version: 66.06
glider: 143
mission: 10
dive: 378
start: 12 25 109 16 8 15
data:
$ID,143
$MISSION,10
$DIVE,378
$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,-43474.668
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,160207,6719.200,-5737.968,39,1.2,39,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-64.7
$GPS2,160758,6719.188,-5738.043,13,2.5,32,-38.1
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6719.188,-5710.037
$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,532
$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,-94.75,0.000,2,0.000,0.000,127,2685,3082,0,0,0,0,0,0
$GC,116,-0.73,-146.0,3.2,-5.4,19,143,11.62,2.40,-8.93,0.000,4,0.302,0.096,2448,1098,3397,0,0,0,0,0,0
$GC,396,-0.73,-146.0,38.3,-10.9,69,402,0.00,2.35,0.00,0.000,6,0.000,0.072,2449,2700,3400,0,0,0,0,0,0
$GC,738,-0.73,-146.0,72.5,-9.9,130,744,0.00,2.95,0.00,0.000,4,0.000,0.091,2448,3921,3399,0,0,6,0,0,0
$GC,902,-0.77,-146.0,88.2,-9.2,159,908,0.00,2.83,0.00,0.000,6,0.000,0.064,2448,2698,3399,0,0,4,0,0,0
$GC,1241,-0.84,-146.0,116.3,-7.7,202,1246,0.00,2.97,0.00,0.000,4,0.000,0.090,2448,3931,3397,0,0,6,0,0,0
$GC,1409,-0.92,-146.0,130.4,-8.4,216,1415,0.17,2.83,0.00,0.000,6,0.114,0.064,2391,2694,3397,0,0,5,0,0,0
$GC,1733,-0.80,-146.0,166.4,-11.3,247,1739,0.15,3.00,0.00,0.000,4,0.212,0.090,2425,3931,3397,0,0,6,0,0,0
$GC,1923,-0.80,-146.0,185.7,-10.4,263,1930,0.00,2.85,0.00,0.000,6,0.000,0.064,2425,2692,3398,0,0,4,0,0,0
$GC,2248,-0.80,-146.0,217.0,-9.7,294,2253,0.00,2.97,0.00,0.000,4,0.000,0.089,2426,3930,3397,0,0,6,0,0,0
$GC,2505,-0.80,-146.0,241.6,-8.9,316,2511,0.00,2.83,0.00,0.000,6,0.000,0.064,2425,2703,3397,0,0,4,0,0,0
$GC,2829,-0.80,-146.0,269.1,-8.2,347,2834,0.00,2.97,0.00,0.000,4,0.000,0.089,2425,3929,3396,0,0,5,0,0,0
$GC,2976,-0.80,-146.0,280.8,-8.0,359,2981,0.00,2.83,0.00,0.000,6,0.000,0.064,2425,2696,3395,0,0,4,0,0,0
$GC,3300,-0.85,-146.0,306.2,-7.9,390,3305,0.00,2.95,0.00,0.000,4,0.000,0.086,2425,3927,3395,0,0,6,0,0,0
$GC,3463,-0.85,-146.0,318.7,-7.7,404,3468,0.00,2.83,0.00,0.000,6,0.000,0.061,2425,2692,3395,0,0,4,0,0,0
$GC,3788,-0.90,-146.0,342.4,-7.6,434,3793,0.00,2.95,0.00,0.000,4,0.000,0.084,2425,3922,3396,0,0,5,0,0,0
$GC,3962,-0.90,-146.0,355.6,-7.6,449,3966,0.00,2.80,0.00,0.000,6,0.000,0.060,2425,2697,3396,0,0,4,0,0,0
$GC,4289,-0.95,-146.0,380.2,-7.8,479,4294,0.12,2.95,0.00,0.000,4,0.119,0.081,2373,3934,3397,0,0,6,0,0,0
$GC,4445,-0.82,-146.0,396.1,-9.4,492,4452,0.20,2.83,0.00,0.000,6,0.199,0.058,2420,2698,3398,0,0,3,0,0,0
$GC,4770,-0.82,-146.0,420.8,-7.5,523,4775,0.00,2.92,0.00,0.000,4,0.000,0.082,2420,3924,3399,0,0,5,0,0,0
