version: 66.06
glider: 143
mission: 10
dive: 369
start: 12 24 109 7 45 38
data:
$ID,143
$MISSION,10
$DIVE,369
$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,-43312.832
$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,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
$GPS1,073936,6715.442,-5732.391,36,1.8,42,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.9
$GPS2,074520,6715.479,-5732.457,11,1.1,11,-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,163.7,39557,-16.9,-9.167
$D_GRID,619
$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,-94.47,0.000,2,0.000,0.000,126,2455,3036,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.7,19,148,11.55,2.20,-10.95,0.000,4,0.299,0.106,2449,860,3399,0,0,0,0,0,0
$GC,322,-0.73,-146.0,29.2,-11.4,56,327,0.00,2.05,0.00,0.000,6,0.000,0.074,2449,2459,3401,0,0,0,0,0,0
$GC,664,-0.73,-146.0,64.8,-9.4,117,670,0.00,2.12,0.00,0.000,4,0.000,0.093,2449,852,3400,0,0,0,0,0,0
$GC,922,-0.73,-146.0,92.6,-10.7,163,929,0.00,2.05,0.00,0.000,6,0.000,0.074,2449,2460,3401,0,0,0,0,0,0
$GC,1253,-0.77,-146.0,126.1,-10.1,200,1257,0.00,2.12,0.00,0.000,4,0.000,0.094,2449,868,3401,0,0,0,0,0,0
$GC,1511,-0.82,-146.0,153.2,-9.7,223,1515,0.00,2.05,0.00,0.000,6,0.000,0.075,2449,2469,3400,0,0,0,0,0,0
$GC,1836,-0.91,-146.0,180.1,-7.7,253,1846,0.17,3.58,0.00,0.000,4,0.119,0.091,2377,3931,3399,0,0,5,0,0,0
$GC,2087,-0.77,-146.0,207.0,-10.7,275,2094,0.25,3.45,0.00,0.000,6,0.208,0.070,2436,2469,3398,0,0,3,0,0,0
$GC,2413,-0.83,-146.0,233.0,-7.8,306,2418,0.00,3.55,0.00,0.000,4,0.000,0.090,2435,3916,3398,0,0,4,0,0,0
$GC,2655,-0.90,-146.0,252.4,-8.5,327,2661,0.12,3.40,0.00,0.000,6,0.127,0.067,2394,2463,3398,0,0,4,0,0,0
$GC,2979,-0.83,-146.0,284.0,-9.7,357,2985,0.00,3.55,0.00,0.000,4,0.000,0.087,2394,3918,3398,0,0,4,0,0,0
$GC,3237,-0.76,-146.0,309.0,-9.7,379,3244,0.20,3.40,0.00,0.000,6,0.199,0.066,2441,2457,3399,0,0,4,0,0,0
$GC,3563,-0.85,-146.0,333.4,-7.5,410,3568,0.00,3.55,0.00,0.000,4,0.000,0.086,2441,3918,3400,0,0,4,0,0,0
$GC,3821,-0.94,-146.0,353.4,-7.6,432,3828,0.17,3.40,0.00,0.000,6,0.107,0.065,2382,2455,3401,0,0,4,0,0,0
$GC,4146,-0.84,-146.0,384.2,-9.6,463,4150,0.15,2.10,0.00,0.000,4,0.196,0.087,2421,843,3401,0,0,0,0,0,0
$GC,4402,-0.84,-146.0,408.5,-9.3,485,4409,0.00,2.08,0.00,0.000,6,0.000,0.068,2421,2462,3402,0,0,0,0,0,0
$GC,4728,-0.84,-146.0,435.5,-8.9,516,4733,0.00,3.55,0.00,0.000,4,0.000,0.086,2421,3927,3402,0,0,4,0,0,0
$GC,4906,-0.84,-146.0,451.6,-9.2,531,4913,0.00,3.42,0.00,0.000,6,0.000,0.065,2421,2458,3402,0,0,4,0,0,0
$GC,5231,-0.84,-146.0,478.3,-8.1,562,5237,0.00,3.58,0.00,0.000,4,0.000,0.086,2421,3927,3402,0,0,4,0,0,0
$GC,5490,-0.84,-146.0,499.8,-8.5,584,5499,0.00,3.40,0.00,0.000,6,0.000,0.068,2421,2464,3402,0,0,4,0,0,0
