version: 66.06
glider: 143
mission: 10
dive: 331
start: 12 17 109 21 37 50
data:
$ID,143
$MISSION,10
$DIVE,331
$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,-42199.367
$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,21
$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
$GPS1,213206,6708.442,-5705.278,27,1.2,27,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-62.7
$GPS2,213732,6708.446,-5705.226,13,1.5,13,-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,166.7,16014,-16.9,-9.167
$D_GRID,518
$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,-146.0,0.0,0.0,0,133,0.00,0.00,-115.38,0.000,2,0.000,0.000,129,2467,3158,0,0,0,0,0,0
$GC,137,-0.73,-146.0,3.5,-5.3,23,163,11.15,2.33,-6.28,0.000,4,0.291,0.096,2446,859,3398,0,0,0,0,0,0
$GC,280,-0.73,-146.0,23.9,-9.8,49,286,0.00,2.17,0.00,0.000,6,0.000,0.068,2446,2459,3400,0,0,0,0,0,0
$GC,623,-0.73,-146.0,58.1,-10.7,110,629,0.00,3.28,0.00,0.000,4,0.000,0.088,2446,3917,3400,0,0,3,0,0,0
$GC,860,-0.73,-146.0,83.4,-11.0,152,866,0.00,3.08,0.00,0.000,6,0.000,0.064,2446,2501,3400,0,0,2,0,0,0
$GC,1199,-0.73,-146.0,118.3,-9.4,197,1204,0.00,3.22,0.00,0.000,4,0.000,0.087,2446,3927,3400,0,0,2,0,0,0
$GC,1413,-0.79,-146.0,137.9,-8.3,215,1419,0.00,3.03,0.00,0.000,6,0.000,0.064,2446,2531,3399,0,0,2,0,0,0
$GC,1738,-0.87,-146.0,163.2,-7.8,246,1743,0.12,2.38,0.00,0.000,4,0.124,0.087,2409,853,3397,0,0,0,0,0,0
$GC,1996,-0.82,-146.0,188.6,-9.1,268,2002,0.00,2.40,0.00,0.000,6,0.000,0.069,2409,2580,3397,0,0,0,0,0,0
$GC,2322,-0.82,-146.0,216.1,-8.9,299,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2579,3397,0,0,0,0,0,0
$GC,2641,-0.82,-146.0,242.8,-9.0,329,2645,0.00,3.03,0.00,0.000,4,0.000,0.084,2409,3919,3397,0,0,2,0,0,0
$GC,2797,-0.82,-146.0,256.8,-9.0,342,2803,0.00,2.88,0.00,0.000,6,0.000,0.060,2409,2591,3397,0,0,2,0,0,0
$GC,3122,-0.82,-146.0,285.0,-8.7,373,3127,0.00,3.00,0.00,0.000,4,0.000,0.081,2409,3921,3397,0,0,2,0,0,0
$GC,3319,-0.82,-146.0,302.4,-9.1,390,3323,0.00,2.85,0.00,0.000,6,0.000,0.058,2410,2605,3398,0,0,1,0,0,0
$GC,3643,-0.82,-146.0,328.1,-7.8,420,3648,0.00,2.95,0.00,0.000,4,0.000,0.081,2409,3924,3399,0,0,3,0,0,0
$GC,3850,-0.82,-146.0,344.3,-7.5,438,3855,0.00,2.80,0.00,0.000,6,0.000,0.057,2409,2636,3399,0,0,1,0,0,0
$GC,4175,-0.82,-146.0,370.4,-7.8,468,4180,0.00,2.90,0.00,0.000,4,0.000,0.081,2409,3924,3400,0,0,3,0,0,0
$GC,4365,-0.82,-146.0,385.2,-7.7,484,4371,0.00,2.75,0.00,0.000,6,0.000,0.056,2409,2661,3400,0,0,1,0,0,0
$GC,4690,-0.82,-146.0,409.1,-7.5,515,4695,0.00,2.88,0.00,0.000,4,0.000,0.081,2409,3926,3401,0,0,2,0,0,0
