version: 66.06
glider: 143
mission: 10
dive: 263
start: 12 8 109 8 35 50
data:
$ID,143
$MISSION,10
$DIVE,263
$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,-38544.848
$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,17
$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
$GPS1,082128,6652.214,-5736.261,36,99.0,55,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.8
$GPS2,082128,6652.214,-5736.261,181,99.0,181,-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,97.7,40171,-16.9,-9.167
$D_GRID,743
$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,12,begin dive
$GC,14,-0.73,-146.0,0.0,0.0,0,118,0.00,0.00,-100.32,0.000,2,0.000,0.000,122,2469,3014,0,0,0,0,0,0
$GC,121,-0.73,-146.0,3.0,-4.9,20,153,11.40,2.55,-11.50,0.000,4,0.301,0.107,2443,872,3399,0,0,0,0,0,0
$GC,300,-0.62,-146.0,26.7,-10.7,52,306,0.17,2.45,0.00,0.000,6,0.226,0.082,2484,2468,3402,0,0,0,0,0,0
$GC,644,-0.68,-146.0,63.0,-9.1,113,649,0.00,3.03,0.00,0.000,4,0.000,0.100,2484,3915,3402,0,0,0,0,0,0
$GC,781,-0.80,-146.0,73.8,-6.8,137,787,0.17,2.90,0.00,0.000,6,0.114,0.074,2427,2466,3402,0,0,0,0,0,0
$GC,1121,-0.73,-146.0,108.3,-10.7,191,1126,0.00,3.05,0.00,0.000,4,0.000,0.097,2427,3921,3402,0,0,0,0,0,0
$GC,1262,-0.68,-146.0,125.1,-11.9,203,1268,0.17,2.88,0.00,0.000,6,0.217,0.073,2466,2482,3401,0,0,0,0,0,0
$GC,1587,-0.76,-146.0,157.7,-9.5,233,1591,0.00,3.00,0.00,0.000,4,0.000,0.098,2466,3912,3401,0,0,0,0,0,0
$GC,1818,-0.86,-146.0,178.9,-8.6,253,1823,0.17,2.85,0.00,0.000,6,0.117,0.074,2411,2501,3401,0,0,0,0,0,0
$GC,2142,-0.78,-146.0,211.1,-9.2,283,2147,0.00,2.97,0.00,0.000,4,0.000,0.098,2410,3916,3401,0,0,0,0,0,0
$GC,2295,-0.70,-146.0,225.6,-9.7,296,2300,0.20,2.80,0.00,0.000,6,0.212,0.074,2457,2522,3401,0,0,0,0,0,0
$GC,2620,-0.79,-146.0,250.8,-7.2,326,2625,0.00,2.95,0.00,0.000,4,0.000,0.098,2456,3920,3400,0,0,0,0,0,0
$GC,2727,-0.89,-146.0,258.3,-7.2,335,2732,0.17,2.83,0.00,0.000,6,0.117,0.073,2401,2524,3400,0,0,0,0,0,0
$GC,3052,-0.80,-146.0,286.8,-8.8,365,3057,0.12,2.95,0.00,0.000,4,0.212,0.097,2426,3912,3400,0,0,0,0,0,0
$GC,3176,-0.80,-146.0,297.9,-9.1,375,3181,0.00,2.78,0.00,0.000,6,0.000,0.073,2426,2540,3400,0,0,0,0,0,0
$GC,3500,-0.80,-146.0,329.8,-10.4,406,3504,0.00,2.90,0.00,0.000,4,0.000,0.097,2426,3913,3400,0,0,0,0,0,0
$GC,3678,-0.80,-146.0,349.7,-11.4,421,3685,0.00,2.75,0.00,0.000,6,0.000,0.071,2426,2549,3400,0,0,0,0,0,0
$GC,4003,-0.80,-146.0,382.2,-9.6,452,4007,0.00,2.90,0.00,0.000,4,0.000,0.095,2426,3922,3401,0,0,0,0,0,0
$GC,4087,-0.80,-146.0,390.1,-9.1,459,4091,0.00,2.75,0.00,0.000,6,0.000,0.071,2426,2560,3401,0,0,0,0,0,0
$GC,4411,-0.80,-146.0,419.8,-9.9,489,4415,0.00,2.88,0.00,0.000,4,0.000,0.094,2426,3920,3401,0,0,0,0,0,0
$GC,4533,-0.80,-146.0,432.1,-10.8,499,4539,0.00,2.72,0.00,0.000,6,0.000,0.070,2426,2572,3401,0,0,0,0,0,0
