC,30,-1.01,-101.5,18.1,0.0,1,41,0.88,2.00,-4.38,0.000,4,0.066,0.055,1977,2565,2668,0,0,0,0,0,0
$GC,295,-1.01,-101.5,60.9,-16.5,9,299,0.00,2.00,0.00,0.000,6,0.000,0.044,1968,3809,2670,0,0,0,0,0,0
$GC,968,-1.01,-101.5,164.4,-15.0,24,972,0.00,0.17,0.00,0.000,4,0.000,0.082,1967,3928,2667,0,0,0,0,0,0
$GC,1226,-1.01,-101.5,194.5,-15.1,27,1233,0.00,0.28,0.00,0.000,6,0.000,0.052,1967,3765,2667,0,0,0,0,0,0
$GC,1840,-1.01,-101.5,299.4,-16.2,38,1844,0.00,1.83,0.00,0.000,4,0.000,0.047,1967,2582,2667,0,0,0,0,0,0
$GC,2097,-1.01,-101.5,333.0,-16.8,41,2104,0.00,1.98,0.00,0.000,6,0.000,0.044,1959,3807,2667,0,0,0,0,0,0
$GC,2712,-1.01,-101.5,441.0,-15.5,52,2716,0.00,1.95,0.00,0.000,4,0.000,0.044,1959,2585,2667,0,0,0,0,0,0
$GC,2970,-1.01,-101.5,470.6,-14.9,55,2977,0.00,1.95,0.00,0.000,6,0.000,0.044,1951,3801,2667,0,0,0,0,0,0
$GC,3586,-1.01,-101.5,572.6,-15.3,66,3590,0.00,1.95,0.00,0.000,4,0.000,0.044,1951,2581,2668,0,0,0,0,0,0
$GC,3845,-1.01,-101.5,603.5,-15.4,69,3852,0.12,1.98,0.00,0.000,6,0.159,0.044,1972,3810,2668,0,0,0,0,0,0
$GC,4461,-1.01,-101.5,701.7,-14.7,80,4465,0.00,1.95,0.00,0.000,4,0.000,0.043,1972,2584,2667,0,0,0,0,0,0
$GC,4720,-1.01,-101.5,730.0,-14.1,83,4727,0.00,1.98,0.00,0.000,6,0.000,0.044,1965,3807,2668,0,0,0,0,0,0
$GC,5335,-1.01,-101.5,835.4,-16.0,94,5339,0.00,0.17,0.00,0.000,4,0.000,0.083,1965,3926,2668,0,0,0,0,0,0
$GC,5593,-1.01,-101.5,867.2,-15.9,97,5600,0.00,0.22,0.00,0.000,6,0.000,0.054,1965,3803,2668,0,0,0,0,0,0
$STATE,6022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6022,begin apogee
$GC,6034,-0.16,0.0,945.2,-15.8,105,6129,0.88,0.00,90.85,1.447,6,0.126,0.000,2240,1715,2250,0,0,0,0,0,0
$STATE,6133,end apogee,CONTROL_FINISHED_OK
$STATE,6133,begin climb
$GC,6138,1.01,101.5,951.5,0.0,106,6244,1.08,2.15,95.82,1.412,4,0.042,0.031,2642,2952,1835,0,0,0,0,0,0
$GC,6337,1.18,238.5,969.5,-9.3,109,6478,0.00,2.17,131.05,1.401,6,0.000,0.047,2651,1700,1276,0,0,0,0,0,0
$GC,7146,1.18,238.5,886.8,12.8,123,7149,0.00,1.98,0.00,0.000,4,0.000,0.037,2651,2945,1267,0,0,0,0,0,0
$GC,7298,1.18,238.5,869.8,12.5,125,7302,0.00,2.00,0.00,0.000,6,0.000,0.044,2660,1696,1267,0,0,0,0,0,0
$GC,7953,1.18,238.5,782.2,12.9,136,7957,0.00,2.00,0.00,0.000,4,0.000,0.059,2669,462,1267,0,0,0,0,0,0
$GC,8059,1.18,238.5,772.6,13.1,137,8063,0.00,1.90,0.00,0.000,6,0.000,0.026,2669,1723,1264,0,0,0,0,0,0
$GC,8695,1.18,238.5,682.2,13.2,148,8699,0.00,1.85,0.00,0.000,4,0.000,0.041,2669,2921,1264,0,0,0,0,0,0
$GC,8734,1.18,238.5,682.2,13.2,148,8738,0.00,1.95,0.00,0.000,6,0.000,0.045,2678,1698,1264,0,0,0,0,0,0
$GC,9369,1.18,238.5,586.3,13.9,159,9373,0.00,1.98,0.00,0.000,4,0.000,0.060,2688,464,1264,0,0,0,0,0,0
$GC,9514,1.18,238.5,566.8,14.1,161,9518,0.00,1.88,0.00,0.000,6,0.000,0.026,2688,1693,1263,0,0,0,0,0,0
