version: 66.06
glider: 143
mission: 10
dive: 187
start: 11 23 109 22 14 50
data:
$ID,143
$MISSION,10
$DIVE,187
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51204
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-33474.855
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2690
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,45
$C_ROLL_DIVE,2460
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2800
$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,2
$PRESSURE_YINT,-24.446302
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043131942
$SEABIRD_T_H,0.00062854384
$SEABIRD_T_I,2.3348166e-05
$SEABIRD_T_J,2.4454023e-06
$SEABIRD_C_G,-10.029707
$SEABIRD_C_H,1.1484355
$SEABIRD_C_I,-0.0010294267
$SEABIRD_C_J,0.00016845814
$GPS1,220830,6703.121,-5651.518,41,1.3,41,-37.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.1
$GPS2,221432,6703.139,-5651.562,15,1.3,15,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,133.2,2585,-19.7,-9.167
$D_GRID,534
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.77,-109.5,0.0,0.0,0,109,0.00,0.00,-90.20,0.000,2,0.000,0.000,123,2466,3086,0,0,0,0,0,0
$GC,111,-0.81,-146.0,3.1,-4.4,18,138,10.93,2.62,-8.60,0.000,4,0.292,0.091,2418,869,3397,0,0,0,0,0,0
$GC,275,-0.75,-146.0,29.3,-13.8,47,280,0.00,2.58,0.00,0.000,6,0.000,0.071,2418,2462,3400,0,0,0,0,0,0
$GC,618,-0.75,-146.0,76.6,-12.4,108,624,0.00,2.53,0.00,0.000,4,0.000,0.090,2418,3912,3400,0,0,0,0,0,0
$GC,730,-0.75,-146.0,89.4,-10.9,128,736,0.00,2.42,0.00,0.000,6,0.000,0.061,2418,2462,3400,0,0,0,0,0,0
$GC,1066,-0.75,-146.0,126.6,-11.4,168,1070,0.00,2.55,0.00,0.000,4,0.000,0.087,2418,3923,3399,0,0,0,0,0,0
$GC,1138,-0.75,-146.0,135.1,-12.0,174,1142,0.00,2.40,0.00,0.000,6,0.000,0.061,2418,2478,3399,0,0,0,0,0,0
$GC,1461,-0.75,-146.0,171.8,-11.2,204,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2479,3399,0,0,0,0,0,0
$GC,1781,-0.75,-146.0,207.3,-11.0,234,1785,0.00,2.50,0.00,0.000,4,0.000,0.087,2418,3916,3399,0,0,0,0,0,0
$GC,1914,-0.75,-146.0,222.5,-10.5,245,1920,0.00,2.38,0.00,0.000,6,0.000,0.061,2418,2484,3399,0,0,0,0,0,0
$GC,2239,-0.75,-146.0,256.3,-10.0,276,2243,0.00,2.47,0.00,0.000,4,0.000,0.086,2418,3912,3399,0,0,0,0,0,0
$GC,2345,-0.75,-146.0,267.3,-10.3,285,2349,0.00,2.35,0.00,0.000,6,0.000,0.060,2418,2491,3399,0,0,0,0,0,0
$GC,2670,-0.81,-146.0,297.9,-9.1,315,2674,0.00,2.47,0.00,0.000,4,0.000,0.086,2418,3921,3400,0,0,0,0,0,0
$GC,2713,-0.86,-146.0,302.0,-9.3,318,2719,0.00,2.35,0.00,0.000,6,0.000,0.060,2418,2497,3400,0,0,0,0,0,0
$GC,3038,-0.92,-146.0,332.4,-9.8,349,3042,0.00,2.45,0.00,0.000,4,0.000,0.084,2418,3912,3400,0,0,0,0,0,0
