version: 66.06
glider: 143
mission: 10
dive: 294
start: 12 12 109 17 28 2
data:
$ID,143
$MISSION,10
$DIVE,294
$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,425
$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,-41552.113
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,170306,6704.520,-5655.362,39,1.2,45,-37.6
$_CALLS,3
$_XMS_NAKs,58
$_XMS_TOUTs,1
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.6
$GPS2,172746,6704.572,-5655.442,23,1.8,25,-37.6
$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,156.0,6112,-16.9,-9.167
$D_GRID,502
$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,15,-0.73,-146.0,0.0,0.0,0,145,0.00,0.00,-125.30,0.000,2,0.000,0.000,129,2467,3042,0,0,0,0,0,0
$GC,148,-0.73,-146.0,3.0,-5.7,25,175,11.35,2.40,-9.98,0.000,4,0.297,0.101,2446,860,3399,0,0,0,0,0,0
$GC,366,-0.73,-146.0,33.3,-10.8,64,372,0.00,2.33,0.00,0.000,6,0.000,0.075,2446,2462,3402,0,0,0,0,0,0
$GC,709,-0.73,-146.0,67.3,-11.6,125,715,0.00,3.17,0.00,0.000,4,0.000,0.095,2446,3926,3402,0,0,1,0,0,0
$GC,868,-0.78,-146.0,83.4,-9.2,153,874,0.00,2.97,0.00,0.000,6,0.000,0.070,2446,2497,3402,0,0,1,0,0,0
$GC,1209,-0.84,-146.0,118.7,-10.5,199,1214,0.00,3.10,0.00,0.000,4,0.000,0.093,2446,3920,3403,0,0,1,0,0,0
$GC,1361,-0.90,-146.0,135.3,-10.9,212,1367,0.15,2.95,0.00,0.000,6,0.125,0.071,2400,2503,3402,0,0,1,0,0,0
$GC,1686,-0.82,-146.0,175.6,-11.8,242,1691,0.00,3.08,0.00,0.000,4,0.000,0.092,2399,3920,3401,0,0,1,0,0,0
$GC,1932,-0.75,-146.0,205.0,-11.4,263,1939,0.17,2.90,0.00,0.000,6,0.207,0.071,2439,2528,3401,0,0,1,0,0,0
$GC,2257,-0.82,-146.0,232.5,-8.0,294,2262,0.00,3.03,0.00,0.000,4,0.000,0.092,2439,3921,3401,0,0,1,0,0,0
$GC,2454,-0.89,-146.0,248.9,-8.1,311,2459,0.12,2.85,0.00,0.000,6,0.125,0.067,2400,2550,3400,0,0,1,0,0,0
$GC,2778,-0.89,-146.0,278.7,-9.0,341,2783,0.00,2.97,0.00,0.000,4,0.000,0.090,2400,3925,3400,0,0,1,0,0,0
$GC,2896,-0.89,-146.0,289.3,-8.8,351,2900,0.00,2.85,0.00,0.000,6,0.000,0.067,2400,2558,3400,0,0,1,0,0,0
$GC,3220,-0.89,-146.0,317.9,-9.0,381,3225,0.00,2.95,0.00,0.000,4,0.000,0.087,2400,3917,3400,0,0,1,0,0,0
$GC,3433,-0.89,-146.0,336.8,-8.9,399,3438,0.00,2.75,0.00,0.000,6,0.000,0.064,2399,2592,3400,0,0,1,0,0,0
$GC,3757,-0.89,-146.0,365.6,-9.1,430,3762,0.00,2.88,0.00,0.000,4,0.000,0.085,2400,3920,3401,0,0,1,0,0,0
$GC,3875,-0.89,-146.0,376.5,-9.7,440,3879,0.00,2.75,0.00,0.000,6,0.000,0.063,2400,2592,3402,0,0,1,0,0,0
$GC,4199,-0.89,-146.0,406.6,-9.1,470,4204,0.00,2.88,0.00,0.000,4,0.000,0.084,2400,3923,3403,0,0,1,0,0,0
