version: 66.06
glider: 143
mission: 10
dive: 362
start: 12 23 109 4 16 39
data:
$ID,143
$MISSION,10
$DIVE,362
$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,325
$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,-43019.848
$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,19
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,040027,6713.127,-5725.374,48,2.8,67,-37.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-63.5
$GPS2,041622,6713.133,-5725.509,165,99.0,181,-37.9
$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,162.6,32952,-16.9,-9.167
$D_GRID,629
$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,-146.0,0.0,0.0,0,113,0.00,0.00,-95.75,0.000,2,0.000,0.000,130,2470,3047,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.4,-5.0,19,143,11.50,2.22,-10.12,0.000,4,0.299,0.105,2445,865,3398,0,0,0,0,0,0
$GC,396,-0.73,-146.0,43.6,-12.6,69,402,0.00,2.08,0.00,0.000,6,0.000,0.076,2445,2464,3401,0,0,0,0,0,0
$GC,740,-0.73,-146.0,79.3,-10.8,130,745,0.00,2.15,0.00,0.000,4,0.000,0.094,2445,852,3401,0,0,0,0,0,0
$GC,999,-0.73,-146.0,108.8,-11.7,170,1003,0.00,2.08,0.00,0.000,6,0.000,0.076,2445,2459,3401,0,0,0,0,0,0
$GC,1328,-0.77,-146.0,142.1,-9.4,201,1332,0.00,2.15,0.00,0.000,4,0.000,0.095,2445,847,3401,0,0,0,0,0,0
$GC,1585,-0.77,-146.0,166.5,-9.1,223,1591,0.00,2.12,0.00,0.000,6,0.000,0.077,2445,2462,3400,0,0,0,0,0,0
$GC,1913,-0.85,-146.0,191.8,-8.3,254,1918,0.00,3.55,0.00,0.000,4,0.000,0.095,2445,3929,3399,0,0,6,0,0,0
$GC,2171,-0.94,-146.0,214.2,-8.7,276,2178,0.20,3.40,0.00,0.000,6,0.109,0.071,2378,2467,3399,0,0,4,0,0,0
$GC,2496,-0.83,-146.0,247.9,-10.1,307,2500,0.17,2.15,0.00,0.000,4,0.200,0.091,2423,853,3399,0,0,0,0,0,0
$GC,2752,-0.83,-146.0,271.1,-8.9,329,2758,0.00,2.05,0.00,0.000,6,0.000,0.071,2423,2463,3399,0,0,0,0,0,0
$GC,3077,-0.83,-146.0,296.9,-7.9,360,3082,0.00,3.47,0.00,0.000,4,0.000,0.089,2423,3917,3399,0,0,6,0,0,0
$GC,3256,-0.83,-146.0,311.5,-8.5,375,3262,0.00,3.38,0.00,0.000,6,0.000,0.067,2423,2457,3400,0,0,3,0,0,0
$GC,3581,-0.83,-146.0,339.1,-8.3,406,3586,0.00,3.50,0.00,0.000,4,0.000,0.087,2423,3929,3401,0,0,6,0,0,0
$GC,3839,-0.83,-146.0,361.3,-8.6,428,3845,0.00,3.38,0.00,0.000,6,0.000,0.065,2423,2453,3402,0,0,4,0,0,0
$GC,4164,-0.83,-146.0,389.4,-8.8,459,4169,0.00,3.50,0.00,0.000,4,0.000,0.084,2423,3927,3403,0,0,6,0,0,0
$GC,4421,-0.83,-146.0,411.6,-7.5,481,4428,0.00,3.38,0.00,0.000,6,0.000,0.064,2423,2462,3403,0,0,3,0,0,0
$GC,4746,-0.83,-146.0,438.3,-8.6,512,4750,0.00,2.10,0.00,0.000,4,0.000,0.086,2423,844,3404,0,0,0,0,0,0
$GC,5005,-0.83,-146.0,462.3,-9.0,535,5010,0.00,2.05,0.00,0.000,6,0.000,0.067,2423,2463,3404,0,0,0,0,0,0
$GC,5335,-0.83,-146.0,487.8,-7.6,566,5341,0.00,3.45,0.00,0.000,4,0.000,0.085,2423,3915,3405,0,0,6,0,0,0
