version: 66.06
glider: 143
mission: 10
dive: 230
start: 12 2 109 11 18 49
data:
$ID,143
$MISSION,10
$DIVE,230
$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,19
$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
$GPS1,082649,6643.585,-6016.872,0,7123.0,0,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.52
$_SM_ANGLEo,-1.5
$GPS2,082649,6643.585,-6016.872,0,7123.0,0,-37.8
$SPEED_LIMITS,0.159,0.253
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,114.4,155062,-16.9,-9.167
$D_GRID,539
$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,-146.0,0.0,0.0,0,22,0.00,0.00,-5.25,0.000,2,0.000,0.000,2729,1946,2630,0,0,0,0,0,0
$GC,25,-0.73,-146.0,7.3,-0.0,1,56,0.80,1.70,-24.23,0.000,4,0.112,0.116,2464,859,3399,0,0,0,0,0,0
$GC,225,-0.65,-146.0,31.6,-13.8,37,230,0.00,2.53,0.00,0.000,6,0.000,0.085,2463,2458,3402,0,0,0,0,0,0
$GC,569,-0.56,-146.0,78.0,-13.3,98,575,0.17,2.88,0.00,0.000,4,0.240,0.100,2491,3911,3402,0,0,0,0,0,0
$GC,799,-0.56,-146.0,104.4,-10.9,136,805,0.00,2.65,0.00,0.000,6,0.000,0.075,2491,2481,3402,0,0,0,0,0,0
$GC,1124,-0.60,-146.0,135.6,-9.4,167,1129,0.00,2.80,0.00,0.000,4,0.000,0.102,2491,3910,3402,0,0,0,0,0,0
$GC,1163,-0.68,-146.0,140.1,-11.0,170,1167,0.00,2.65,0.00,0.000,6,0.000,0.076,2491,2486,3402,0,0,0,0,0,0
$GC,1487,-0.76,-146.0,172.9,-9.4,200,1492,0.15,2.78,0.00,0.000,4,0.130,0.099,2429,3911,3402,0,0,0,0,0,0
$GC,1607,-0.64,-146.0,187.7,-12.7,210,1612,0.22,2.62,0.00,0.000,6,0.231,0.074,2479,2495,3402,0,0,0,0,0,0
$GC,1931,-0.70,-146.0,221.4,-10.3,240,1936,0.00,2.78,0.00,0.000,4,0.000,0.101,2479,3919,3402,0,0,0,0,0,0
$GC,1986,-0.77,-146.0,226.8,-9.4,244,1992,0.12,2.65,0.00,0.000,6,0.135,0.075,2442,2493,3401,0,0,0,0,0,0
$GC,2310,-0.77,-146.0,259.6,-9.4,275,2315,0.00,2.78,0.00,0.000,4,0.000,0.102,2442,3914,3401,0,0,0,0,0,0
$GC,2472,-0.77,-146.0,275.6,-9.5,289,2477,0.00,2.60,0.00,0.000,6,0.000,0.075,2442,2514,3401,0,0,0,0,0,0
$GC,2796,-0.77,-146.0,311.1,-11.8,319,2801,0.00,2.72,0.00,0.000,4,0.000,0.101,2442,3910,3401,0,0,0,0,0,0
$GC,2891,-0.77,-146.0,322.1,-11.4,327,2896,0.00,2.60,0.00,0.000,6,0.000,0.076,2442,2516,3400,0,0,0,0,0,0
$GC,3216,-0.77,-146.0,353.2,-8.9,357,3220,0.00,2.75,0.00,0.000,4,0.000,0.102,2442,3920,3400,0,0,0,0,0,0
$GC,3311,-0.77,-146.0,362.1,-9.2,365,3315,0.00,2.60,0.00,0.000,6,0.000,0.075,2442,2526,3400,0,0,0,0,0,0
$GC,3635,-0.77,-146.0,391.2,-8.9,395,3640,0.00,2.72,0.00,0.000,4,0.000,0.102,2442,3917,3399,0,0,0,0,0,0
$GC,3723,-0.77,-146.0,399.6,-9.5,402,3729,0.00,2.62,0.00,0.000,6,0.000,0.075,2442,2505,3400,0,0,0,0,0,0
$GC,4048,-0.77,-146.0,427.8,-8.5,433,4053,0.00,2.75,0.00,0.000,4,0.000,0.100,2442,3910,3400,0,0,0,0,0,0
$GC,4147,-0.77,-146.0,436.1,-8.0,441,4153,0.00,2.55,0.00,0.000,6,0.000,0.074,2442,2542,3400,0,0,0,0,0,0
