version: 66.06
glider: 143
mission: 10
dive: 302
start: 12 13 109 20 13 50
data:
$ID,143
$MISSION,10
$DIVE,302
$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,-41701.102
$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,17
$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
$GPS1,200806,6706.397,-5700.373,38,1.1,38,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.8
$GPS2,201332,6706.451,-5700.354,11,1.6,11,-37.7
$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,163.3,10974,-16.9,-9.167
$D_GRID,510
$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,-146.0,0.0,0.0,0,144,0.00,0.00,-124.75,0.000,2,0.000,0.000,127,2463,3235,0,0,0,0,0,0
$GC,147,-0.73,-146.0,3.6,-7.3,25,169,10.88,2.33,-4.05,0.000,4,0.284,0.096,2447,858,3399,0,0,0,0,0,0
$GC,270,-0.73,-146.0,23.7,-11.4,47,275,0.00,2.25,0.00,0.000,6,0.000,0.067,2447,2454,3401,0,0,0,0,0,0
$GC,612,-0.73,-146.0,57.7,-9.4,108,618,0.00,3.17,0.00,0.000,4,0.000,0.087,2447,3918,3401,0,0,1,0,0,0
$GC,819,-0.77,-146.0,79.7,-10.9,145,825,0.00,2.97,0.00,0.000,6,0.000,0.064,2448,2492,3401,0,0,1,0,0,0
$GC,1162,-0.82,-146.0,115.4,-10.3,193,1167,0.00,3.10,0.00,0.000,4,0.000,0.087,2447,3920,3400,0,0,2,0,0,0
$GC,1419,-0.91,-146.0,142.2,-10.1,215,1426,0.17,2.92,0.00,0.000,6,0.113,0.064,2390,2519,3398,0,0,1,0,0,0
$GC,1744,-0.81,-146.0,177.0,-9.9,246,1750,0.15,3.08,0.00,0.000,4,0.204,0.087,2424,3920,3397,0,0,1,0,0,0
$GC,1897,-0.81,-146.0,190.6,-8.8,259,1901,0.00,2.90,0.00,0.000,6,0.000,0.063,2424,2528,3397,0,0,1,0,0,0
$GC,2221,-0.81,-146.0,217.1,-7.4,289,2226,0.00,3.03,0.00,0.000,4,0.000,0.084,2424,3922,3397,0,0,1,0,0,0
$GC,2479,-0.81,-146.0,236.7,-7.1,311,2485,0.00,2.83,0.00,0.000,6,0.000,0.061,2425,2566,3397,0,0,1,0,0,0
$GC,2803,-0.81,-146.0,258.4,-7.0,342,2808,0.00,2.95,0.00,0.000,4,0.000,0.083,2424,3924,3398,0,0,1,0,0,0
$GC,3022,-0.81,-146.0,275.3,-8.0,361,3027,0.00,2.78,0.00,0.000,6,0.000,0.059,2424,2597,3398,0,0,1,0,0,0
$GC,3347,-0.81,-146.0,299.6,-7.6,391,3351,0.00,2.88,0.00,0.000,4,0.000,0.081,2424,3914,3399,0,0,1,0,0,0
$GC,3576,-0.81,-146.0,316.8,-7.0,411,3581,0.00,2.70,0.00,0.000,6,0.000,0.058,2425,2627,3400,0,0,1,0,0,0
$GC,3901,-0.81,-146.0,339.1,-6.6,441,3905,0.00,2.83,0.00,0.000,4,0.000,0.081,2424,3915,3400,0,0,1,0,0,0
$GC,4064,-0.85,-146.0,349.9,-6.1,455,4071,0.00,2.67,0.00,0.000,6,0.000,0.058,2424,2645,3400,0,0,1,0,0,0
$GC,4396,-0.91,-146.0,370.9,-6.3,486,4401,0.00,2.80,0.00,0.000,4,0.000,0.080,2425,3917,3401,0,0,1,0,0,0
$GC,4515,-0.95,-146.0,380.1,-8.2,496,4520,0.12,2.62,0.00,0.000,6,0.118,0.056,2382,2672,3401,0,0,1,0,0,0
$GC,4840,-0.88,-146.0,410.8,-8.2,526,4845,0.00,2.75,0.00,0.000,4,0.000,0.080,2381,3915,3401,0,0,1,0,0,0
