version: 66.06
glider: 143
mission: 10
dive: 324
start: 12 16 109 23 13 50
data:
$ID,143
$MISSION,10
$DIVE,324
$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,-42098.641
$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,24
$R_STBD_OVSHOOT,16
$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
$GPS1,204800,6708.355,-5714.698,0,2102.0,0,-37.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,5.08
$_SM_ANGLEo,1.2
$GPS2,204800,6708.355,-5714.698,0,2102.0,0,-37.8
$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,155.0,21681,-16.9,-9.167
$D_GRID,667
$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,15,-0.73,-146.0,0.0,0.0,0,22,0.00,0.00,-5.05,0.000,2,0.000,0.000,2710,1931,2790,0,0,0,0,0,0
$GC,25,-0.73,-146.0,5.2,-0.0,1,50,0.75,0.00,-20.48,0.000,6,0.116,0.000,2464,1931,3397,0,0,0,0,0,0
$GC,389,-0.80,-146.0,38.7,-9.4,66,394,0.00,1.38,0.00,0.000,4,0.000,0.088,2464,866,3400,0,0,0,0,0,0
$GC,553,-0.80,-146.0,55.0,-9.7,95,558,0.00,2.22,0.00,0.000,6,0.000,0.069,2464,2489,3400,0,0,0,0,0,0
$GC,896,-0.87,-146.0,86.2,-9.4,156,902,0.17,3.22,0.00,0.000,4,0.114,0.087,2400,3915,3400,0,0,2,0,0,0
$GC,909,-0.87,-146.0,87.6,-10.3,158,915,0.00,2.97,0.00,0.000,6,0.000,0.064,2400,2540,3400,0,0,2,0,0,0
$GC,1239,-0.78,-146.0,129.5,-12.1,197,1244,0.15,2.40,0.00,0.000,4,0.218,0.086,2437,870,3398,0,0,0,0,0,0
$GC,1473,-0.78,-146.0,152.8,-8.1,217,1479,0.00,2.35,0.00,0.000,6,0.000,0.071,2437,2550,3397,0,0,0,0,0,0
$GC,1799,-0.85,-146.0,174.1,-6.7,248,1804,0.00,3.10,0.00,0.000,4,0.000,0.087,2437,3921,3396,0,0,2,0,0,0
$GC,2057,-0.93,-146.0,191.8,-7.0,270,2063,0.15,2.90,0.00,0.000,6,0.114,0.062,2388,2580,3395,0,0,2,0,0,0
$GC,2381,-0.85,-146.0,220.5,-9.9,301,2386,0.00,3.03,0.00,0.000,4,0.000,0.084,2388,3918,3395,0,0,2,0,0,0
$GC,2548,-0.75,-146.0,238.5,-10.8,315,2555,0.22,2.88,0.00,0.000,6,0.203,0.061,2441,2597,3395,0,0,0,0,0,0
$GC,2874,-0.84,-146.0,269.1,-9.4,346,2879,0.00,2.97,0.00,0.000,4,0.000,0.084,2441,3920,3395,0,0,2,0,0,0
$GC,3082,-0.94,-146.0,288.5,-8.8,364,3087,0.17,2.83,0.00,0.000,6,0.105,0.059,2381,2613,3396,0,0,1,0,0,0
$GC,3406,-0.84,-146.0,324.5,-11.5,394,3412,0.15,3.00,0.00,0.000,4,0.205,0.082,2413,3920,3396,0,0,2,0,0,0
$GC,3585,-0.84,-146.0,342.5,-9.2,409,3591,0.00,2.78,0.00,0.000,6,0.000,0.059,2413,2642,3397,0,0,1,0,0,0
$GC,3910,-0.84,-146.0,369.5,-8.0,440,3915,0.00,2.90,0.00,0.000,4,0.000,0.083,2413,3921,3397,0,0,2,0,0,0
$GC,4068,-0.84,-146.0,382.4,-7.9,453,4073,0.00,2.72,0.00,0.000,6,0.000,0.058,2413,2661,3397,0,0,2,0,0,0
$GC,4392,-0.84,-146.0,408.6,-8.6,484,4397,0.00,2.88,0.00,0.000,4,0.000,0.082,2413,3916,3397,0,0,1,0,0,0
$GC,4538,-0.84,-146.0,420.8,-8.1,496,4543,0.00,2.70,0.00,0.000,6,0.000,0.059,2413,2676,3397,0,0,2,0,0,0
$GC,4862,-0.84,-146.0,447.8,-8.3,527,4867,0.00,2.88,0.00,0.000,4,0.000,0.083,2413,3926,3397,0,0,1,0,0,0