$GC,4472,-0.77,-146.0,462.4,-8.2,472,4477,0.00,2.70,0.00,0.000,4,0.000,0.100,2441,3921,3399,0,0,0,0,0,0
$GC,4538,-0.77,-146.0,468.0,-8.8,477,4545,0.00,2.55,0.00,0.000,6,0.000,0.073,2441,2542,3400,0,0,0,0,0,0
$GC,4863,-0.77,-146.0,496.4,-8.7,508,4867,0.00,2.67,0.00,0.000,4,0.000,0.099,2442,3912,3400,0,0,0,0,0,0
$GC,5037,-0.77,-146.0,511.7,-9.1,523,5041,0.00,2.55,0.00,0.000,6,0.000,0.073,2442,2543,3400,0,0,0,0,0,0
$STATE,5348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5354,-0.16,0.0,539.1,8.3,552,5481,0.73,0.00,120.43,1.131,6,0.200,0.000,2630,1943,2799,0,0,0,0,0,0
$STATE,5482,end apogee,CONTROL_FINISHED_OK
$STATE,5482,begin climb
$GC,5484,0.73,146.0,542.8,0.0,565,5620,1.00,2.78,126.40,1.074,4,0.152,0.097,2924,362,2202,0,0,0,0,0,0
$GC,5729,0.65,146.0,526.3,11.1,588,5734,0.00,2.58,0.00,0.000,6,0.000,0.073,2924,1951,2197,0,0,0,0,0,0
$GC,6054,0.59,146.0,493.6,10.0,618,6060,0.17,3.05,0.00,0.000,4,0.202,0.088,2881,3538,2194,0,0,0,0,0,0
$GC,6098,0.59,146.0,489.2,9.7,621,6105,0.00,3.00,0.00,0.000,6,0.000,0.078,2892,1958,2192,0,0,0,0,0,0
$GC,6426,0.70,185.8,462.7,7.5,652,6467,0.00,3.10,32.92,1.033,4,0.000,0.089,2892,3530,2041,0,0,0,0,0,0
$GC,6535,0.70,185.8,453.2,9.7,662,6540,0.00,2.97,0.00,0.000,6,0.000,0.078,2904,1965,2038,0,0,0,0,0,0
$GC,6860,0.77,185.8,421.4,9.7,692,6865,0.10,3.00,0.00,0.000,4,0.130,0.087,2939,3540,2036,0,0,0,0,0,0
$GC,6922,0.67,185.8,413.9,12.7,697,6927,0.17,2.95,0.00,0.000,6,0.204,0.078,2913,1964,2035,0,0,0,0,0,0
$GC,7246,0.67,185.8,380.0,9.9,727,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1966,2036,0,0,0,0,0,0
$GC,7566,0.74,193.2,351.9,8.9,757,7580,0.00,3.03,6.80,0.860,4,0.000,0.088,2912,3541,2012,0,0,0,0,0,0
$GC,7632,0.74,193.2,345.4,9.7,763,7636,0.00,2.92,0.00,0.000,6,0.000,0.078,2923,1966,2011,0,0,0,0,0,0
$GC,7956,0.79,194.8,315.6,9.1,793,7961,0.00,2.97,0.00,0.000,4,0.000,0.088,2923,3547,2011,0,0,0,0,0,0
$GC,8018,0.79,194.8,309.4,10.1,798,8022,0.00,2.92,0.00,0.000,6,0.000,0.078,2935,1977,2011,0,0,0,0,0,0
$GC,8342,0.84,194.8,277.8,10.3,828,8347,0.00,2.95,0.00,0.000,4,0.000,0.089,2935,3539,2011,0,0,0,0,0,0
$GC,8374,0.84,194.8,274.3,11.1,830,8380,0.00,2.88,0.00,0.000,6,0.000,0.078,2948,1988,2011,0,0,0,0,0,0
$GC,8699,0.84,194.8,243.1,9.3,861,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1990,2011,0,0,0,0,0,0
$GC,9019,0.85,205.3,214.3,8.7,891,9040,0.00,3.00,11.90,0.908,4,0.000,0.091,2948,3539,1962,0,0,0,0,0,0
$GC,9112,0.85,205.3,204.9,9.9,899,9119,0.00,2.90,0.00,0.000,6,0.000,0.080,2959,1992,1961,0,0,0,0,0,0
$GC,9437,0.85,205.3,175.1,9.3,930,9442,0.00,2.95,0.00,0.000,4,0.000,0.091,2959,3545,1960,0,0,0,0,0,0
$GC,9476,0.80,205.3,171.2,10.6,933,9481,0.00,2.90,0.00,0.000,6,0.000,0.081,2972,1999,1960,0,0,0,0,0,0
