version: 66.06
glider: 143
mission: 10
dive: 219
start: 11 30 109 16 21 34
data:
$ID,143
$MISSION,10
$DIVE,219
$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,-2
$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,-35332.465
$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,18
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,122410,6643.154,-5929.364,0,6119.3,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.09
$_SM_ANGLEo,-2.0
$GPS2,122410,6643.154,-5929.364,0,6119.3,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,310.0,41462,-16.9,-9.167
$D_GRID,872
$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
$STATE,12,begin dive
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$GC,848,-0.64,-146.0,121.3,-10.2,131,852,0.00,2.60,0.00,0.000,6,0.000,0.073,2491,2473,3401,0,0,0,0,0,0
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$GC,2470,-0.73,-146.0,288.9,-11.3,279,2475,0.00,2.58,0.00,0.000,6,0.000,0.074,2441,2493,3399,0,0,0,0,0,0
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$GC,2883,-0.73,-146.0,334.1,-10.9,316,2889,0.00,2.60,0.00,0.000,6,0.000,0.074,2441,2506,3399,0,0,0,0,0,0
$GC,3208,-0.73,-146.0,367.3,-9.9,347,3213,0.00,2.70,0.00,0.000,4,0.000,0.100,2441,3916,3399,0,0,0,0,0,0
$GC,3307,-0.73,-146.0,377.4,-9.6,355,3313,0.00,2.60,0.00,0.000,6,0.000,0.074,2441,2481,3399,0,0,0,0,0,0
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$GC,3698,-0.73,-146.0,413.8,-9.4,391,3704,0.00,2.58,0.00,0.000,6,0.000,0.074,2441,2519,3399,0,0,0,0,0,0
$GC,4025,-0.73,-146.0,444.2,-9.1,422,4029,0.00,2.67,0.00,0.000,4,0.000,0.099,2441,3915,3399,0,0,0,0,0,0
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$GC,4404,-0.73,-146.0,479.5,-8.7,457,4409,0.00,2.65,0.00,0.000,4,0.000,0.098,2441,3907,3399,0,0,0,0,0,0
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$GC,4836,-0.73,-146.0,516.4,-8.7,496,4840,0.00,2.50,0.00,0.000,6,0.000,0.072,2441,2535,3399,0,0,0,0,0,0
$GC,5161,-0.73,-146.0,544.2,-8.7,526,5165,0.00,2.62,0.00,0.000,4,0.000,0.097,2441,3907,3400,0,0,0,0,0,0
$GC,5244,-0.73,-146.0,551.5,-8.6,533,5248,0.00,2.47,0.00,0.000,6,0.000,0.071,2441,2550,3399,0,0,0,0,0,0
$GC,5568,-0.73,-146.0,578.2,-8.0,563,5573,0.00,2.60,0.00,0.000,4,0.000,0.096,2441,3909,3400,0,0,0,0,0,0
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$GC,6651,-0.78,-146.0,661.4,-8.0,615,6655,0.00,2.55,0.00,0.000,4,0.000,0.095,2441,3908,3401,0,0,0,0,0,0
$GC,6694,-0.83,-146.0,665.3,-9.1,616,6699,0.00,2.42,0.00,0.000,6,0.000,0.068,2441,2569,3401,0,0,0,0,0,0
$GC,7012,-0.88,-146.0,691.3,-8.4,627,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2570,3402,0,0,0,0,0,0
$GC,7319,-0.93,-146.0,716.7,-8.2,637,7324,0.15,2.58,0.00,0.000,4,0.120,0.092,2380,3913,3402,0,0,0,0,0,0
$GC,7408,-0.75,-146.0,726.3,-10.7,639,7414,0.28,2.42,0.00,0.000,6,0.219,0.068,2442,2574,3402,0,0,0,0,0,0
$STATE,7721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7721,begin apogee