$GC,4372,-0.89,-146.0,422.7,-9.3,485,4377,0.00,2.70,0.00,0.000,6,0.000,0.061,2400,2622,3403,0,0,1,0,0,0
$GC,4699,-0.89,-146.0,452.0,-9.1,515,4704,0.00,2.83,0.00,0.000,4,0.000,0.084,2400,3924,3404,0,0,1,0,0,0
$GC,4851,-0.89,-146.0,466.0,-9.0,528,4856,0.00,2.67,0.00,0.000,6,0.000,0.061,2400,2638,3404,0,0,1,0,0,0
$GC,5175,-0.89,-146.0,493.6,-7.8,558,5180,0.00,2.80,0.00,0.000,4,0.000,0.084,2399,3926,3406,0,0,1,0,0,0
$STATE,5268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5268,begin apogee
$GC,5277,-0.16,0.0,502.0,9.0,566,5404,0.82,0.00,120.95,1.047,6,0.187,0.000,2625,1935,2800,0,0,0,0,0,0
$STATE,5405,end apogee,CONTROL_FINISHED_OK
$STATE,5405,begin climb
$GC,5407,0.73,146.0,505.1,0.0,579,5540,0.98,0.00,123.62,1.004,6,0.132,0.000,2918,1935,2202,0,0,0,0,0,0
$GC,5857,0.73,146.0,460.8,10.5,622,5862,0.00,3.40,0.00,0.000,4,0.000,0.075,2917,3539,2197,0,0,1,0,0,0
$GC,5957,0.61,146.0,448.4,12.3,630,5965,0.15,3.30,0.00,0.000,6,0.193,0.069,2894,1948,2195,0,0,1,0,0,0
$GC,6281,0.61,146.0,417.3,9.6,661,6287,0.00,3.33,0.00,0.000,4,0.000,0.077,2893,3545,2194,0,0,1,0,0,0
$GC,6358,0.61,146.0,409.2,10.8,667,6365,0.00,3.28,0.00,0.000,6,0.000,0.070,2906,1959,2193,0,0,1,0,0,0
$GC,6683,0.61,146.0,376.0,10.4,698,6689,0.00,3.30,0.00,0.000,4,0.000,0.077,2906,3549,2192,0,0,1,0,0,0
$GC,6802,0.53,146.0,363.1,11.0,708,6808,0.22,3.25,0.00,0.000,6,0.196,0.070,2866,1968,2193,0,0,1,0,0,0
$GC,7127,0.67,176.5,337.2,7.9,738,7159,0.12,3.30,24.25,0.913,4,0.119,0.077,2910,3542,2079,0,0,1,0,0,0
$GC,7253,0.61,176.5,322.5,12.0,749,7260,0.15,3.22,0.00,0.000,6,0.202,0.068,2891,1986,2077,0,0,1,0,0,0
$GC,7578,0.68,176.5,290.3,9.7,780,7584,0.00,3.25,0.00,0.000,4,0.000,0.076,2891,3549,2076,0,0,1,0,0,0
$GC,7656,0.68,176.5,281.5,11.1,786,7662,0.00,3.20,0.00,0.000,6,0.000,0.067,2902,1996,2076,0,0,1,0,0,0
$GC,7981,0.72,176.5,245.3,11.9,817,7987,0.00,3.22,0.00,0.000,4,0.000,0.077,2902,3543,2076,0,0,1,0,0,0
$GC,8088,0.72,176.5,231.8,12.4,826,8093,0.00,3.17,0.00,0.000,6,0.000,0.068,2916,2012,2076,0,0,0,0,0,0
$GC,8412,0.72,176.5,195.4,10.8,856,8417,0.00,3.20,0.00,0.000,4,0.000,0.076,2916,3540,2076,0,0,0,0,0,0
$GC,8501,0.67,176.5,185.1,11.7,863,8507,0.00,3.12,0.00,0.000,6,0.000,0.067,2929,2025,2076,0,0,1,0,0,0
$GC,8825,0.67,176.5,150.2,11.1,894,8830,0.00,3.17,0.00,0.000,4,0.000,0.076,2930,3540,2076,0,0,0,0,0,0
$GC,8899,0.60,176.5,141.6,12.0,900,8904,0.22,3.15,0.00,0.000,6,0.199,0.067,2890,2019,2076,0,0,0,0,0,0
$GC,9223,0.77,193.6,113.7,8.4,930,9245,0.15,3.17,15.27,0.776,4,0.111,0.075,2944,3540,2009,0,0,1,0,0,0
