version: 66.06
glider: 143
mission: 10
dive: 367
start: 12 24 109 0 4 8
data:
$ID,143
$MISSION,10
$DIVE,367
$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,-43284.973
$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,15
$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
$GPS1,235806,6714.570,-5732.007,38,1.0,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-68.4
$GPS2,000350,6714.554,-5732.012,11,1.9,11,-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,162.0,38315,-16.9,-9.167
$D_GRID,632
$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,15,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-95.12,0.000,2,0.000,0.000,123,2463,3051,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.3,19,147,11.68,2.22,-10.55,0.000,4,0.303,0.105,2450,859,3399,0,0,1,0,0,0
$GC,302,-0.73,-146.0,26.7,-10.4,52,308,0.00,2.10,0.00,0.000,6,0.000,0.074,2450,2464,3401,0,0,0,0,0,0
$GC,644,-0.73,-146.0,61.3,-10.1,113,650,0.00,2.15,0.00,0.000,4,0.000,0.092,2451,860,3401,0,0,0,0,0,0
$GC,903,-0.73,-146.0,89.9,-10.8,159,908,0.00,2.08,0.00,0.000,6,0.000,0.075,2450,2464,3401,0,0,0,0,0,0
$GC,1234,-0.78,-146.0,122.6,-9.8,199,1238,0.00,2.17,0.00,0.000,4,0.000,0.093,2450,850,3401,0,0,0,0,0,0
$GC,1492,-0.83,-146.0,149.7,-10.5,222,1496,0.00,2.10,0.00,0.000,6,0.000,0.076,2450,2463,3400,0,0,0,0,0,0
$GC,1817,-0.91,-146.0,179.1,-8.3,252,1823,0.17,3.53,0.00,0.000,4,0.116,0.091,2379,3928,3399,0,0,6,0,0,0
$GC,2075,-0.77,-146.0,209.7,-12.4,274,2082,0.25,3.42,0.00,0.000,6,0.213,0.071,2436,2462,3399,0,0,3,0,0,0
$GC,2401,-0.82,-146.0,239.5,-8.8,305,2407,0.00,3.55,0.00,0.000,4,0.000,0.092,2437,3918,3398,0,0,4,0,0,0
$GC,2660,-0.89,-146.0,262.7,-8.9,327,2666,0.12,3.40,0.00,0.000,6,0.125,0.069,2396,2455,3397,0,0,4,0,0,0
$GC,2984,-0.84,-146.0,296.2,-9.7,358,2990,0.00,3.55,0.00,0.000,4,0.000,0.090,2396,3916,3397,0,0,4,0,0,0
$GC,3242,-0.77,-146.0,321.1,-9.5,380,3249,0.17,3.40,0.00,0.000,6,0.202,0.067,2436,2458,3397,0,0,3,0,0,0
$GC,3567,-0.85,-146.0,345.2,-7.3,411,3573,0.00,3.53,0.00,0.000,4,0.000,0.087,2436,3917,3398,0,0,4,0,0,0
$GC,3826,-0.93,-146.0,365.0,-7.4,433,3833,0.15,3.38,0.00,0.000,6,0.114,0.066,2384,2457,3398,0,0,4,0,0,0
$GC,4151,-0.84,-146.0,396.2,-9.4,464,4155,0.12,2.12,0.00,0.000,4,0.194,0.087,2419,850,3399,0,0,0,0,0,0
$GC,4408,-0.84,-146.0,419.3,-8.7,486,4414,0.00,2.08,0.00,0.000,6,0.000,0.069,2419,2477,3400,0,0,0,0,0,0
$GC,4733,-0.84,-146.0,445.3,-8.2,517,4738,0.00,3.47,0.00,0.000,4,0.000,0.087,2419,3922,3401,0,0,5,0,0,0
$GC,4857,-0.84,-146.0,455.9,-8.2,527,4862,0.00,3.38,0.00,0.000,6,0.000,0.065,2419,2457,3401,0,0,4,0,0,0
$GC,5181,-0.84,-146.0,482.7,-8.1,558,5186,0.00,3.55,0.00,0.000,4,0.000,0.086,2419,3922,3401,0,0,3,0,0,0
$GC,5439,-0.84,-146.0,505.1,-8.9,580,5445,0.00,3.38,0.00,0.000,6,0.000,0.065,2419,2459,3401,0,0,4,0,0,0
