version: 66.06
glider: 143
mission: 10
dive: 328
start: 12 17 109 12 13 21
data:
$ID,143
$MISSION,10
$DIVE,328
$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,-42157.879
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,120636,6708.444,-5704.355,26,1.1,26,-37.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.0
$GPS2,121302,6708.472,-5704.473,11,1.0,11,-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,168.1,15627,-16.9,-9.167
$D_GRID,504
$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,-146.0,0.0,0.0,0,134,0.00,0.00,-115.15,0.000,2,0.000,0.000,125,2471,3113,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.2,-4.8,23,164,11.05,2.33,-7.70,0.000,4,0.288,0.098,2445,862,3398,0,0,0,0,0,0
$GC,214,-0.73,-146.0,16.1,-11.4,37,220,0.00,2.17,0.00,0.000,6,0.000,0.068,2445,2459,3400,0,0,0,0,0,0
$GC,556,-0.73,-146.0,49.1,-9.0,98,562,0.00,2.22,0.00,0.000,4,0.000,0.087,2446,866,3401,0,0,0,0,0,0
$GC,813,-0.73,-146.0,76.6,-11.2,144,819,0.00,2.25,0.00,0.000,6,0.000,0.071,2445,2498,3400,0,0,0,0,0,0
$GC,1150,-0.78,-146.0,113.5,-10.6,193,1155,0.00,3.22,0.00,0.000,4,0.000,0.090,2446,3918,3399,0,0,2,0,0,0
$GC,1370,-0.86,-146.0,137.5,-10.6,212,1375,0.00,3.00,0.00,0.000,6,0.000,0.065,2446,2538,3397,0,0,3,0,0,0
$GC,1695,-0.93,-146.0,168.3,-8.6,242,1700,0.17,3.12,0.00,0.000,4,0.110,0.085,2373,3917,3396,0,0,3,0,0,0
$GC,1881,-0.78,-146.0,190.5,-11.5,258,1886,0.25,2.90,0.00,0.000,6,0.199,0.062,2433,2576,3396,0,0,3,0,0,0
$GC,2206,-0.84,-146.0,215.7,-7.4,288,2211,0.00,3.05,0.00,0.000,4,0.000,0.084,2433,3917,3396,0,0,2,0,0,0
$GC,2352,-0.90,-146.0,226.9,-7.4,300,2358,0.00,2.85,0.00,0.000,6,0.000,0.061,2433,2595,3396,0,0,3,0,0,0
$GC,2677,-0.97,-146.0,250.2,-7.1,331,2683,0.17,3.00,0.00,0.000,4,0.110,0.081,2361,3924,3396,0,0,3,0,0,0
$GC,2834,-0.79,-146.0,266.1,-9.7,344,2841,0.30,2.83,0.00,0.000,6,0.199,0.058,2434,2606,3397,0,0,3,0,0,0
$GC,3159,-0.87,-146.0,288.1,-6.3,375,3164,0.00,2.95,0.00,0.000,4,0.000,0.081,2434,3917,3398,0,0,3,0,0,0
$GC,3322,-0.95,-146.0,299.2,-6.6,389,3327,0.15,2.80,0.00,0.000,6,0.112,0.058,2385,2623,3398,0,0,2,0,0,0
$GC,3648,-0.86,-146.0,327.7,-9.0,419,3652,0.00,2.92,0.00,0.000,4,0.000,0.081,2385,3917,3398,0,0,2,0,0,0
$GC,3844,-0.76,-146.0,346.6,-9.8,436,3849,0.22,2.75,0.00,0.000,6,0.192,0.058,2439,2653,3399,0,0,2,0,0,0
$GC,4169,-0.85,-146.0,370.5,-7.1,466,4173,0.00,2.88,0.00,0.000,4,0.000,0.079,2439,3920,3400,0,0,2,0,0,0
$GC,4293,-0.95,-146.0,379.9,-7.4,476,4299,0.17,2.70,0.00,0.000,6,0.104,0.055,2379,2675,3400,0,0,2,0,0,0
$GC,4618,-0.85,-146.0,408.8,-8.5,507,4623,0.12,2.85,0.00,0.000,4,0.203,0.078,2400,3926,3400,0,0,3,0,0,0