$GC,5030,-0.84,-146.0,462.4,-8.2,541,5035,0.00,2.70,0.00,0.000,6,0.000,0.058,2413,2682,3397,0,0,2,0,0,0
$GC,5354,-0.84,-146.0,489.8,-8.2,572,5359,0.00,2.85,0.00,0.000,4,0.000,0.083,2413,3924,3397,0,0,1,0,0,0
$GC,5461,-0.84,-146.0,498.6,-8.3,581,5465,0.00,2.67,0.00,0.000,6,0.000,0.058,2413,2697,3397,0,0,2,0,0,0
$GC,5785,-0.84,-146.0,524.1,-8.7,611,5790,0.00,2.83,0.00,0.000,4,0.000,0.083,2413,3916,3397,0,0,1,0,0,0
$GC,5862,-0.84,-146.0,530.7,-7.6,617,5868,0.00,2.65,0.00,0.000,6,0.000,0.058,2413,2707,3397,0,0,1,0,0,0
$STATE,6079,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6079,begin apogee
$GC,6085,-0.16,0.0,547.9,7.4,638,6211,0.77,0.00,120.05,1.082,6,0.181,0.000,2627,1942,2800,0,0,0,0,0,0
$STATE,6212,end apogee,CONTROL_FINISHED_OK
$STATE,6212,begin climb
$GC,6216,0.73,146.0,549.8,0.0,651,6349,0.95,2.17,124.95,1.032,4,0.129,0.086,2921,353,2202,0,0,0,0,0,0
$GC,6384,0.66,146.0,536.2,11.8,667,6388,0.00,2.10,0.00,0.000,6,0.000,0.056,2921,1967,2198,0,0,0,0,0,0
$GC,6714,0.60,146.0,494.8,12.7,698,6720,0.15,3.45,0.00,0.000,4,0.202,0.074,2881,3525,2195,0,0,2,0,0,0
$GC,6849,0.60,146.0,479.3,11.9,709,6856,0.00,3.38,0.00,0.000,6,0.000,0.067,2894,1966,2193,0,0,1,0,0,0
$GC,7174,0.60,146.0,445.5,10.0,740,7179,0.00,3.42,0.00,0.000,4,0.000,0.076,2893,3524,2193,0,0,2,0,0,0
$GC,7316,0.55,146.0,429.9,11.3,752,7322,0.17,3.40,0.00,0.000,6,0.196,0.068,2868,1969,2192,0,0,1,0,0,0
$GC,7640,0.70,167.1,401.6,8.3,782,7665,0.15,3.45,16.98,0.938,4,0.113,0.077,2919,3520,2118,0,0,2,0,0,0
$GC,7800,0.61,167.1,381.8,13.0,796,7807,0.20,3.38,0.00,0.000,6,0.197,0.069,2887,1991,2116,0,0,1,0,0,0
$GC,8125,0.67,167.1,348.7,10.4,827,8130,0.00,3.38,0.00,0.000,4,0.000,0.076,2887,3534,2115,0,0,3,0,0,0
$GC,8243,0.67,167.1,335.4,11.0,837,8248,0.00,3.33,0.00,0.000,6,0.000,0.069,2900,2016,2115,0,0,2,0,0,0
$GC,8567,0.67,167.1,301.0,10.4,867,8572,0.00,3.35,0.00,0.000,4,0.000,0.077,2900,3529,2115,0,0,2,0,0,0
$GC,8685,0.67,167.1,287.2,11.4,877,8690,0.00,3.33,0.00,0.000,6,0.000,0.068,2914,2020,2115,0,0,1,0,0,0
$GC,9010,0.67,167.1,252.4,10.8,907,9016,0.00,3.33,0.00,0.000,4,0.000,0.076,2914,3525,2115,0,0,2,0,0,0
$GC,9095,0.61,167.1,242.5,12.0,914,9101,0.17,3.28,0.00,0.000,6,0.200,0.068,2889,2045,2115,0,0,1,0,0,0
$GC,9420,0.69,167.1,211.6,9.3,944,9425,0.00,3.33,0.00,0.000,4,0.000,0.076,2888,3525,2113,0,0,1,0,0,0
$GC,9515,0.69,167.1,201.6,11.4,952,9520,0.00,3.28,0.00,0.000,6,0.000,0.069,2901,2053,2113,0,0,1,0,0,0
$GC,9840,0.74,167.1,166.9,10.4,982,9846,0.00,3.35,0.00,0.000,4,0.000,0.077,2901,3532,2113,0,0,2,0,0,0
$GC,9951,0.74,167.1,155.9,9.2,991,9958,0.00,3.28,0.00,0.000,6,0.000,0.069,2916,2068,2113,0,0,1,0,0,0
$GC,10277,0.74,167.1,129.6,10.1,1022,10282,0.00,3.28,0.00,0.000,4,0.000,0.077,2915,3525,2113,0,0,2,0,0,0
