version: 66.06
glider: 143
mission: 10
dive: 292
start: 12 12 109 10 42 35
data:
$ID,143
$MISSION,10
$DIVE,292
$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,-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,425
$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,-41474.109
$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,26
$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
$GPS1,102236,6704.243,-5651.856,35,1.4,35,-37.6
$_CALLS,3
$_XMS_NAKs,18
$_XMS_TOUTs,11
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-65.0
$GPS2,104219,6704.307,-5652.199,82,1.3,90,-37.6
$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,166.2,3879,-16.9,-9.167
$D_GRID,491
$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,16,-0.73,-146.0,0.0,0.0,0,139,0.00,0.00,-119.95,0.000,2,0.000,0.000,126,2453,3032,0,0,0,0,0,0
$GC,143,-0.73,-146.0,3.4,-6.5,24,170,11.20,2.38,-9.98,0.000,4,0.292,0.101,2448,865,3397,0,0,0,0,0,0
$GC,176,0.39,-146.0,11.3,-21.4,30,183,1.35,2.33,0.00,0.000,6,0.196,0.074,2806,2458,3399,0,0,0,0,0,0
$GC,521,-0.56,-146.0,30.9,-8.4,91,528,0.93,2.40,0.00,0.000,4,0.131,0.089,2519,855,3402,0,0,0,0,0,0
$GC,602,-0.77,-146.0,36.5,-6.1,105,608,0.25,2.10,0.00,0.000,6,0.095,0.072,2433,2337,3402,0,0,0,0,0,0
$GC,945,-0.77,-146.0,74.7,-11.7,166,951,0.00,2.15,0.00,0.000,4,0.000,0.091,2434,863,3402,0,0,0,0,0,0
$GC,1204,-0.77,-146.0,102.4,-10.9,211,1208,0.00,2.12,0.00,0.000,6,0.000,0.074,2434,2355,3401,0,0,0,0,0,0
$GC,1534,-0.77,-146.0,135.3,-10.6,242,1539,0.00,3.33,0.00,0.000,4,0.000,0.093,2433,3920,3400,0,0,1,0,0,0
$GC,1712,-0.77,-146.0,154.6,-10.8,257,1718,0.00,3.10,0.00,0.000,6,0.000,0.069,2433,2396,3400,0,0,2,0,0,0
$GC,2039,-0.77,-146.0,187.0,-9.7,288,2044,0.00,3.25,0.00,0.000,4,0.000,0.091,2434,3922,3400,0,0,1,0,0,0
$GC,2228,-0.82,-146.0,206.1,-9.5,304,2235,0.00,3.08,0.00,0.000,6,0.000,0.067,2433,2430,3399,0,0,0,0,0,0
$GC,2555,-0.87,-146.0,235.5,-8.6,335,2560,0.00,3.17,0.00,0.000,4,0.000,0.090,2433,3915,3400,0,0,1,0,0,0
$GC,2769,-0.94,-146.0,253.7,-8.6,353,2775,0.15,3.00,0.00,0.000,6,0.121,0.067,2382,2452,3399,0,0,1,0,0,0
$GC,3093,-0.82,-146.0,285.0,-9.5,384,3099,0.17,3.15,0.00,0.000,4,0.208,0.086,2413,3926,3399,0,0,1,0,0,0
$GC,3280,-0.82,-146.0,301.6,-9.1,400,3285,0.00,2.92,0.00,0.000,6,0.000,0.064,2413,2491,3399,0,0,1,0,0,0
$GC,3605,-0.82,-146.0,328.3,-8.1,430,3609,0.00,3.05,0.00,0.000,4,0.000,0.087,2413,3918,3400,0,0,1,0,0,0
$GC,3783,-0.82,-146.0,344.1,-8.3,445,3789,0.00,2.90,0.00,0.000,6,0.000,0.063,2413,2504,3400,0,0,0,0,0,0
$GC,4109,-0.82,-146.0,370.5,-7.8,476,4114,0.00,3.03,0.00,0.000,4,0.000,0.084,2413,3927,3400,0,0,1,0,0,0
$GC,4277,-0.82,-146.0,384.5,-8.4,490,4283,0.00,2.88,0.00,0.000,6,0.000,0.061,2413,2519,3401,0,0,0,0,0,0