$GC,4929,-0.82,-146.0,433.1,-7.8,536,4934,0.00,2.78,0.00,0.000,6,0.000,0.057,2420,2700,3399,0,0,4,0,0,0
$GC,5253,-0.82,-146.0,456.9,-7.5,567,5258,0.00,2.92,0.00,0.000,4,0.000,0.081,2420,3927,3400,0,0,5,0,0,0
$GC,5416,-0.82,-146.0,469.1,-7.2,581,5420,0.00,2.80,0.00,0.000,6,0.000,0.057,2420,2700,3400,0,0,4,0,0,0
$GC,5740,-0.87,-146.0,493.5,-7.4,611,5745,0.00,2.92,0.00,0.000,4,0.000,0.081,2420,3927,3400,0,0,5,0,0,0
$GC,5941,-0.87,-146.0,509.6,-8.0,628,5947,0.00,2.80,0.00,0.000,6,0.000,0.056,2420,2699,3401,0,0,3,0,0,0
$STATE,6234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6234,begin apogee
$GC,6240,-0.16,0.0,532.0,7.7,656,6367,0.73,0.00,122.07,1.058,6,0.175,0.000,2626,2002,2800,0,0,0,0,0,0
$STATE,6367,end apogee,CONTROL_FINISHED_OK
$STATE,6368,begin climb
$GC,6370,0.73,146.0,534.8,0.0,669,6504,0.95,1.92,125.90,1.011,4,0.127,0.084,2921,406,2202,0,0,0,0,0,0
$GC,6594,0.66,146.0,513.8,12.1,690,6598,0.00,1.85,0.00,0.000,6,0.000,0.055,2921,2031,2198,0,0,0,0,0,0
$GC,6924,0.59,146.0,474.9,11.3,721,6934,0.17,3.70,0.00,0.000,4,0.200,0.073,2878,3582,2195,0,0,6,0,0,0
$GC,7085,0.59,146.0,457.8,10.7,735,7092,0.00,3.75,0.00,0.000,6,0.000,0.068,2893,1996,2194,0,0,4,0,0,0
$GC,7410,0.59,146.0,423.9,10.1,766,7419,0.00,3.72,0.00,0.000,4,0.000,0.074,2893,3590,2193,0,0,7,0,0,0
$GC,7581,0.59,146.0,403.5,12.0,781,7588,0.00,3.72,0.00,0.000,6,0.000,0.068,2909,2002,2193,0,0,4,0,0,0
$GC,7906,0.59,146.0,368.4,11.2,812,7915,0.00,3.70,0.00,0.000,4,0.000,0.074,2910,3582,2193,0,0,6,0,0,0
$GC,8052,0.49,146.0,350.6,13.0,825,8063,0.30,3.75,0.00,0.000,6,0.196,0.067,2853,1986,2192,0,0,3,0,0,0
$GC,8381,0.67,162.0,322.6,8.5,856,8403,0.17,3.80,13.07,0.862,4,0.107,0.074,2913,3590,2138,0,0,3,0,0,0
$GC,8572,0.58,162.0,298.3,12.8,873,8582,0.20,3.75,0.00,0.000,6,0.200,0.067,2884,1998,2137,0,0,3,0,0,0
$GC,8900,0.65,162.0,266.0,9.5,904,8909,0.00,3.70,0.00,0.000,4,0.000,0.073,2884,3582,2136,0,0,6,0,0,0
$GC,9057,0.65,162.0,249.4,11.3,918,9062,0.00,3.72,0.00,0.000,6,0.000,0.066,2898,1995,2136,0,0,3,0,0,0
$GC,9381,0.65,162.0,214.6,10.8,948,9386,0.00,3.72,0.00,0.000,4,0.000,0.072,2898,3590,2136,0,0,5,0,0,0
$GC,9527,0.65,162.0,197.2,11.7,960,9533,0.00,3.72,0.00,0.000,6,0.000,0.065,2915,1996,2136,0,0,3,0,0,0
$GC,9851,0.65,162.0,162.0,10.4,991,9860,0.00,3.70,0.00,0.000,4,0.000,0.072,2915,3588,2136,0,0,6,0,0,0
$GC,9990,0.61,162.0,146.3,10.6,1003,9997,0.17,3.72,0.00,0.000,6,0.196,0.066,2891,2000,2137,0,0,3,0,0,0
$GC,10315,0.77,190.8,119.3,8.0,1034,10347,0.15,3.72,24.90,0.786,4,0.114,0.073,2943,3582,2022,0,0,6,0,0,0