$GC,5763,-0.84,-146.0,533.2,-8.8,611,5767,0.00,2.12,0.00,0.000,4,0.000,0.087,2419,859,3402,0,0,0,0,0,0
$GC,6022,-0.84,-146.0,557.4,-9.3,634,6026,0.00,2.05,0.00,0.000,6,0.000,0.068,2419,2469,3402,0,0,0,0,0,0
$GC,6352,-0.84,-146.0,584.6,-8.1,665,6357,0.00,3.47,0.00,0.000,4,0.000,0.086,2419,3916,3402,0,0,5,0,0,0
$GC,6505,-0.84,-146.0,597.1,-8.7,678,6510,0.00,3.40,0.00,0.000,6,0.000,0.065,2419,2458,3402,0,0,3,0,0,0
$GC,6819,-0.89,-146.0,622.4,-7.9,690,6825,0.00,3.53,0.00,0.000,4,0.000,0.087,2419,3915,3402,0,0,4,0,0,0
$STATE,6940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6940,begin apogee
$GC,6950,-0.16,0.0,632.4,8.3,693,7078,0.75,0.00,125.12,1.154,6,0.179,0.000,2628,1942,2800,0,0,0,0,0,0
$STATE,7079,end apogee,CONTROL_FINISHED_OK
$STATE,7079,begin climb
$GC,7082,0.73,146.0,635.3,0.0,698,7219,0.98,2.05,129.75,1.098,4,0.130,0.089,2924,342,2203,0,0,0,0,0,0
$GC,7316,0.62,146.0,613.3,12.6,705,7320,0.15,1.90,0.00,0.000,6,0.196,0.061,2894,1972,2199,0,0,0,0,0,0
$GC,7636,0.62,146.0,579.6,10.4,727,7645,0.00,3.75,0.00,0.000,4,0.000,0.079,2893,3528,2195,0,0,5,0,0,0
$GC,7803,0.57,146.0,560.2,12.0,742,7813,0.15,3.75,0.00,0.000,6,0.211,0.074,2876,1952,2194,0,0,4,0,0,0
$GC,8132,0.64,146.0,528.9,9.5,773,8142,0.00,3.75,0.00,0.000,4,0.000,0.080,2876,3534,2194,0,0,5,0,0,0
$GC,8303,0.64,146.0,510.3,11.3,788,8310,0.00,3.75,0.00,0.000,6,0.000,0.075,2890,1936,2193,0,0,4,0,0,0
$GC,8629,0.64,146.0,478.4,9.6,819,8638,0.00,3.75,0.00,0.000,4,0.000,0.081,2890,3530,2192,0,0,5,0,0,0
$GC,8778,0.64,146.0,461.9,11.3,832,8784,0.00,3.72,0.00,0.000,6,0.000,0.074,2907,1951,2192,0,0,4,0,0,0
$GC,9102,0.64,146.0,426.2,11.1,863,9112,0.00,3.72,0.00,0.000,4,0.000,0.080,2907,3528,2192,0,0,5,0,0,0
$GC,9269,0.55,146.0,404.7,13.4,878,9280,0.22,3.72,0.00,0.000,6,0.202,0.074,2871,1947,2192,0,0,4,0,0,0
$GC,9598,0.67,146.0,372.6,9.5,909,9608,0.10,3.72,0.00,0.000,4,0.140,0.080,2903,3528,2192,0,0,5,0,0,0
$GC,9771,0.59,146.0,352.1,11.6,924,9778,0.15,3.75,0.00,0.000,6,0.204,0.074,2887,1939,2192,0,0,3,0,0,0
$GC,10096,0.66,149.2,321.9,9.0,955,10105,0.00,3.75,0.00,0.000,4,0.000,0.080,2887,3533,2192,0,0,5,0,0,0
$GC,10273,0.66,149.2,303.4,10.7,971,10283,0.00,3.72,0.00,0.000,6,0.000,0.074,2901,1943,2190,0,0,4,0,0,0
$GC,10601,0.66,149.2,271.5,9.7,1002,10610,0.00,3.72,0.00,0.000,4,0.000,0.080,2901,3528,2190,0,0,5,0,0,0
$GC,10780,0.60,149.2,252.3,11.2,1018,10790,0.15,3.70,0.00,0.000,6,0.204,0.074,2885,1950,2190,0,0,4,0,0,0
$GC,11108,0.72,170.7,224.8,8.3,1049,11139,0.12,3.72,20.05,0.871,4,0.130,0.079,2925,3529,2101,0,0,5,0,0,0
$GC,11297,0.63,170.7,203.1,12.2,1066,11308,0.20,3.75,0.00,0.000,6,0.202,0.074,2897,1946,2100,0,0,3,0,0,0
$GC,11627,0.73,187.1,174.3,8.5,1097,11648,0.00,3.72,14.95,0.831,4,0.000,0.079,2897,3529,2036,0,0,5,0,0,0