$GC,4998,-0.81,-146.0,425.5,-8.7,539,5004,0.17,2.60,0.00,0.000,6,0.199,0.057,2422,2686,3402,0,0,1,0,0,0
$GC,5323,-0.86,-146.0,450.8,-7.9,570,5328,0.00,2.72,0.00,0.000,4,0.000,0.080,2423,3915,3402,0,0,1,0,0,0
$GC,5379,-0.92,-146.0,455.2,-8.1,574,5384,0.00,2.60,0.00,0.000,6,0.000,0.056,2423,2686,3402,0,0,1,0,0,0
$GC,5704,-0.98,-146.0,478.7,-7.3,605,5709,0.15,2.75,0.00,0.000,4,0.110,0.077,2361,3927,3403,0,0,1,0,0,0
$GC,5737,-0.80,-146.0,481.7,-9.9,607,5743,0.28,2.60,0.00,0.000,6,0.202,0.055,2428,2692,3403,0,0,1,0,0,0
$STATE,6060,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6060,begin apogee
$GC,6066,-0.16,0.0,504.6,6.5,638,6193,0.70,0.00,120.15,1.033,6,0.166,0.000,2632,1943,2799,0,0,0,0,0,0
$STATE,6193,end apogee,CONTROL_FINISHED_OK
$STATE,6194,begin climb
$GC,6196,0.73,146.0,506.5,0.0,651,6330,0.93,2.30,122.05,0.992,4,0.121,0.083,2926,358,2201,0,0,0,0,0,0
$GC,6353,0.65,146.0,493.0,12.2,666,6357,0.00,2.15,0.00,0.000,6,0.000,0.054,2926,1966,2199,0,0,0,0,0,0
$GC,6679,0.58,146.0,452.0,12.7,696,6685,0.20,3.35,0.00,0.000,4,0.190,0.071,2877,3528,2194,0,0,2,0,0,0
$GC,6764,0.58,146.0,441.9,11.2,703,6769,0.00,3.35,0.00,0.000,6,0.000,0.066,2890,1965,2193,0,0,0,0,0,0
$GC,7089,0.58,146.0,407.5,10.1,733,7094,0.00,3.35,0.00,0.000,4,0.000,0.074,2890,3538,2193,0,0,1,0,0,0
$GC,7162,0.58,146.0,398.6,12.1,739,7167,0.00,3.33,0.00,0.000,6,0.000,0.067,2905,1970,2193,0,0,0,0,0,0
$GC,7486,0.58,146.0,362.3,11.5,769,7491,0.00,3.33,0.00,0.000,4,0.000,0.074,2905,3537,2193,0,0,1,0,0,0
$GC,7581,0.52,146.0,350.2,12.9,777,7587,0.25,3.30,0.00,0.000,6,0.190,0.067,2858,1977,2192,0,0,0,0,0,0
$GC,7906,0.66,148.2,320.8,9.1,807,7912,0.15,3.33,0.00,0.000,4,0.109,0.073,2910,3538,2191,0,0,1,0,0,0
$GC,8026,0.59,148.2,306.3,12.4,817,8032,0.15,3.25,0.00,0.000,6,0.197,0.067,2888,2004,2191,0,0,1,0,0,0
$GC,8350,0.65,153.2,274.9,9.0,847,8362,0.00,3.25,5.38,0.696,4,0.000,0.072,2887,3531,2175,0,0,1,0,0,0
$GC,8476,0.65,153.2,262.4,10.0,858,8481,0.00,3.22,0.00,0.000,6,0.000,0.066,2900,2019,2175,0,0,0,0,0,0
$GC,8800,0.65,153.2,228.8,10.4,888,8805,0.00,3.22,0.00,0.000,4,0.000,0.073,2900,3528,2175,0,0,1,0,0,0
$GC,8900,0.65,153.2,216.7,12.3,896,8906,0.00,3.17,0.00,0.000,6,0.000,0.065,2914,2026,2175,0,0,1,0,0,0
$GC,9224,0.65,153.2,180.2,10.6,927,9230,0.00,3.22,0.00,0.000,4,0.000,0.073,2914,3538,2175,0,0,1,0,0,0
$GC,9320,0.58,153.2,168.5,12.3,935,9326,0.20,3.20,0.00,0.000,6,0.194,0.065,2881,2035,2174,0,0,0,0,0,0
$GC,9645,0.73,185.9,140.1,7.8,965,9680,0.15,3.28,27.52,0.790,4,0.111,0.073,2933,3528,2041,0,0,1,0,0,0
$GC,9783,0.66,185.9,124.4,12.2,977,9789,0.17,3.20,0.00,0.000,6,0.194,0.065,2908,2050,2038,0,0,0,0,0,0
