version: 66.06
glider: 143
mission: 10
dive: 293
start: 12 12 109 13 58 53
data:
$ID,143
$MISSION,10
$DIVE,293
$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,-41524.078
$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,24
$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
$GPS1,134125,6704.692,-5655.070,39,1.8,39,-37.6
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,3
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-63.0
$GPS2,135836,6704.695,-5655.312,17,1.7,47,-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,158.3,6143,-16.9,-9.167
$D_GRID,502
$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,-146.0,0.0,0.0,0,146,0.00,0.00,-125.55,0.000,2,0.000,0.000,126,2460,3112,0,0,0,0,0,0
$GC,148,-0.73,-146.0,3.6,-7.3,25,175,11.30,2.38,-7.78,0.000,4,0.296,0.102,2445,856,3398,0,0,0,0,0,0
$GC,428,-0.73,-146.0,43.7,-12.7,75,434,0.00,2.30,0.00,0.000,6,0.000,0.072,2444,2461,3401,0,0,0,0,0,0
$GC,772,-0.77,-146.0,83.6,-11.6,136,777,0.00,3.15,0.00,0.000,4,0.000,0.093,2444,3914,3401,0,0,1,0,0,0
$GC,1031,-0.84,-146.0,111.1,-10.1,173,1036,0.00,2.92,0.00,0.000,6,0.000,0.068,2444,2502,3401,0,0,2,0,0,0
$GC,1355,-0.90,-146.0,143.0,-9.5,203,1361,0.15,3.08,0.00,0.000,4,0.116,0.088,2382,3916,3400,0,0,1,0,0,0
$GC,1508,-0.77,-146.0,161.5,-12.3,216,1513,0.22,2.90,0.00,0.000,6,0.210,0.066,2433,2515,3399,0,0,1,0,0,0
$GC,1832,-0.77,-146.0,191.4,-9.5,246,1837,0.00,3.03,0.00,0.000,4,0.000,0.089,2433,3915,3400,0,0,1,0,0,0
$GC,2022,-0.82,-146.0,209.0,-8.6,262,2028,0.00,2.85,0.00,0.000,6,0.000,0.065,2434,2534,3399,0,0,1,0,0,0
$GC,2347,-0.88,-146.0,237.0,-8.7,293,2352,0.00,3.00,0.00,0.000,4,0.000,0.088,2433,3926,3400,0,0,1,0,0,0
$GC,2489,-0.94,-146.0,249.9,-9.0,305,2494,0.15,2.85,0.00,0.000,6,0.117,0.064,2385,2543,3400,0,0,1,0,0,0
$GC,2813,-0.85,-146.0,284.2,-10.8,335,2819,0.12,3.00,0.00,0.000,4,0.208,0.087,2412,3924,3400,0,0,1,0,0,0
$GC,2959,-0.85,-146.0,297.5,-8.4,347,2965,0.00,2.83,0.00,0.000,6,0.000,0.064,2412,2566,3400,0,0,0,0,0,0
$GC,3284,-0.85,-146.0,322.9,-7.5,378,3288,0.00,2.92,0.00,0.000,4,0.000,0.086,2411,3919,3401,0,0,1,0,0,0
$GC,3402,-0.85,-146.0,331.7,-7.1,388,3407,0.00,2.78,0.00,0.000,6,0.000,0.062,2412,2580,3401,0,0,1,0,0,0
$GC,3726,-0.85,-146.0,354.0,-6.3,418,3731,0.00,2.90,0.00,0.000,4,0.000,0.085,2412,3921,3401,0,0,1,0,0,0
$GC,3950,-0.85,-146.0,370.0,-7.3,437,3956,0.00,2.75,0.00,0.000,6,0.000,0.061,2412,2597,3402,0,0,0,0,0,0
$GC,4275,-0.85,-146.0,392.5,-7.3,468,4280,0.00,2.85,0.00,0.000,4,0.000,0.084,2412,3916,3402,0,0,1,0,0,0
$GC,4383,-0.85,-146.0,400.7,-7.2,477,4388,0.00,2.70,0.00,0.000,6,0.000,0.061,2412,2611,3403,0,0,1,0,0,0