$GC,5814,-0.84,-146.0,526.2,-8.1,615,5818,0.00,2.10,0.00,0.000,4,0.000,0.087,2421,836,3402,0,0,0,0,0,0
$GC,6072,-0.84,-146.0,549.0,-9.2,638,6076,0.00,2.05,0.00,0.000,6,0.000,0.068,2421,2468,3402,0,0,0,0,0,0
$GC,6403,-0.88,-146.0,576.7,-8.2,669,6408,0.00,3.50,0.00,0.000,4,0.000,0.086,2421,3922,3402,0,0,6,0,0,0
$GC,6600,-0.93,-146.0,593.4,-7.7,686,6605,0.00,3.42,0.00,0.000,6,0.000,0.065,2421,2456,3402,0,0,4,0,0,0
$STATE,6933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6934,begin apogee
$GC,6940,-0.16,0.0,620.6,7.8,702,7068,0.77,0.00,125.05,1.147,6,0.179,0.000,2633,1932,2800,0,0,0,0,0,0
$STATE,7069,end apogee,CONTROL_FINISHED_OK
$STATE,7069,begin climb
$GC,7071,0.73,146.0,623.1,0.0,706,7209,0.95,1.98,129.45,1.090,4,0.130,0.090,2922,366,2203,0,0,0,0,0,0
$GC,7389,0.64,146.0,591.2,12.3,719,7395,0.00,1.83,0.00,0.000,6,0.000,0.061,2922,1975,2197,0,0,0,0,0,0
$GC,7713,0.57,146.0,553.2,11.7,750,7723,0.20,3.75,0.00,0.000,4,0.199,0.077,2868,3529,2195,0,0,5,0,0,0
$GC,7870,0.57,146.0,537.3,9.9,764,7879,0.00,3.78,0.00,0.000,6,0.000,0.073,2882,1949,2193,0,0,3,0,0,0
$GC,8198,0.63,146.0,506.5,9.2,795,8207,0.00,3.75,0.00,0.000,4,0.000,0.080,2882,3528,2193,0,0,5,0,0,0
$GC,8365,0.63,146.0,489.6,10.5,810,8374,0.00,3.75,0.00,0.000,6,0.000,0.074,2900,1946,2193,0,0,4,0,0,0
$GC,8692,0.63,146.0,458.5,9.3,841,8702,0.00,3.75,0.00,0.000,4,0.000,0.081,2899,3534,2193,0,0,6,0,0,0
$GC,8855,0.56,146.0,441.7,10.6,855,8862,0.17,3.78,0.00,0.000,6,0.205,0.074,2876,1942,2192,0,0,3,0,0,0
$GC,9180,0.70,175.7,415.6,7.9,886,9212,0.12,3.78,24.50,0.999,4,0.127,0.081,2917,3528,2081,0,0,6,0,0,0
$GC,9376,0.62,175.7,393.6,12.3,903,9382,0.17,3.80,0.00,0.000,6,0.204,0.074,2895,1937,2079,0,0,3,0,0,0
$GC,9700,0.69,187.3,363.7,8.7,934,9721,0.00,3.78,10.43,0.919,4,0.000,0.080,2895,3534,2036,0,0,6,0,0,0
$GC,9873,0.69,187.3,346.2,9.9,949,9878,0.00,3.80,0.00,0.000,6,0.000,0.074,2910,1936,2035,0,0,3,0,0,0
$GC,10199,0.69,187.3,312.7,10.6,980,10208,0.00,3.75,0.00,0.000,4,0.000,0.079,2909,3527,2034,0,0,6,0,0,0
$GC,10359,0.69,187.3,294.0,11.3,994,10365,0.00,3.75,0.00,0.000,6,0.000,0.074,2926,1944,2034,0,0,4,0,0,0
$GC,10683,0.69,187.3,257.5,11.9,1025,10693,0.00,3.75,0.00,0.000,4,0.000,0.081,2926,3529,2033,0,0,6,0,0,0
$GC,10823,0.59,187.3,239.6,13.0,1037,10829,0.25,3.78,0.00,0.000,6,0.196,0.074,2883,1945,2033,0,0,3,0,0,0
$GC,11147,0.70,187.3,209.0,9.7,1068,11156,0.00,3.75,0.00,0.000,4,0.000,0.079,2883,3529,2032,0,0,5,0,0,0
$GC,11327,0.76,187.3,189.9,11.0,1084,11337,0.12,3.75,0.00,0.000,6,0.117,0.074,2939,1942,2033,0,0,4,0,0,0
$GC,11655,0.76,187.3,151.6,11.7,1115,11664,0.00,3.75,0.00,0.000,4,0.000,0.078,2939,3536,2033,0,0,6,0,0,0
$GC,11790,0.66,187.3,135.1,12.9,1127,11800,0.22,3.78,0.00,0.000,6,0.200,0.073,2903,1945,2033,0,0,3,0,0,0
