version: 66.06
glider: 143
mission: 10
dive: 387
start: 12 26 109 18 21 38
data:
$ID,143
$MISSION,10
$DIVE,387
$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,-43939.051
$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,2800
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,33
$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
$GPS1,181530,6725.334,-5752.784,36,1.3,41,-38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-45.4
$GPS2,182120,6725.310,-5753.017,13,1.3,13,-38.3
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,HEADING
$TGT_LATLONG,6725.310,-5724.890
$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,128.3,20000,-16.9,-9.167
$D_GRID,445
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.73,-146.0,0.0,0.0,0,145,0.00,0.00,-122.28,0.000,6,0.000,0.000,123,2696,3396,0,0,0,0,0,0
$GC,148,-0.73,-146.0,1.3,0.1,25,164,9.98,2.30,0.00,0.000,4,0.251,0.083,2451,1202,3399,0,0,0,0,0,0
$GC,301,-0.73,-146.0,14.0,-9.6,52,307,0.00,2.40,0.00,0.000,6,0.000,0.071,2451,2786,3400,0,0,0,0,0,0
$GC,643,-0.73,-146.0,47.5,-9.4,113,649,0.00,2.80,0.00,0.000,4,0.000,0.091,2451,3914,3399,0,0,5,0,0,0
$GC,768,-0.73,-146.0,59.8,-10.0,135,773,0.00,2.60,0.00,0.000,6,0.000,0.062,2452,2812,3399,0,0,4,0,0,0
$GC,1113,-0.77,-146.0,91.6,-8.9,196,1118,0.00,2.72,0.00,0.000,4,0.000,0.091,2452,3921,3398,0,0,7,0,0,0
$GC,1215,-0.83,-146.0,101.0,-9.0,214,1219,0.00,2.65,0.00,0.000,6,0.000,0.062,2452,2799,3397,0,0,4,0,0,0
$GC,1540,-0.92,-146.0,128.6,-8.1,244,1546,0.17,2.80,0.00,0.000,4,0.110,0.088,2381,3919,3397,0,0,5,0,0,0
$GC,1675,-0.78,-146.0,145.0,-13.1,255,1682,0.22,2.62,0.00,0.000,6,0.209,0.062,2433,2799,3397,0,0,4,0,0,0
$GC,2000,-0.83,-146.0,176.2,-9.4,286,2005,0.00,2.80,0.00,0.000,4,0.000,0.089,2433,3922,3395,0,0,6,0,0,0
$GC,2164,-0.89,-146.0,190.6,-9.2,300,2168,0.00,2.62,0.00,0.000,6,0.000,0.061,2433,2799,3395,0,0,5,0,0,0
$GC,2488,-0.96,-146.0,217.4,-8.2,330,2494,0.17,2.78,0.00,0.000,4,0.111,0.086,2361,3921,3395,0,0,6,0,0,0
$GC,2609,-0.78,-146.0,230.9,-11.5,340,2614,0.30,2.62,0.00,0.000,6,0.202,0.060,2434,2798,3395,0,0,4,0,0,0
$GC,2933,-0.86,-146.0,257.0,-7.7,370,2938,0.00,2.78,0.00,0.000,4,0.000,0.085,2434,3924,3395,0,0,6,0,0,0
$GC,3064,-0.94,-146.0,267.7,-9.1,381,3070,0.15,2.62,0.00,0.000,6,0.114,0.059,2385,2801,3395,0,0,4,0,0,0
$GC,3389,-0.85,-146.0,301.0,-10.3,411,3395,0.12,2.75,0.00,0.000,4,0.202,0.084,2413,3915,3396,0,0,6,0,0,0
$GC,3525,-0.85,-146.0,312.8,-9.1,422,3530,0.00,2.60,0.00,0.000,6,0.000,0.058,2413,2801,3396,0,0,4,0,0,0
$GC,3849,-0.85,-146.0,341.9,-9.1,453,3854,0.00,2.72,0.00,0.000,4,0.000,0.083,2412,3929,3396,0,0,7,0,0,0
