version: 66.06
glider: 143
mission: 10
dive: 376
start: 12 25 109 9 31 38
data:
$ID,143
$MISSION,10
$DIVE,376
$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,90
$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,-43415.449
$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,2700
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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
$GPS1,092507,6718.456,-5735.086,39,1.5,39,-38.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.8
$GPS2,093119,6718.482,-5735.126,8,1.5,13,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6718.482,-5707.133
$TGT_RADIUS,1852.000
$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,128.1,20000,-16.9,-9.167
$D_GRID,530
$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,-95.22,0.000,2,0.000,0.000,126,2696,3085,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.1,-4.4,19,143,11.60,3.00,-8.98,0.000,4,0.301,0.100,2446,3913,3397,0,0,6,0,0,0
$GC,396,-0.73,-146.0,37.8,-11.2,69,402,0.00,2.83,0.00,0.000,6,0.000,0.064,2446,2696,3399,0,0,4,0,0,0
$GC,739,-0.73,-146.0,74.1,-10.0,130,745,0.00,2.95,0.00,0.000,4,0.000,0.091,2447,3908,3399,0,0,6,0,0,0
$GC,992,-0.79,-146.0,97.0,-9.0,175,998,0.00,2.83,0.00,0.000,6,0.000,0.066,2446,2692,3397,0,0,4,0,0,0
$GC,1320,-0.84,-146.0,125.6,-8.7,209,1325,0.00,2.95,0.00,0.000,4,0.000,0.090,2446,3911,3397,0,0,6,0,0,0
$GC,1466,-0.91,-146.0,138.5,-9.0,221,1473,0.15,2.80,0.00,0.000,6,0.120,0.064,2399,2702,3397,0,0,4,0,0,0
$GC,1790,-0.84,-146.0,171.7,-9.3,252,1795,0.00,2.95,0.00,0.000,4,0.000,0.091,2399,3912,3397,0,0,5,0,0,0
$GC,2048,-0.77,-146.0,198.8,-10.6,274,2055,0.17,2.83,0.00,0.000,6,0.205,0.066,2439,2695,3397,0,0,4,0,0,0
$GC,2374,-0.83,-146.0,227.6,-8.9,305,2378,0.00,2.95,0.00,0.000,4,0.000,0.090,2439,3913,3396,0,0,6,0,0,0
$GC,2597,-0.91,-146.0,247.6,-8.7,324,2604,0.15,2.83,0.00,0.000,6,0.119,0.064,2391,2692,3395,0,0,4,0,0,0
$GC,2922,-0.84,-146.0,280.1,-9.8,355,2927,0.00,2.95,0.00,0.000,4,0.000,0.087,2391,3919,3395,0,0,6,0,0,0
$GC,3107,-0.77,-146.0,299.2,-10.2,371,3113,0.20,2.83,0.00,0.000,6,0.200,0.064,2438,2694,3396,0,0,4,0,0,0
$GC,3432,-0.85,-146.0,325.4,-8.4,401,3437,0.00,2.92,0.00,0.000,4,0.000,0.086,2438,3910,3396,0,0,6,0,0,0
$GC,3606,-0.95,-146.0,340.2,-8.3,416,3612,0.17,2.80,0.00,0.000,6,0.110,0.062,2379,2697,3396,0,0,4,0,0,0
$GC,3931,-0.85,-146.0,373.9,-10.2,446,3936,0.15,2.95,0.00,0.000,4,0.203,0.085,2413,3916,3396,0,0,6,0,0,0
$GC,4128,-0.85,-146.0,391.0,-8.0,463,4133,0.00,2.80,0.00,0.000,6,0.000,0.061,2413,2698,3396,0,0,4,0,0,0
$GC,4452,-0.85,-146.0,417.1,-7.9,493,4457,0.00,2.92,0.00,0.000,4,0.000,0.084,2413,3911,3397,0,0,5,0,0,0