$GC,12120,0.82,217.9,106.5,7.9,1158,12155,0.15,3.80,27.02,0.814,4,0.120,0.080,2954,3522,1910,0,0,6,0,0,0
$GC,12284,0.73,217.9,87.7,11.9,1182,12291,0.17,3.80,0.00,0.000,6,0.202,0.074,2931,1936,1907,0,0,3,0,0,0
$GC,12629,0.83,219.3,55.3,9.1,1243,12635,0.00,3.78,0.00,0.000,4,0.000,0.081,2931,3526,1906,0,0,6,0,0,0
$GC,12798,0.83,219.3,37.0,10.7,1273,12804,0.00,3.80,0.00,0.000,6,0.000,0.075,2946,1943,1906,0,0,3,0,0,0
$FREEZE,8.82,-1.141,-1.825,0,1,0
$FREEZE,8.19,-1.135,-1.825,0,1,0
$FREEZE,7.50,-1.158,-1.825,0,1,0
$FREEZE,6.98,-1.160,-1.824,0,1,0
$FREEZE,6.41,-1.164,-1.824,0,1,0
$FREEZE,5.79,-1.153,-1.823,0,1,0
$FREEZE,5.23,-1.138,-1.822,0,1,0
$FREEZE,4.80,-1.168,-1.822,0,1,0
$FREEZE,4.15,-1.162,-1.822,0,1,0
$FREEZE,3.57,-1.178,-1.821,0,1,0
$GC,13141,0.83,219.3,3.6,9.9,1334,13147,0.00,3.78,0.00,0.000,4,0.000,0.081,2946,3526,1905,0,0,6,0,0,0
$FREEZE,2.28,-1.158,-1.820,0,1,0
$FREEZE,1.58,-1.176,-1.820,0,1,0
$STATE,13158,end climb,SURFACE_DEPTH_REACHED
$STATE,13158,begin surface coast
$FREEZE,1.06,-1.185,-1.819,0,1,0
$FREEZE,0.63,-1.192,-1.361,0,1,0
$FREEZE,0.53,-1.226,-1.050,0,1,0
$FINISH,0.5,1.015506
$STATE,13176,end surface coast,CONTROL_FINISHED_OK
$STATE,13176,begin surface
$SM_CCo,13196,75.97,0.768,0,0,1475,325.02
$SM_GC,1.37,0.00,0.00,75.97,0.000,0.000,0.768,126,2469,1475,-8.01,0.23,325.02
$RAFOS_CLK,848
$RAFOS,6,1261644546,8.833333,8.818334,80,63,59,0,0,0,697,212,199,0,0,0
$RAFOS,5,1261644064,8.700000,8.684444,123,66,63,0,0,0,632,157,213,0,0,0
$RAFOS,4,1261643588,8.566667,8.552222,60,59,58,0,0,0,196,219,152,0,0,0
$RAFOS,3,1261643105,8.433333,8.418056,59,55,54,0,0,0,207,155,194,0,0,0
$RAFOS,2,1261642621,8.300000,8.283611,61,60,55,0,0,0,219,196,157,0,0,0
$RAFOS,1,1261642147,8.166667,8.151944,65,54,52,0,0,0,196,213,163,0,0,0
$RAFOS,0,1261641664,8.033334,8.017777,57,53,52,0,0,0,196,160,184,0,0,0
$RAFOS_FIX,6714.292480,-5739.974121,241209,080856,2,102,1.57
$IRIDIUM_FIX,6641.98,-5723.22,200399,040448
$TT8_MAMPS,0.027612
$HUMID,48.66
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,19.4
$ALTIM_BOTTOM_PING,551.0,91.4
$24V_AH,22.2,67.773
$10V_AH,10.0,36.277
$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,24.325,163.950,316.450,75.975,0.000,31.029,32.016,154.364,3.000,0.000,13.292,2316.833,7721.459,590.971,2539.091,445.750,0.000,1863.571,0.000,2485.560,2520.000,19.131,0.000
$DEVICE_MAMPS,299.130,105.846,1146.665,767.767,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.325,932.127,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,53554,1340
$CAP_FILE_SIZE,153675,0
$CFSIZE,260165632,221188096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,168,0,0
$SOUNDSPEED,1460.6
$GPS,241209,112824,6715.586,-5734.156,39,1.7,39,-38.0