$GC,4602,-0.82,-146.0,410.5,-8.3,521,4606,0.00,2.97,0.00,0.000,4,0.000,0.084,2413,3918,3402,0,0,1,0,0,0
$GC,4769,-0.82,-146.0,424.7,-8.5,535,4775,0.00,2.85,0.00,0.000,6,0.000,0.061,2413,2525,3402,0,0,0,0,0,0
$GC,5095,-0.82,-146.0,451.6,-8.1,566,5100,0.00,2.97,0.00,0.000,4,0.000,0.083,2413,3924,3403,0,0,1,0,0,0
$GC,5284,-0.82,-146.0,468.0,-8.5,582,5290,0.00,2.80,0.00,0.000,6,0.000,0.060,2413,2558,3404,0,0,0,0,0,0
$STATE,5543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5543,begin apogee
$GC,5550,-0.16,0.0,491.5,8.7,607,5678,0.80,0.00,120.35,1.040,6,0.191,0.000,2628,1950,2799,0,0,0,0,0,0
$STATE,5680,end apogee,CONTROL_FINISHED_OK
$STATE,5680,begin climb
$GC,5682,0.73,146.0,493.4,0.0,620,5816,0.95,2.40,122.95,0.996,4,0.135,0.087,2921,349,2202,0,0,0,0,0,0
$GC,5850,0.65,146.0,480.0,13.3,636,5854,0.00,2.25,0.00,0.000,6,0.000,0.058,2920,1958,2199,0,0,0,0,0,0
$GC,6174,0.59,146.0,441.7,11.8,666,6180,0.15,3.30,0.00,0.000,4,0.200,0.076,2887,3531,2195,0,0,1,0,0,0
$GC,6286,0.59,146.0,428.6,11.8,675,6292,0.00,3.28,0.00,0.000,6,0.000,0.070,2899,1956,2194,0,0,1,0,0,0
$GC,6611,0.59,146.0,393.7,10.9,706,6616,0.00,3.28,0.00,0.000,4,0.000,0.077,2899,3531,2194,0,0,1,0,0,0
$GC,6722,0.54,146.0,379.8,12.5,715,6729,0.20,3.20,0.00,0.000,6,0.197,0.070,2866,1983,2193,0,0,1,0,0,0
$GC,7047,0.65,146.0,348.4,9.7,746,7052,0.00,3.22,0.00,0.000,4,0.000,0.077,2867,3533,2192,0,0,1,0,0,0
$GC,7178,0.71,146.0,335.0,10.3,757,7184,0.12,3.17,0.00,0.000,6,0.110,0.068,2921,1996,2192,0,0,0,0,0,0
$GC,7502,0.65,146.0,296.9,11.9,787,7507,0.00,3.22,0.00,0.000,4,0.000,0.077,2921,3537,2192,0,0,0,0,0,0
$GC,7598,0.54,146.0,284.8,12.4,795,7604,0.28,3.15,0.00,0.000,6,0.198,0.069,2869,2007,2192,0,0,1,0,0,0
$GC,7923,0.70,175.7,258.0,7.9,825,7955,0.15,3.20,23.45,0.869,4,0.110,0.077,2922,3533,2082,0,0,1,0,0,0
$GC,8038,0.62,175.7,244.8,12.1,835,8045,0.17,3.15,0.00,0.000,6,0.200,0.068,2896,2021,2080,0,0,1,0,0,0
$GC,8363,0.72,186.1,214.5,8.7,866,8379,0.00,3.17,9.55,0.789,4,0.000,0.077,2896,3533,2040,0,0,1,0,0,0
$GC,8457,0.72,186.1,204.8,10.8,874,8462,0.00,3.15,0.00,0.000,6,0.000,0.068,2907,2033,2039,0,0,0,0,0,0
$GC,8782,0.78,186.1,173.1,9.3,904,8787,0.10,3.20,0.00,0.000,4,0.123,0.076,2949,3538,2039,0,0,0,0,0,0
$GC,8849,0.65,186.1,164.8,12.6,909,8855,0.25,3.10,0.00,0.000,6,0.198,0.069,2901,2050,2039,0,0,1,0,0,0
$GC,9174,0.77,217.1,137.1,7.9,940,9209,0.12,3.22,26.27,0.808,4,0.119,0.077,2945,3537,1914,0,0,1,0,0,0
$GC,9287,0.71,217.1,124.9,11.8,950,9293,0.17,3.12,0.00,0.000,6,0.196,0.068,2918,2050,1911,0,0,1,0,0,0
$GC,9614,0.79,226.0,96.5,8.8,984,9630,0.00,3.20,8.05,0.722,4,0.000,0.077,2918,3529,1877,0,0,0,0,0,0
