version: 66.06
glider: 143
mission: 10
dive: 226
start: 12 1 109 22 37 19
data:
$ID,143
$MISSION,10
$DIVE,226
$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,-35700.973
$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,17
$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
$GPS1,202734,6641.807,-6002.562,0,7108.7,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-73.0
$GPS2,202734,6641.807,-6002.562,181,99.0,181,-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,321.1,17620,-16.9,-9.167
$D_GRID,603
$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,14,-0.73,-146.0,0.0,0.0,0,98,0.00,0.00,-80.57,0.000,2,0.000,0.000,122,2453,2816,0,0,0,0,0,0
$GC,100,-0.73,-146.0,3.3,-4.1,16,137,11.75,2.90,-18.00,0.000,4,0.313,0.115,2447,3910,3398,0,0,0,0,0,0
$GC,339,-0.60,-146.0,40.6,-15.9,59,346,0.17,2.72,0.00,0.000,6,0.223,0.077,2488,2462,3400,0,0,0,0,0,0
$GC,683,-0.60,-146.0,83.1,-11.9,120,689,0.00,2.85,0.00,0.000,4,0.000,0.103,2488,3911,3400,0,0,0,0,0,0
$GC,842,-0.60,-146.0,100.7,-11.2,148,846,0.00,2.70,0.00,0.000,6,0.000,0.077,2489,2471,3400,0,0,0,0,0,0
$GC,1166,-0.60,-146.0,133.6,-10.0,178,1170,0.00,2.83,0.00,0.000,4,0.000,0.102,2488,3910,3400,0,0,0,0,0,0
$GC,1296,-0.66,-146.0,147.1,-10.1,189,1301,0.00,2.70,0.00,0.000,6,0.000,0.077,2488,2472,3400,0,0,0,0,0,0
$GC,1621,-0.73,-146.0,177.4,-8.8,219,1625,0.00,2.83,0.00,0.000,4,0.000,0.103,2488,3910,3400,0,0,0,0,0,0
$GC,1705,-0.80,-146.0,185.0,-8.5,226,1711,0.17,2.70,0.00,0.000,6,0.122,0.077,2433,2480,3400,0,0,0,0,0,0
$GC,2030,-0.71,-146.0,224.3,-12.4,256,2035,0.00,2.80,0.00,0.000,4,0.000,0.101,2432,3910,3400,0,0,0,0,0,0
$GC,2171,-0.63,-146.0,241.9,-12.1,268,2177,0.22,2.67,0.00,0.000,6,0.217,0.077,2485,2486,3400,0,0,0,0,0,0
$GC,2496,-0.72,-146.0,270.8,-8.4,298,2500,0.00,2.80,0.00,0.000,4,0.000,0.102,2485,3909,3400,0,0,0,0,0,0
$GC,2626,-0.84,-146.0,282.2,-9.4,309,2631,0.20,2.65,0.00,0.000,6,0.117,0.077,2420,2499,3400,0,0,0,0,0,0
$GC,2950,-0.73,-146.0,318.2,-10.8,339,2955,0.12,2.80,0.00,0.000,4,0.229,0.100,2436,3914,3400,0,0,0,0,0,0
$GC,3105,-0.73,-146.0,335.4,-11.0,352,3112,0.00,2.62,0.00,0.000,6,0.000,0.075,2436,2513,3400,0,0,0,0,0,0
$GC,3430,-0.73,-146.0,370.7,-10.8,383,3435,0.00,2.75,0.00,0.000,4,0.000,0.103,2436,3910,3400,0,0,0,0,0,0
$GC,3485,-0.73,-146.0,376.8,-11.2,387,3491,0.00,2.60,0.00,0.000,6,0.000,0.077,2436,2524,3400,0,0,0,0,0,0
$GC,3809,-0.73,-146.0,409.4,-9.7,418,3814,0.00,2.75,0.00,0.000,4,0.000,0.102,2436,3916,3400,0,0,0,0,0,0
$GC,3938,-0.73,-146.0,422.6,-10.4,429,3942,0.00,2.60,0.00,0.000,6,0.000,0.077,2436,2533,3400,0,0,0,0,0,0
$GC,4262,-0.73,-146.0,452.8,-9.0,459,4267,0.00,2.72,0.00,0.000,4,0.000,0.101,2436,3917,3399,0,0,0,0,0,0
$GC,4403,-0.73,-146.0,465.9,-10.3,471,4407,0.00,2.60,0.00,0.000,6,0.000,0.076,2436,2533,3400,0,0,0,0,0,0
