version: 66.06
glider: 143
mission: 10
dive: 326
start: 12 17 109 5 51 56
data:
$ID,143
$MISSION,10
$DIVE,326
$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,-42127.762
$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,14
$R_STBD_OVSHOOT,27
$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
$GPS1,054606,6708.842,-5706.350,36,1.1,36,-37.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-66.4
$GPS2,055138,6708.880,-5706.348,12,1.1,12,-37.7
$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,167.1,17151,-16.9,-9.167
$D_GRID,515
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-115.25,0.000,2,0.000,0.000,127,2466,3070,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.1,-4.5,23,164,11.32,2.28,-9.30,0.000,4,0.295,0.100,2447,861,3397,0,0,0,0,0,0
$GC,203,-0.73,-146.0,13.9,-11.4,35,209,0.00,2.17,0.00,0.000,6,0.000,0.071,2448,2447,3399,0,0,0,0,0,0
$GC,547,-0.73,-146.0,48.8,-10.3,96,552,0.00,2.22,0.00,0.000,4,0.000,0.089,2448,860,3399,0,0,0,0,0,0
$GC,806,-0.73,-146.0,78.3,-11.0,142,811,0.00,2.28,0.00,0.000,6,0.000,0.074,2448,2498,3399,0,0,0,0,0,0
$GC,1148,-0.73,-146.0,110.6,-9.2,193,1153,0.00,3.25,0.00,0.000,4,0.000,0.093,2448,3925,3399,0,0,2,0,0,0
$GC,1361,-0.81,-146.0,129.5,-8.2,211,1367,0.00,3.08,0.00,0.000,6,0.000,0.067,2448,2515,3398,0,0,2,0,0,0
$GC,1687,-0.90,-146.0,156.1,-8.4,242,1693,0.15,3.20,0.00,0.000,4,0.118,0.088,2388,3921,3397,0,0,3,0,0,0
$GC,1824,-0.80,-146.0,170.5,-10.4,253,1831,0.17,3.03,0.00,0.000,6,0.209,0.065,2426,2533,3395,0,0,2,0,0,0
$GC,2149,-0.80,-146.0,198.9,-8.5,284,2154,0.00,3.15,0.00,0.000,4,0.000,0.088,2427,3927,3396,0,0,3,0,0,0
$GC,2358,-0.80,-146.0,216.7,-8.8,302,2363,0.00,2.95,0.00,0.000,6,0.000,0.064,2428,2570,3396,0,0,2,0,0,0
$GC,2682,-0.85,-146.0,245.6,-9.4,332,2687,0.00,3.10,0.00,0.000,4,0.000,0.085,2428,3930,3396,0,0,2,0,0,0
$GC,2894,-0.85,-146.0,266.0,-9.6,350,2901,0.00,2.88,0.00,0.000,6,0.000,0.062,2428,2598,3397,0,0,2,0,0,0
$GC,3220,-0.90,-146.0,295.7,-9.3,381,3224,0.00,3.00,0.00,0.000,4,0.000,0.085,2428,3917,3397,0,0,2,0,0,0
$GC,3421,-0.95,-146.0,314.6,-9.0,398,3427,0.15,2.78,0.00,0.000,6,0.112,0.062,2377,2631,3398,0,0,3,0,0,0
$GC,3745,-0.85,-146.0,349.1,-10.9,429,3751,0.15,2.97,0.00,0.000,4,0.202,0.084,2412,3926,3398,0,0,2,0,0,0
$GC,3908,-0.85,-146.0,364.2,-9.3,443,3913,0.00,2.78,0.00,0.000,6,0.000,0.061,2412,2650,3398,0,0,2,0,0,0
$GC,4233,-0.85,-146.0,394.3,-9.2,473,4237,0.00,2.90,0.00,0.000,4,0.000,0.084,2412,3925,3398,0,0,3,0,0,0
$GC,4384,-0.85,-146.0,408.4,-9.6,486,4388,0.00,2.72,0.00,0.000,6,0.000,0.060,2411,2671,3398,0,0,2,0,0,0
