version: 66.06
glider: 143
mission: 10
dive: 188
start: 11 24 109 1 7 32
data:
$ID,143
$MISSION,10
$DIVE,188
$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,-33489.758
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,005845,6702.765,-5648.140,35,1.5,49,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.3
$GPS2,010714,6702.787,-5648.065,12,1.2,12,-37.5
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,295.2,163185,-16.9,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.93,0.000,2,0.000,0.000,128,2471,3184,0,0,0,0,0,0
$GC,117,-0.73,-146.0,3.8,-7.6,19,139,11.07,2.55,-5.22,0.000,4,0.293,0.098,2447,3909,3398,0,0,0,0,0,0
$GC,364,-0.65,-146.0,40.6,-12.5,63,371,0.12,2.42,0.00,0.000,6,0.213,0.060,2476,2458,3401,0,0,0,0,0,0
$GC,708,-0.65,-146.0,77.7,-11.0,124,714,0.00,2.55,0.00,0.000,4,0.000,0.087,2476,3913,3401,0,0,0,0,0,0
$GC,731,-0.65,-146.0,80.3,-11.3,128,736,0.00,2.45,0.00,0.000,6,0.000,0.061,2476,2445,3401,0,0,0,0,0,0
$GC,1071,-0.70,-146.0,115.8,-9.6,175,1075,0.00,2.55,0.00,0.000,4,0.000,0.087,2476,3907,3400,0,0,0,0,0,0
$GC,1137,-0.79,-146.0,122.3,-9.6,180,1143,0.12,2.40,0.00,0.000,6,0.117,0.061,2434,2464,3400,0,0,0,0,0,0
$GC,1462,-0.72,-146.0,155.1,-10.2,211,1466,0.00,2.53,0.00,0.000,4,0.000,0.087,2433,3915,3399,0,0,0,0,0,0
$GC,1527,-0.66,-146.0,162.0,-10.4,216,1534,0.17,2.38,0.00,0.000,6,0.206,0.061,2474,2477,3399,0,0,0,0,0,0
$GC,1853,-0.73,-146.0,188.9,-8.4,247,1857,0.00,2.50,0.00,0.000,4,0.000,0.087,2474,3916,3400,0,0,0,0,0,0
$GC,1914,-0.81,-146.0,194.2,-8.9,252,1919,0.15,2.35,0.00,0.000,6,0.110,0.060,2422,2496,3400,0,0,0,0,0,0
$GC,2239,-0.73,-146.0,228.0,-11.1,282,2244,0.12,2.47,0.00,0.000,4,0.216,0.084,2440,3919,3399,0,0,0,0,0,0
$GC,2293,-0.73,-146.0,233.9,-10.0,286,2300,0.00,2.38,0.00,0.000,6,0.000,0.058,2440,2503,3399,0,0,0,0,0,0
$GC,2619,-0.73,-146.0,264.4,-8.8,317,2623,0.00,2.42,0.00,0.000,4,0.000,0.084,2440,3909,3400,0,0,0,0,0,0
$GC,2651,-0.73,-146.0,267.4,-8.8,319,2657,0.00,2.30,0.00,0.000,6,0.000,0.058,2440,2511,3400,0,0,0,0,0,0
$GC,2976,-0.73,-146.0,294.2,-8.3,350,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2512,3400,0,0,0,0,0,0
$GC,3296,-0.73,-146.0,321.9,-8.2,380,3300,0.00,2.42,0.00,0.000,4,0.000,0.084,2440,3917,3401,0,0,0,0,0,0
$GC,3346,-0.73,-146.0,326.4,-8.8,384,3350,0.00,2.30,0.00,0.000,6,0.000,0.058,2440,2516,3401,0,0,0,0,0,0
$GC,3671,-0.73,-146.0,353.6,-7.7,414,3675,0.00,2.40,0.00,0.000,4,0.000,0.083,2440,3909,3401,0,0,0,0,0,0
$GC,3743,-0.73,-146.0,359.5,-8.2,420,3747,0.00,2.25,0.00,0.000,6,0.000,0.057,2440,2534,3401,0,0,0,0,0,0
$GC,4068,-0.73,-146.0,383.9,-7.5,450,4072,0.00,2.38,0.00,0.000,4,0.000,0.083,2440,3912,3401,0,0,0,0,0,0
