version: 66.06
glider: 143
mission: 10
dive: 333
start: 12 18 109 3 56 32
data:
$ID,143
$MISSION,10
$DIVE,333
$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,-42226.016
$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,19
$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
$GPS1,035107,6708.590,-5703.938,29,1.0,29,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.1
$GPS2,035614,6708.620,-5704.007,12,1.0,12,-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,169.7,15554,-16.9,-9.167
$D_GRID,488
$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,-146.0,0.0,0.0,0,128,0.00,0.00,-110.43,0.000,2,0.000,0.000,121,2459,3069,0,0,0,0,0,0
$GC,132,-0.73,-146.0,3.1,-5.0,22,158,11.10,2.22,-9.15,0.000,4,0.288,0.097,2445,857,3397,0,0,0,0,0,0
$GC,282,-0.73,-146.0,24.1,-11.8,49,288,0.00,2.12,0.00,0.000,6,0.000,0.067,2446,2457,3400,0,0,0,0,0,0
$GC,624,-0.73,-146.0,59.4,-9.9,110,630,0.00,3.33,0.00,0.000,4,0.000,0.086,2445,3927,3400,0,0,3,0,0,0
$GC,878,-0.73,-146.0,85.8,-10.4,155,884,0.00,3.10,0.00,0.000,6,0.000,0.064,2445,2496,3400,0,0,3,0,0,0
$GC,1212,-0.78,-146.0,118.4,-9.1,198,1217,0.00,3.22,0.00,0.000,4,0.000,0.086,2446,3917,3399,0,0,3,0,0,0
$GC,1413,-0.85,-146.0,135.6,-7.8,215,1419,0.00,3.03,0.00,0.000,6,0.000,0.063,2446,2526,3397,0,0,3,0,0,0
$GC,1738,-0.92,-146.0,161.1,-7.9,246,1744,0.17,3.17,0.00,0.000,4,0.110,0.083,2373,3922,3396,0,0,3,0,0,0
$GC,1929,-0.77,-146.0,182.7,-11.0,262,1935,0.25,2.95,0.00,0.000,6,0.199,0.061,2433,2562,3396,0,0,3,0,0,0
$GC,2254,-0.83,-146.0,207.0,-7.5,293,2259,0.00,3.08,0.00,0.000,4,0.000,0.083,2433,3926,3396,0,0,4,0,0,0
$GC,2478,-0.89,-146.0,224.4,-7.7,312,2483,0.00,2.85,0.00,0.000,6,0.000,0.058,2433,2603,3396,0,0,3,0,0,0
$GC,2803,-0.95,-146.0,249.4,-7.8,343,2808,0.15,3.00,0.00,0.000,4,0.114,0.080,2373,3928,3396,0,0,4,0,0,0
$GC,3061,-0.83,-146.0,275.9,-10.7,365,3068,0.20,2.78,0.00,0.000,6,0.196,0.057,2420,2639,3397,0,0,3,0,0,0
$GC,3386,-0.83,-146.0,304.7,-8.5,396,3391,0.00,2.90,0.00,0.000,4,0.000,0.080,2420,3922,3397,0,0,3,0,0,0
$GC,3508,-0.83,-146.0,315.1,-8.8,406,3514,0.00,2.75,0.00,0.000,6,0.000,0.057,2421,2650,3397,0,0,3,0,0,0
$GC,3835,-0.83,-146.0,339.3,-7.1,437,3840,0.00,2.90,0.00,0.000,4,0.000,0.080,2420,3930,3398,0,0,3,0,0,0
$GC,4019,-0.83,-146.0,352.6,-6.8,453,4024,0.00,2.70,0.00,0.000,6,0.000,0.056,2421,2677,3398,0,0,3,0,0,0
$GC,4344,-0.83,-146.0,372.9,-6.3,483,4348,0.00,2.85,0.00,0.000,4,0.000,0.079,2421,3922,3399,0,0,2,0,0,0
$GC,4518,-0.89,-146.0,384.7,-7.1,498,4522,0.00,2.70,0.00,0.000,6,0.000,0.054,2421,2701,3399,0,0,1,0,0,0
