version: 66.06
glider: 143
mission: 10
dive: 363
start: 12 23 109 8 19 27
data:
$ID,143
$MISSION,10
$DIVE,363
$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,-43204.703
$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,18
$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
$GPS1,080215,6713.950,-5727.164,69,2.5,88,-38.0
$_CALLS,3
$_XMS_NAKs,43
$_XMS_TOUTs,4
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-65.2
$GPS2,080215,6713.950,-5727.164,181,99.0,181,-38.0
$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,163.6,34802,-16.9,-9.167
$D_GRID,605
$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,-146.0,0.0,0.0,0,123,0.00,0.00,-105.35,0.000,2,0.000,0.000,130,2458,3208,0,0,0,0,0,0
$GC,127,-0.73,-146.0,3.3,-4.5,21,149,11.73,2.20,-5.25,0.000,4,0.306,0.104,2449,847,3397,0,0,0,0,0,0
$GC,296,-0.63,-146.0,30.6,-13.0,51,303,0.15,2.08,0.00,0.000,6,0.231,0.074,2483,2463,3400,0,0,0,0,0,0
$GC,640,-0.72,-146.0,64.3,-10.5,112,646,0.00,2.12,0.00,0.000,4,0.000,0.093,2483,856,3400,0,0,0,0,0,0
$GC,899,-0.81,-146.0,89.6,-9.4,158,905,0.17,2.05,0.00,0.000,6,0.110,0.075,2426,2460,3400,0,0,0,0,0,0
$GC,1235,-0.81,-146.0,124.8,-10.2,198,1238,0.00,2.15,0.00,0.000,4,0.000,0.094,2426,849,3400,0,0,0,0,0,0
$GC,1493,-0.76,-146.0,152.2,-10.4,221,1497,0.00,2.05,0.00,0.000,6,0.000,0.076,2426,2461,3400,0,0,0,0,0,0
$GC,1817,-0.76,-146.0,183.9,-9.7,251,1821,0.00,2.15,0.00,0.000,4,0.000,0.094,2426,853,3399,0,0,0,0,0,0
$GC,2073,-0.76,-146.0,209.9,-10.0,273,2079,0.00,2.08,0.00,0.000,6,0.000,0.074,2425,2454,3398,0,0,0,0,0,0
$GC,2398,-0.76,-146.0,238.7,-8.8,304,2404,0.00,3.60,0.00,0.000,4,0.000,0.092,2426,3927,3397,0,0,4,0,0,0
$GC,2577,-0.76,-146.0,254.8,-8.8,319,2584,0.00,3.40,0.00,0.000,6,0.000,0.069,2425,2467,3397,0,0,4,0,0,0
$GC,2902,-0.76,-146.0,282.2,-8.3,350,2907,0.00,3.55,0.00,0.000,4,0.000,0.088,2426,3925,3397,0,0,4,0,0,0
$GC,3160,-0.76,-146.0,304.7,-8.5,372,3166,0.00,3.40,0.00,0.000,6,0.000,0.067,2426,2461,3398,0,0,4,0,0,0
$GC,3485,-0.76,-146.0,331.6,-8.3,403,3489,0.00,2.08,0.00,0.000,4,0.000,0.087,2426,857,3399,0,0,0,0,0,0
$GC,3743,-0.76,-146.0,355.1,-8.6,426,3747,0.00,2.03,0.00,0.000,6,0.000,0.068,2426,2466,3399,0,0,0,0,0,0
$GC,4072,-0.76,-146.0,383.9,-8.5,457,4078,0.00,3.47,0.00,0.000,4,0.000,0.085,2426,3919,3400,0,0,6,0,0,0
$GC,4184,-0.76,-146.0,393.8,-8.9,466,4190,0.00,3.42,0.00,0.000,6,0.000,0.064,2426,2456,3400,0,0,3,0,0,0
$GC,4509,-0.76,-146.0,422.1,-8.6,497,4515,0.00,3.55,0.00,0.000,4,0.000,0.084,2425,3926,3401,0,0,4,0,0,0
$GC,4767,-0.76,-146.0,444.9,-8.7,519,4773,0.00,3.42,0.00,0.000,6,0.000,0.064,2426,2456,3402,0,0,4,0,0,0
$GC,5092,-0.81,-146.0,472.0,-8.2,550,5097,0.00,3.53,0.00,0.000,4,0.000,0.084,2425,3914,3403,0,0,4,0,0,0