$GC,3104,-0.98,-146.0,339.4,-10.5,354,3110,0.15,2.33,0.00,0.000,6,0.117,0.059,2369,2501,3400,0,0,0,0,0,0
$GC,3429,-0.88,-146.0,378.4,-11.7,385,3431,0.15,0.00,0.00,0.000,6,0.219,0.000,2400,2501,3400,0,0,0,0,0,0
$GC,3747,-0.88,-146.0,410.6,-10.1,415,3751,0.00,2.45,0.00,0.000,4,0.000,0.084,2401,3920,3401,0,0,0,0,0,0
$GC,3819,-0.88,-146.0,417.8,-10.2,421,3823,0.00,2.33,0.00,0.000,6,0.000,0.058,2401,2504,3401,0,0,0,0,0,0
$GC,4145,-0.88,-146.0,449.0,-9.4,451,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2505,3402,0,0,0,0,0,0
$GC,4462,-0.88,-146.0,477.8,-9.4,481,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2505,3402,0,0,0,0,0,0
$GC,4781,-0.88,-146.0,507.7,-10.0,511,4786,0.00,2.42,0.00,0.000,4,0.000,0.083,2401,3913,3402,0,0,0,0,0,0
$GC,4866,-0.88,-146.0,515.9,-9.4,518,4870,0.00,2.33,0.00,0.000,4,0.000,0.058,2401,2496,3402,0,0,0,0,0,0
$STATE,4871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4871,begin apogee
$GC,4876,-0.16,0.0,516.4,9.7,518,4998,0.80,0.00,117.50,1.055,6,0.186,0.000,2627,1949,2800,0,0,0,0,0,0
$STATE,4999,end apogee,CONTROL_FINISHED_OK
$STATE,4999,begin climb
$GC,5000,0.81,146.0,519.3,0.0,530,5134,1.05,2.83,120.62,1.012,4,0.130,0.081,2955,374,2201,0,0,0,0,0,0
$GC,5173,0.81,146.0,502.9,13.9,546,5179,0.00,2.62,0.00,0.000,6,0.000,0.059,2956,1957,2199,0,0,0,0,0,0
$GC,5498,0.81,146.0,460.1,12.9,577,5502,0.00,2.62,0.00,0.000,4,0.000,0.083,2967,362,2196,0,0,0,0,0,0
$GC,5530,0.75,146.0,455.7,13.1,579,5536,0.15,2.50,0.00,0.000,6,0.194,0.060,2935,1948,2196,0,0,0,0,0,0
$GC,5856,0.75,146.0,418.6,11.4,610,5860,0.00,2.58,0.00,0.000,4,0.000,0.084,2944,359,2195,0,0,0,0,0,0
$GC,5898,0.75,146.0,413.2,12.7,613,5905,0.00,2.50,0.00,0.000,6,0.000,0.060,2944,1940,2195,0,0,0,0,0,0
$GC,6225,0.75,146.0,373.2,12.5,644,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1940,2194,0,0,0,0,0,0
$GC,6544,0.75,146.0,334.6,12.6,674,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1940,2194,0,0,0,0,0,0
$GC,6863,0.75,146.0,295.3,12.5,704,6868,0.00,2.53,0.00,0.000,4,0.000,0.084,2955,365,2194,0,0,0,0,0,0
$GC,6902,0.75,146.0,289.9,13.5,707,6906,0.00,2.42,0.00,0.000,6,0.000,0.062,2955,1939,2194,0,0,0,0,0,0
$GC,7226,0.75,146.0,249.5,12.4,737,7231,0.00,2.62,0.00,0.000,4,0.000,0.077,2955,3539,2194,0,0,0,0,0,0
$GC,7254,0.70,146.0,245.8,13.5,739,7259,0.20,2.65,0.00,0.000,6,0.193,0.065,2920,1940,2192,0,0,0,0,0,0
$GC,7578,0.82,146.0,211.7,10.0,769,7580,0.12,0.00,0.00,0.000,6,0.116,0.000,2962,1941,2192,0,0,0,0,0,0
$GC,7898,0.82,146.0,175.6,11.5,799,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1941,2192,0,0,0,0,0,0
$GC,8216,0.82,146.0,137.3,12.0,829,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1941,2192,0,0,0,0,0,0