$GC,4726,-0.85,-146.0,417.3,-7.4,516,4731,0.00,2.72,0.00,0.000,6,0.000,0.055,2400,2691,3400,0,0,1,0,0,0
$GC,5051,-0.85,-146.0,442.7,-8.3,546,5055,0.00,2.83,0.00,0.000,4,0.000,0.080,2399,3925,3401,0,0,2,0,0,0
$GC,5169,-0.85,-146.0,452.5,-8.3,556,5173,0.00,2.67,0.00,0.000,6,0.000,0.055,2400,2700,3401,0,0,2,0,0,0
$GC,5494,-0.85,-146.0,477.6,-8.1,586,5498,0.00,2.80,0.00,0.000,4,0.000,0.080,2400,3922,3401,0,0,3,0,0,0
$GC,5566,-0.85,-146.0,483.4,-8.1,592,5571,0.00,2.65,0.00,0.000,6,0.000,0.056,2400,2717,3401,0,0,2,0,0,0
$STATE,5803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5803,begin apogee
$GC,5811,-0.16,0.0,504.2,9.4,614,5938,0.82,0.00,120.72,1.031,6,0.176,0.000,2630,1937,2800,0,0,0,0,0,0
$STATE,5938,end apogee,CONTROL_FINISHED_OK
$STATE,5938,begin climb
$GC,5940,0.73,146.0,506.3,0.0,627,6073,0.93,0.00,123.28,0.987,6,0.122,0.000,2913,1937,2203,0,0,0,0,0,0
$GC,6391,0.73,146.0,459.6,10.9,670,6396,0.00,3.55,0.00,0.000,4,0.000,0.071,2914,3554,2196,0,0,3,0,0,0
$GC,6566,0.62,146.0,438.5,11.9,685,6572,0.15,3.47,0.00,0.000,6,0.211,0.065,2898,1963,2195,0,0,1,0,0,0
$GC,6890,0.62,146.0,406.3,10.0,715,6895,0.00,3.42,0.00,0.000,4,0.000,0.073,2898,3543,2195,0,0,3,0,0,0
$GC,7008,0.58,146.0,393.2,10.9,725,7014,0.15,3.42,0.00,0.000,6,0.202,0.066,2877,1977,2193,0,0,1,0,0,0
$GC,7334,0.65,148.1,363.2,9.1,755,7339,0.00,3.45,0.00,0.000,4,0.000,0.072,2877,3554,2193,0,0,1,0,0,0
$GC,7456,0.65,148.1,350.1,10.9,765,7462,0.00,3.38,0.00,0.000,6,0.000,0.066,2890,2009,2193,0,0,2,0,0,0
$GC,7781,0.65,148.1,317.3,9.5,796,7786,0.00,3.38,0.00,0.000,4,0.000,0.073,2890,3553,2193,0,0,3,0,0,0
$GC,7903,0.65,148.1,304.5,10.8,806,7909,0.00,3.35,0.00,0.000,6,0.000,0.065,2905,2021,2193,0,0,2,0,0,0
$GC,8228,0.65,148.1,272.1,11.0,837,8233,0.00,3.38,0.00,0.000,4,0.000,0.072,2905,3548,2193,0,0,1,0,0,0
$GC,8346,0.59,148.1,257.0,13.3,847,8352,0.17,3.35,0.00,0.000,6,0.200,0.065,2880,2041,2193,0,0,0,0,0,0
$GC,8670,0.67,148.1,219.6,11.1,877,8675,0.00,3.33,0.00,0.000,4,0.000,0.071,2880,3544,2193,0,0,2,0,0,0
$GC,8804,0.67,148.1,204.2,11.1,888,8810,0.00,3.30,0.00,0.000,6,0.000,0.064,2892,2054,2193,0,0,1,0,0,0
$GC,9131,0.73,148.1,169.9,10.7,919,9136,0.10,3.35,0.00,0.000,4,0.122,0.072,2933,3552,2192,0,0,2,0,0,0
$GC,9251,0.61,148.1,154.8,12.1,929,9257,0.22,3.30,0.00,0.000,6,0.199,0.064,2893,2075,2193,0,0,0,0,0,0
$GC,9575,0.71,148.1,124.9,9.7,959,9581,0.00,3.28,0.00,0.000,4,0.000,0.072,2893,3552,2193,0,0,3,0,0,0
$GC,9671,0.71,148.1,114.2,10.9,967,9676,0.00,3.28,0.00,0.000,6,0.000,0.064,2906,2095,2193,0,0,0,0,0,0
$GC,10008,0.86,188.3,82.4,7.5,1015,10049,0.17,3.30,33.42,0.755,4,0.096,0.072,2970,3548,2031,0,0,2,0,0,0