$GC,3947,-0.85,-146.0,350.3,-8.6,461,3952,0.00,2.62,0.00,0.000,6,0.000,0.057,2412,2800,3396,0,0,4,0,0,0
$GC,4271,-0.85,-146.0,378.4,-7.9,491,4276,0.00,2.70,0.00,0.000,4,0.000,0.082,2413,3916,3398,0,0,7,0,0,0
$GC,4406,-0.85,-146.0,389.6,-8.3,502,4411,0.00,2.60,0.00,0.000,6,0.000,0.056,2413,2799,3398,0,0,4,0,0,0
$GC,4729,-0.85,-146.0,416.2,-9.3,533,4734,0.00,2.75,0.00,0.000,4,0.000,0.082,2413,3916,3399,0,0,6,0,0,0
$GC,4830,-0.85,-146.0,425.0,-8.8,541,4835,0.00,2.60,0.00,0.000,6,0.000,0.056,2412,2799,3398,0,0,4,0,0,0
$STATE,5110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5111,begin apogee
$GC,5116,-0.16,0.0,445.1,6.9,568,5242,0.77,0.00,119.80,1.000,6,0.179,0.000,2629,2398,2800,0,0,0,0,0,0
$STATE,5243,end apogee,CONTROL_FINISHED_OK
$STATE,5243,begin climb
$GC,5246,0.73,146.0,448.8,0.0,581,5380,0.93,2.12,123.55,0.958,4,0.127,0.080,2919,804,2203,0,0,0,0,0,0
$GC,5442,0.68,146.0,434.1,11.1,599,5447,0.00,2.00,0.00,0.000,6,0.000,0.056,2919,2404,2200,0,0,0,0,0,0
$GC,5766,0.62,146.0,397.6,11.7,630,5772,0.00,3.67,0.00,0.000,4,0.000,0.075,2919,3921,2197,0,0,5,0,0,0
$GC,5795,0.51,146.0,394.0,12.5,632,5805,0.32,3.60,0.00,0.000,6,0.197,0.063,2856,2403,2195,0,0,5,0,0,0
$GC,6124,0.68,174.4,366.2,8.0,663,6156,0.17,3.70,23.58,0.904,4,0.104,0.077,2916,3930,2088,0,0,6,0,0,0
$GC,6228,0.58,174.4,353.4,13.4,672,6235,0.22,3.62,0.00,0.000,6,0.196,0.063,2881,2397,2086,0,0,4,0,0,0
$GC,6553,0.67,174.4,321.2,10.2,703,6559,0.00,3.65,0.00,0.000,4,0.000,0.076,2881,3925,2085,0,0,5,0,0,0
$GC,6620,0.67,174.4,313.6,11.5,708,6626,0.00,3.58,0.00,0.000,6,0.000,0.062,2895,2400,2084,0,0,4,0,0,0
$GC,6946,0.72,174.4,279.1,10.7,739,6951,0.00,3.60,0.00,0.000,4,0.000,0.076,2895,3917,2084,0,0,6,0,0,0
$GC,6968,0.72,174.4,276.3,12.2,740,6974,0.00,3.55,0.00,0.000,6,0.000,0.063,2911,2400,2084,0,0,4,0,0,0
$GC,7292,0.72,174.4,238.1,12.3,771,7298,0.00,3.62,0.00,0.000,4,0.000,0.076,2911,3927,2084,0,0,7,0,0,0
$GC,7326,0.64,174.4,233.6,13.7,773,7333,0.12,3.58,0.00,0.000,6,0.206,0.063,2901,2396,2084,0,0,4,0,0,0
$GC,7650,0.69,174.4,196.7,10.9,804,7656,0.00,3.62,0.00,0.000,4,0.000,0.075,2902,3930,2084,0,0,6,0,0,0
$GC,7706,0.69,174.4,189.2,13.6,808,7712,0.00,3.58,0.00,0.000,6,0.000,0.063,2916,2398,2084,0,0,4,0,0,0
$GC,8030,0.69,174.4,146.8,12.7,839,8036,0.00,3.62,0.00,0.000,4,0.000,0.075,2915,3918,2084,0,0,6,0,0,0
$GC,8064,0.63,174.4,142.4,13.4,841,8070,0.15,3.55,0.00,0.000,6,0.201,0.062,2899,2400,2084,0,0,4,0,0,0
$GC,8388,0.77,199.7,111.2,8.1,872,8420,0.12,3.67,21.98,0.767,4,0.123,0.075,2941,3918,1984,0,0,6,0,0,0
$GC,8467,0.67,199.7,102.5,12.8,879,8477,0.20,3.58,0.00,0.000,6,0.201,0.062,2911,2401,1982,0,0,4,0,0,0