$GC,7727,-0.16,0.0,750.8,7.7,650,7855,0.70,0.00,124.10,1.261,6,0.186,0.000,2632,1954,2800,0,0,0,0,0,0
$STATE,7856,end apogee,CONTROL_FINISHED_OK
$STATE,7856,begin climb
$GC,7857,0.73,146.0,754.0,0.0,654,7998,0.98,2.80,130.65,1.201,4,0.138,0.094,2925,367,2202,0,0,0,0,0,0
$GC,8020,0.66,146.0,742.0,10.7,659,8024,0.00,2.65,0.00,0.000,6,0.000,0.071,2925,1951,2199,0,0,0,0,0,0
$GC,8344,0.60,146.0,704.1,12.0,670,8350,0.17,3.00,0.00,0.000,4,0.194,0.086,2881,3540,2194,0,0,0,0,0,0
$GC,8416,0.60,146.0,695.8,11.1,672,8421,0.00,2.95,0.00,0.000,6,0.000,0.076,2892,1959,2192,0,0,0,0,0,0
$GC,8740,0.65,146.0,662.9,10.0,683,8744,0.00,2.95,0.00,0.000,4,0.000,0.087,2892,3542,2192,0,0,0,0,0,0
$GC,8778,0.65,146.0,658.7,11.3,684,8782,0.00,2.88,0.00,0.000,6,0.000,0.077,2904,1978,2190,0,0,0,0,0,0
$GC,9103,0.65,146.0,624.6,10.6,695,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1979,2190,0,0,0,0,0,0
$GC,9410,0.65,146.0,592.6,10.5,709,9414,0.00,2.88,0.00,0.000,4,0.000,0.087,2904,3538,2190,0,0,0,0,0,0
$GC,9449,0.58,146.0,588.4,12.0,712,9454,0.15,2.83,0.00,0.000,6,0.202,0.077,2883,1985,2189,0,0,0,0,0,0
$GC,9774,0.67,150.9,559.1,9.0,742,9778,0.00,2.88,0.00,0.000,4,0.000,0.087,2883,3545,2189,0,0,0,0,0,0
$GC,9806,0.67,150.9,555.9,9.8,744,9812,0.00,2.83,0.00,0.000,6,0.000,0.077,2893,1992,2189,0,0,0,0,0,0
$GC,10131,0.72,150.9,525.3,9.2,775,10135,0.00,2.85,0.00,0.000,4,0.000,0.087,2893,3541,2190,0,0,0,0,0,0
$GC,10208,0.72,150.9,517.2,10.0,781,10214,0.00,2.75,0.00,0.000,6,0.000,0.076,2905,2019,2190,0,0,0,0,0,0
$GC,10532,0.73,159.4,487.4,8.8,812,10548,0.00,2.60,10.32,1.009,4,0.000,0.095,2916,358,2149,0,0,0,0,0,0
$GC,10598,0.73,159.4,480.7,10.7,817,10604,0.00,2.53,0.00,0.000,6,0.000,0.072,2916,2017,2148,0,0,0,0,0,0
$GC,10922,0.73,159.4,447.8,10.6,848,10927,0.00,2.80,0.00,0.000,4,0.000,0.087,2916,3545,2148,0,0,0,0,0,0
$GC,10988,0.66,159.4,440.2,12.0,853,10994,0.00,2.75,0.00,0.000,6,0.000,0.077,2928,2033,2147,0,0,0,0,0,0
$GC,11314,0.66,159.4,403.4,11.7,884,11318,0.00,2.65,0.00,0.000,4,0.000,0.097,2940,354,2147,0,0,0,0,0,0
$GC,11347,0.60,159.4,399.4,12.0,886,11353,0.22,2.58,0.00,0.000,6,0.189,0.072,2886,2042,2147,0,0,0,0,0,0
$GC,11671,0.73,170.0,369.3,8.7,917,11684,0.12,0.00,10.20,0.951,6,0.126,0.000,2925,2042,2107,0,0,0,0,0,0
$GC,12000,0.75,189.6,338.1,8.3,948,12024,0.00,2.80,18.10,0.976,4,0.000,0.089,2925,3532,2025,0,0,0,0,0,0
$GC,12054,0.70,190.4,333.4,9.1,953,12058,0.00,2.75,0.00,0.000,6,0.000,0.077,2938,2034,2024,0,0,0,0,0,0
$GC,12378,0.70,190.7,303.6,9.2,983,12382,0.00,2.80,0.00,0.000,4,0.000,0.087,2938,3544,2023,0,0,0,0,0,0
$GC,12410,0.64,190.7,300.1,10.5,985,12417,0.20,2.72,0.00,0.000,6,0.196,0.077,2903,2054,2023,0,0,0,0,0,0
$GC,12735,0.78,208.5,272.5,8.4,1016,12755,0.12,0.00,17.15,0.941,6,0.125,0.000,2943,2055,1948,0,0,0,0,0,0
$GC,13073,0.78,208.5,238.5,9.7,1048,13078,0.00,2.70,0.00,0.000,4,0.000,0.097,2955,355,1944,0,0,0,0,0,0
$GC,13094,0.78,208.5,236.3,10.3,1049,13100,0.00,2.62,0.00,0.000,6,0.000,0.074,2955,2063,1945,0,0,0,0,0,0