$GC,10096,0.71,188.3,73.4,11.8,1031,10102,0.25,3.30,0.00,0.000,6,0.199,0.064,2926,2104,2029,0,0,0,0,0,0
$GC,10441,0.82,205.4,45.5,8.4,1092,10462,0.00,3.28,14.98,0.724,4,0.000,0.074,2926,3555,1961,0,0,3,0,0,0
$GC,10563,0.82,205.4,33.7,9.7,1114,10569,0.00,3.22,0.00,0.000,6,0.000,0.065,2938,2103,1960,0,0,1,0,0,0
$FREEZE,8.58,-0.598,-1.827,0,1,0
$FREEZE,8.15,-0.597,-1.827,0,1,0
$FREEZE,7.62,-0.592,-1.826,0,1,0
$FREEZE,7.12,-0.588,-1.826,0,1,0
$FREEZE,6.56,-0.582,-1.825,0,1,0
$FREEZE,6.01,-0.590,-1.825,0,1,0
$FREEZE,5.50,-0.585,-1.825,0,1,0
$FREEZE,4.97,-0.595,-1.824,0,1,0
$FREEZE,4.40,-0.582,-1.824,0,1,0
$FREEZE,3.81,-0.590,-1.823,0,1,0
$FREEZE,3.35,-0.598,-1.823,0,1,0
$FREEZE,2.86,-0.598,-1.823,0,1,0
$GC,10907,0.89,205.4,2.9,9.8,1175,10913,0.12,3.28,0.00,0.000,4,0.107,0.074,2986,3543,1959,0,0,3,0,0,0
$FREEZE,1.57,-0.597,-1.822,0,1,0
$STATE,10918,end climb,SURFACE_DEPTH_REACHED
$STATE,10918,begin surface coast
$FREEZE,0.87,-0.597,-1.821,0,1,0
$FREEZE,0.54,-0.679,-0.933,0,1,0
$FINISH,0.5,1.013781
$STATE,10930,end surface coast,CONTROL_FINISHED_OK
$STATE,10930,begin surface
$SM_CCo,10950,128.60,0.713,0,0,1067,425.10
$SM_GC,1.39,0.00,0.00,128.60,0.000,0.000,0.713,128,2465,1067,-8.01,0.14,425.10
$RAFOS_CLK,676
$RAFOS,6,1261054151,12.833333,12.819722,72,60,56,0,0,0,755,137,211,0,0,0
$RAFOS,5,1261053661,12.700000,12.683611,115,63,56,0,0,0,647,223,190,0,0,0
$RAFOS,4,1261053183,12.566667,12.550834,70,59,57,0,0,0,206,864,118,0,0,0
$RAFOS,3,1261052701,12.433333,12.416945,69,60,57,0,0,0,194,182,152,0,0,0
$RAFOS,2,1261052224,12.300000,12.284445,66,65,60,0,0,0,163,148,188,0,0,0
$RAFOS,0,1261051263,12.033333,12.017500,60,58,58,0,0,0,207,182,156,0,0,0
$RAFOS_FIX,6707.447754,-5708.257324,171209,121200,2,94,1.58
$IRIDIUM_FIX,6641.98,-5709.24,130399,090914
$TT8_MAMPS,0.027612
$HUMID,46.10
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,20.0,19.8
$ALTIM_BOTTOM_PING,300.5,220.3
$24V_AH,22.7,62.182
$10V_AH,10.2,32.885
$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,24.050,140.800,292.400,128.600,0.000,28.400,35.849,198.772,1.500,0.000,13.163,1986.273,6363.704,584.435,2071.197,461.489,0.000,1644.418,0.000,2037.646,1800.000,7.644,0.000
$DEVICE_MAMPS,287.625,98.176,1030.848,713.310,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.448,802.475,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152532
$DATA_FILE_SIZE,44137,1179
$CAP_FILE_SIZE,136992,0
$CFSIZE,260165632,224550912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,84,0,0
$SOUNDSPEED,1467.8
$GPS,171209,151931,6709.333,-5706.061,37,1.3,37,-37.8