$GC,4709,-0.85,-146.0,424.6,-7.6,507,4714,0.00,2.83,0.00,0.000,4,0.000,0.084,2412,3915,3403,0,0,1,0,0,0
$GC,4861,-0.85,-146.0,437.6,-8.6,520,4866,0.00,2.67,0.00,0.000,6,0.000,0.060,2412,2629,3404,0,0,1,0,0,0
$GC,5186,-0.85,-146.0,465.7,-9.0,550,5191,0.00,2.80,0.00,0.000,4,0.000,0.082,2412,3918,3404,0,0,1,0,0,0
$GC,5364,-0.85,-146.0,482.2,-9.7,565,5371,0.00,2.65,0.00,0.000,6,0.000,0.059,2412,2654,3405,0,0,0,0,0,0
$STATE,5602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5602,begin apogee
$GC,5609,-0.16,0.0,502.9,8.5,588,5735,0.77,0.00,120.43,1.045,6,0.176,0.000,2631,1934,2799,0,0,0,0,0,0
$STATE,5736,end apogee,CONTROL_FINISHED_OK
$STATE,5736,begin climb
$GC,5739,0.73,146.0,505.1,0.0,601,5872,0.93,2.33,123.28,1.002,4,0.127,0.086,2922,356,2202,0,0,0,0,0,0
$GC,5923,0.64,146.0,489.8,12.1,618,5929,0.00,2.22,0.00,0.000,6,0.000,0.058,2921,1967,2198,0,0,0,0,0,0
$GC,6247,0.57,146.0,454.2,10.9,649,6253,0.20,3.30,0.00,0.000,4,0.199,0.074,2867,3532,2195,0,0,1,0,0,0
$GC,6348,0.57,146.0,444.2,9.7,657,6354,0.00,3.25,0.00,0.000,6,0.000,0.067,2880,1964,2194,0,0,1,0,0,0
$GC,6673,0.63,149.8,415.3,9.0,688,6678,0.00,3.28,0.00,0.000,4,0.000,0.077,2880,3537,2194,0,0,1,0,0,0
$GC,6786,0.63,149.8,403.7,10.5,697,6792,0.00,3.25,0.00,0.000,6,0.000,0.068,2894,1970,2192,0,0,0,0,0,0
$GC,7110,0.63,149.8,370.0,10.9,728,7115,0.00,3.25,0.00,0.000,4,0.000,0.077,2894,3532,2192,0,0,1,0,0,0
$GC,7195,0.59,149.8,360.1,11.6,735,7200,0.00,3.20,0.00,0.000,6,0.000,0.068,2908,1983,2192,0,0,0,0,0,0
$GC,7519,0.59,149.8,323.7,10.9,765,7524,0.00,3.22,0.00,0.000,4,0.000,0.077,2908,3537,2192,0,0,1,0,0,0
$GC,7608,0.49,149.8,313.0,12.7,772,7615,0.28,3.20,0.00,0.000,6,0.201,0.068,2855,1988,2192,0,0,0,0,0,0
$GC,7934,0.69,184.1,286.1,7.7,803,7971,0.17,3.25,30.12,0.890,4,0.103,0.075,2917,3539,2048,0,0,1,0,0,0
$GC,8099,0.62,184.1,266.3,12.3,817,8106,0.17,3.17,0.00,0.000,6,0.200,0.067,2892,2012,2044,0,0,1,0,0,0
$GC,8424,0.69,184.1,235.5,9.5,848,8429,0.00,3.20,0.00,0.000,4,0.000,0.076,2892,3536,2043,0,0,0,0,0,0
$GC,8512,0.69,184.1,226.4,10.1,855,8519,0.00,3.12,0.00,0.000,6,0.000,0.068,2903,2023,2043,0,0,1,0,0,0
$GC,8838,0.76,184.1,195.9,9.3,886,8843,0.00,3.15,0.00,0.000,4,0.000,0.076,2904,3533,2043,0,0,1,0,0,0
$GC,8949,0.76,184.1,183.9,10.7,895,8955,0.00,3.10,0.00,0.000,6,0.000,0.067,2917,2037,2043,0,0,1,0,0,0
$GC,9273,0.76,184.1,151.0,9.9,926,9278,0.00,3.15,0.00,0.000,4,0.000,0.077,2917,3533,2043,0,0,0,0,0,0
$GC,9369,0.76,184.1,140.7,11.0,934,9374,0.00,3.10,0.00,0.000,6,0.000,0.068,2931,2053,2043,0,0,0,0,0,0
$GC,9693,0.76,184.1,109.9,9.9,964,9698,0.00,3.12,0.00,0.000,4,0.000,0.077,2931,3532,2043,0,0,0,0,0,0
$GC,9795,0.71,184.1,98.6,11.3,973,9800,0.00,3.08,0.00,0.000,6,0.000,0.069,2944,2065,2043,0,0,0,0,0,0