$GC,4615,-0.85,-146.0,430.4,-8.0,507,4620,0.00,2.80,0.00,0.000,6,0.000,0.059,2413,2691,3397,0,0,4,0,0,0
$GC,4939,-0.85,-146.0,457.0,-8.1,537,4944,0.00,2.95,0.00,0.000,4,0.000,0.082,2413,3920,3398,0,0,5,0,0,0
$GC,5097,-0.85,-146.0,470.2,-8.3,550,5102,0.00,2.80,0.00,0.000,6,0.000,0.058,2413,2691,3398,0,0,4,0,0,0
$GC,5422,-0.85,-146.0,496.8,-8.1,581,5427,0.00,2.92,0.00,0.000,4,0.000,0.082,2413,3909,3399,0,0,5,0,0,0
$GC,5589,-0.85,-146.0,510.4,-7.9,595,5595,0.00,2.80,0.00,0.000,6,0.000,0.058,2413,2698,3399,0,0,4,0,0,0
$STATE,5837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5839,begin apogee
$GC,5845,-0.16,0.0,530.1,7.8,619,5972,0.77,0.00,121.40,1.061,6,0.179,0.000,2628,2003,2800,0,0,0,0,0,0
$STATE,5973,end apogee,CONTROL_FINISHED_OK
$STATE,5973,begin climb
$GC,5975,0.73,146.0,532.9,0.0,632,6109,0.95,1.95,125.95,1.013,4,0.129,0.084,2921,400,2202,0,0,0,0,0,0
$GC,6177,0.65,146.0,515.3,12.6,651,6181,0.00,1.85,0.00,0.000,6,0.000,0.056,2921,2019,2199,0,0,0,0,0,0
$GC,6507,0.57,146.0,476.3,11.2,682,6517,0.20,3.72,0.00,0.000,4,0.198,0.071,2857,3584,2194,0,0,7,0,0,0
$GC,6653,0.63,150.2,462.8,9.0,695,6662,0.00,3.78,0.00,0.000,6,0.000,0.066,2872,1992,2194,0,0,3,0,0,0
$GC,6981,0.72,150.2,434.0,9.2,726,6991,0.15,3.78,0.00,0.000,4,0.113,0.073,2921,3586,2194,0,0,5,0,0,0
$GC,7154,0.58,150.2,412.1,12.9,741,7161,0.22,3.70,0.00,0.000,6,0.203,0.068,2883,2002,2192,0,0,5,0,0,0
$GC,7479,0.63,150.2,382.4,9.4,772,7488,0.00,3.70,0.00,0.000,4,0.000,0.074,2883,3583,2193,0,0,6,0,0,0
$GC,7625,0.63,150.2,367.8,10.0,785,7630,0.00,3.72,0.00,0.000,6,0.000,0.067,2898,1999,2193,0,0,3,0,0,0
$GC,7949,0.63,152.2,337.7,9.1,815,7961,0.00,3.72,5.00,0.700,4,0.000,0.074,2898,3595,2179,0,0,6,0,0,0
$GC,8096,0.57,152.2,322.0,11.1,828,8107,0.17,3.75,0.00,0.000,6,0.197,0.067,2875,1988,2178,0,0,3,0,0,0
$GC,8425,0.68,158.6,292.7,8.9,859,8440,0.12,3.80,7.10,0.778,4,0.123,0.074,2916,3585,2153,0,0,4,0,0,0
$GC,8581,0.57,158.6,274.2,12.3,873,8591,0.22,3.75,0.00,0.000,6,0.196,0.067,2880,1987,2153,0,0,3,0,0,0
$GC,8910,0.71,178.7,244.7,8.3,904,8936,0.12,3.78,18.50,0.854,4,0.123,0.074,2921,3594,2070,0,0,5,0,0,0
$GC,9082,0.63,178.7,223.6,12.6,919,9092,0.17,3.78,0.00,0.000,6,0.198,0.067,2899,1989,2068,0,0,3,0,0,0
$GC,9411,0.72,178.7,189.6,10.3,950,9420,0.00,3.72,0.00,0.000,4,0.000,0.074,2898,3584,2067,0,0,6,0,0,0
$GC,9578,0.72,178.7,171.6,10.4,965,9583,0.00,3.72,0.00,0.000,6,0.000,0.067,2913,2002,2067,0,0,3,0,0,0
$GC,9902,0.79,190.5,142.5,8.7,995,9923,0.00,3.72,11.18,0.780,4,0.000,0.074,2913,3604,2022,0,0,6,0,0,0