$GC,4859,-0.80,-146.0,461.9,-8.8,530,4864,0.00,2.85,0.00,0.000,4,0.000,0.094,2426,3917,3402,0,0,0,0,0,0
$GC,5026,-0.80,-146.0,477.0,-8.7,544,5032,0.00,2.70,0.00,0.000,6,0.000,0.069,2426,2580,3402,0,0,0,0,0,0
$GC,5351,-0.80,-146.0,502.4,-7.7,575,5356,0.00,2.83,0.00,0.000,4,0.000,0.094,2426,3913,3402,0,0,0,0,0,0
$GC,5457,-0.80,-146.0,511.0,-7.8,584,5462,0.00,2.67,0.00,0.000,6,0.000,0.069,2426,2594,3402,0,0,0,0,0,0
$GC,5782,-0.80,-146.0,537.4,-8.0,614,5786,0.00,2.80,0.00,0.000,4,0.000,0.093,2426,3913,3402,0,0,0,0,0,0
$GC,5881,-0.80,-146.0,545.9,-8.6,622,5887,0.00,2.65,0.00,0.000,6,0.000,0.068,2426,2603,3402,0,0,0,0,0,0
$STATE,5943,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5943,begin apogee
$GC,5949,-0.16,0.0,550.5,8.0,628,6076,0.73,0.00,121.40,1.126,6,0.186,0.000,2625,1949,2799,0,0,0,0,0,0
$STATE,6076,end apogee,CONTROL_FINISHED_OK
$STATE,6076,begin climb
$GC,6078,0.73,146.0,554.1,0.0,641,6213,1.00,2.58,126.62,1.071,4,0.141,0.095,2925,349,2203,0,0,0,0,0,0
$GC,6240,0.64,146.0,543.1,10.6,656,6246,0.00,2.42,0.00,0.000,6,0.000,0.068,2925,1954,2200,0,0,0,0,0,0
$GC,6565,0.57,146.0,509.4,10.6,687,6571,0.20,3.33,0.00,0.000,4,0.202,0.084,2877,3542,2195,0,0,0,0,0,0
$GC,6677,0.57,146.0,497.9,10.2,696,6683,0.00,3.25,0.00,0.000,6,0.000,0.077,2889,1966,2193,0,0,0,0,0,0
$GC,7002,0.57,146.0,466.7,10.2,727,7007,0.00,3.22,0.00,0.000,4,0.000,0.087,2890,3534,2193,0,0,0,0,0,0
$GC,7097,0.57,146.0,456.1,11.6,735,7102,0.00,3.17,0.00,0.000,6,0.000,0.077,2903,1972,2191,0,0,0,0,0,0
$GC,7421,0.57,146.0,421.7,10.5,765,7426,0.00,3.20,0.00,0.000,4,0.000,0.085,2903,3537,2192,0,0,0,0,0,0
$GC,7516,0.50,146.0,410.7,12.2,773,7522,0.25,3.15,0.00,0.000,6,0.207,0.077,2858,1985,2192,0,0,0,0,0,0
$GC,7841,0.68,157.7,382.5,8.7,803,7856,0.15,3.17,9.15,0.917,4,0.119,0.087,2907,3536,2157,0,0,0,0,0,0
$GC,7948,0.59,157.7,369.9,12.3,812,7954,0.15,3.12,0.00,0.000,6,0.209,0.077,2889,1999,2156,0,0,0,0,0,0
$GC,8273,0.66,157.7,337.4,9.3,842,8278,0.00,3.15,0.00,0.000,4,0.000,0.085,2888,3536,2156,0,0,0,0,0,0
$GC,8334,0.66,157.7,331.0,10.7,847,8339,0.00,3.10,0.00,0.000,6,0.000,0.077,2899,2014,2155,0,0,0,0,0,0
$GC,8659,0.73,172.0,301.7,8.6,877,8680,0.00,3.15,13.55,0.928,4,0.000,0.086,2900,3542,2098,0,0,0,0,0,0
$GC,8741,0.73,172.0,293.9,9.6,884,8747,0.00,3.08,0.00,0.000,6,0.000,0.077,2913,2034,2097,0,0,0,0,0,0
$GC,9068,0.75,192.0,267.0,8.3,915,9092,0.00,3.15,18.00,0.927,4,0.000,0.087,2913,3529,2016,0,0,0,0,0,0
$GC,9172,0.70,192.0,257.5,9.9,924,9178,0.00,3.05,0.00,0.000,6,0.000,0.077,2925,2049,2014,0,0,0,0,0,0
$GC,9496,0.73,211.0,228.3,8.4,955,9521,0.00,3.15,17.17,0.900,4,0.000,0.087,2925,3534,1938,0,0,0,0,0,0
$GC,9566,0.68,211.0,221.6,10.7,961,9572,0.12,3.05,0.00,0.000,6,0.213,0.077,2914,2058,1937,0,0,0,0,0,0
