version: 66.06
glider: 143
mission: 10
dive: 364
start: 12 23 109 12 15 20
data:
$ID,143
$MISSION,10
$DIVE,364
$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,-43221.164
$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,17
$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
$GPS1,115854,6713.708,-5728.396,23,0.8,40,-38.0
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.6
$GPS2,121502,6713.664,-5728.569,14,0.9,14,-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,162.0,35332,-16.9,-9.167
$D_GRID,643
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,119,0.00,0.00,-101.03,0.000,2,0.000,0.000,126,2460,3119,0,0,0,0,0,0
$GC,124,-0.73,-146.0,3.1,-4.2,20,150,11.70,2.17,-7.93,0.000,4,0.304,0.109,2448,855,3399,0,0,1,0,0,0
$GC,404,-0.66,-146.0,44.0,-11.9,70,410,0.00,2.08,0.00,0.000,6,0.000,0.074,2448,2457,3402,0,0,0,0,0,0
$GC,747,-0.66,-146.0,83.4,-9.8,131,753,0.00,3.58,0.00,0.000,4,0.000,0.094,2448,3916,3402,0,0,4,0,0,0
$GC,1005,-0.66,-146.0,108.9,-10.0,169,1011,0.00,3.40,0.00,0.000,6,0.000,0.070,2448,2463,3402,0,0,4,0,0,0
$GC,1330,-0.66,-146.0,139.9,-8.9,199,1334,0.00,2.12,0.00,0.000,4,0.000,0.093,2448,859,3402,0,0,0,0,0,0
$GC,1587,-0.66,-146.0,165.1,-10.0,221,1593,0.00,2.10,0.00,0.000,6,0.000,0.075,2448,2458,3402,0,0,0,0,0,0
$GC,1914,-0.74,-146.0,195.1,-9.9,252,1919,0.00,3.55,0.00,0.000,4,0.000,0.093,2447,3923,3400,0,0,5,0,0,0
$GC,2070,-0.83,-146.0,210.9,-10.1,265,2076,0.00,3.42,0.00,0.000,6,0.000,0.071,2448,2459,3399,0,0,3,0,0,0
$GC,2397,-0.93,-146.0,239.9,-8.6,296,2406,0.17,3.55,0.00,0.000,4,0.110,0.089,2373,3924,3399,0,0,5,0,0,0
$GC,2660,-0.77,-146.0,269.7,-10.7,319,2666,0.28,3.40,0.00,0.000,6,0.209,0.068,2436,2459,3399,0,0,4,0,0,0
$GC,2984,-0.84,-146.0,295.6,-7.9,350,2990,0.00,3.60,0.00,0.000,4,0.000,0.087,2437,3937,3399,0,0,3,0,0,0
$GC,3242,-0.91,-146.0,316.5,-7.8,372,3248,0.12,3.40,0.00,0.000,6,0.123,0.066,2396,2459,3400,0,0,4,0,0,0
$GC,3567,-0.85,-146.0,347.6,-9.8,403,3572,0.00,3.58,0.00,0.000,4,0.000,0.086,2396,3935,3401,0,0,4,0,0,0
$GC,3825,-0.79,-146.0,372.8,-10.0,425,3831,0.15,3.40,0.00,0.000,6,0.200,0.065,2429,2460,3402,0,0,4,0,0,0
$GC,4150,-0.84,-146.0,398.7,-7.8,456,4155,0.00,3.53,0.00,0.000,4,0.000,0.084,2429,3935,3402,0,0,5,0,0,0
$GC,4408,-0.90,-146.0,420.8,-8.4,478,4414,0.00,3.40,0.00,0.000,6,0.000,0.064,2429,2456,3402,0,0,4,0,0,0
$GC,4733,-0.96,-146.0,448.4,-8.7,509,4738,0.15,2.10,0.00,0.000,4,0.113,0.085,2376,856,3403,0,0,0,0,0,0
$GC,4992,-0.82,-146.0,477.3,-11.9,532,4997,0.20,2.05,0.00,0.000,6,0.212,0.067,2421,2471,3404,0,0,0,0,0,0
$GC,5316,-0.82,-146.0,504.7,-8.0,562,5321,0.00,3.47,0.00,0.000,4,0.000,0.086,2421,3918,3405,0,0,5,0,0,0
$GC,5452,-0.82,-146.0,516.0,-8.3,573,5457,0.00,3.35,0.00,0.000,6,0.000,0.064,2421,2459,3405,0,0,4,0,0,0