$GC,5349,-0.81,-146.0,494.2,-9.3,572,5356,0.00,3.38,0.00,0.000,6,0.000,0.063,2426,2460,3403,0,0,4,0,0,0
$GC,5675,-0.81,-146.0,521.5,-8.3,603,5678,0.00,2.08,0.00,0.000,4,0.000,0.085,2425,854,3403,0,0,0,0,0,0
$GC,5933,-0.81,-146.0,544.8,-9.2,626,5937,0.00,2.00,0.00,0.000,6,0.000,0.067,2426,2459,3404,0,0,0,0,0,0
$GC,6264,-0.87,-146.0,571.2,-7.4,657,6269,0.00,3.50,0.00,0.000,4,0.000,0.084,2426,3913,3404,0,0,5,0,0,0
$GC,6450,-0.93,-146.0,586.0,-8.8,673,6456,0.10,3.38,0.00,0.000,6,0.133,0.064,2392,2460,3403,0,0,4,0,0,0
$STATE,6664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6664,begin apogee
$GC,6671,-0.16,0.0,606.7,9.9,689,6799,0.90,0.00,124.60,1.131,6,0.186,0.000,2632,1941,2800,0,0,0,0,0,0
$STATE,6800,end apogee,CONTROL_FINISHED_OK
$STATE,6800,begin climb
$GC,6802,0.73,146.0,610.5,0.0,693,6938,0.95,2.03,128.57,1.078,4,0.130,0.089,2922,345,2203,0,0,0,0,0,0
$GC,7041,0.64,146.0,590.7,10.9,704,7045,0.00,1.90,0.00,0.000,6,0.000,0.061,2922,1956,2199,0,0,0,0,0,0
$GC,7370,0.56,146.0,552.5,11.7,735,7381,0.20,3.78,0.00,0.000,4,0.202,0.077,2858,3531,2194,0,0,5,0,0,0
$GC,7511,0.61,146.0,538.7,10.2,747,7516,0.00,3.75,0.00,0.000,6,0.000,0.072,2873,1949,2194,0,0,4,0,0,0
$GC,7835,0.70,148.0,508.6,9.1,778,7845,0.12,3.78,0.00,0.000,4,0.123,0.078,2916,3530,2193,0,0,4,0,0,0
$GC,7975,0.57,148.0,491.8,12.8,790,7982,0.22,3.72,0.00,0.000,6,0.205,0.074,2880,1951,2192,0,0,4,0,0,0
$GC,8300,0.64,148.0,461.4,9.3,821,8309,0.00,3.72,0.00,0.000,4,0.000,0.080,2880,3531,2192,0,0,5,0,0,0
$GC,8457,0.64,148.0,444.9,10.7,835,8466,0.00,3.75,0.00,0.000,6,0.000,0.074,2895,1945,2192,0,0,4,0,0,0
$GC,8785,0.64,148.0,411.3,10.6,866,8794,0.00,3.78,0.00,0.000,4,0.000,0.080,2895,3533,2192,0,0,4,0,0,0
$GC,8935,0.58,148.0,394.8,10.9,879,8942,0.15,3.72,0.00,0.000,6,0.203,0.074,2878,1950,2192,0,0,4,0,0,0
$GC,9260,0.66,148.0,364.9,9.2,910,9269,0.00,3.72,0.00,0.000,4,0.000,0.079,2878,3533,2191,0,0,5,0,0,0
$GC,9417,0.66,148.0,349.0,10.2,924,9426,0.00,3.75,0.00,0.000,6,0.000,0.074,2893,1943,2191,0,0,4,0,0,0
$GC,9746,0.67,155.9,318.5,8.8,955,9760,0.00,3.80,7.47,0.824,4,0.000,0.078,2893,3532,2164,0,0,4,0,0,0
$GC,9914,0.67,155.9,300.7,10.2,970,9923,0.00,3.75,0.00,0.000,6,0.000,0.073,2909,1948,2163,0,0,3,0,0,0
$GC,10242,0.67,155.9,266.4,10.9,1001,10251,0.00,3.72,0.00,0.000,4,0.000,0.078,2910,3529,2163,0,0,5,0,0,0
$GC,10365,0.60,155.9,251.7,12.2,1012,10375,0.17,3.72,0.00,0.000,6,0.202,0.073,2887,1949,2163,0,0,4,0,0,0
$GC,10694,0.69,167.8,222.6,8.7,1043,10715,0.00,3.78,11.90,0.834,4,0.000,0.077,2887,3532,2114,0,0,5,0,0,0
$GC,10877,0.69,167.8,204.9,9.7,1059,10884,0.00,3.75,0.00,0.000,6,0.000,0.072,2901,1937,2113,0,0,4,0,0,0
$GC,11204,0.78,178.7,176.4,8.7,1090,11226,0.12,3.75,10.73,0.800,4,0.114,0.077,2951,3534,2068,0,0,5,0,0,0