$GC,11817,0.73,187.1,154.8,10.9,1114,11827,0.00,3.75,0.00,0.000,6,0.000,0.073,2911,1946,2034,0,0,3,0,0,0
$GC,12146,0.82,194.3,123.6,8.9,1145,12161,0.12,3.72,7.47,0.750,4,0.114,0.079,2960,3528,2006,0,0,6,0,0,0
$GC,12325,0.70,194.3,101.4,12.7,1161,12335,0.25,3.72,0.00,0.000,6,0.202,0.074,2917,1949,2005,0,0,4,0,0,0
$GC,12675,0.83,221.5,71.8,8.0,1221,12708,0.12,3.78,24.12,0.802,4,0.128,0.081,2958,3528,1895,0,0,6,0,0,0
$GC,12849,0.76,221.5,51.7,12.3,1252,12856,0.15,3.78,0.00,0.000,6,0.199,0.074,2942,1943,1891,0,0,3,0,0,0
$GC,13195,0.83,221.5,18.0,10.3,1313,13202,0.00,3.75,0.00,0.000,4,0.000,0.082,2942,3528,1890,0,0,5,0,0,0
$FREEZE,8.45,-0.838,-1.827,0,1,0
$FREEZE,7.83,-0.838,-1.826,0,1,0
$FREEZE,7.30,-0.834,-1.826,0,1,0
$FREEZE,6.59,-0.827,-1.826,0,1,0
$FREEZE,6.01,-0.813,-1.825,0,1,0
$FREEZE,5.31,-0.803,-1.824,0,1,0
$FREEZE,4.72,-0.803,-1.824,0,1,0
$FREEZE,4.12,-0.822,-1.824,0,1,0
$FREEZE,3.58,-0.829,-1.823,0,1,0
$FREEZE,2.83,-0.836,-1.823,0,1,0
$FREEZE,2.32,-0.832,-1.822,0,1,0
$FREEZE,1.73,-0.829,-1.822,0,1,0
$STATE,13341,end climb,SURFACE_DEPTH_REACHED
$STATE,13341,begin surface coast
$FREEZE,1.10,-0.829,-1.821,0,1,0
$FREEZE,0.61,-0.823,-1.820,0,1,0
$FINISH,0.6,1.026697
$STATE,13353,end surface coast,CONTROL_FINISHED_OK
$STATE,13354,begin surface
$SM_CCo,13374,75.00,0.768,0,0,1474,325.02
$SM_GC,1.43,0.00,0.00,75.00,0.000,0.000,0.768,131,2461,1474,-8.00,0.03,325.02
$RAFOS_CLK,858
$RAFOS,6,1261615743,0.833333,0.817500,107,66,59,0,0,0,721,192,217,0,0,0
$RAFOS,5,1261615265,0.700000,0.684722,145,57,56,0,0,0,617,197,140,0,0,0
$RAFOS,4,1261614789,0.566667,0.552500,74,62,55,0,0,0,784,207,167,0,0,0
$RAFOS,3,1261614302,0.433333,0.417222,67,61,58,0,0,0,178,212,199,0,0,0
$RAFOS,2,1261613825,0.300000,0.284722,80,60,59,0,0,0,213,137,157,0,0,0
$RAFOS,1,1261613345,0.166667,0.151389,63,57,55,0,0,0,210,121,221,0,0,0
$RAFOS_FIX,6713.589844,-5736.966309,241209,000022,3,109,1.68
$IRIDIUM_FIX,6641.98,-5740.25,190399,202011
$TT8_MAMPS,0.026845
$HUMID,48.81
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.60
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.7,19.1
$ALTIM_BOTTOM_PING,600.2,67.5
$24V_AH,22.2,67.516
$10V_AH,10.1,36.114
$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,24.525,170.300,321.475,75.000,0.000,28.318,42.515,147.282,4.000,0.000,12.482,2356.502,7800.189,603.300,2575.663,456.945,0.000,1892.882,0.000,2523.441,2160.000,20.852,0.000
$DEVICE_MAMPS,302.965,105.079,1153.568,767.767,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,982.060,931.474,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152504
$DATA_FILE_SIZE,53587,1341
$CAP_FILE_SIZE,157226,0
$CFSIZE,260165632,221347840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,172,0,0
$SOUNDSPEED,1459.8
$GPS,241209,034955,6714.479,-5731.157,40,1.6,40,-38.0