$GC,4843,-0.94,-146.0,408.1,-7.4,528,4847,0.00,2.80,0.00,0.000,4,0.000,0.079,2420,3924,3400,0,0,3,0,0,0
$GC,4989,-0.99,-146.0,419.6,-7.9,540,4995,0.15,2.60,0.00,0.000,6,0.110,0.054,2368,2734,3400,0,0,3,0,0,0
$GC,5314,-0.86,-146.0,451.6,-10.3,571,5319,0.17,2.75,0.00,0.000,4,0.197,0.079,2410,3921,3400,0,0,4,0,0,0
$GC,5392,-0.86,-146.0,458.7,-8.5,577,5398,0.00,2.60,0.00,0.000,6,0.000,0.054,2410,2743,3400,0,0,2,0,0,0
$GC,5717,-0.86,-146.0,485.0,-7.9,608,5722,0.00,2.72,0.00,0.000,4,0.000,0.080,2410,3928,3401,0,0,4,0,0,0
$STATE,5754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5754,begin apogee
$GC,5763,-0.16,0.0,488.2,8.5,611,5889,0.77,0.00,120.10,1.025,6,0.172,0.000,2630,1933,2799,0,0,0,0,0,0
$STATE,5890,end apogee,CONTROL_FINISHED_OK
$STATE,5890,begin climb
$GC,5892,0.73,146.0,490.0,0.0,624,6026,0.93,2.17,122.50,0.982,4,0.123,0.083,2922,362,2202,0,0,0,0,0,0
$GC,6060,0.65,146.0,475.7,12.1,640,6064,0.00,2.03,0.00,0.000,6,0.000,0.054,2921,1963,2199,0,0,0,0,0,0
$GC,6391,0.59,146.0,435.4,12.1,671,6397,0.17,3.45,0.00,0.000,4,0.199,0.071,2880,3529,2195,0,0,3,0,0,0
$GC,6543,0.59,146.0,418.5,11.1,684,6548,0.00,3.42,0.00,0.000,6,0.000,0.066,2894,1959,2194,0,0,3,0,0,0
$GC,6867,0.59,146.0,387.0,9.2,714,6872,0.00,3.45,0.00,0.000,4,0.000,0.073,2894,3539,2194,0,0,3,0,0,0
$GC,7001,0.59,146.0,372.6,10.8,725,7007,0.00,3.38,0.00,0.000,6,0.000,0.066,2909,1988,2192,0,0,3,0,0,0
$GC,7325,0.59,146.0,337.5,11.3,756,7330,0.00,3.40,0.00,0.000,4,0.000,0.073,2909,3536,2193,0,0,3,0,0,0
$GC,7421,0.52,146.0,326.1,12.2,764,7428,0.25,3.40,0.00,0.000,6,0.195,0.066,2863,1996,2192,0,0,1,0,0,0
$GC,7747,0.65,151.6,296.8,8.9,794,7759,0.12,3.40,4.32,0.634,4,0.118,0.073,2906,3530,2181,0,0,2,0,0,0
$GC,7883,0.59,151.6,280.3,13.1,806,7889,0.17,3.35,0.00,0.000,6,0.195,0.065,2881,2020,2181,0,0,1,0,0,0
$GC,8208,0.68,153.6,250.1,9.1,836,8213,0.00,3.33,0.00,0.000,4,0.000,0.072,2881,3530,2180,0,0,3,0,0,0
$GC,8307,0.68,153.6,240.2,9.8,844,8314,0.00,3.33,0.00,0.000,6,0.000,0.064,2893,2023,2180,0,0,2,0,0,0
$GC,8633,0.74,166.2,212.2,8.6,875,8655,0.10,3.35,13.60,0.804,4,0.121,0.072,2934,3535,2121,0,0,3,0,0,0
$GC,8768,0.62,166.2,196.1,12.2,887,8774,0.25,3.33,0.00,0.000,6,0.201,0.064,2889,2050,2120,0,0,1,0,0,0
$GC,9092,0.70,166.2,164.8,9.8,917,9097,0.00,3.33,0.00,0.000,4,0.000,0.071,2889,3531,2119,0,0,2,0,0,0
$GC,9239,0.70,166.2,149.3,11.5,929,9244,0.00,3.28,0.00,0.000,6,0.000,0.064,2902,2060,2119,0,0,2,0,0,0
$GC,9563,0.77,166.2,115.3,10.0,960,9569,0.10,3.35,0.00,0.000,4,0.120,0.072,2944,3537,2119,0,0,2,0,0,0