$GC,9800,0.81,215.1,140.5,8.8,963,9815,0.00,2.92,9.43,0.859,4,0.000,0.093,2972,3538,1922,0,0,0,0,0,0
$GC,9827,0.82,220.6,138.1,8.9,965,9841,0.00,2.88,6.65,0.785,6,0.000,0.081,2984,2004,1899,0,0,0,0,0,0
$GC,10166,0.82,220.6,106.7,9.3,997,10170,0.00,2.58,0.00,0.000,4,0.000,0.102,2995,358,1897,0,0,0,0,0,0
$GC,10193,0.82,223.5,104.2,9.0,999,10198,0.17,2.50,0.00,0.000,6,0.193,0.077,2955,2009,1895,0,0,0,0,0,0
$GC,10534,1.01,283.6,80.4,6.6,1054,10595,0.17,0.00,54.30,0.867,6,0.110,0.000,3011,2010,1642,0,0,0,0,0,0
$GC,10932,1.01,283.6,38.8,11.1,1126,10938,0.00,2.92,0.00,0.000,4,0.000,0.094,3012,3536,1633,0,0,0,0,0,0
$GC,10995,0.93,283.6,31.0,12.9,1137,11001,0.15,2.90,0.00,0.000,6,0.207,0.084,2992,2007,1632,0,0,0,0,0,0
$FREEZE,8.90,-1.773,-1.762,2,25,1
$FREEZE,8.70,-1.773,-1.762,2,25,1
$FREEZE,8.46,-1.773,-1.762,2,25,1
$FREEZE,8.10,-1.773,-1.762,2,25,1
$FREEZE,7.72,-1.773,-1.761,2,25,1
$FREEZE,7.42,-1.774,-1.761,2,25,1
$FREEZE,6.97,-1.774,-1.761,2,25,1
$STATE,11242,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11242,begin subsurface finish
$FINISH1,7.0,1.025809,82
$GC,11249,0.10,82.2,7.0,-6.1,1181,11291,0.85,2.55,-32.22,0.000,4,0.142,0.117,2730,362,2469,0,0,0,0,0,0
$FINISH2,5.9
$STATE,11292,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11292,begin surface
$RAFOS_CLK,792
$RAFOS,6,1259758148,12.833333,12.818889,64,59,58,0,0,0,206,169,152,0,0,0
$RAFOS,5,1259757662,12.700000,12.683888,113,57,54,0,0,0,967,170,193,0,0,0
$RAFOS,4,1259757189,12.566667,12.552500,88,62,56,0,0,0,706,157,216,0,0,0
$RAFOS,3,1259756713,12.433333,12.420278,83,63,61,0,0,0,757,136,168,0,0,0
$RAFOS,2,1259756224,12.300000,12.284445,123,65,56,0,0,0,672,210,171,0,0,0
$RAFOS,1,1259755751,12.166667,12.153055,123,59,54,0,0,0,529,192,211,0,0,0
$RAFOS,0,1259755268,12.033333,12.018888,75,66,61,0,0,0,580,137,221,0,0,0
$RAFOS_FIX,6645.658691,-6018.895996,021209,121228,6,101,0.29
$IRIDIUM_FIX,6620.33,-5850.01,230299,080832
$TT8_MAMPS,0.026845
$HUMID,49.88
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.10
$XPDR_PINGS,8
$ALTIM_TOP_PING,19.6,17.5
$ALTIM_BOTTOM_PING,450.5,108.2
$24V_AH,22.6,48.755
$10V_AH,10.1,25.404
$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,5.000,136.425,368.825,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,1985.684,6798.693,447.272,1978.728,150.759,0.000,1487.625,0.000,1957.486,2520.000,12.631,0.000
$DEVICE_MAMPS,240.071,142.662,1130.558,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.428,820.892,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152608
$DATA_FILE_SIZE,44173,1189
$CAP_FILE_SIZE,130660,0
$CFSIZE,260165632,231821312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$GPS,021209,122328,6645.659,-6018.896,0,6100.8,0,-37.8