$GC,10472,0.69,190.8,100.9,12.6,1048,10482,0.20,3.75,0.00,0.000,6,0.199,0.067,2914,1992,2020,0,0,4,0,0,0
$GC,10822,0.83,224.4,70.9,7.8,1109,10859,0.15,3.83,28.73,0.772,4,0.116,0.076,2965,3582,1884,0,0,4,0,0,0
$GC,11050,0.73,224.4,42.4,12.4,1150,11057,0.22,3.78,0.00,0.000,6,0.196,0.069,2929,1997,1880,0,0,3,0,0,0
$GC,11393,0.85,224.4,10.8,9.3,1211,11400,0.12,3.80,0.00,0.000,4,0.123,0.076,2971,3590,1879,0,0,5,0,0,0
$FREEZE,8.89,-1.003,-1.827,0,1,0
$FREEZE,8.26,-1.073,-1.827,0,1,0
$FREEZE,7.70,-1.101,-1.826,0,1,0
$FREEZE,6.94,-1.179,-1.825,0,1,0
$FREEZE,6.26,-1.186,-1.825,0,1,0
$FREEZE,5.60,-1.189,-1.824,0,1,0
$FREEZE,4.86,-1.220,-1.823,0,1,0
$FREEZE,4.13,-1.220,-1.822,0,1,0
$FREEZE,3.39,-1.231,-1.821,0,1,0
$FREEZE,2.70,-1.231,-1.821,0,1,0
$FREEZE,2.02,-1.360,-1.822,0,1,0
$FREEZE,1.28,-1.360,-1.820,0,1,0
$STATE,11474,end climb,SURFACE_DEPTH_REACHED
$STATE,11474,begin surface coast
$FREEZE,0.52,-1.393,-1.819,0,1,0
$FREEZE,0.62,-1.980,-1.819,0,1,0
$FREEZE,0.57,-1.498,-1.790,0,1,0
$FINISH,0.6,1.026290
$STATE,11491,end surface coast,CONTROL_FINISHED_OK
$STATE,11491,begin surface
$SM_CCo,11510,66.82,0.742,0,0,1474,325.02
$SM_GC,1.40,0.00,0.00,66.82,0.000,0.000,0.742,125,2692,1474,-8.02,-0.20,325.02
$RAFOS_CLK,717
$RAFOS,6,1261759742,16.833334,16.817223,144,59,59,0,0,0,713,147,138,0,0,0
$RAFOS,5,1261759265,16.700001,16.684723,90,66,60,0,0,0,652,200,147,0,0,0
$RAFOS,4,1261758782,16.566668,16.550556,99,63,61,0,0,0,822,202,190,0,0,0
$RAFOS,3,1261758303,16.433332,16.417500,60,60,55,0,0,0,200,210,147,0,0,0
$RAFOS,2,1261757824,16.299999,16.284445,59,58,57,0,0,0,203,172,187,0,0,0
$RAFOS,1,1261757345,16.166666,16.151388,64,60,60,0,0,0,159,144,211,0,0,0
$RAFOS_FIX,6717.760742,-5741.389160,251209,161640,3,111,1.71
$IRIDIUM_FIX,6652.93,-5739.00,210399,121220
$TT8_MAMPS,0.027612
$HUMID,47.71
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.5
$ALTIM_BOTTOM_PING,450.6,120.5
$24V_AH,22.5,68.877
$10V_AH,10.1,36.962
$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,24.225,146.850,314.675,66.825,0.000,28.006,31.610,149.263,2.250,0.000,34.495,2052.559,6664.095,543.160,2239.966,429.533,0.000,1673.067,0.000,2182.143,2160.000,12.675,0.000
$DEVICE_MAMPS,302.198,95.875,1058.460,741.689,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.394,838.511,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152504
$DATA_FILE_SIZE,47361,1228
$CAP_FILE_SIZE,138382,0
$CFSIZE,260165632,220504064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,192,0,0
$SOUNDSPEED,1465.7
$GPS,251209,192237,6720.172,-5739.850,27,1.2,27,-38.2