$GC,4708,-0.85,-146.0,436.6,-8.9,516,4713,0.00,2.88,0.00,0.000,4,0.000,0.083,2412,3920,3399,0,0,1,0,0,0
$GC,4922,-0.85,-146.0,454.5,-8.6,534,4928,0.00,2.65,0.00,0.000,6,0.000,0.059,2412,2707,3399,0,0,2,0,0,0
$GC,5247,-0.85,-146.0,479.4,-7.4,565,5251,0.00,2.83,0.00,0.000,4,0.000,0.082,2412,3930,3400,0,0,2,0,0,0
$GC,5353,-0.85,-146.0,488.2,-8.8,574,5358,0.00,2.62,0.00,0.000,6,0.000,0.058,2412,2724,3400,0,0,3,0,0,0
$GC,5679,-0.85,-146.0,514.9,-8.2,604,5683,0.00,2.10,0.00,0.000,3,0.000,0.081,2412,3519,3401,0,0,3,0,0,0
$STATE,5684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5684,begin apogee
$GC,5692,-0.16,0.0,515.4,8.2,604,5818,0.77,0.00,120.75,1.052,6,0.177,0.000,2628,1941,2800,0,0,0,0,0,0
$STATE,5819,end apogee,CONTROL_FINISHED_OK
$STATE,5819,begin climb
$GC,5822,0.73,146.0,518.8,0.0,617,5955,0.95,2.15,124.38,1.004,4,0.129,0.084,2924,320,2202,0,0,0,0,0,0
$GC,6039,0.64,146.0,499.1,12.8,637,6045,0.00,2.12,0.00,0.000,6,0.000,0.058,2924,1976,2197,0,0,0,0,0,0
$GC,6364,0.57,146.0,460.0,12.0,668,6370,0.20,3.42,0.00,0.000,4,0.196,0.074,2862,3527,2194,0,0,3,0,0,0
$GC,6517,0.62,146.0,444.8,9.7,681,6522,0.00,3.42,0.00,0.000,6,0.000,0.067,2875,1966,2193,0,0,1,0,0,0
$GC,6842,0.71,155.3,416.2,8.8,711,6856,0.12,3.42,7.65,0.833,4,0.117,0.076,2919,3518,2165,0,0,3,0,0,0
$GC,6968,0.60,155.3,400.1,13.3,722,6975,0.20,3.38,0.00,0.000,6,0.201,0.068,2888,1978,2163,0,0,1,0,0,0
$GC,7293,0.64,155.3,365.5,10.7,753,7298,0.00,3.38,0.00,0.000,4,0.000,0.075,2887,3531,2163,0,0,3,0,0,0
$GC,7415,0.64,155.3,351.6,11.0,763,7422,0.00,3.35,0.00,0.000,6,0.000,0.068,2900,2000,2163,0,0,1,0,0,0
$GC,7740,0.64,155.3,318.5,9.8,794,7745,0.00,3.35,0.00,0.000,4,0.000,0.075,2901,3524,2163,0,0,2,0,0,0
$GC,7860,0.59,155.3,304.9,12.0,804,7866,0.15,3.33,0.00,0.000,6,0.202,0.067,2882,2004,2163,0,0,1,0,0,0
$GC,8184,0.67,155.3,273.1,9.8,834,8190,0.00,3.33,0.00,0.000,4,0.000,0.074,2882,3524,2163,0,0,2,0,0,0
$GC,8303,0.67,155.3,260.7,10.8,844,8308,0.00,3.28,0.00,0.000,6,0.000,0.067,2894,2036,2163,0,0,1,0,0,0
$GC,8627,0.74,155.3,229.9,9.8,874,8632,0.00,3.33,0.00,0.000,4,0.000,0.075,2894,3532,2163,0,0,1,0,0,0
$GC,8750,0.74,155.3,216.7,10.7,884,8756,0.00,3.25,0.00,0.000,6,0.000,0.067,2909,2053,2163,0,0,2,0,0,0
$GC,9074,0.74,155.3,181.7,10.7,915,9079,0.00,3.22,0.00,0.000,4,0.000,0.075,2909,3524,2163,0,0,2,0,0,0
$GC,9196,0.74,155.3,167.6,12.3,925,9201,0.00,3.25,0.00,0.000,6,0.000,0.067,2923,2057,2163,0,0,1,0,0,0
$GC,9520,0.74,155.3,133.1,9.2,955,9525,0.00,3.30,0.00,0.000,4,0.000,0.075,2923,3533,2163,0,0,2,0,0,0
$GC,9582,0.67,155.3,126.6,11.0,960,9587,0.12,3.25,0.00,0.000,6,0.209,0.067,2912,2072,2163,0,0,1,0,0,0