$GC,8535,0.82,146.0,102.9,9.8,859,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1941,2193,0,0,0,0,0,0
$GC,8869,0.87,146.0,68.3,10.0,916,8875,0.00,2.67,0.00,0.000,4,0.000,0.077,2961,3537,2193,0,0,0,0,0,0
$GC,8925,0.87,146.0,62.3,10.5,926,8931,0.00,2.65,0.00,0.000,6,0.000,0.066,2974,1935,2193,0,0,0,0,0,0
$GC,9270,0.93,146.0,29.8,9.3,987,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1935,2193,0,0,0,0,0,0
$FREEZE,8.61,0.747,-1.821,0,1,0
$FREEZE,8.25,0.747,-1.821,0,1,0
$FREEZE,7.76,0.747,-1.821,0,1,0
$FREEZE,7.39,0.736,-1.821,0,1,0
$FREEZE,6.96,0.738,-1.820,0,1,0
$FREEZE,6.57,0.733,-1.820,0,1,0
$FREEZE,6.15,0.726,-1.820,0,1,0
$FREEZE,5.73,0.739,-1.819,0,1,0
$FREEZE,5.26,0.731,-1.819,0,1,0
$FREEZE,4.89,0.736,-1.818,0,1,0
$FREEZE,4.33,0.741,-1.818,0,1,0
$FREEZE,3.82,0.741,-1.818,0,1,0
$FREEZE,3.32,0.739,-1.817,0,1,0
$FREEZE,2.84,0.738,-1.817,0,1,0
$FREEZE,2.15,0.739,-1.816,0,1,0
$FREEZE,1.64,0.743,-1.816,0,1,0
$STATE,9584,end climb,SURFACE_DEPTH_REACHED
$STATE,9585,begin surface coast
$FREEZE,1.10,0.738,-1.816,0,1,0
$FREEZE,0.59,0.737,-1.815,0,1,0
$FREEZE,0.55,0.726,-1.815,0,1,0
$FREEZE,0.52,0.779,-1.799,0,1,0
$FINISH,0.5,1.026317
$STATE,9607,end surface coast,CONTROL_FINISHED_OK
$STATE,9607,begin surface
$SM_CCo,9624,96.07,0.723,0,0,1474,325.02
$SM_GC,1.39,0.00,0.00,96.07,0.000,0.000,0.723,128,2470,1474,-8.01,0.28,325.02
$RAFOS_CLK,595
$RAFOS,5,1259023262,0.700000,0.683889,75,60,59,0,0,0,685,185,205,0,0,0
$RAFOS,4,1259022788,0.566667,0.552222,72,64,63,0,0,0,870,201,213,0,0,0
$RAFOS,3,1259022310,0.433333,0.419444,73,71,64,0,0,0,192,210,975,0,0,0
$RAFOS,2,1259021821,0.300000,0.283611,64,62,61,0,0,0,1097,196,131,0,0,0
$RAFOS,1,1259021350,0.166667,0.152778,59,56,54,0,0,0,204,1032,114,0,0,0
$RAFOS,0,1259020871,0.033333,0.019722,61,59,57,0,0,0,1149,226,214,0,0,0
$RAFOS_FIX,6648.183105,-5652.258301,241109,000040,4,68,3.50
$IRIDIUM_FIX,6636.54,-5655.33,170299,181817
$TT8_MAMPS,0.029146
$HUMID,46.37
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,450.9,80.1
$24V_AH,23.2,42.831
$10V_AH,10.2,21.867
$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,21.750,76.875,238.125,96.075,0.000,23.819,36.869,180.129,1.750,0.000,16.478,1727.438,5867.036,448.036,1652.406,398.830,0.000,1297.062,0.000,1624.121,2520.000,12.562,0.000
$DEVICE_MAMPS,292.227,90.506,1055.392,723.281,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.075,713.853,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152464
$DATA_FILE_SIZE,40972,1047
$CAP_FILE_SIZE,110932,0
$CFSIZE,260165632,235528192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.2
$GPS,241109,005845,6702.765,-5648.140,35,1.5,49,-37.5