$GC,10354,0.74,167.1,120.1,12.9,1028,10360,0.00,3.22,0.00,0.000,6,0.000,0.067,2930,2079,2111,0,0,2,0,0,0
$GC,10689,0.76,181.8,84.4,8.5,1074,10710,0.00,3.28,12.95,0.752,4,0.000,0.077,2930,3523,2057,0,0,3,0,0,0
$GC,10778,0.76,181.8,75.7,9.9,1090,10783,0.00,3.22,0.00,0.000,6,0.000,0.067,2944,2090,2056,0,0,1,0,0,0
$GC,11121,0.76,187.0,43.2,8.9,1151,11133,0.00,3.22,5.90,0.657,4,0.000,0.076,2944,3525,2036,0,0,2,0,0,0
$GC,11235,0.76,187.0,31.5,10.4,1171,11241,0.00,3.22,0.00,0.000,6,0.000,0.068,2959,2096,2036,0,0,1,0,0,0
$FREEZE,8.93,-0.880,-1.828,0,2,0
$FREEZE,8.46,-0.883,-1.827,0,2,0
$FREEZE,7.83,-0.882,-1.827,0,2,0
$FREEZE,7.33,-0.879,-1.826,0,2,0
$FREEZE,6.80,-0.878,-1.826,0,2,0
$FREEZE,6.31,-0.884,-1.825,0,2,0
$FREEZE,5.70,-0.887,-1.825,0,2,0
$FREEZE,5.22,-0.895,-1.824,0,2,0
$FREEZE,4.69,-0.929,-1.825,0,2,0
$FREEZE,4.17,-0.993,-1.822,0,2,0
$FREEZE,3.61,-1.066,-1.822,0,2,0
$FREEZE,3.02,-1.302,-1.822,0,2,0
$FREEZE,2.50,-1.309,-1.820,0,2,0
$FREEZE,1.80,-1.374,-1.819,0,2,0
$STATE,11538,end climb,SURFACE_DEPTH_REACHED
$STATE,11538,begin surface coast
$FREEZE,1.33,-1.370,-1.818,0,2,0
$FREEZE,1.24,-1.311,-1.817,0,2,0
$FREEZE,1.26,-1.360,-1.821,0,2,0
$FINISH,1.3,1.026714
$STATE,11556,end surface coast,CONTROL_FINISHED_OK
$STATE,11557,begin surface
$SM_CCo,11573,151.88,0.725,0,0,1066,425.10
$SM_GC,1.78,0.00,0.00,151.88,0.000,0.000,0.725,125,2450,1066,-8.02,-0.28,425.10
$RAFOS_CLK,760
$RAFOS,6,1261010950,0.833333,0.819444,81,61,54,0,0,0,753,162,205,0,0,0
$RAFOS,5,1261010465,0.700000,0.684722,147,62,59,0,0,0,623,116,172,0,0,0
$RAFOS,4,1261009983,0.566667,0.550833,107,78,62,0,0,0,853,217,174,0,0,0
$RAFOS,3,1261009503,0.433333,0.417500,59,55,55,0,0,0,203,147,221,0,0,0
$RAFOS,2,1261009021,0.300000,0.283611,73,66,61,0,0,0,191,1059,216,0,0,0
$RAFOS,1,1261008549,0.166667,0.152500,71,65,61,0,0,0,214,118,174,0,0,0
$RAFOS,0,1261008069,0.033333,0.019167,66,59,58,0,0,0,189,177,209,0,0,0
$RAFOS_FIX,6708.267090,-5713.835449,171209,000040,3,112,0.05
$IRIDIUM_FIX,6636.54,-5712.23,120399,191920
$TT8_MAMPS,0.027612
$HUMID,46.33
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,400.5,162.0
$24V_AH,22.6,61.671
$10V_AH,10.1,32.607
$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,12.725,145.100,280.825,151.875,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2115.170,6821.358,524.851,2168.758,163.268,0.000,1615.613,0.000,2142.676,2520.000,12.579,0.000
$DEVICE_MAMPS,217.828,88.205,1082.237,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.879,842.507,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152468
$DATA_FILE_SIZE,47400,1228
$CAP_FILE_SIZE,135779,0
$CFSIZE,260165632,224829440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,67,0,0
$SOUNDSPEED,1464.2
$GPS,171209,023100,6708.813,-5706.466,42,1.1,47,-37.7