$GC,8816,0.85,252.9,74.7,6.9,939,8868,0.15,3.70,44.50,0.762,4,0.114,0.076,2963,3928,1769,0,0,7,0,0,0
$GC,8936,0.78,252.9,60.6,13.2,961,8943,0.15,3.60,0.00,0.000,6,0.197,0.063,2946,2399,1766,0,0,6,0,0,0
$GC,9282,0.87,252.9,24.4,10.8,1022,9288,0.00,3.67,0.00,0.000,4,0.000,0.077,2946,3916,1763,0,0,6,0,0,0
$GC,9339,0.87,252.9,17.5,11.9,1032,9344,0.00,3.58,0.00,0.000,6,0.000,0.064,2961,2400,1763,0,0,5,0,0,0
$FREEZE,8.55,-1.097,-1.830,0,1,0
$FREEZE,7.90,-1.078,-1.829,0,1,0
$FREEZE,7.20,-1.084,-1.829,0,1,0
$FREEZE,6.59,-1.080,-1.828,0,1,0
$FREEZE,5.91,-1.123,-1.828,0,1,0
$FREEZE,5.12,-1.142,-1.827,0,1,0
$FREEZE,4.51,-1.126,-1.826,0,1,0
$FREEZE,4.01,-1.147,-1.826,0,1,0
$FREEZE,3.36,-1.146,-1.825,0,1,0
$FREEZE,2.68,-1.143,-1.824,0,1,0
$FREEZE,2.07,-1.149,-1.824,0,1,0
$FREEZE,1.35,-1.150,-1.823,0,1,0
$STATE,9478,end climb,SURFACE_DEPTH_REACHED
$STATE,9478,begin surface coast
$FREEZE,0.72,-1.190,-1.823,0,1,0
$FREEZE,0.69,-1.176,-1.822,0,1,0
$FREEZE,0.50,-1.394,-1.820,0,1,0
$FINISH,0.5,1.026712
$STATE,9496,end surface coast,CONTROL_FINISHED_OK
$STATE,9496,begin surface
$SM_CCo,9513,52.22,0.734,0,0,1475,325.02
$SM_GC,1.19,0.00,0.00,52.22,0.000,0.000,0.734,128,2811,1475,-8.01,0.31,325.02
$RAFOS_CLK,589
$RAFOS,6,1261860543,20.833334,20.817499,138,67,58,0,0,0,690,196,122,0,0,0
$RAFOS,5,1261860062,20.700001,20.683889,91,62,58,0,0,0,717,214,178,0,0,0
$RAFOS,4,1261859588,20.566668,20.552221,91,65,59,0,0,0,801,223,132,0,0,0
$RAFOS,3,1261859102,20.433332,20.417223,58,57,56,0,0,0,201,213,162,0,0,0
$RAFOS,2,1261858630,20.299999,20.286112,61,56,53,0,0,0,206,195,120,0,0,0
$RAFOS,1,1261858142,20.166666,20.150555,64,59,58,0,0,0,196,122,179,0,0,0
$RAFOS,0,1261857671,20.033333,20.019722,69,60,60,0,0,0,220,177,124,0,0,0
$RAFOS_FIX,6723.928223,-5754.296875,261209,202001,3,107,0.32
$IRIDIUM_FIX,6652.93,-5745.45,220399,151535
$TT8_MAMPS,0.027612
$HUMID,47.20
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,350.3,124.8
$24V_AH,22.7,69.904
$10V_AH,10.1,37.544
$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,22.675,136.775,333.400,52.225,0.000,29.586,32.268,169.654,2.000,0.000,14.598,1744.594,5440.879,536.687,1776.400,423.135,0.000,1478.335,0.000,1742.653,2520.000,11.926,0.000
$DEVICE_MAMPS,250.809,90.506,1000.168,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.256,720.394,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152600
$DATA_FILE_SIZE,40985,1060
$CAP_FILE_SIZE,122147,0
$CFSIZE,260165632,219926528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,207,0,0
$SOUNDSPEED,1464.7
$GPS,261209,210228,6726.005,-5754.075,7,99.0,26,-38.4