$GC,4162,-0.73,-146.0,391.4,-7.8,458,4168,0.00,2.25,0.00,0.000,6,0.000,0.057,2440,2540,3401,0,0,0,0,0,0
$GC,4487,-0.73,-146.0,415.4,-7.2,489,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2540,3402,0,0,0,0,0,0
$GC,4806,-0.73,-146.0,438.9,-7.8,519,4811,0.00,2.65,0.00,0.000,4,0.000,0.076,2440,867,3402,0,0,0,0,0,0
$GC,4828,-0.73,-146.0,440.8,-8.2,520,4834,0.00,2.65,0.00,0.000,6,0.000,0.067,2440,2546,3402,0,0,0,0,0,0
$GC,5153,-0.73,-146.0,466.2,-8.2,551,5157,0.00,2.33,0.00,0.000,4,0.000,0.083,2440,3909,3402,0,0,0,0,0,0
$GC,5185,-0.73,-146.0,469.0,-7.9,553,5191,0.00,2.25,0.00,0.000,6,0.000,0.057,2440,2535,3402,0,0,0,0,0,0
$GC,5511,-0.73,-146.0,494.5,-8.1,584,5515,0.00,2.38,0.00,0.000,4,0.000,0.082,2439,3915,3403,0,0,0,0,0,0
$GC,5606,-0.73,-146.0,502.1,-8.4,592,5610,0.00,2.22,0.00,0.000,6,0.000,0.057,2440,2554,3403,0,0,0,0,0,0
$STATE,5674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5674,begin apogee
$GC,5680,-0.16,0.0,507.7,8.2,598,5801,0.65,0.00,117.65,1.048,6,0.173,0.000,2628,1943,2800,0,0,0,0,0,0
$STATE,5802,end apogee,CONTROL_FINISHED_OK
$STATE,5802,begin climb
$GC,5804,0.73,146.0,510.4,0.0,610,5930,0.93,0.00,121.03,1.005,6,0.126,0.000,2911,1943,2204,0,0,0,0,0,0
$GC,6248,0.73,146.0,466.9,10.7,653,6253,0.00,2.78,0.00,0.000,4,0.000,0.075,2911,3544,2197,0,0,0,0,0,0
$GC,6323,0.67,146.0,458.6,12.1,659,6327,0.00,2.67,0.00,0.000,6,0.000,0.064,2922,1972,2195,0,0,0,0,0,0
$GC,6647,0.62,146.0,421.4,11.1,689,6652,0.12,2.58,0.00,0.000,4,0.198,0.083,2905,364,2195,0,0,0,0,0,0
$GC,6709,0.62,146.0,414.9,9.9,694,6713,0.00,2.50,0.00,0.000,6,0.000,0.060,2904,1975,2194,0,0,0,0,0,0
$GC,7033,0.62,146.0,382.0,10.0,724,7037,0.00,2.62,0.00,0.000,4,0.000,0.076,2904,3536,2194,0,0,0,0,0,0
$GC,7072,0.62,146.0,378.0,11.0,727,7076,0.00,2.62,0.00,0.000,6,0.000,0.065,2917,1968,2192,0,0,0,0,0,0
$GC,7396,0.62,146.0,344.1,10.4,757,7400,0.00,2.67,0.00,0.000,4,0.000,0.076,2917,3546,2193,0,0,0,0,0,0
$GC,7428,0.55,146.0,340.6,11.1,759,7435,0.22,2.62,0.00,0.000,6,0.186,0.065,2873,1971,2192,0,0,0,0,0,0
$GC,7753,0.70,164.3,313.1,8.4,790,7773,0.12,0.00,14.40,0.877,6,0.113,0.000,2917,1972,2129,0,0,0,0,0,0
$GC,8091,0.70,164.3,276.0,11.8,822,8095,0.00,2.65,0.00,0.000,4,0.000,0.076,2917,3536,2127,0,0,0,0,0,0
$GC,8123,0.70,164.3,272.0,12.3,824,8129,0.00,2.60,0.00,0.000,6,0.000,0.065,2929,1978,2127,0,0,0,0,0,0
$GC,8449,0.70,164.3,233.9,11.3,855,8453,0.00,2.58,0.00,0.000,4,0.000,0.084,2941,352,2126,0,0,0,0,0,0
$GC,8465,0.70,164.3,231.9,11.6,856,8469,0.00,2.53,0.00,0.000,6,0.000,0.061,2941,1994,2127,0,0,0,0,0,0
$GC,8790,0.65,164.3,192.8,12.1,886,8795,0.15,2.62,0.00,0.000,4,0.192,0.082,2915,361,2126,0,0,0,0,0,0