$GC,5467,-0.88,-146.0,497.9,-7.7,577,5472,0.00,3.35,0.00,0.000,6,0.000,0.064,2423,2458,3404,0,0,4,0,0,0
$GC,5792,-0.92,-146.0,522.8,-7.3,607,5797,0.00,3.50,0.00,0.000,4,0.000,0.085,2423,3924,3405,0,0,5,0,0,0
$GC,6050,-0.97,-146.0,542.7,-7.6,629,6056,0.15,3.38,0.00,0.000,6,0.115,0.065,2372,2459,3405,0,0,3,0,0,0
$GC,6374,-0.84,-146.0,572.9,-9.5,660,6379,0.17,2.12,0.00,0.000,4,0.206,0.087,2412,852,3405,0,0,0,0,0,0
$GC,6632,-0.84,-146.0,595.5,-8.5,682,6637,0.00,2.05,0.00,0.000,6,0.000,0.069,2412,2464,3405,0,0,0,0,0,0
$GC,6966,-0.84,-146.0,622.3,-8.3,697,6972,0.00,3.47,0.00,0.000,4,0.000,0.086,2413,3925,3405,0,0,6,0,0,0
$STATE,7048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7048,begin apogee
$GC,7058,-0.16,0.0,629.3,8.6,699,7189,0.77,0.00,125.62,1.146,6,0.185,0.000,2626,1936,2799,0,0,0,0,0,0
$STATE,7190,end apogee,CONTROL_FINISHED_OK
$STATE,7190,begin climb
$GC,7192,0.73,146.0,632.1,0.0,704,7329,0.98,2.05,129.20,1.091,4,0.133,0.090,2920,349,2203,0,0,0,0,0,0
$GC,7384,0.64,146.0,615.5,11.8,710,7389,0.00,1.95,0.00,0.000,6,0.000,0.060,2920,1956,2199,0,0,0,0,0,0
$GC,7712,0.56,146.0,577.3,11.8,732,7722,0.20,3.78,0.00,0.000,4,0.202,0.077,2858,3537,2196,0,0,5,0,0,0
$GC,7885,0.62,146.0,559.6,10.0,747,7891,0.00,3.72,0.00,0.000,6,0.000,0.071,2872,1952,2194,0,0,4,0,0,0
$GC,8210,0.72,155.7,530.2,8.8,778,8225,0.15,3.78,8.05,0.923,4,0.108,0.080,2926,3533,2164,0,0,5,0,0,0
$GC,8388,0.56,155.7,507.3,12.7,793,8395,0.28,3.72,0.00,0.000,6,0.206,0.074,2878,1941,2163,0,0,4,0,0,0
$GC,8713,0.66,169.3,476.9,8.6,824,8734,0.00,3.78,13.07,0.983,4,0.000,0.081,2878,3538,2108,0,0,4,0,0,0
$GC,8902,0.66,169.3,457.4,11.0,841,8911,0.00,3.75,0.00,0.000,6,0.000,0.074,2892,1946,2106,0,0,3,0,0,0
$GC,9231,0.66,169.3,424.7,10.0,872,9240,0.00,3.72,0.00,0.000,4,0.000,0.081,2893,3534,2106,0,0,5,0,0,0
$GC,9387,0.66,169.3,406.4,11.6,886,9393,0.00,3.72,0.00,0.000,6,0.000,0.075,2908,1944,2106,0,0,4,0,0,0
$GC,9711,0.66,169.3,370.2,10.4,916,9720,0.00,3.72,0.00,0.000,4,0.000,0.080,2909,3535,2105,0,0,5,0,0,0
$GC,9868,0.58,169.3,352.5,11.5,930,9878,0.20,3.72,0.00,0.000,6,0.200,0.075,2879,1943,2104,0,0,4,0,0,0
$GC,10197,0.70,193.4,325.3,8.2,961,10229,0.12,3.78,21.30,0.937,4,0.127,0.080,2919,3535,2009,0,0,6,0,0,0
$GC,10392,0.60,193.4,302.6,12.1,978,10398,0.20,3.75,0.00,0.000,6,0.202,0.074,2890,1937,2006,0,0,4,0,0,0
$GC,10716,0.68,193.4,271.9,9.5,1009,10725,0.00,3.72,0.00,0.000,4,0.000,0.078,2890,3532,2005,0,0,5,0,0,0
$GC,10862,0.68,193.4,255.9,11.6,1022,10872,0.00,3.70,0.00,0.000,6,0.000,0.074,2904,1953,2005,0,0,4,0,0,0
$GC,11191,0.68,193.4,219.7,11.4,1053,11196,0.00,3.70,0.00,0.000,4,0.000,0.079,2904,3532,2005,0,0,5,0,0,0
$GC,11337,0.68,193.4,201.7,12.8,1065,11343,0.00,3.72,0.00,0.000,6,0.000,0.074,2921,1936,2005,0,0,4,0,0,0
$GC,11661,0.68,193.4,162.0,11.9,1096,11670,0.00,3.72,0.00,0.000,4,0.000,0.077,2921,3535,2005,0,0,5,0,0,0