$GC,9704,0.86,226.0,88.0,9.4,1000,9710,0.10,3.10,0.00,0.000,6,0.120,0.068,2965,2066,1876,0,0,0,0,0,0
$GC,10048,0.86,226.0,47.5,9.3,1061,10054,0.00,3.15,0.00,0.000,4,0.000,0.078,2965,3537,1876,0,0,0,0,0,0
$GC,10105,0.78,226.0,41.2,11.4,1071,10111,0.15,3.10,0.00,0.000,6,0.204,0.071,2946,2080,1875,0,0,0,0,0,0
$FREEZE,8.92,-0.342,-1.831,0,8,0
$FREEZE,8.47,-0.345,-1.830,0,8,0
$FREEZE,7.78,-0.346,-1.830,0,8,0
$FREEZE,7.21,-0.344,-1.829,0,8,0
$FREEZE,6.68,-0.345,-1.829,0,8,0
$FREEZE,6.23,-0.349,-1.829,0,8,0
$FREEZE,5.91,-0.351,-1.828,0,8,0
$FREEZE,5.45,-0.351,-1.828,0,8,0
$FREEZE,5.14,-0.350,-1.828,0,8,0
$FREEZE,4.62,-0.348,-1.827,0,8,0
$FREEZE,4.26,-0.344,-1.827,0,8,0
$GC,10449,0.88,246.4,5.5,8.3,1132,10473,0.00,3.12,17.88,0.749,4,0.000,0.079,2946,3539,1793,0,0,1,0,0,0
$FREEZE,3.31,-0.341,-1.826,0,8,0
$FREEZE,2.77,-0.342,-1.826,0,8,0
$FREEZE,2.20,-0.332,-1.825,0,8,0
$FREEZE,1.81,-0.333,-1.825,0,8,0
$STATE,10495,end climb,SURFACE_DEPTH_REACHED
$STATE,10495,begin surface coast
$FREEZE,1.38,-0.332,-1.825,0,8,0
$FREEZE,0.82,-0.335,-1.824,0,8,0
$FREEZE,0.27,-0.335,-1.824,0,8,0
$FREEZE,0.18,-0.373,-0.908,0,8,0
$FINISH,0.2,1.013416
$STATE,10518,end surface coast,CONTROL_FINISHED_OK
$STATE,10519,begin surface
$SM_CCo,10537,105.12,0.729,0,0,1066,425.10
$SM_GC,0.99,0.00,0.00,105.12,0.000,0.000,0.729,126,2461,1066,-8.01,0.03,425.10
$RAFOS_CLK,705
$RAFOS,6,1260622145,12.833333,12.818055,63,54,54,0,0,0,185,163,107,0,0,0
$RAFOS,5,1260621662,12.700000,12.683888,67,54,53,0,0,0,213,148,160,0,0,0
$RAFOS,4,1260621186,12.566667,12.551666,69,67,60,0,0,0,208,189,142,0,0,0
$RAFOS,3,1260620706,12.433333,12.418333,64,58,55,0,0,0,213,151,173,0,0,0
$RAFOS,2,1260620229,12.300000,12.285833,63,60,56,0,0,0,205,148,126,0,0,0
$RAFOS,1,1260619743,12.166667,12.150833,59,55,53,0,0,0,202,225,158,0,0,0
$RAFOS,0,1260619266,12.033333,12.018333,58,58,54,0,0,0,178,206,231,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6636.54,-5658.34,080399,101000
$TT8_MAMPS,0.026845
$HUMID,46.33
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.9,20.6
$ALTIM_BOTTOM_PING,300.5,213.6
$24V_AH,22.8,57.200
$10V_AH,10.1,30.208
$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,26.025,136.875,328.500,105.125,0.000,92.176,151.674,592.744,2.250,0.000,92.252,1919.766,6169.729,594.409,2080.583,1061.382,0.000,1633.245,0.000,1967.509,2520.000,7.627,0.000
$DEVICE_MAMPS,292.227,101.244,1040.052,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.901,779.907,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152440
$DATA_FILE_SIZE,44154,1144
$CAP_FILE_SIZE,143737,0
$CFSIZE,260165632,226107392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$SOUNDSPEED,1464.1
$GPS,121209,134125,6704.692,-5655.070,39,1.8,39,-37.6