$GC,10019,0.79,190.5,131.0,10.2,1005,10025,0.00,3.78,0.00,0.000,6,0.000,0.068,2930,2000,2021,0,0,3,0,0,0
$GC,10343,0.79,190.5,101.1,9.7,1036,10352,0.00,3.72,0.00,0.000,4,0.000,0.077,2930,3591,2021,0,0,7,0,0,0
$GC,10504,0.74,190.5,83.6,11.1,1063,10510,0.00,3.78,0.00,0.000,6,0.000,0.070,2947,1989,2020,0,0,3,0,0,0
$GC,10848,0.74,190.5,48.8,9.8,1124,10854,0.00,3.75,0.00,0.000,4,0.000,0.077,2947,3581,2020,0,0,6,0,0,0
$GC,10961,0.66,190.5,36.7,11.2,1144,10968,0.25,3.75,0.00,0.000,6,0.197,0.071,2903,1998,2019,0,0,3,0,0,0
$FREEZE,8.89,-1.522,-1.823,0,1,0
$FREEZE,8.26,-1.561,-1.823,0,1,0
$FREEZE,7.64,-1.554,-1.822,0,1,0
$GC,11306,0.87,222.3,10.2,7.8,1205,11340,0.20,3.78,27.12,0.769,4,0.104,0.077,2972,3586,1892,0,0,5,0,0,0
$FREEZE,6.26,-1.563,-1.820,0,1,0
$FREEZE,5.59,-1.574,-1.820,0,1,0
$FREEZE,4.88,-1.598,-1.820,0,1,0
$FREEZE,4.23,-1.603,-1.819,0,1,0
$FREEZE,3.44,-1.592,-1.818,0,1,0
$FREEZE,2.65,-1.633,-1.818,0,1,0
$FREEZE,1.88,-1.629,-1.817,0,1,0
$STATE,11380,end climb,SURFACE_DEPTH_REACHED
$STATE,11380,begin surface coast
$FREEZE,1.22,-1.633,-1.817,0,1,0
$FREEZE,0.54,-1.639,-1.816,0,1,0
$FREEZE,0.60,-2.413,-1.583,0,1,0
$FINISH,0.6,1.023326
$STATE,11398,end surface coast,CONTROL_FINISHED_OK
$STATE,11398,begin surface
$SM_CCo,11417,71.18,0.748,0,0,1473,325.02
$SM_GC,1.51,0.00,0.00,71.18,0.000,0.000,0.748,128,2699,1473,-8.01,-0.03,325.02
$RAFOS_CLK,716
$RAFOS,4,1261744384,12.566667,12.551111,90,61,60,0,0,0,819,217,161,0,0,0
$RAFOS,3,1261743905,12.433333,12.418056,58,57,52,0,0,0,189,177,200,0,0,0
$RAFOS,2,1261743425,12.300000,12.284722,60,56,53,0,0,0,227,178,190,0,0,0
$RAFOS,1,1261742945,12.166667,12.151389,64,55,54,0,0,0,230,118,197,0,0,0
$RAFOS,0,1261742466,12.033333,12.018333,59,58,57,0,0,0,214,133,157,0,0,0
$RAFOS_FIX,6717.058105,-5737.313477,251209,080822,3,82,0.27
$IRIDIUM_FIX,6647.44,-5737.27,210399,060623
$TT8_MAMPS,0.029913
$HUMID,48.42
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,400.1,169.9
$24V_AH,22.5,68.649
$10V_AH,10.1,36.819
$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,24.625,149.625,316.250,71.175,0.000,22.680,31.530,187.168,2.500,0.000,15.281,2054.749,6593.308,552.414,2194.521,457.265,0.000,1673.563,0.000,2155.667,2160.000,11.036,0.000
$DEVICE_MAMPS,301.431,99.710,1060.761,747.825,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.304,835.173,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152584
$DATA_FILE_SIZE,47264,1221
$CAP_FILE_SIZE,139559,0
$CFSIZE,260165632,220643328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,205,0,0
$SOUNDSPEED,1464.0
$GPS,251209,124437,6718.889,-5736.678,37,1.8,43,-38.1