$GC,4727,-0.73,-146.0,495.8,-8.6,501,4732,0.00,2.72,0.00,0.000,4,0.000,0.100,2436,3919,3400,0,0,0,0,0,0
$GC,4803,-0.73,-146.0,502.7,-9.1,507,4807,0.00,2.58,0.00,0.000,6,0.000,0.074,2436,2547,3400,0,0,0,0,0,0
$GC,5127,-0.73,-146.0,531.1,-8.8,537,5132,0.00,2.70,0.00,0.000,4,0.000,0.099,2436,3921,3400,0,0,0,0,0,0
$GC,5159,-0.73,-146.0,534.1,-9.3,539,5165,0.00,2.60,0.00,0.000,6,0.000,0.072,2436,2526,3400,0,0,0,0,0,0
$GC,5486,-0.73,-146.0,563.4,-8.9,570,5491,0.00,2.72,0.00,0.000,4,0.000,0.097,2436,3919,3401,0,0,0,0,0,0
$GC,5536,-0.73,-146.0,567.8,-7.9,574,5541,0.00,2.55,0.00,0.000,6,0.000,0.072,2436,2554,3401,0,0,0,0,0,0
$STATE,5625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5625,begin apogee
$GC,5631,-0.16,0.0,575.3,8.7,582,5758,0.73,0.00,120.93,1.157,6,0.186,0.000,2631,1953,2799,0,0,0,0,0,0
$STATE,5758,end apogee,CONTROL_FINISHED_OK
$STATE,5758,begin climb
$GC,5761,0.73,146.0,579.0,0.0,595,5894,0.98,0.00,126.95,1.101,6,0.144,0.000,2911,1953,2203,0,0,0,0,0,0
$GC,6212,0.73,146.0,539.9,9.8,638,6217,0.00,3.12,0.00,0.000,4,0.000,0.089,2912,3537,2196,0,0,0,0,0,0
$GC,6240,0.67,146.0,537.1,10.2,640,6245,0.00,3.08,0.00,0.000,6,0.000,0.079,2924,1949,2195,0,0,0,0,0,0
$GC,6564,0.61,146.0,504.8,10.2,670,6569,0.15,2.53,0.00,0.000,4,0.209,0.098,2900,361,2194,0,0,0,0,0,0
$GC,6582,0.61,146.0,503.4,9.2,671,6586,0.00,2.42,0.00,0.000,6,0.000,0.074,2900,1957,2193,0,0,0,0,0,0
$GC,6906,0.62,149.3,474.8,9.0,701,6911,0.00,2.97,0.00,0.000,4,0.000,0.089,2900,3538,2193,0,0,0,0,0,0
$GC,7004,0.62,149.3,464.9,10.2,709,7011,0.00,2.92,0.00,0.000,6,0.000,0.080,2913,1978,2192,0,0,0,0,0,0
$GC,7330,0.62,149.3,434.5,9.5,740,7334,0.00,2.95,0.00,0.000,4,0.000,0.090,2913,3538,2193,0,0,0,0,0,0
$GC,7369,0.55,149.3,430.4,10.7,743,7374,0.22,2.90,0.00,0.000,6,0.202,0.079,2872,1988,2192,0,0,0,0,0,0
$GC,7693,0.73,168.7,404.2,8.3,773,7718,0.17,2.95,18.45,1.001,4,0.115,0.088,2930,3543,2111,0,0,0,0,0,0
$GC,7797,0.64,168.7,392.5,11.9,782,7803,0.17,2.90,0.00,0.000,6,0.202,0.078,2903,2005,2109,0,0,0,0,0,0
$GC,8122,0.77,196.2,364.3,8.0,813,8152,0.12,0.00,24.65,0.990,6,0.127,0.000,2942,2007,1999,0,0,0,0,0,0
$GC,8470,0.77,196.2,332.6,9.7,846,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2006,1994,0,0,0,0,0,0
$GC,8790,0.77,196.2,301.2,9.4,876,8794,0.00,2.92,0.00,0.000,4,0.000,0.090,2942,3542,1993,0,0,0,0,0,0
$GC,8833,0.70,196.2,296.6,11.0,879,8840,0.15,2.88,0.00,0.000,6,0.201,0.080,2922,2010,1992,0,0,0,0,0,0
$GC,9159,0.83,238.1,270.5,7.4,910,9201,0.12,2.95,35.88,0.959,4,0.127,0.089,2961,3538,1828,0,0,0,0,0,0
$GC,9258,0.76,238.1,259.9,12.1,919,9263,0.15,2.88,0.00,0.000,6,0.198,0.079,2941,2030,1824,0,0,0,0,0,0
$GC,9584,0.86,238.1,228.1,9.7,949,9588,0.00,2.62,0.00,0.000,4,0.000,0.099,2950,355,1821,0,0,0,0,0,0
$GC,9611,0.93,238.1,225.2,9.8,951,9616,0.12,2.58,0.00,0.000,6,0.131,0.075,2989,2047,1821,0,0,0,0,0,0