$GC,9890,0.78,211.0,191.8,9.3,992,9895,0.00,3.08,0.00,0.000,4,0.000,0.085,2913,3540,1935,0,0,0,0,0,0
$GC,9945,0.78,211.0,185.8,10.6,996,9951,0.00,3.05,0.00,0.000,6,0.000,0.077,2924,2058,1935,0,0,0,0,0,0
$GC,10270,0.85,211.0,150.9,11.0,1027,10272,0.12,0.00,0.00,0.000,6,0.114,0.000,2970,2059,1934,0,0,0,0,0,0
$GC,10589,0.80,211.0,109.8,12.9,1057,10594,0.00,3.08,0.00,0.000,4,0.000,0.088,2970,3540,1934,0,0,0,0,0,0
$GC,10621,0.65,211.0,105.5,13.2,1059,10628,0.32,3.03,0.00,0.000,6,0.208,0.077,2905,2063,1935,0,0,0,0,0,0
$GC,10962,0.88,254.1,75.1,7.4,1115,11009,0.20,3.15,36.65,0.843,4,0.106,0.087,2973,3537,1763,0,0,0,0,0,0
$GC,11122,0.78,254.1,55.2,12.9,1144,11128,0.17,3.03,0.00,0.000,6,0.204,0.079,2947,2085,1759,0,0,0,0,0,0
$GC,11466,0.81,279.4,24.1,8.1,1205,11498,0.00,3.10,22.17,0.810,4,0.000,0.090,2947,3532,1659,0,0,0,0,0,0
$GC,11505,0.96,307.9,20.5,8.0,1212,11537,0.12,2.97,25.10,0.786,6,0.123,0.077,2996,2102,1543,0,0,0,0,0,0
$FREEZE,8.08,-1.131,-1.826,0,28,0
$FREEZE,7.15,-1.131,-1.826,0,28,0
$FREEZE,6.50,-1.130,-1.825,0,28,0
$FREEZE,5.70,-1.131,-1.825,0,28,0
$FREEZE,4.74,-1.130,-1.824,0,28,0
$FREEZE,3.69,-1.133,-1.823,0,28,0
$FREEZE,2.82,-1.132,-1.823,0,28,0
$FREEZE,1.89,-1.138,-1.822,0,28,0
$STATE,11654,end climb,SURFACE_DEPTH_REACHED
$STATE,11654,begin surface coast
$FREEZE,0.88,-1.140,-1.821,0,28,0
$FREEZE,0.41,-1.156,-1.821,0,28,0
$FINISH,0.4,1.026716
$STATE,11667,end surface coast,CONTROL_FINISHED_OK
$STATE,11667,begin surface
$SM_CCo,11684,12.82,0.765,0,0,1475,325.02
$SM_GC,0.79,0.00,0.00,12.82,0.000,0.000,0.765,132,2460,1475,-8.00,0.00,325.02
$RAFOS_CLK,799
$RAFOS,6,1260262141,8.833333,8.816944,61,60,57,0,0,0,119,194,140,0,0,0
$RAFOS,5,1260261665,8.700000,8.684722,67,62,59,0,0,0,193,564,171,0,0,0
$RAFOS,2,1260260221,8.300000,8.283611,65,58,52,0,0,0,195,213,124,0,0,0
$RAFOS_FIX,6650.723633,-5745.262207,081209,000022,3,74,0.26
$IRIDIUM_FIX,6620.33,-5735.92,040399,080829
$TT8_MAMPS,0.026845
$HUMID,48.89
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.40
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.6,19.5
$ALTIM_BOTTOM_PING,550.5,10.1
$24V_AH,22.5,53.115
$10V_AH,10.1,28.062
$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,24.900,155.100,389.825,12.825,0.000,97.064,153.341,123.965,3.500,0.000,182.217,2071.376,6960.583,541.136,2318.537,641.259,0.000,1668.562,0.000,2112.024,720.000,15.927,0.000
$DEVICE_MAMPS,301.431,107.380,1125.956,765.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.319,859.403,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152380
$DATA_FILE_SIZE,47329,1241
$CAP_FILE_SIZE,149446,0
$CFSIZE,260165632,228315136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,081209,115225,6652.651,-5732.917,50,1.7,50,-37.5