$GC,10176,1.18,238.5,475.5,13.3,172,10180,0.00,1.90,0.00,0.000,4,0.000,0.041,2688,2929,1263,0,0,0,0,0,0
$GC,10196,1.18,238.5,475.5,13.3,172,10200,0.00,1.98,0.00,0.000,6,0.000,0.045,2696,1694,1263,0,0,0,0,0,0
$GC,10850,1.18,238.5,389.5,12.2,183,10854,0.00,1.98,0.00,0.000,4,0.000,0.059,2706,457,1263,0,0,0,0,0,0
$GC,10919,1.18,238.5,380.7,12.3,184,10923,0.00,1.88,0.00,0.000,6,0.000,0.027,2706,1704,1263,0,0,0,0,0,0
$GC,11594,1.18,238.5,294.9,12.7,195,11597,0.00,2.03,0.00,0.000,4,0.000,0.055,2714,455,1263,0,0,0,0,0,0
$GC,11851,1.18,238.5,265.2,14.5,198,11859,0.15,1.88,0.00,0.000,6,0.175,0.026,2679,1713,1263,0,0,0,0,0,0
$GC,12466,1.18,238.5,179.3,12.8,209,12469,0.00,1.88,0.00,0.000,4,0.000,0.041,2679,2930,1263,0,0,0,0,0,0
$GC,12604,1.18,238.5,160.1,13.8,211,12608,0.00,1.98,0.00,0.000,6,0.000,0.045,2686,1691,1263,0,0,0,0,0,0
$GC,13242,1.18,238.5,77.7,12.4,224,13246,0.00,1.98,0.00,0.000,4,0.000,0.060,2695,459,1263,0,0,0,0,0,0
$GC,13466,1.18,238.5,51.8,13.3,230,13473,0.00,1.85,0.00,0.000,6,0.000,0.024,2695,1706,1263,0,0,0,0,0,0
$FREEZE,6.34,-1.601,-1.854,2,2,0
$FREEZE,3.25,NaN,-0.002,2,2,0
$FREEZE,1.83,-1.632,-1.851,2,2,0
$STATE,13901,end climb,SURFACE_DEPTH_REACHED
$STATE,13905,begin surface coast
$FREEZE,1.79,NaN,-0.001,2,2,0
$FINISH,1.8,NaN
$STATE,13929,end surface coast,CONTROL_FINISHED_OK
$STATE,13930,begin surface
$SM_CCo,13954,95.57,0.075,0,0,441,443.50
$SM_GC,2.62,7.40,3.30,95.57,0.079,0.038,0.075,115,3771,441,-6.75,-1.72,443.50,0,0,0,0,0,0
$RAFOS_CLK,913
$RAFOS,6,1327740565,8.833333,8.823611,64,61,52,0,0,0,208,124,138,0,0,0
$RAFOS,5,1327740080,8.700000,8.688889,60,57,57,0,0,0,156,198,222,0,0,0
$RAFOS,4,1327739632,8.566667,8.564445,59,57,56,0,0,0,162,136,174,0,0,0
$RAFOS,3,1327739148,8.433333,8.430000,58,55,52,0,0,0,185,204,143,0,0,0
$RAFOS,2,1327738640,8.300000,8.288889,58,56,53,0,0,0,204,184,169,0,0,0
$RAFOS,1,1327738142,8.166667,8.150556,66,59,55,0,0,0,167,139,179,0,0,0
$RAFOS,0,1327737707,8.033334,8.029722,59,59,53,0,0,0,180,198,150,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,6024.11,-6036.62,270112,171735
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.90
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,16.8
$24V_AH,22.0,56.964
$10V_AH,9.9,66.912
$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,10.500,67.650,317.725,95.575,0.000,0.000,0.000,0.000,4.000,0.000,0.000,942.106,11430.829,414.902,1129.365,201.242,0.000,1030.408,0.000,1102.757,2520.000,25.608,0.000
$DEVICE_MAMPS,175.185,82.620,1447.380,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,154.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270376
$DATA_FILE_SIZE,10162,246
$CAP_FILE_SIZE,77894,0
$CFSIZE,260165632,208347136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.337,100.6,1
$GPS,280112,114534,6044.667,-6031.953,41,1.2,45,-27.7