$GC,9935,0.93,238.1,190.5,10.9,981,9940,0.00,2.85,0.00,0.000,4,0.000,0.092,2988,3545,1820,0,0,0,0,0,0
$GC,10030,0.82,238.1,179.3,12.0,989,10036,0.20,2.83,0.00,0.000,6,0.199,0.082,2955,2050,1820,0,0,0,0,0,0
$GC,10355,0.90,238.1,149.4,9.5,1019,10359,0.00,2.65,0.00,0.000,4,0.000,0.101,2965,355,1819,0,0,0,0,0,0
$GC,10387,0.90,238.1,146.3,9.7,1021,10393,0.00,2.58,0.00,0.000,6,0.000,0.076,2964,2058,1819,0,0,0,0,0,0
$GC,10712,0.99,256.1,118.1,8.4,1052,10734,0.15,2.83,15.35,0.880,4,0.115,0.092,3015,3543,1755,0,0,0,0,0,0
$GC,10773,0.83,256.1,111.3,12.5,1057,10780,0.28,2.80,0.00,0.000,6,0.201,0.083,2961,2065,1754,0,0,0,0,0,0
$GC,11108,0.99,288.8,84.3,7.8,1105,11145,0.15,2.88,28.80,0.871,4,0.122,0.094,3008,3540,1621,0,0,0,0,0,0
$GC,11163,0.99,288.8,79.1,10.1,1115,11168,0.00,2.80,0.00,0.000,6,0.000,0.083,3020,2082,1620,0,0,0,0,0,0
$GC,11508,0.99,288.8,40.8,12.3,1176,11514,0.00,2.70,0.00,0.000,4,0.000,0.104,3032,364,1615,0,0,0,0,0,0
$GC,11554,0.91,288.8,33.8,14.6,1184,11560,0.20,2.62,0.00,0.000,6,0.194,0.079,2985,2082,1615,0,0,0,0,0,0
$FREEZE,8.65,-1.773,-1.761,2,21,0
$STATE,11803,end climb,FINISH_DEPTH_REACHED
$STATE,11803,begin subsurface finish
$FINISH1,8.7,1.025791,83
$GC,11809,0.10,83.0,8.7,-8.2,1228,11851,0.88,3.05,-30.27,0.000,4,0.169,0.102,2731,3538,2464,0,0,0,0,0,0
$FINISH2,7.0
$STATE,11852,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11852,begin surface
$RAFOS_CLK,870
$RAFOS,6,1259714946,0.833333,0.818333,107,57,57,0,0,0,822,181,209,0,0,0
$RAFOS,5,1259714464,0.700000,0.684444,114,65,60,0,0,0,940,210,157,0,0,0
$RAFOS,4,1259713982,0.566667,0.550556,131,58,53,0,0,0,723,216,225,0,0,0
$RAFOS,3,1259713505,0.433333,0.418056,87,58,56,0,0,0,755,213,198,0,0,0
$RAFOS,2,1259713024,0.300000,0.284444,147,59,57,0,0,0,622,193,117,0,0,0
$RAFOS,1,1259712545,0.166667,0.151389,113,57,55,0,0,0,536,168,210,0,0,0
$RAFOS,0,1259712068,0.033333,0.018889,91,61,57,0,0,0,594,150,118,0,0,0
$RAFOS_FIX,6641.763672,-6006.633789,021209,000007,7,113,0.21
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.027612
$HUMID,50.15
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.20
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,500.5,89.6
$24V_AH,22.5,48.301
$10V_AH,10.1,25.158
$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,17.600,147.875,371.000,0.000,0.000,98.493,84.379,0.000,3.500,0.000,183.220,2065.967,7241.656,519.905,2235.448,494.506,0.000,1606.571,0.000,2030.342,2520.000,17.339,0.000
$DEVICE_MAMPS,312.936,115.050,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.598,853.510,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152552
$DATA_FILE_SIZE,47223,1236
$CAP_FILE_SIZE,143748,0
$CFSIZE,260165632,232083456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,021209,002707,6641.764,-6006.634,0,7112.9,0,-37.8