$GC,10138,0.71,184.1,64.5,9.4,1034,10143,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2066,2043,0,0,0,0,0,0
$GC,10481,0.77,234.2,35.2,7.1,1095,10528,0.00,3.17,40.53,0.773,4,0.000,0.080,2944,3540,1846,0,0,1,0,0,0
$GC,10583,0.77,234.2,25.7,11.5,1114,10589,0.00,3.15,0.00,0.000,6,0.000,0.071,2958,2065,1842,0,0,0,0,0,0
$FREEZE,8.82,-0.469,-1.830,0,9,0
$FREEZE,8.31,-0.474,-1.830,0,9,0
$FREEZE,7.73,-0.472,-1.829,0,9,0
$FREEZE,7.02,-0.475,-1.829,0,9,0
$FREEZE,6.37,-0.459,-1.828,0,9,0
$FREEZE,5.64,-0.471,-1.828,0,9,0
$FREEZE,4.95,-0.472,-1.827,0,9,0
$FREEZE,4.44,-0.477,-1.827,0,9,0
$FREEZE,4.14,-0.476,-1.827,0,9,0
$FREEZE,3.73,-0.480,-1.826,0,9,0
$FREEZE,3.21,-0.476,-1.826,0,9,0
$FREEZE,2.80,-0.477,-1.826,0,9,0
$FREEZE,2.26,-0.478,-1.825,0,9,0
$FREEZE,1.65,-0.478,-1.825,0,9,0
$STATE,10801,end climb,SURFACE_DEPTH_REACHED
$STATE,10801,begin surface coast
$FREEZE,1.11,-0.479,-1.824,0,9,0
$FREEZE,0.83,-0.480,-1.824,0,9,0
$FREEZE,0.61,-0.488,-1.824,0,9,0
$FREEZE,0.32,-0.480,-1.823,0,9,0
$FINISH,0.3,1.026729
$STATE,10826,end surface coast,CONTROL_FINISHED_OK
$STATE,10826,begin surface
$SM_CCo,10843,117.03,0.736,0,0,1067,425.10
$SM_GC,1.13,0.00,0.00,117.03,0.000,0.000,0.736,130,2464,1067,-8.00,0.11,425.10
$RAFOS_CLK,715
$RAFOS,6,1260636542,16.833334,16.817223,59,57,57,0,0,0,216,188,136,0,0,0
$RAFOS,5,1260636063,16.700001,16.684166,62,59,56,0,0,0,208,659,193,0,0,0
$RAFOS,4,1260635583,16.566668,16.550833,64,56,55,0,0,0,198,222,157,0,0,0
$RAFOS,3,1260635105,16.433332,16.418056,59,57,54,0,0,0,222,190,157,0,0,0
$RAFOS,2,1260634627,16.299999,16.285278,67,62,61,0,0,0,165,216,155,0,0,0
$RAFOS,1,1260634146,16.166666,16.151667,65,61,58,0,0,0,208,186,218,0,0,0
$RAFOS,0,1260633669,16.033333,16.019167,67,60,59,0,0,0,175,209,194,0,0,0
$RAFOS_FIX,6701.185059,-5701.106934,101209,080856,2,79,0.54
$IRIDIUM_FIX,6641.98,-5653.92,080399,141432
$TT8_MAMPS,0.026845
$HUMID,47.40
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,400.3,139.4
$24V_AH,22.8,57.354
$10V_AH,10.1,30.284
$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,22.900,132.275,314.350,117.025,0.000,81.923,158.068,498.010,1.750,0.000,49.341,1930.810,6440.922,587.437,2081.069,945.253,0.000,1638.169,0.000,2007.923,2520.000,11.987,0.000
$DEVICE_MAMPS,296.062,102.011,1045.421,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.964,789.331,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152360
$DATA_FILE_SIZE,44088,1157
$CAP_FILE_SIZE,140643,0
$CFSIZE,260165632,226062336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$SOUNDSPEED,1464.9
$GPS,121209,170306,6704.520,-5655.362,39,1.2,45,-37.6