version: 66.06
glider: 143
mission: 10
dive: 370
start: 12 24 109 11 34 32
data:
$ID,143
$MISSION,10
$DIVE,370
$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,-43327.211
$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,11
$R_STBD_OVSHOOT,27
$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
$GPS1,112824,6715.586,-5734.156,39,1.7,39,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-67.4
$GPS2,113414,6715.555,-5734.223,12,1.4,12,-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,162.9,40680,-16.9,-9.167
$D_GRID,621
$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,16,-0.73,-146.0,0.0,0.0,0,113,0.00,0.00,-94.18,0.000,2,0.000,0.000,126,2469,3028,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.0,-3.8,19,147,11.52,2.22,-11.10,0.000,4,0.299,0.106,2449,847,3399,0,0,0,0,0,0
$GC,400,-0.73,-146.0,38.6,-11.5,70,406,0.00,2.05,0.00,0.000,6,0.000,0.072,2449,2453,3401,0,0,0,0,0,0
$GC,743,-0.73,-146.0,75.0,-10.5,131,749,0.00,2.10,0.00,0.000,4,0.000,0.091,2449,856,3401,0,0,0,0,0,0
$GC,1002,-0.73,-146.0,102.8,-10.0,175,1005,0.00,2.05,0.00,0.000,6,0.000,0.074,2449,2464,3401,0,0,0,0,0,0
$GC,1331,-0.78,-146.0,135.3,-10.2,206,1335,0.00,2.12,0.00,0.000,4,0.000,0.092,2449,851,3401,0,0,0,0,0,0
$GC,1590,-0.83,-146.0,161.5,-10.1,229,1595,0.00,2.05,0.00,0.000,6,0.000,0.074,2449,2461,3401,0,0,0,0,0,0
$GC,1920,-0.89,-146.0,190.0,-8.7,260,1925,0.15,2.15,0.00,0.000,4,0.122,0.094,2401,850,3400,0,0,0,0,0,0
$GC,2179,-0.80,-146.0,219.1,-11.9,282,2184,0.00,2.05,0.00,0.000,6,0.000,0.074,2400,2460,3400,0,0,0,0,0,0
$GC,2504,-0.76,-146.0,252.9,-10.8,313,2514,0.17,3.60,0.00,0.000,4,0.221,0.089,2429,3928,3398,0,0,5,0,0,0
$GC,2766,-0.76,-146.0,276.9,-8.7,336,2772,0.00,3.42,0.00,0.000,6,0.000,0.068,2429,2462,3398,0,0,4,0,0,0
$GC,3091,-0.76,-146.0,302.7,-7.8,367,3096,0.00,3.58,0.00,0.000,4,0.000,0.088,2429,3927,3399,0,0,4,0,0,0
$GC,3348,-0.76,-146.0,324.3,-8.3,389,3354,0.00,3.42,0.00,0.000,6,0.000,0.067,2429,2459,3399,0,0,4,0,0,0
$GC,3674,-0.76,-146.0,351.3,-8.3,420,3678,0.00,2.12,0.00,0.000,4,0.000,0.089,2429,838,3399,0,0,0,0,0,0
$GC,3931,-0.76,-146.0,375.8,-9.1,442,3937,0.00,2.08,0.00,0.000,6,0.000,0.069,2429,2455,3400,0,0,0,0,0,0
$GC,4257,-0.81,-146.0,404.9,-8.9,473,4262,0.00,3.55,0.00,0.000,4,0.000,0.087,2429,3918,3400,0,0,4,0,0,0
$GC,4493,-0.87,-146.0,426.0,-9.4,493,4499,0.00,3.40,0.00,0.000,6,0.000,0.066,2429,2458,3401,0,0,4,0,0,0
$GC,4818,-0.93,-146.0,454.6,-9.2,524,4828,0.12,3.60,0.00,0.000,4,0.120,0.085,2373,3931,3402,0,0,5,0,0,0
$GC,5080,-0.79,-146.0,484.1,-11.3,547,5087,0.22,3.45,0.00,0.000,6,0.203,0.065,2425,2458,3401,0,0,3,0,0,0
$GC,5405,-0.85,-146.0,513.7,-9.2,578,5410,0.00,3.58,0.00,0.000,4,0.000,0.087,2425,3918,3402,0,0,5,0,0,0
$GC,5663,-0.90,-146.0,536.3,-8.7,600,5669,0.00,3.40,0.00,0.000,6,0.000,0.065,2425,2460,3402,0,0,4,0,0,0