$GC,9906,0.82,214.9,101.5,6.7,990,9963,0.12,3.30,48.95,0.786,4,0.124,0.075,2954,3524,1922,0,0,3,0,0,0
$GC,10082,0.76,214.9,83.1,11.7,1019,10088,0.12,3.25,0.00,0.000,6,0.202,0.067,2943,2091,1918,0,0,1,0,0,0
$GC,10428,0.84,223.8,49.3,8.8,1080,10444,0.00,3.28,7.72,0.687,4,0.000,0.077,2943,3522,1886,0,0,2,0,0,0
$GC,10531,0.84,223.8,38.9,10.2,1098,10536,0.00,3.20,0.00,0.000,6,0.000,0.070,2954,2112,1885,0,0,1,0,0,0
$FREEZE,8.55,-0.795,-1.827,0,1,0
$FREEZE,7.95,-0.799,-1.826,0,1,0
$FREEZE,7.40,-0.798,-1.826,0,1,0
$FREEZE,6.75,-0.798,-1.825,0,1,0
$FREEZE,6.25,-0.801,-1.825,0,1,0
$FREEZE,5.64,-0.806,-1.824,0,1,0
$FREEZE,5.06,-0.804,-1.824,0,1,0
$FREEZE,4.54,-0.800,-1.823,0,1,0
$FREEZE,3.98,-0.809,-1.823,0,1,0
$FREEZE,3.31,-0.809,-1.823,0,1,0
$GC,10873,0.84,223.8,3.3,10.5,1159,10879,0.00,3.22,0.00,0.000,4,0.000,0.077,2954,3527,1884,0,0,2,0,0,0
$FREEZE,2.00,-0.813,-1.822,0,1,0
$FREEZE,1.28,-0.818,-1.821,0,1,0
$STATE,10889,end climb,SURFACE_DEPTH_REACHED
$STATE,10889,begin surface coast
$FREEZE,0.65,-0.818,-1.821,0,1,0
$FREEZE,0.47,-0.829,-0.294,0,1,0
$FREEZE,0.56,-0.858,-1.820,0,1,0
$FINISH,0.6,1.026690
$STATE,10907,end surface coast,CONTROL_FINISHED_OK
$STATE,10907,begin surface
$SM_CCo,10927,124.25,0.730,0,0,1065,425.10
$SM_GC,1.51,0.00,0.00,124.25,0.000,0.000,0.730,129,2463,1065,-8.00,0.08,425.10
$RAFOS_CLK,683
$RAFOS,5,1261039264,8.700000,8.684444,131,59,58,0,0,0,638,190,199,0,0,0
$RAFOS,4,1261038786,8.566667,8.551666,65,60,54,0,0,0,190,223,207,0,0,0
$RAFOS,3,1261038306,8.433333,8.418333,62,53,53,0,0,0,207,133,152,0,0,0
$RAFOS,2,1261037825,8.300000,8.284722,64,56,52,0,0,0,202,176,132,0,0,0
$RAFOS,1,1261037343,8.166667,8.150833,62,57,56,0,0,0,140,185,162,0,0,0
$RAFOS,0,1261036866,8.033334,8.018333,68,56,55,0,0,0,204,232,163,0,0,0
$RAFOS_FIX,6708.536133,-5711.700684,171209,040400,2,108,0.48
$IRIDIUM_FIX,6641.98,-5709.24,130399,020205
$TT8_MAMPS,0.029146
$HUMID,46.65
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,19.1
$ALTIM_BOTTOM_PING,450.1,90.8
$24V_AH,22.6,61.931
$10V_AH,10.1,32.748
$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,22.900,143.625,309.450,124.250,0.000,29.524,32.700,148.888,2.250,0.000,14.337,1981.552,6314.245,593.383,2078.323,409.264,0.000,1659.510,0.000,2039.489,2520.000,15.586,0.000
$DEVICE_MAMPS,294.528,99.710,1051.557,730.184,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.690,794.071,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152488
$DATA_FILE_SIZE,44189,1165
$CAP_FILE_SIZE,134432,0
$CFSIZE,260165632,224694272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,83,0,0
$SOUNDSPEED,1464.6
$GPS,171209,085731,6708.174,-5705.157,37,1.2,37,-37.7