$GC,8833,0.71,164.3,187.9,10.7,889,8839,0.00,2.50,0.00,0.000,6,0.000,0.061,2915,1992,2126,0,0,0,0,0,0
$GC,9158,0.76,164.3,152.8,11.2,920,9162,0.00,2.60,0.00,0.000,4,0.000,0.075,2915,3546,2126,0,0,0,0,0,0
$GC,9196,0.76,164.3,148.1,12.5,923,9201,0.00,2.60,0.00,0.000,6,0.000,0.065,2927,1978,2126,0,0,0,0,0,0
$GC,9522,0.76,164.3,111.9,10.6,953,9527,0.00,2.55,0.00,0.000,4,0.000,0.084,2939,365,2126,0,0,0,0,0,0
$GC,9532,0.76,164.3,110.5,10.5,953,9539,0.00,2.53,0.00,0.000,6,0.000,0.061,2938,1984,2126,0,0,0,0,0,0
$GC,9871,0.76,164.3,76.7,9.4,1005,9876,0.00,2.60,0.00,0.000,4,0.000,0.076,2939,3539,2126,0,0,0,0,0,0
$GC,9946,0.71,164.3,69.4,9.6,1018,9952,0.12,2.58,0.00,0.000,6,0.196,0.065,2922,1987,2126,0,0,0,0,0,0
$GC,10290,0.88,228.4,45.3,6.5,1079,10348,0.15,2.75,51.15,0.755,4,0.100,0.074,2977,3546,1867,0,0,0,0,0,0
$GC,10370,0.83,228.4,37.5,10.9,1094,10377,0.12,2.65,0.00,0.000,6,0.196,0.065,2962,1987,1865,0,0,0,0,0,0
$FREEZE,8.70,0.635,-1.822,0,1,0
$FREEZE,8.14,0.636,-1.821,0,1,0
$FREEZE,7.48,0.634,-1.821,0,1,0
$FREEZE,6.90,0.634,-1.821,0,1,0
$FREEZE,6.35,0.639,-1.820,0,1,0
$FREEZE,5.73,0.636,-1.820,0,1,0
$FREEZE,5.05,0.636,-1.819,0,1,0
$FREEZE,4.46,0.633,-1.819,0,1,0
$FREEZE,3.79,0.629,-1.818,0,1,0
$FREEZE,3.22,0.617,-1.818,0,1,0
$GC,10714,0.83,228.4,3.2,11.4,1155,10720,0.00,2.60,0.00,0.000,4,0.000,0.083,2971,357,1860,0,0,0,0,0,0
$FREEZE,1.80,0.627,-1.816,0,1,0
$STATE,10724,end climb,SURFACE_DEPTH_REACHED
$STATE,10725,begin surface coast
$FREEZE,1.27,0.620,-1.816,0,1,0
$FREEZE,0.52,0.616,-1.816,0,1,0
$FREEZE,0.42,0.582,-1.347,0,1,0
$FINISH,0.4,1.019863
$STATE,10742,end surface coast,CONTROL_FINISHED_OK
$STATE,10742,begin surface
$SM_CCo,10762,62.03,0.722,0,0,1474,325.02
$SM_GC,1.39,0.00,0.00,62.03,0.000,0.000,0.722,126,2462,1474,-8.02,0.06,325.02
$RAFOS_CLK,671
$RAFOS,6,1259023745,0.833333,0.818056,63,62,60,0,0,0,195,213,173,0,0,0
$RAFOS_FIX,6648.183105,-5652.258301,241109,000040,4,68,3.50
$IRIDIUM_FIX,6636.54,-5650.71,180299,010115
$TT8_MAMPS,0.028379
$HUMID,46.53
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,450.4,71.6
$24V_AH,23.2,42.947
$10V_AH,10.2,21.932
$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,22.625,127.075,304.225,62.025,0.000,55.586,62.987,213.541,2.500,0.000,14.277,1944.150,6508.572,516.942,1843.024,519.658,0.000,1478.616,0.000,1811.478,360.000,18.615,0.000
$DEVICE_MAMPS,292.994,98.176,1048.489,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.145,790.350,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152476
$DATA_FILE_SIZE,44112,1160
$CAP_FILE_SIZE,136455,0
$CFSIZE,260165632,235442176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.5
$GPS,241109,040907,6703.000,-5651.620,24,1.3,25,-37.5