$GC,11795,0.63,193.4,145.2,11.7,1108,11805,0.17,3.70,0.00,0.000,6,0.199,0.072,2898,1948,2005,0,0,4,0,0,0
$GC,12124,0.77,195.1,114.5,9.1,1139,12134,0.12,3.72,0.00,0.000,4,0.126,0.077,2939,3534,2005,0,0,5,0,0,0
$GC,12263,0.71,195.1,98.9,10.5,1152,12270,0.15,3.70,0.00,0.000,6,0.205,0.072,2922,1948,2005,0,0,4,0,0,0
$GC,12610,0.81,203.8,68.8,8.8,1213,12626,0.00,3.72,9.65,0.740,4,0.000,0.078,2921,3534,1968,0,0,4,0,0,0
$GC,12789,0.82,207.8,51.8,9.0,1245,12801,0.00,3.72,5.10,0.644,6,0.000,0.074,2937,1950,1952,0,0,4,0,0,0
$GC,13140,0.93,252.2,23.1,7.3,1307,13188,0.15,3.78,38.53,0.776,4,0.111,0.081,2994,3531,1770,0,0,7,0,0,0
$FREEZE,8.99,-0.731,-1.828,0,4,0
$FREEZE,8.17,-0.732,-1.828,0,4,0
$FREEZE,7.43,-0.732,-1.827,0,4,0
$FREEZE,6.64,-0.738,-1.827,0,4,0
$FREEZE,5.84,-0.730,-1.826,0,4,0
$FREEZE,4.84,-0.735,-1.825,0,4,0
$FREEZE,4.16,-0.735,-1.825,0,4,0
$FREEZE,3.28,-0.734,-1.824,0,4,0
$GC,13291,0.76,252.2,3.3,14.9,1334,13297,0.30,3.75,0.00,0.000,6,0.191,0.072,2937,1950,1766,0,0,4,0,0,0
$FREEZE,1.46,-0.738,-1.823,0,4,0
$STATE,13302,end climb,SURFACE_DEPTH_REACHED
$STATE,13302,begin surface coast
$FREEZE,1.04,-0.735,-1.822,0,4,0
$FREEZE,0.61,-0.749,-1.822,0,4,0
$FINISH,0.6,1.026718
$STATE,13314,end surface coast,CONTROL_FINISHED_OK
$STATE,13315,begin surface
$SM_CCo,13333,58.55,0.749,0,0,1474,325.02
$SM_GC,1.34,0.00,0.00,58.55,0.000,0.000,0.749,130,2457,1474,-8.00,-0.08,325.02
$RAFOS_CLK,886
$RAFOS,6,1261543744,4.833333,4.817778,75,65,56,0,0,0,732,220,158,0,0,0
$RAFOS,5,1261543265,4.700000,4.684722,120,65,58,0,0,0,625,219,175,0,0,0
$RAFOS,4,1261542784,4.566667,4.551111,71,62,61,0,0,0,205,216,145,0,0,0
$RAFOS,3,1261542306,4.433333,4.418334,67,57,54,0,0,0,191,216,120,0,0,0
$RAFOS,2,1261541824,4.300000,4.284444,62,56,52,0,0,0,220,197,116,0,0,0
$RAFOS_FIX,6712.101562,-5730.738281,231209,040400,2,98,2.22
$IRIDIUM_FIX,6641.98,-5718.55,190399,040429
$TT8_MAMPS,0.026845
$HUMID,47.59
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.70
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.5,19.5
$ALTIM_BOTTOM_PING,551.0,111.1
$24V_AH,22.2,66.798
$10V_AH,10.0,35.686
$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,24.425,168.775,350.525,58.550,0.000,89.068,237.407,179.950,3.500,0.000,183.345,2319.487,7931.546,594.270,2722.214,775.746,0.000,1880.130,0.000,2500.731,1800.000,16.192,0.000
$DEVICE_MAMPS,299.130,105.079,1145.898,749.359,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.836,925.411,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152440
$DATA_FILE_SIZE,53624,1338
$CAP_FILE_SIZE,158808,0
$CFSIZE,260165632,221691904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,174,0,0
$SOUNDSPEED,1461.5
$GPS,231209,080215,6713.950,-5727.164,69,2.5,88,-38.0