$GC,9326,0.70,193.6,101.4,12.7,939,9331,0.17,3.15,0.00,0.000,6,0.199,0.068,2918,2035,2007,0,0,0,0,0,0
$GC,9668,0.79,193.6,69.8,9.5,998,9674,0.00,3.20,0.00,0.000,4,0.000,0.077,2917,3547,2007,0,0,0,0,0,0
$GC,9816,0.79,193.6,54.4,9.5,1024,9822,0.00,3.12,0.00,0.000,6,0.000,0.069,2929,2064,2007,0,0,0,0,0,0
$GC,10162,0.90,214.0,25.7,8.3,1085,10188,0.15,3.17,17.42,0.762,4,0.104,0.079,2986,3535,1926,0,0,1,0,0,0
$GC,10230,0.73,214.0,18.3,11.5,1097,10236,0.30,3.10,0.00,0.000,6,0.196,0.071,2927,2082,1925,0,0,0,0,0,0
$FREEZE,8.91,-0.407,-1.830,0,10,2
$FREEZE,8.22,-0.420,-1.830,0,10,2
$FREEZE,7.66,-0.420,-1.830,0,10,2
$FREEZE,6.97,-0.407,-1.829,0,10,2
$FREEZE,6.30,-0.407,-1.828,0,10,2
$FREEZE,5.71,-0.408,-1.828,0,10,2
$FREEZE,5.31,-0.408,-1.828,0,10,2
$FREEZE,4.79,-0.409,-1.827,0,10,2
$FREEZE,4.38,-0.428,-1.827,0,10,2
$FREEZE,4.01,-0.414,-1.827,0,10,2
$FREEZE,3.50,-0.426,-1.826,0,10,2
$FREEZE,2.93,-0.409,-1.826,0,10,2
$FREEZE,2.35,-0.408,-1.826,0,10,2
$FREEZE,1.79,-0.407,-1.825,0,10,2
$STATE,10387,end climb,SURFACE_DEPTH_REACHED
$STATE,10387,begin surface coast
$FREEZE,1.54,-0.418,-1.825,0,10,2
$FREEZE,1.34,-0.421,-1.825,0,10,2
$FREEZE,0.86,-0.418,-1.824,0,10,2
$FREEZE,0.30,-0.418,-1.824,0,10,2
$FINISH,0.3,1.026735
$STATE,10411,end surface coast,CONTROL_FINISHED_OK
$STATE,10411,begin surface
$SM_CCo,10429,124.18,0.735,0,0,1066,425.10
$SM_GC,1.01,0.00,0.00,124.18,0.000,0.000,0.735,124,2473,1066,-8.02,0.37,425.10
$RAFOS_CLK,716
$RAFOS,1,1260648541,20.166666,20.150278,61,59,57,0,0,0,221,204,170,0,0,0
$RAFOS,0,1260648071,20.033333,20.019722,58,58,54,0,0,0,188,215,198,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5650.71,080399,171746
$TT8_MAMPS,0.029146
$HUMID,46.88
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.7,20.3
$ALTIM_BOTTOM_PING,400.9,132.6
$24V_AH,22.7,57.536
$10V_AH,10.1,30.364
$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,23.525,135.175,301.525,124.175,0.000,95.050,100.748,996.332,2.250,0.000,27.405,1874.597,6152.637,587.117,1991.685,1417.877,0.000,1609.203,0.000,1946.855,1080.000,11.965,0.000
$DEVICE_MAMPS,296.829,101.244,1046.955,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,832.694,770.247,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152472
$DATA_FILE_SIZE,44213,1129
$CAP_FILE_SIZE,149450,0
$CFSIZE,260165632,226045952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$SOUNDSPEED,1463.7
$GPS,121209,202525,6704.855,-5654.114,43,1.5,43,-37.6