$GC,10111,0.74,185.9,93.0,9.5,1014,10116,0.00,3.22,0.00,0.000,4,0.000,0.072,2908,3538,2037,0,0,0,0,0,0
$GC,10184,0.74,185.9,85.1,11.2,1027,10190,0.00,3.17,0.00,0.000,6,0.000,0.064,2919,2060,2037,0,0,0,0,0,0
$GC,10528,0.87,203.7,53.6,8.4,1088,10550,0.15,3.17,15.73,0.728,4,0.096,0.071,2976,3531,1967,0,0,1,0,0,0
$GC,10696,0.74,203.7,32.4,13.6,1118,10703,0.25,3.15,0.00,0.000,6,0.195,0.066,2929,2081,1965,0,0,0,0,0,0
$FREEZE,8.73,-0.080,-1.831,0,1,0
$FREEZE,8.34,-0.080,-1.831,0,1,0
$FREEZE,7.81,-0.082,-1.831,0,1,0
$FREEZE,7.33,-0.082,-1.830,0,1,0
$FREEZE,6.84,-0.082,-1.830,0,1,0
$FREEZE,6.29,-0.076,-1.829,0,1,0
$FREEZE,5.77,-0.076,-1.829,0,1,0
$FREEZE,5.25,-0.083,-1.829,0,1,0
$FREEZE,4.71,-0.082,-1.828,0,1,0
$FREEZE,4.17,-0.082,-1.828,0,1,0
$FREEZE,3.67,-0.089,-1.827,0,1,0
$FREEZE,3.25,-0.085,-1.827,0,1,0
$FREEZE,2.71,-0.086,-1.827,0,1,0
$FREEZE,2.32,-0.086,-1.826,0,1,0
$FREEZE,1.73,-0.083,-1.826,0,1,0
$STATE,11029,end climb,SURFACE_DEPTH_REACHED
$STATE,11029,begin surface coast
$FREEZE,1.26,-0.086,-1.825,0,1,0
$FREEZE,0.56,-0.087,-1.825,0,1,0
$FREEZE,0.19,-0.090,-0.949,0,1,0
$FREEZE,0.42,-0.088,-1.824,0,1,0
$FINISH,0.4,1.026723
$STATE,11053,end surface coast,CONTROL_FINISHED_OK
$STATE,11053,begin surface
$SM_CCo,11070,121.70,0.709,0,0,1066,425.10
$SM_GC,1.03,0.00,0.00,121.70,0.000,0.000,0.709,130,2465,1066,-8.00,0.14,425.10
$RAFOS_CLK,674
$RAFOS,6,1260737342,20.833334,20.817223,67,60,58,0,0,0,813,180,200,0,0,0
$RAFOS,5,1260736866,20.700001,20.684999,59,59,52,0,0,0,216,632,121,0,0,0
$RAFOS,4,1260736388,20.566668,20.552221,65,58,56,0,0,0,142,191,204,0,0,0
$RAFOS,3,1260735902,20.433332,20.417223,60,59,59,0,0,0,131,152,201,0,0,0
$RAFOS,2,1260735425,20.299999,20.284721,69,57,56,0,0,0,206,227,146,0,0,0
$RAFOS,0,1260734462,20.033333,20.017221,59,58,52,0,0,0,170,135,121,0,0,0
$RAFOS_FIX,6709.466309,-5706.293945,131209,040428,2,75,1.95
$IRIDIUM_FIX,6641.98,-5701.58,090399,161606
$TT8_MAMPS,0.026845
$HUMID,46.33
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.5,19.0
$ALTIM_BOTTOM_PING,350.3,169.0
$24V_AH,22.9,58.902
$10V_AH,10.2,30.994
$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,23.375,138.275,290.825,121.700,0.000,24.022,37.407,145.354,2.000,0.000,13.224,1971.644,6487.431,569.157,2072.266,411.657,0.000,1638.225,0.000,2042.770,1800.000,9.288,0.000
$DEVICE_MAMPS,283.790,95.875,1033.149,709.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.443,804.423,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152512
$DATA_FILE_SIZE,44145,1181
$CAP_FILE_SIZE,136569,0
$CFSIZE,260165632,226455552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$SOUNDSPEED,1469.0
$GPS,131209,232137,6706.924,-5700.185,26,1.5,26,-37.7