$GC,5777,-0.82,-146.0,543.3,-8.2,604,5782,0.00,3.55,0.00,0.000,4,0.000,0.085,2422,3920,3405,0,0,4,0,0,0
$GC,6035,-0.86,-146.0,564.7,-8.2,626,6040,0.00,3.40,0.00,0.000,6,0.000,0.064,2421,2457,3405,0,0,3,0,0,0
$GC,6359,-0.86,-146.0,591.0,-8.1,657,6364,0.00,3.53,0.00,0.000,4,0.000,0.085,2421,3917,3405,0,0,5,0,0,0
$GC,6617,-0.92,-146.0,611.2,-7.6,671,6623,0.00,3.38,0.00,0.000,6,0.000,0.064,2421,2457,3405,0,0,4,0,0,0
$GC,6930,-0.97,-146.0,634.3,-7.5,682,6936,0.15,3.53,0.00,0.000,4,0.115,0.084,2361,3920,3405,0,0,5,0,0,0
$STATE,7018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7018,begin apogee
$GC,7028,-0.16,0.0,643.5,10.6,684,7157,1.02,0.00,125.65,1.154,6,0.202,0.000,2626,1934,2800,0,0,0,0,0,0
$STATE,7158,end apogee,CONTROL_FINISHED_OK
$STATE,7158,begin climb
$GC,7160,0.73,146.0,646.8,0.0,689,7297,0.98,2.00,129.62,1.101,4,0.133,0.088,2920,349,2203,0,0,0,0,0,0
$GC,7411,0.64,146.0,623.0,12.3,697,7415,0.00,1.90,0.00,0.000,6,0.000,0.061,2920,1967,2199,0,0,0,0,0,0
$GC,7736,0.57,146.0,584.3,12.1,714,7746,0.20,3.78,0.00,0.000,4,0.202,0.077,2857,3528,2195,0,0,5,0,0,0
$GC,7876,0.61,146.0,570.2,9.7,726,7882,0.00,3.78,0.00,0.000,6,0.000,0.071,2872,1952,2194,0,0,3,0,0,0
$GC,8200,0.70,146.0,539.2,9.5,757,8210,0.12,3.75,0.00,0.000,4,0.122,0.078,2915,3527,2194,0,0,5,0,0,0
$GC,8357,0.58,146.0,519.4,12.2,771,8367,0.22,3.78,0.00,0.000,6,0.206,0.074,2881,1940,2193,0,0,4,0,0,0
$GC,8686,0.65,146.0,487.5,9.6,802,8695,0.00,3.80,0.00,0.000,4,0.000,0.078,2881,3535,2193,0,0,4,0,0,0
$GC,8836,0.65,146.0,471.5,10.7,815,8842,0.00,3.78,0.00,0.000,6,0.000,0.073,2895,1948,2193,0,0,3,0,0,0
$GC,9160,0.65,146.0,438.3,10.2,846,9170,0.00,3.75,0.00,0.000,4,0.000,0.079,2895,3527,2193,0,0,5,0,0,0
$GC,9311,0.60,146.0,421.4,10.8,859,9317,0.00,3.78,0.00,0.000,6,0.000,0.074,2912,1943,2192,0,0,3,0,0,0
$GC,9636,0.60,146.0,386.7,11.4,890,9645,0.00,3.75,0.00,0.000,4,0.000,0.079,2912,3527,2192,0,0,5,0,0,0
$GC,9770,0.49,146.0,370.7,12.5,902,9780,0.30,3.75,0.00,0.000,6,0.202,0.074,2856,1942,2192,0,0,4,0,0,0
$GC,10099,0.69,184.5,345.6,7.5,933,10141,0.17,3.85,31.48,0.959,4,0.113,0.079,2915,3523,2045,0,0,5,0,0,0
$GC,10288,0.61,184.5,322.3,12.7,950,10298,0.17,3.78,0.00,0.000,6,0.200,0.074,2893,1944,2042,0,0,4,0,0,0
$GC,10617,0.68,184.5,288.4,9.7,981,10626,0.00,3.78,0.00,0.000,4,0.000,0.078,2893,3534,2041,0,0,5,0,0,0
$GC,10788,0.68,184.5,270.1,10.4,996,10794,0.00,3.75,0.00,0.000,6,0.000,0.073,2907,1949,2041,0,0,4,0,0,0
$GC,11112,0.68,184.5,237.1,10.7,1027,11122,0.00,3.80,0.00,0.000,4,0.000,0.077,2907,3535,2041,0,0,4,0,0,0
$GC,11252,0.63,184.5,220.3,13.1,1039,11258,0.00,3.78,0.00,0.000,6,0.000,0.072,2924,1938,2041,0,0,3,0,0,0
$GC,11577,0.63,184.5,181.7,11.9,1070,11586,0.00,3.75,0.00,0.000,4,0.000,0.077,2924,3526,2041,0,0,5,0,0,0