$GC,5989,-0.96,-146.0,562.9,-7.8,631,5993,0.15,2.10,0.00,0.000,4,0.117,0.087,2373,853,3402,0,0,0,0,0,0
$GC,6246,-0.81,-146.0,590.9,-10.8,653,6252,0.22,2.03,0.00,0.000,6,0.212,0.069,2424,2462,3402,0,0,0,0,0,0
$GC,6576,-0.87,-146.0,617.1,-8.0,671,6581,0.00,3.55,0.00,0.000,4,0.000,0.087,2424,3923,3402,0,0,5,0,0,0
$STATE,6618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6618,begin apogee
$GC,6628,-0.16,0.0,621.4,9.0,672,6756,0.75,0.00,124.78,1.150,6,0.183,0.000,2631,1928,2800,0,0,0,0,0,0
$STATE,6757,end apogee,CONTROL_FINISHED_OK
$STATE,6757,begin climb
$GC,6759,0.73,146.0,624.5,0.0,676,6896,0.95,2.00,129.57,1.094,4,0.131,0.091,2919,357,2203,0,0,0,0,0,0
$GC,6930,0.64,146.0,610.9,11.5,681,6934,0.00,1.90,0.00,0.000,6,0.000,0.061,2920,1962,2201,0,0,0,0,0,0
$GC,7257,0.58,146.0,574.8,11.0,706,7268,0.17,3.80,0.00,0.000,4,0.203,0.079,2877,3526,2196,0,0,6,0,0,0
$GC,7403,0.58,146.0,559.6,10.3,719,7412,0.00,3.78,0.00,0.000,6,0.000,0.073,2892,1955,2194,0,0,5,0,0,0
$GC,7731,0.58,146.0,527.0,10.5,750,7740,0.00,3.78,0.00,0.000,4,0.000,0.080,2892,3535,2194,0,0,6,0,0,0
$GC,7894,0.53,146.0,508.5,11.6,764,7901,0.20,3.80,0.00,0.000,6,0.206,0.074,2864,1935,2192,0,0,4,0,0,0
$GC,8219,0.68,166.1,480.3,8.3,795,8244,0.15,3.88,16.65,1.009,4,0.116,0.080,2913,3529,2121,0,0,4,0,0,0
$GC,8407,0.59,166.1,457.4,12.9,812,8418,0.20,3.78,0.00,0.000,6,0.208,0.075,2886,1951,2120,0,0,5,0,0,0
$GC,8736,0.67,166.1,424.7,9.8,843,8745,0.00,3.78,0.00,0.000,4,0.000,0.081,2885,3534,2119,0,0,6,0,0,0
$GC,8903,0.67,166.1,406.6,10.7,858,8912,0.00,3.78,0.00,0.000,6,0.000,0.074,2900,1939,2118,0,0,5,0,0,0
$GC,9231,0.67,166.1,372.1,10.8,889,9240,0.00,3.78,0.00,0.000,4,0.000,0.080,2900,3532,2118,0,0,6,0,0,0
$GC,9377,0.62,166.1,354.8,12.7,902,9386,0.00,3.78,0.00,0.000,6,0.000,0.074,2917,1939,2118,0,0,4,0,0,0
$GC,9705,0.62,166.1,315.2,12.2,933,9715,0.00,3.78,0.00,0.000,4,0.000,0.080,2917,3534,2118,0,0,6,0,0,0
$GC,9852,0.53,166.1,296.9,12.4,946,9863,0.28,3.78,0.00,0.000,6,0.203,0.074,2868,1936,2118,0,0,5,0,0,0
$GC,10181,0.69,179.6,267.6,8.6,977,10203,0.15,3.83,12.30,0.882,4,0.118,0.079,2918,3556,2066,0,0,5,0,0,0
$GC,10366,0.60,179.6,245.1,12.0,993,10373,0.20,3.85,0.00,0.000,6,0.205,0.074,2890,1933,2065,0,0,4,0,0,0
$GC,10690,0.70,179.6,215.1,9.5,1024,10700,0.00,3.78,0.00,0.000,4,0.000,0.078,2890,3531,2065,0,0,6,0,0,0
$GC,10862,0.70,179.6,197.3,10.0,1039,10869,0.00,3.78,0.00,0.000,6,0.000,0.074,2904,1939,2064,0,0,4,0,0,0
$GC,11189,0.80,181.4,167.9,9.1,1070,11199,0.12,3.80,0.00,0.000,4,0.113,0.079,2954,3538,2065,0,0,6,0,0,0
$GC,11345,0.67,181.4,148.4,12.8,1084,11355,0.25,3.78,0.00,0.000,6,0.202,0.074,2910,1935,2065,0,0,5,0,0,0
$GC,11674,0.78,198.2,119.3,8.5,1115,11698,0.00,3.85,16.83,0.818,4,0.000,0.079,2910,3527,1991,0,0,4,0,0,0