$GC,13418,0.78,208.5,203.2,9.4,1080,13423,0.00,2.72,0.00,0.000,4,0.000,0.089,2955,3541,1945,0,0,0,0,0,0
$GC,13484,0.78,208.5,196.5,10.0,1085,13490,0.00,2.67,0.00,0.000,6,0.000,0.077,2966,2072,1943,0,0,0,0,0,0
$GC,13809,0.78,208.5,166.0,10.7,1116,13813,0.00,2.72,0.00,0.000,4,0.000,0.098,2978,355,1943,0,0,0,0,0,0
$GC,13847,0.73,208.5,161.6,11.9,1119,13853,0.20,2.65,0.00,0.000,6,0.189,0.076,2930,2080,1943,0,0,0,0,0,0
$GC,14172,0.86,208.5,131.6,9.3,1149,14177,0.12,2.72,0.00,0.000,4,0.122,0.091,2970,3543,1943,0,0,0,0,0,0
$GC,14269,0.77,208.5,120.4,11.3,1157,14274,0.17,2.67,0.00,0.000,6,0.193,0.080,2941,2083,1942,0,0,0,0,0,0
$GC,14593,1.03,324.9,101.9,4.3,1187,14701,0.25,2.90,96.93,0.861,4,0.104,0.100,3035,367,1473,0,0,0,0,0,0
$GC,14748,0.94,324.9,84.8,15.2,1213,14754,0.17,2.75,0.00,0.000,6,0.193,0.076,2995,2094,1467,0,0,0,0,0,0
$GC,15094,0.94,324.9,42.6,11.4,1274,15099,0.00,2.70,0.00,0.000,4,0.000,0.091,2995,3537,1461,0,0,0,0,0,0
$GC,15127,0.94,324.9,38.2,11.8,1280,15133,0.00,2.72,0.00,0.000,6,0.000,0.081,3005,2072,1461,0,0,0,0,0,0
$FREEZE,8.48,-1.769,-1.769,2,14,0
$STATE,15364,end climb,FINISH_DEPTH_REACHED
$STATE,15364,begin subsurface finish
$FINISH1,8.5,1.025914,77
$GC,15370,0.09,77.0,8.5,-13.3,1322,15417,0.98,2.55,-37.90,0.000,4,0.172,0.114,2729,357,2488,0,0,0,0,0,0
$FINISH2,5.6
$STATE,15418,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15418,begin surface
$RAFOS_CLK,1072
$RAFOS,3,1259612705,20.433332,20.418056,83,65,57,0,0,0,690,154,215,0,0,0
$RAFOS,2,1259612221,20.299999,20.283611,146,60,58,0,0,0,637,221,159,0,0,0
$RAFOS,1,1259611741,20.166666,20.150278,122,61,54,0,0,0,613,187,138,0,0,0
$RAFOS,0,1259611266,20.033333,20.018333,81,70,63,0,0,0,699,203,167,0,0,0
$RAFOS,6,1259599741,16.833334,16.816944,91,67,63,0,0,0,778,196,218,0,0,0
$RAFOS,5,1259599264,16.700001,16.684444,74,67,59,0,0,0,209,836,169,0,0,0
$RAFOS,4,1259598782,16.566668,16.550556,155,57,54,0,0,0,618,201,124,0,0,0
$RAFOS,3,1259598301,16.433332,16.416945,99,61,58,0,0,0,723,174,221,0,0,0
$RAFOS,2,1259597825,16.299999,16.284721,107,63,54,0,0,0,626,152,203,0,0,0
$RAFOS_FIX,6643.005859,-5935.108887,301109,161635,5,107,0.29
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.029146
$HUMID,49.33
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,16.20
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,750.8,10.3
$24V_AH,22.5,47.407
$10V_AH,10.1,24.631
$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,6.550,189.625,407.450,0.000,0.000,0.000,0.000,0.000,5.000,0.000,0.000,2308.122,10189.041,529.558,2293.275,179.744,0.000,1739.585,0.000,2258.951,3240.000,26.034,0.000
$DEVICE_MAMPS,227.799,113.516,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.607,939.022,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152564
$DATA_FILE_SIZE,53567,1331
$CAP_FILE_SIZE,165576,0
$CFSIZE,260165632,232632320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$GPS,301109,162835,6643.006,-5935.109,0,5107.0,0,-37.8