$GC,4835,-0.82,-146.0,420.8,-8.2,527,4841,0.00,2.70,0.00,0.000,6,0.000,0.055,2409,2686,3401,0,0,2,0,0,0
$GC,5160,-0.82,-146.0,445.1,-7.0,558,5164,0.00,2.85,0.00,0.000,4,0.000,0.080,2409,3920,3402,0,0,1,0,0,0
$GC,5360,-0.82,-146.0,460.1,-7.6,575,5366,0.00,2.67,0.00,0.000,6,0.000,0.055,2409,2721,3402,0,0,0,0,0,0
$GC,5685,-0.82,-146.0,485.3,-7.9,606,5690,0.00,2.78,0.00,0.000,4,0.000,0.080,2409,3921,3402,0,0,2,0,0,0
$GC,5808,-0.82,-146.0,495.0,-8.0,616,5814,0.00,2.62,0.00,0.000,6,0.000,0.054,2409,2740,3402,0,0,1,0,0,0
$STATE,6013,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6014,begin apogee
$GC,6020,-0.16,0.0,510.1,7.5,636,6146,0.75,0.00,120.82,1.038,6,0.168,0.000,2627,1932,2800,0,0,0,0,0,0
$STATE,6147,end apogee,CONTROL_FINISHED_OK
$STATE,6147,begin climb
$GC,6150,0.73,146.0,511.6,0.0,649,6282,0.95,0.00,123.12,0.993,6,0.127,0.000,2914,1932,2203,0,0,0,0,0,0
$GC,6599,0.73,146.0,464.1,11.7,692,6605,0.00,3.55,0.00,0.000,4,0.000,0.071,2914,3547,2196,0,0,3,0,0,0
$GC,6718,0.62,146.0,448.2,13.3,702,6724,0.15,3.45,0.00,0.000,6,0.209,0.064,2898,1965,2195,0,0,3,0,0,0
$GC,7042,0.62,146.0,411.0,11.1,732,7047,0.00,3.45,0.00,0.000,4,0.000,0.073,2898,3553,2195,0,0,3,0,0,0
$GC,7161,0.58,146.0,396.7,12.2,742,7167,0.15,3.42,0.00,0.000,6,0.202,0.066,2877,1976,2193,0,0,2,0,0,0
$GC,7485,0.66,146.0,365.3,9.5,772,7490,0.00,3.45,0.00,0.000,4,0.000,0.073,2878,3546,2193,0,0,1,0,0,0
$GC,7614,0.66,146.0,351.8,10.9,783,7620,0.00,3.40,0.00,0.000,6,0.000,0.065,2890,1990,2193,0,0,1,0,0,0
$GC,7939,0.66,146.0,320.8,9.3,813,7944,0.00,3.40,0.00,0.000,4,0.000,0.073,2890,3550,2193,0,0,3,0,0,0
$GC,8068,0.66,146.0,306.8,11.1,824,8073,0.00,3.38,0.00,0.000,6,0.000,0.065,2906,2010,2193,0,0,1,0,0,0
$GC,8394,0.66,146.0,271.8,11.3,854,8399,0.00,3.38,0.00,0.000,4,0.000,0.072,2906,3555,2193,0,0,3,0,0,0
$GC,8483,0.60,146.0,260.4,13.3,861,8490,0.15,3.35,0.00,0.000,6,0.200,0.064,2888,2014,2192,0,0,2,0,0,0
$GC,8808,0.66,146.0,226.6,10.0,892,8813,0.00,3.35,0.00,0.000,4,0.000,0.072,2887,3546,2193,0,0,3,0,0,0
$GC,8949,0.66,146.0,211.6,10.4,904,8954,0.00,3.33,0.00,0.000,6,0.000,0.064,2900,2039,2193,0,0,1,0,0,0
$GC,9273,0.66,146.0,179.6,9.2,934,9278,0.00,3.33,0.00,0.000,4,0.000,0.071,2900,3544,2193,0,0,2,0,0,0
$GC,9379,0.66,146.0,168.4,10.5,943,9384,0.00,3.28,0.00,0.000,6,0.000,0.064,2914,2053,2193,0,0,3,0,0,0
$GC,9703,0.66,146.0,137.7,9.6,973,9708,0.00,3.33,0.00,0.000,4,0.000,0.072,2914,3546,2193,0,0,2,0,0,0
$GC,9769,0.60,146.0,130.9,10.0,978,9776,0.17,3.28,0.00,0.000,6,0.200,0.064,2889,2057,2193,0,0,2,0,0,0