$GC,11891,0.83,198.2,98.4,9.7,1135,11897,0.00,3.80,0.00,0.000,6,0.000,0.075,2925,1951,1989,0,0,3,0,0,0
$GC,12234,0.91,198.2,66.5,9.8,1196,12241,0.17,3.80,0.00,0.000,4,0.099,0.081,2986,3531,1989,0,0,6,0,0,0
$GC,12399,0.73,198.2,44.6,13.5,1225,12405,0.30,3.80,0.00,0.000,6,0.202,0.076,2932,1945,1989,0,0,4,0,0,0
$GC,12744,0.82,205.1,14.2,8.9,1286,12761,0.00,3.83,7.03,0.723,4,0.000,0.084,2931,3530,1963,0,0,7,0,0,0
$FREEZE,8.92,-1.033,-1.826,0,1,0
$FREEZE,8.26,-1.028,-1.826,0,1,0
$FREEZE,7.83,-1.035,-1.826,0,1,0
$FREEZE,7.16,-1.028,-1.825,0,1,0
$FREEZE,6.68,-1.078,-1.825,0,1,0
$FREEZE,6.16,-1.085,-1.825,0,1,0
$FREEZE,5.60,-1.097,-1.824,0,1,0
$FREEZE,5.09,-1.096,-1.823,0,1,0
$FREEZE,4.65,-1.076,-1.823,0,1,0
$FREEZE,4.15,-1.086,-1.823,0,1,0
$FREEZE,3.68,-1.089,-1.822,0,1,0
$FREEZE,3.14,-1.095,-1.822,0,1,0
$FREEZE,2.68,-1.094,-1.821,0,1,0
$FREEZE,1.98,-1.090,-1.821,0,1,0
$STATE,12872,end climb,SURFACE_DEPTH_REACHED
$STATE,12872,begin surface coast
$FREEZE,1.53,-1.084,-1.820,0,1,0
$FREEZE,0.97,-1.086,-1.820,0,1,0
$FREEZE,0.59,-1.065,-1.818,0,1,0
$FREEZE,0.70,-1.196,-1.826,0,1,0
$FINISH,0.7,1.026788
$STATE,12895,end surface coast,CONTROL_FINISHED_OK
$STATE,12895,begin surface
$SM_CCo,12915,82.15,0.772,0,0,1474,325.02
$SM_GC,1.52,0.00,0.00,82.15,0.000,0.000,0.772,122,2471,1474,-8.03,0.31,325.02
$RAFOS_CLK,836
$RAFOS,6,1261658945,12.833333,12.818055,83,60,59,0,0,0,703,215,182,0,0,0
$RAFOS,5,1261658471,12.700000,12.686389,107,62,62,0,0,0,591,213,186,0,0,0
$RAFOS,4,1261657984,12.566667,12.551111,83,66,58,0,0,0,807,170,214,0,0,0
$RAFOS,3,1261657509,12.433333,12.419167,69,64,63,0,0,0,183,206,226,0,0,0
$RAFOS,2,1261657023,12.300000,12.284166,61,59,57,0,0,0,171,208,186,0,0,0
$RAFOS,1,1261656541,12.166667,12.150278,65,59,51,0,0,0,184,209,163,0,0,0
$RAFOS,0,1261656066,12.033333,12.018333,63,62,58,0,0,0,194,232,211,0,0,0
$RAFOS_FIX,6714.022461,-5739.227539,241209,121244,3,91,1.10
$IRIDIUM_FIX,6647.44,-5729.59,200399,070725
$TT8_MAMPS,0.027612
$HUMID,48.54
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.60
$XPDR_PINGS,4
$ALTIM_TOP_PING,20.0,19.3
$ALTIM_BOTTOM_PING,550.8,110.9
$24V_AH,22.2,67.900
$10V_AH,10.0,36.357
$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,24.650,162.200,307.150,82.150,0.000,30.637,32.350,159.049,3.000,0.000,13.750,2269.120,7542.265,593.514,2495.475,448.167,0.000,1846.419,0.000,2443.547,2520.000,17.845,0.000
$DEVICE_MAMPS,299.130,105.846,1149.733,771.602,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.912,911.527,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152568
$DATA_FILE_SIZE,50478,1313
$CAP_FILE_SIZE,152596,0
$CFSIZE,260165632,221110272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,172,0,0
$SOUNDSPEED,1459.1
$GPS,241209,151244,6715.570,-5735.273,28,1.4,35,-38.0