$GC,11354,0.62,178.7,157.3,13.1,1103,11361,0.30,3.75,0.00,0.000,6,0.199,0.072,2895,1946,2068,0,0,4,0,0,0
$GC,11679,0.75,185.9,128.9,8.9,1134,11694,0.12,3.78,7.30,0.736,4,0.127,0.079,2935,3528,2041,0,0,6,0,0,0
$GC,11886,0.70,185.9,103.9,11.8,1152,11892,0.15,3.75,0.00,0.000,6,0.202,0.073,2919,1939,2041,0,0,4,0,0,0
$GC,12229,0.82,205.9,72.2,8.3,1210,12256,0.10,3.78,18.35,0.792,4,0.139,0.081,2952,3531,1959,0,0,6,0,0,0
$GC,12430,0.75,205.9,51.1,10.5,1246,12437,0.15,3.80,0.00,0.000,6,0.199,0.075,2936,1939,1957,0,0,3,0,0,0
$GC,12776,0.86,231.3,21.5,8.1,1307,12807,0.00,3.85,21.83,0.782,4,0.000,0.081,2935,3525,1857,0,0,4,0,0,0
$FREEZE,8.95,-0.600,-1.829,0,5,1
$FREEZE,8.40,-0.601,-1.828,0,5,1
$FREEZE,7.77,-0.593,-1.828,0,5,1
$FREEZE,7.11,-0.592,-1.827,0,5,1
$FREEZE,6.49,-0.587,-1.827,0,5,1
$FREEZE,5.73,-0.589,-1.826,0,5,1
$FREEZE,5.21,-0.589,-1.826,0,5,1
$GC,12928,0.86,231.3,5.2,11.4,1334,12934,0.00,3.80,0.00,0.000,6,0.000,0.075,2950,1940,1854,0,0,3,0,0,0
$FREEZE,3.93,-0.591,-1.825,0,5,1
$FREEZE,3.42,-0.594,-1.825,0,5,1
$FREEZE,2.89,-0.593,-1.824,0,5,1
$FREEZE,2.45,-0.585,-1.824,0,5,1
$FREEZE,1.77,-0.595,-1.823,0,5,1
$STATE,12961,end climb,SURFACE_DEPTH_REACHED
$STATE,12961,begin surface coast
$FREEZE,1.14,-0.588,-1.823,0,5,1
$FREEZE,0.60,-0.595,-1.823,0,5,1
$FREEZE,0.56,-0.775,-1.749,0,5,1
$FREEZE,0.62,-0.626,-1.452,0,5,1
$FINISH,0.6,1.021407
$STATE,12986,end surface coast,CONTROL_FINISHED_OK
$STATE,12987,begin surface
$SM_CCo,13004,76.22,0.762,0,0,1475,325.02
$SM_GC,1.39,0.00,0.00,76.22,0.000,0.000,0.762,127,2459,1475,-8.01,-0.03,325.02
$RAFOS_CLK,867
$RAFOS,6,1261558150,8.833333,8.819445,65,64,58,0,0,0,691,215,181,0,0,0
$RAFOS,5,1261557661,8.700000,8.683611,69,59,58,0,0,0,204,168,136,0,0,0
$RAFOS,4,1261557185,8.566667,8.551389,66,57,56,0,0,0,193,157,230,0,0,0
$RAFOS,3,1261556702,8.433333,8.417222,68,59,56,0,0,0,225,157,134,0,0,0
$RAFOS_FIX,6712.101562,-5730.738281,231209,040400,2,98,2.22
$IRIDIUM_FIX,6641.98,-5727.90,190399,080800
$TT8_MAMPS,0.027612
$HUMID,49.01
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,600.5,61.8
$24V_AH,22.3,66.944
$10V_AH,10.1,35.777
$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,24.200,162.550,330.750,76.225,0.000,94.248,148.709,335.279,3.500,0.000,184.227,2299.344,7659.346,598.391,2682.879,842.497,0.000,1862.123,0.000,2465.230,1440.000,20.909,0.000
$DEVICE_MAMPS,306.033,104.312,1131.325,761.631,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,985.430,928.180,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152500
$DATA_FILE_SIZE,53680,1344
$CAP_FILE_SIZE,158945,0
$CFSIZE,260165632,221589504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,153,0,0
$SOUNDSPEED,1461.0
$GPS,231209,115854,6713.708,-5728.396,23,0.8,40,-38.0