$GC,10095,0.75,180.1,105.1,7.7,1009,10130,0.12,3.38,27.10,0.764,4,0.120,0.071,2932,3546,2064,0,0,3,0,0,0
$GC,10215,0.68,180.1,92.6,11.3,1025,10221,0.15,3.30,0.00,0.000,6,0.200,0.064,2914,2078,2062,0,0,2,0,0,0
$GC,10558,0.84,212.4,62.7,7.8,1086,10595,0.15,3.38,27.10,0.746,4,0.114,0.072,2965,3539,1932,0,0,2,0,0,0
$GC,10720,0.76,212.4,46.2,11.3,1115,10726,0.17,3.28,0.00,0.000,6,0.194,0.065,2940,2096,1929,0,0,2,0,0,0
$GC,11064,0.84,212.4,10.1,11.3,1176,11069,0.00,3.30,0.00,0.000,4,0.000,0.075,2940,3552,1928,0,0,3,0,0,0
$FREEZE,8.87,0.028,-1.832,0,1,0
$FREEZE,8.26,0.028,-1.831,0,1,0
$FREEZE,7.60,0.026,-1.831,0,1,0
$FREEZE,7.05,0.027,-1.831,0,1,0
$FREEZE,6.53,0.027,-1.830,0,1,0
$FREEZE,6.03,0.026,-1.830,0,1,0
$FREEZE,5.51,0.026,-1.829,0,1,0
$FREEZE,5.14,0.026,-1.829,0,1,0
$FREEZE,4.74,0.026,-1.829,0,1,0
$FREEZE,4.12,0.027,-1.828,0,1,0
$FREEZE,3.56,0.026,-1.828,0,1,0
$FREEZE,2.95,0.026,-1.827,0,1,0
$FREEZE,2.46,0.027,-1.827,0,1,0
$FREEZE,1.83,0.027,-1.827,0,1,0
$STATE,11150,end climb,SURFACE_DEPTH_REACHED
$STATE,11150,begin surface coast
$FREEZE,0.92,0.037,-1.825,0,1,0
$FREEZE,0.54,0.019,-1.826,0,1,0
$FINISH,0.5,1.026742
$STATE,11161,end surface coast,CONTROL_FINISHED_OK
$STATE,11161,begin surface
$SM_CCo,11181,125.07,0.710,0,0,1066,425.10
$SM_GC,1.33,0.00,0.00,125.07,0.000,0.000,0.710,128,2467,1066,-8.01,0.20,425.10
$RAFOS_CLK,686
$RAFOS,4,1261096381,0.566667,0.550278,63,60,56,0,0,0,205,192,151,0,0,0
$RAFOS,3,1261095909,0.433333,0.419167,67,64,57,0,0,0,208,164,178,0,0,0
$RAFOS,2,1261095422,0.300000,0.283889,62,59,57,0,0,0,223,206,190,0,0,0
$RAFOS,1,1261094950,0.166667,0.152778,58,58,54,0,0,0,171,203,125,0,0,0
$RAFOS,0,1261094463,0.033333,0.017500,73,61,56,0,0,0,217,144,160,0,0,0
$RAFOS_FIX,6709.177246,-5710.703613,171209,202056,2,104,0.34
$IRIDIUM_FIX,6641.98,-5710.89,130399,181811
$TT8_MAMPS,0.029913
$HUMID,46.22
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,18.7
$ALTIM_BOTTOM_PING,350.4,174.6
$24V_AH,22.7,62.543
$10V_AH,10.2,33.089
$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,22.425,136.300,298.150,125.075,0.000,30.323,31.984,142.204,1.750,0.000,15.380,1980.290,6551.576,581.367,2111.160,401.693,0.000,1655.763,0.000,2073.914,2160.000,9.290,0.000
$DEVICE_MAMPS,291.460,95.875,1037.751,710.242,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.036,812.626,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152516
$DATA_FILE_SIZE,44169,1193
$CAP_FILE_SIZE,133205,0
$CFSIZE,260165632,224346112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,81,0,0
$SOUNDSPEED,1468.2
$GPS,181209,004736,6708.299,-5703.433,32,0.9,32,-37.7