$GC,9750,0.68,166.2,92.8,11.4,981,9757,0.20,3.25,0.00,0.000,6,0.197,0.064,2911,2098,2119,0,0,1,0,0,0
$GC,10097,0.86,232.4,69.6,6.4,1042,10159,0.17,3.33,54.28,0.753,4,0.107,0.073,2971,3540,1850,0,0,3,0,0,0
$GC,10317,0.79,232.4,44.7,13.0,1082,10323,0.17,3.28,0.00,0.000,6,0.195,0.065,2946,2115,1846,0,0,1,0,0,0
$GC,10661,0.85,232.4,9.7,9.9,1143,10666,0.00,3.25,0.00,0.000,4,0.000,0.075,2945,3537,1843,0,0,3,0,0,0
$FREEZE,8.49,0.039,-1.832,0,1,0
$FREEZE,7.79,0.039,-1.831,0,1,0
$FREEZE,7.33,0.039,-1.831,0,1,0
$FREEZE,6.57,0.039,-1.830,0,1,0
$FREEZE,5.99,0.039,-1.830,0,1,0
$FREEZE,5.45,0.039,-1.829,0,1,0
$FREEZE,4.80,0.038,-1.829,0,1,0
$FREEZE,4.10,0.039,-1.828,0,1,0
$FREEZE,3.21,0.039,-1.828,0,1,0
$FREEZE,2.63,0.039,-1.827,0,1,0
$FREEZE,2.11,0.038,-1.827,0,1,0
$FREEZE,1.24,0.038,-1.826,0,1,0
$STATE,10735,end climb,SURFACE_DEPTH_REACHED
$STATE,10735,begin surface coast
$FREEZE,0.57,0.039,-1.826,0,1,0
$FREEZE,0.52,0.048,-1.825,0,1,0
$FREEZE,0.59,0.050,-1.007,0,1,0
$FINISH,0.6,1.014879
$STATE,10752,end surface coast,CONTROL_FINISHED_OK
$STATE,10752,begin surface
$SM_CCo,10771,115.47,0.709,0,0,1065,425.10
$SM_GC,1.28,0.00,0.00,115.47,0.000,0.000,0.709,125,2469,1065,-8.02,0.25,425.10
$RAFOS_CLK,654
$RAFOS,6,1261111742,4.833333,4.817222,114,64,52,0,0,0,804,214,120,0,0,0
$RAFOS,5,1261111265,4.700000,4.684722,75,60,56,0,0,0,628,166,182,0,0,0
$RAFOS,4,1261110790,4.566667,4.552778,65,64,59,0,0,0,178,221,823,0,0,0
$RAFOS,3,1261110306,4.433333,4.418334,65,60,60,0,0,0,200,179,163,0,0,0
$RAFOS,2,1261109824,4.300000,4.284444,60,58,56,0,0,0,210,173,187,0,0,0
$RAFOS,1,1261109344,4.166667,4.151111,57,56,52,0,0,0,224,183,204,0,0,0
$RAFOS,0,1261108861,4.033333,4.016944,56,55,53,0,0,0,201,168,219,0,0,0
$RAFOS_FIX,6709.091309,-5709.041992,181209,040456,2,94,1.23
$IRIDIUM_FIX,6636.54,-5704.59,140399,000006
$TT8_MAMPS,0.026078
$HUMID,46.69
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,400.3,123.3
$24V_AH,22.8,62.783
$10V_AH,10.1,33.223
$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,23.850,139.600,314.800,115.475,0.000,28.468,31.535,129.636,1.750,0.000,13.519,1973.049,6189.535,583.522,2066.269,383.423,0.000,1640.752,0.000,2029.665,2520.000,10.919,0.000
$DEVICE_MAMPS,288.392,96.642,1024.712,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.656,788.135,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152532
$DATA_FILE_SIZE,44145,1159
$CAP_FILE_SIZE,134195,0
$CFSIZE,260165632,224206848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,111,0,0
$SOUNDSPEED,1468.2
$GPS,181209,065931,6708.114,-5704.704,38,1.1,38,-37.7