$GC,11732,0.57,184.5,162.0,12.3,1084,11743,0.25,3.75,0.00,0.000,6,0.193,0.072,2880,1946,2041,0,0,4,0,0,0
$GC,12061,0.80,220.2,134.9,7.7,1115,12103,0.20,3.78,30.45,0.825,4,0.105,0.077,2949,3528,1900,0,0,5,0,0,0
$GC,12232,0.72,220.2,114.5,12.2,1130,12239,0.17,3.78,0.00,0.000,6,0.196,0.073,2926,1949,1897,0,0,4,0,0,0
$GC,12568,0.82,221.1,83.3,9.1,1177,12574,0.00,3.80,0.00,0.000,4,0.000,0.079,2926,3536,1896,0,0,5,0,0,0
$GC,12717,0.82,221.1,68.3,9.9,1203,12723,0.00,3.80,0.00,0.000,6,0.000,0.074,2941,1942,1896,0,0,3,0,0,0
$GC,13060,0.88,221.1,35.4,10.2,1264,13066,0.00,3.80,0.00,0.000,4,0.000,0.081,2941,3533,1893,0,0,5,0,0,0
$GC,13222,0.88,221.1,19.0,10.7,1293,13228,0.00,3.80,0.00,0.000,6,0.000,0.076,2958,1946,1893,0,0,3,0,0,0
$FREEZE,8.55,-0.539,-1.829,0,6,0
$FREEZE,8.03,-0.539,-1.829,0,6,0
$FREEZE,7.32,-0.538,-1.828,0,6,0
$FREEZE,6.69,-0.535,-1.828,0,6,0
$FREEZE,6.07,-0.536,-1.827,0,6,0
$FREEZE,5.56,-0.536,-1.827,0,6,0
$FREEZE,4.98,-0.537,-1.826,0,6,0
$FREEZE,4.30,-0.548,-1.826,0,6,0
$FREEZE,3.89,-0.556,-1.826,0,6,0
$FREEZE,3.38,-0.551,-1.825,0,6,0
$FREEZE,2.79,-0.544,-1.825,0,6,0
$FREEZE,2.13,-0.545,-1.824,0,6,0
$FREEZE,1.60,-0.548,-1.824,0,6,0
$STATE,13391,end climb,SURFACE_DEPTH_REACHED
$STATE,13391,begin surface coast
$FREEZE,1.01,-0.540,-1.823,0,6,0
$FREEZE,0.62,-0.632,-1.131,0,6,0
$FREEZE,0.60,-0.754,-1.835,0,6,0
$FINISH,0.6,1.026903
$STATE,13408,end surface coast,CONTROL_FINISHED_OK
$STATE,13408,begin surface
$SM_CCo,13427,82.05,0.770,0,0,1475,325.02
$SM_GC,1.40,0.00,0.00,82.05,0.000,0.000,0.770,129,2455,1475,-8.00,-0.14,325.02
$RAFOS_CLK,897
$RAFOS,6,1261572544,12.833333,12.817778,75,62,60,0,0,0,726,178,157,0,0,0
$RAFOS,5,1261572061,12.700000,12.683611,128,63,61,0,0,0,641,198,152,0,0,0
$RAFOS,4,1261571582,12.566667,12.550555,83,65,60,0,0,0,821,205,159,0,0,0
$RAFOS,3,1261571102,12.433333,12.417222,68,56,55,0,0,0,196,230,119,0,0,0
$RAFOS,2,1261570621,12.300000,12.283611,59,58,57,0,0,0,157,137,213,0,0,0
$RAFOS_FIX,6712.903320,-5733.942871,231209,121244,3,95,2.39
$IRIDIUM_FIX,6641.98,-5730.88,190399,121234
$TT8_MAMPS,0.027612
$HUMID,48.89
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,550.1,127.6
$24V_AH,22.2,67.100
$10V_AH,10.1,35.864
$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,25.125,178.350,317.200,82.050,0.000,81.255,122.348,477.554,2.750,0.000,15.831,2292.988,8063.408,609.415,2555.831,956.291,0.000,1893.296,0.000,2502.875,1800.000,16.221,0.000
$DEVICE_MAMPS,304.499,108.914,1154.335,770.068,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.055,916.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152448
$DATA_FILE_SIZE,53600,1326
$CAP_FILE_SIZE,166481,0
$CFSIZE,260165632,221507584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,184,0,0
$SOUNDSPEED,1460.9
$GPS,231209,160207,6713.811,-5730.143,40,2.0,40,-38.0